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

Abstract

The application discloses a configuration file-based adaptive access and data conversion method for heterogeneous unmanned platforms, which comprises the following steps: S100, constructing a multi-interface adaptive access function module; S102, connecting the multi-interface adaptive access function module; S104, detecting whether an external USB storage device is accessed, and if yes, turning to S106, otherwise, turning to S108; S106, acquiring a configuration file in the storage device, judging whether the configuration file meets storage requirements, and if yes, storing the configuration file in a database configuration folder; S108, traversing the database configuration folder; S110, judging whether all configuration files have been traversed, and if yes, returning to S104, otherwise, turning to S112; S112, reading the configuration file, and dynamically configuring a communication interface of the unmanned platform; S114, judging whether data is received, and if yes, turning to S116, otherwise, returning to S108; S116, judging whether data characteristics of the read data are consistent with those in the configuration file, and if yes, turning to S118, otherwise, returning to S108; and S118, performing automatic conversion of a communication protocol according to protocol information defined in the configuration file, so as to send data.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of access and control technology, and in particular to a heterogeneous unmanned platform adaptive access and data conversion method based on configuration files. BACKGROUND

[0002] At present, there are many mature unmanned platforms of various types in use, and the application range covers ground, air, sea and other areas. However, due to the differences in control architecture, communication interface, operating system and other aspects of various unmanned platforms, as well as the particularity of model equipment, it is currently difficult to access a unified architecture control system. In addition, each unmanned platform generally needs to be equipped with a dedicated control terminal, and the universality is poor. That is, in the prior art, there is a lack of a method capable of dynamically accessing a heterogeneous unmanned cluster system, which cannot fully utilize the advantages of existing mature unmanned platforms, cannot realize the control of different unmanned platforms by using a standardized control terminal, and seriously restricts the development of the cluster system. SUMMARY

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

[0004] The present application provides a heterogeneous unmanned platform adaptive access and data conversion method based on configuration files, which comprises the following steps:

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

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

[0007] S104, after the multi-interface adaptive access function module is powered on, detecting whether there is an external USB storage device accessing the USB interface, if yes, going to S106, otherwise going to S108;

[0008] S106, obtaining the configuration file in the USB storage device, judging whether the obtained configuration file meets the storage requirements, and storing it in the database configuration folder if it meets the storage requirements;

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

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

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

[0012] S114, determining whether data is received through the communication interface, if yes, proceeding to S116, otherwise returning to S108;

[0013] S116, determining whether the data feature of the read data is consistent with the data feature in the configuration file, if yes, proceeding to S118, otherwise returning to S108;

[0014] S118, performing automatic conversion of the communication protocol between the unmanned platform and the standardized operation terminal according to the protocol information defined in the configuration file, so as to send data.

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

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

[0017] S210, performing encoding and decoding operation 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, performing video push stream operation;

[0020] S216, determining whether the push stream is successful, if yes, ending the process, otherwise returning to S214.

[0021] Preferably, S106 comprises:

[0022] determining whether a file with the same name as the obtained configuration file exists in the database configuration folder, if yes, the storage requirement is not met, otherwise the storage requirement is met.

[0023] Preferably, the data feature comprises protocol data header and tail, data ID, data length, protocol verification mode and verification value.

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

[0025] Preferably, S112 comprises:

[0026] in the case that the communication interface type defined in the configuration file is an Ethernet interface, modifying the IP, mask and gateway of the Ethernet interface of the unmanned platform according to the configuration file, and determining whether the Ethernet interface is in a connected state, if yes, performing S114, otherwise returning to S108.

[0027] Preferably, the step S112 of dynamically configuring the communication interface of the unmanned platform according to the configuration file to perform data communication comprises:

[0028] In the case that the communication interface type defined in the configuration file is an RS232 / 422 / 485 interface, the port baud rate, parity bit and stop bit of the unmanned platform are modified according to the configuration file.

[0029] Preferably, the step S112 of dynamically configuring the communication interface of the unmanned platform according to the configuration file to perform data communication comprises:

[0030] In the case that 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 step S118 of performing 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 comprises:

[0032] The key field defined by the standardized control terminal is read in sequence;

[0033] By analyzing the sub-fields of the read key field, the index position, data type, size end format and weight of the read key field in the standardized control terminal protocol data are determined;

[0034] The unmanned platform searches for a field matching the read key field, and determines the index position, data type and weight of the matching field in the unmanned platform protocol data;

[0035] According to the corresponding 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 numerical value is filled into the specified position of the standardized control terminal protocol data.

[0036] Through the above technical solution, a small-sized and low-power functional module with multiple data interfaces is provided. By connecting the module, the functional requirement of dynamically and autonomously connecting the standardized control terminal and reliably controlling the unmanned platform by loading the configuration file without modifying the unmanned platform is realized. The module can be flexibly configured between the unmanned platform and the control terminal, realizing plug and play, and having high practical value. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is readily understood that the drawings are merely illustrative of some embodiments of the application and therefore are not to be taken too restrictively.

[0038] Figure 1 Fig. 1 shows a flow chart of a configuration file based heterogeneous unmanned platform adaptive access and data conversion method according to an embodiment of the present application;

[0039] Figure 2 Fig. 2 shows a hardware module structure schematic diagram of a multi-interface adaptive access function module according to an embodiment of the present application;

[0040] Figure 3 Fig. 3 shows a general function schematic diagram according to an embodiment of the present application;

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

[0042] Figure 5 Fig. 5 shows a schematic diagram of a multi-interface adaptive access function module located between a networking radio station and a control terminal according to an embodiment of the present application;

[0043] Figure 6 Fig. 6 shows a protocol data automatic conversion schematic diagram according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The description of the at least one example embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0046] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale as the dimensions of the parts shown are for the purpose of illustration and description only and can not reflect their actual size. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail but should be considered as though they were discussed herein in their broadest form. In all examples shown and discussed herein, any specific values are to be interpreted as merely illustrative and not limiting. Other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the disclosure, thus, once certain parts have been defined throughout the disclosure, further discussion of such parts can not be necessary.

[0047] Figure 1 A flow chart of a configuration file based heterogeneous unmanned platform adaptive access and data conversion method according to an embodiment of the present application is shown.

[0048] As Figure 1 shown, the embodiment of the present application provides a configuration file based heterogeneous unmanned platform adaptive access and data conversion method, wherein the method comprises:

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

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

[0051] S104, after the multi-interface adaptive access function module is powered on, detecting whether there is an external USB storage device accessing the USB interface, if yes, going to S106, otherwise going to S108;

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

[0053] ​​S106, a configuration file (YAML file) in the USB storage device is acquired, it is judged whether the acquired configuration file meets the storage requirement, and in the case of meeting the storage requirement, it is stored in the database configuration file folder;

[0054] That is, in the case of meeting the storage requirement, the YAML file in the storage device is copied to the configuration file folder.

[0055] S108, the configuration file in the database configuration file folder is traversed;

[0056] S110, it is judged whether all configuration files have been traversed, if yes, it returns to S104, otherwise it goes to S112;

[0057] Specifically, if it has been traversed, it indicates that there is no configuration file that can match the unmanned platform to be accessed at present, and it needs to wait for the USB storage device to be accessed and copy the new configuration file to the database.

[0058] S112, the configuration file is read, and the communication interface of the unmanned platform is dynamically configured according to the configuration file to perform data communication;

[0059] S114, it is judged whether data is received through the communication interface, if yes, it goes to S116, otherwise it returns to S108;

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

[0061] S116, it is judged whether the data characteristics of the read data are consistent with the data characteristics in the configuration file, if yes, it goes to S118, otherwise it returns to S108;

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

[0063] That is, after the acquired configuration file is stored in the database configuration file folder, the configuration file in the configuration file folder is traversed, the communication interface parameters are dynamically configured according to the description information defined in the configuration file, and the interface data is tried to be read, if the port data is not successfully read, the next configuration file is continued to be traversed; if the port data is successfully read, it is continued to be judged whether the characteristics of the received data are consistent with the description in the configuration file; if not consistent, the next configuration file is continued to be traversed; if consistent, the communication protocol is automatically converted and transmitted according to the protocol information defined in the configuration file, to realize the information interconnection and intercommunication between the unmanned platform and the standardized control terminal.

[0064] By the technical scheme, a miniaturized and low-power functional module with multiple data interfaces is provided, by connecting the module, the functional requirement of dynamically and autonomously connecting a standardized control terminal and reliably controlling the unmanned platform by loading a configuration file without modifying the unmanned platform is realized, and the module can be flexibly configured between the unmanned platform and the control terminal, plug-and-play is realized, and the module has high practical use value.

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

[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 operation 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 a specified address (starting an RTSP server);

[0069] S214, performing video push operation;

[0070] S216, judging whether the push operation is successful, if yes, ending the process, or returning to S214.

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

[0072] The multi-interface adaptive access functional module constructed by the present application can be an embedded multi-functional interface functional module with a CPU (for example, a domestic CPU) as a core, can be compatible with multiple communication interfaces and video stream interfaces of different unmanned platforms, the communication interfaces include Ethernet interface, RS232 / 422 / 485 interface, CAN bus interface, USB interface and TTL debugging port, and the video stream interfaces include PAL, SDI, network and other formats of video stream interfaces. The functional module is designed in a miniaturized and modularized manner, and includes a core board + an intermediate board + a backboard, as shown in Figure 2 The core board is used for realizing a minimum system, the intermediate board is used for processing analog video, and the backboard is used for expanding external interfaces. In this way, the module size can be controlled within 10cm*5cm*2cm to meet the installation requirement of various unmanned platforms.

[0073] In function, by accessing the function module, the communication protocol and the video stream can be automatically converted without any modification of the unmanned platform, and the requirement of controlling different unmanned platforms by using a standardized control terminal is realized. In use, due to the small size, low power consumption and multiple interfaces of the module, the module can be flexibly installed between the unmanned platform and the communication radio station or between the communication radio station and the control terminal according to actual use requirements.

[0074] By connecting the module between the unmanned platform and the standardized control terminal, dynamic access control of the unmanned platform can be realized, and the module function is as shown in Figure 3

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

[0076] The multi-interface adaptive access module has high flexibility and strong practicability.

[0077] According to an embodiment of the present application, the step S106 of judging whether the obtained configuration file meets the storage requirement comprises:

[0078] It is judged whether there is a file with the same name as the obtained configuration file in the database configuration folder, if there is, the storage requirement is not met, otherwise the storage requirement is met.

[0079] In the case that the storage requirement is not met, no storage operation is performed.

[0080] According to an embodiment of the present application, the data characteristics include protocol data header and tail, data ID, data length, protocol verification mode and verification value.

[0081] For example, it is judged whether the received protocol data is consistent with the protocol header and tail defined in the configuration file, or consistent with the data ID, data length and verification value defined in the configuration file, if yes, it indicates that the configuration file matches the unmanned platform to be connected, if no, it indicates that the configuration file does not match the unmanned platform to be connected.

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

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

[0084] ​In the case that the communication interface type defined in the configuration file is an Ethernet interface, the IP, mask and gateway of the Ethernet interface of the unmanned platform are modified according to the configuration file, and it is judged whether the Ethernet interface is in a connected state, if yes, S114 is executed, and if not (indicating that the network is not connected, i.e. the configuration file does not match the unmanned platform to be connected), S108 is returned.

[0085] According to an embodiment of the present application, the dynamic configuration of the communication interface of the unmanned platform according to the configuration file for data communication in S112 comprises:

[0086] In the case that the communication interface type defined in the configuration file is an RS232 / 422 / 485 interface, the port baud rate, parity and stop bit of the unmanned platform are modified according to the configuration file.

[0087] According to an embodiment of the present application, the dynamic configuration of the communication interface of the unmanned platform according to the configuration file for data communication in S112 comprises:

[0088] In the case that 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 application, as shown in Figure 6 The communication protocol automatic conversion between the unmanned platform and the standardized control terminal according to the protocol information defined in the configuration file in S118 comprises:

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

[0091] By analyzing the subfields of the read key fields, the index position, data type, size end format and weight of the read key fields in the standardized control terminal protocol data are determined;

[0092] The fields (for example, Speed) matching the read key fields are searched in the unmanned platform, and the index position, data type and weight of the matching fields in the unmanned platform protocol data are determined;

[0093] According to the key relationship corresponding to 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 numerical value is filled into the specified position of the standardized control terminal protocol data.

[0094] Thus, the automatic conversion of the communication protocol can be completed.

[0095] As can be seen from the above embodiments, the application constructs a functional module with multiple communication interfaces based on an embedded chip, can be flexibly configured according to actual needs, and is plug and play; and can dynamically complete the change of port information and data processing according to the configuration file in the database; without changing the heterogeneous unmanned platform, the information interconnection and intercommunication between the heterogeneous unmanned platform and the standardized control terminal are realized, which provides strong support for building a heterogeneous unmanned cluster system.

[0096] Compared with the prior art, the heterogeneous unmanned platform adaptive access and data conversion method based on a configuration file has at least the following advantages:

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

[0098] The application constructs a multi-interface, miniaturized and multifunctional hardware module based on a domestic embedded chip, which can meet the connection needs of different communication interfaces and video interfaces of different unmanned platforms. Through this design, the flexibility of the module is increased, which supports it to be installed between the unmanned platform and the networking radio or between the networking radio and the control terminal according to actual conditions, and the practicability of the module is improved.

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

[0100] The application dynamically changes the port configuration by reading the configuration file in the database, automatically realizes the data conversion between the unmanned platform and the control terminal, realizes the quick access to the standardized control terminal and the reliable communication without changing the heterogeneous unmanned platform, and provides support for building a heterogeneous unmanned cluster system.

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

[0102] The application abstracts the communication protocol, organizes the communication protocol fields in the configuration file in the form of key-value, and realizes the automatic conversion of the communication protocol by matching the key value. By using this method, the communication protocol data field can be flexibly expanded, and the software code does not need to be changed, the development process is simplified, and the fast and flexible access needs of the heterogeneous unmanned platform can be met.

[0103] In the description of the application, it needs to be understood that the orientation words such as "front, back, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0104] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0105] In addition, it should be noted that the use of "first", "second" and the like to define parts only facilitates the differentiation of corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as a limitation on the scope of protection of the application.

[0106] The above only describes the preferred embodiments of the application and is not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the scope of protection of the application.

Claims

1. A configuration file based adaptive access and data conversion method for heterogeneous unmanned platforms, characterized in that, The method comprises: S100, constructing a multi-interface adaptive access function module; S102, connecting the multi-interface adaptive access function module; S104, after the multi-interface adaptive access function module is powered on, detecting whether an external USB storage device is connected to the USB interface, if yes, proceeding to S106, otherwise proceeding to S108; S106, obtaining a configuration file in the USB storage device, judging whether the obtained configuration file meets the storage requirement, and storing in a database configuration folder in the case of meeting the storage requirement; S108, traversing the configuration files in the database configuration folder; S110, judging whether all the configuration files have been traversed, if yes, returning to S104, otherwise proceeding to S112; S112, reading the configuration file, and dynamically configuring the communication interface of the unmanned platform according to the configuration file to perform data communication; S114, judging whether data is received through the communication interface, if yes, proceeding to S116, otherwise returning to S108; S116, judging whether the data characteristics of the read data are consistent with the data characteristics in the configuration file, if yes, proceeding to S118, otherwise returning to S108; S118, performing 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 to perform data transmission.

2. The method of claim 1, wherein, After S108, the method further comprises: S200, reading the configuration file, and determining the video interface of the unmanned platform according to the configuration file; S210, performing encoding and decoding operation 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, performing video push stream operation; S216, judging whether the push stream is successful, if yes, ending the process, otherwise returning to S214.

3. The method of claim 2, wherein, The judgment in S106 whether the obtained configuration file meets the storage requirement comprises: judging whether a file with the same name as the obtained configuration file exists in the database configuration folder, if yes, the storage requirement is not met, otherwise the storage requirement is met.

4. The method of claim 3, wherein, The data characteristics comprise protocol data header and trailer, data ID, data length, protocol verification mode and verification value.

5. The method of claim 4, wherein, The protocol information comprises index range, data type, size end format and weight of the protocol field defined by key-value pair.

6. The method of claim 5, wherein, The dynamic configuration of the communication interface of the unmanned platform according to the configuration file to perform data communication in S112 comprises: in the case that the communication interface type defined in the configuration file is an Ethernet interface, modifying the Ethernet interface IP, mask and gateway of the unmanned platform according to the configuration file, and judging whether the Ethernet interface is in a connected state, if yes, performing S114, otherwise returning to S108.

7. The method of claim 5, wherein, The dynamic configuration of the communication interface of the unmanned platform according to the configuration file to perform data communication in S112 comprises: in the case that the communication interface type defined in the configuration file is an RS232 / 422 / 485 interface, modifying the port baud rate, verification bit and stop bit of the unmanned platform according to the configuration file.

8. The method of claim 5, wherein, The dynamic configuration of the communication interface of the unmanned platform according to the configuration file to perform data communication in S112 comprises: In the case that 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 of claim 5, wherein, The automatic conversion of the communication protocol between the unmanned platform and the standardized operation terminal according to the protocol information defined in the configuration file in S118 includes: reading the key field defined by the standardized operation terminal in sequence; determining the index position, data type, size end format and weight of the read key field in the standardized operation terminal protocol data by analyzing the subfields of the read key field; searching for a field matching the read key field in the unmanned platform, and determining the index position, data type and weight of the matching field in the unmanned platform protocol data; according to the corresponding key relationship of the standardized operation terminal and the unmanned platform, completing the extraction and conversion calculation of the corresponding protocol data of the unmanned platform, and filling the converted numerical value into the specified position of the standardized operation terminal protocol data.

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