Heterogeneous unmanned equipment access processing device and method

Abstract

The invention belongs to the technical field of communication, and discloses a heterogeneous unmanned equipment access processing device and method.The access processing device comprises a first module, a second module, a fourth module, a third module and a fifth module; through cooperative operation of the modules, access and flexible adjustment of various heterogeneous unmanned devices can be supported at a low cost, and an effective network security protection capability is provided, so that the requirements of the unmanned application field on integration cost and security are met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of communication, and particularly relates to a heterogeneous unmanned device access processing device and method. BACKGROUND

[0002] Unmanned devices are increasingly widely used in many fields, and the intelligent level is continuously improved. At present, they have gradually developed from single-device execution of simple tasks to multi-device cooperation for execution of complex tasks. How to connect multiple unmanned devices, obtain sensing information, and perform unified control is an important basis for realizing the cooperative work of multiple unmanned devices.

[0003] An unmanned device is generally composed of a control station and an unmanned platform. A controller connects a single or multiple unmanned platforms through a measurement and control and data transmission communication link to realize operation control and data return of the unmanned device. According to the size of the unmanned device, the control station and the unmanned platform can be in a one-to-one or one-to-many relationship. If it is necessary to perform unified control on a large number of unmanned devices with complex functions, the control station is generally composed of multiple communication devices and device control terminals. The communication devices include data transmission and measurement and control terminals, and each communication device can connect one or several unmanned platforms. The device control terminal (or server) provides functions such as processing of return data of the unmanned platform and presentation interface of human-computer operation, and is the "brain" of the multi-unmanned device system. The multiple devices of the control station are connected through a control station network, which can be a local area network or a wide area network in a physical manner, and can include multiple networks and security devices. Figure 1

[0004] Figure 1 In the prior art, the existing design can realize access and data exchange of multiple unmanned devices, and can support unified data processing and operation of multiple unmanned devices on the device control terminal. However, the communication and control mechanism of the control station and the multiple unmanned devices are tightly coupled, which limits the independent update and evolution of the control program and the unmanned device to some extent. Especially when the system needs to integrate multiple heterogeneous unmanned devices from different manufacturers with different communication protocols, some challenges in cost, scalability and security will be faced: (1) The communication data protocols of different unmanned devices can be significantly different. When the unmanned device needs to be replaced or the control program needs to be upgraded, the unmanned control and data processing software of the device control terminal needs to be modified, and the firewall security policy, network forwarding policy and other parameters in the network also need to be modified. If the unmanned device and the system application belong to multiple different manufacturers, a lot of new work will be brought.

[0005] (2) The security levels of different unmanned devices can be different, but the system does not establish adaptive security protection means on the control station side, which can cause malicious personnel to attack other unmanned devices or device control terminals in the system through a certain unmanned device as a stepping stone, causing serious impact. ​

[0006] (3) The market has a large number of small unmanned equipment products with simple functions, which use integrated unmanned control stations, that is, the measurement and control / telemetry communication and unmanned operation program are integrated in a single remote control device, and a separate communication terminal and device control terminal product is not directly provided, and cannot be integrated into the system without separate customization.

[0007] Therefore, it is urgent to design a processing method that is more suitable for access of multiple heterogeneous unmanned equipment, which can provide good scalability to adapt to flexible access of unmanned equipment with various technical heterogeneity, and has a perfect security protection mechanism, thereby supporting rapid integration and application of multiple heterogeneous unmanned equipment. SUMMARY

[0008] The purpose of the present application is to overcome the problems of the prior art, and to disclose a heterogeneous unmanned equipment access processing device and method, which can support the access and flexible adjustment of multiple heterogeneous unmanned equipment at a lower cost, and provide effective network security protection capability to meet the needs of integration cost and security in the field of unmanned application.

[0009] In one aspect, the purpose of the present application is achieved by the following technical solutions: A heterogeneous unmanned equipment access processing device, comprising: A plurality of first modules, each first module being deployed at a device control terminal of each unmanned equipment, for serving as an issuing interface for unmanned equipment control instructions and an uploading interface for extracting return data at the device control terminal; A plurality of second modules, each second module being connected to the device control terminal of each unmanned equipment point-to-point, realizing the connection of the access processing device and the device control terminal of each unmanned equipment, to issue control instructions to the corresponding first module, and receive return data from the first module; A third module, which realizes the controlled exchange of data between the modules in the access processing device through strong security design by using independent channels; A fourth module, which establishes data connection between the third module and each first module, realizes identity authentication, access control of various heterogeneous unmanned equipment, and adapts and converts different control instructions and return data; the conversion processing includes converting the data uploaded by the unmanned equipment into the same format and sending it to the fifth module, and converting the control instructions issued by the fifth module into a data format that can be recognized by different unmanned equipment and sending it to different device control terminals; A fifth module, which performs comprehensive processing on the data uploaded by the fourth module, generates control instructions for each unmanned equipment and sends them to the fourth module, and the fifth module is connected to an external centralized device control terminal to provide a human-computer interaction interface for the operator.

[0010] According to a preferred embodiment, the first module is embedded in software provided in the device control terminal.

[0011] According to a preferred embodiment, the strong security design in the third module includes independent exchange channels, network isolation and traffic filtering means.

[0012] According to a preferred embodiment, the data exchange relationship in the third module is: The second module and the fourth module exchange data bidirectionally, the fourth module and the fifth module exchange data bidirectionally, and the different second modules cannot exchange data directly, and the second module and the fifth module cannot exchange data directly.

[0013] In another aspect, the present application also discloses: A heterogeneous unmanned device access processing method based on the access processing device, the heterogeneous unmanned device access processing method comprising: S1, the first module and the fourth module perform a security authentication process, and the fourth module controls the third module to open a corresponding service data exchange channel; S2, the first module obtains data to be collected and uploaded according to the external interface protocol of the device control terminal, and sends the data to the fourth module through the second module; S3, the second module realizes internal and external interface conversion, and sends the data from the first module to the third module; S4, the third module exchanges the collected data received from the second module to the fourth module; S5, after the fourth module receives the collected data from each unmanned device, the fourth module performs data normalization processing, converts data of different formats into the same data format, and then sends the converted data to the third module; S6, the third module exchanges the collected data received from the fourth module to the fifth module; S7, the fifth module receives the collected data of the same format from different unmanned devices from the third module, and performs comprehensive processing as needed to realize multi-device joint environmental perception and data fusion; S8, the fifth module generates control instructions for each unmanned device according to user operation or preset strategy, and sends the control instructions to the third module; S9, the third module exchanges the control instructions to the fourth module; S10, the fourth module converts the control instructions sent by the fifth module into control instructions meeting the data format requirements of different unmanned devices, and sends the control instructions to the third module; S11, the third module exchanges the control instructions for different unmanned devices to the corresponding second module; S12. The second module performs internal and external interface conversion and sends control commands to the connected first module. S13. The first module sends control commands to the device control terminal according to the external interface protocol of the device control terminal, and the device control terminal executes the subsequent commands.

[0014] According to a preferred embodiment, the heterogeneous unmanned equipment access processing method further includes: S0, generating a device identity identifier in the first module of each unmanned equipment.

[0015] According to a preferred embodiment, in step S2, the data collected and uploaded includes: unmanned equipment data and unmanned equipment operating status data.

[0016] The aforementioned main solution and its various further alternative solutions can be freely combined to form multiple solutions, all of which are solutions that can be adopted and are claimed in this application. Those skilled in the art, after understanding the solution of this application, will realize that there are many combinations based on the prior art and common general knowledge, all of which are technical solutions to be protected in this application, and will not be exhaustively listed here.

[0017] The beneficial effects of this application are: 1) Perform data and command normalization conversion processing on unmanned devices with different interface protocols and data interface protocols, so that the types of unmanned devices in the system can be flexibly expanded and unmanned devices can be quickly upgraded. 2) For the comprehensive data processing and control functions of unmanned equipment, only a single protocol needs to be processed, which facilitates rapid iteration of the application on the centralized control side and reduces the cost of application innovation; 3) It can be connected through the equipment control terminal provided by the unmanned equipment itself, and can be widely adapted to a variety of unmanned equipment without special modification; 4) The use of highly secure partitioning and isolation methods improves the security of the system and avoids systemic impact caused by the infiltration of a single unmanned device. Attached Figure Description

[0018] Figure 1 This is the existing method for accessing multiple unmanned devices; Figure 2 This is a schematic diagram of the principle structure of the heterogeneous unmanned equipment access processing device of this application; Figure 3 This is a flowchart illustrating the heterogeneous unmanned equipment access processing method of this application. Detailed Implementation

[0019] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0020] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] Furthermore, it should be noted that unless otherwise specified in this application, the specific structures, connections, positions, power sources, etc. involved are all things that a person skilled in the art can know without creative effort based on the prior art.

[0023] refer to Figure 2 , Figure 3 As shown, this application discloses a heterogeneous unmanned equipment access processing device, which includes: a plurality of first modules, a plurality of second modules, a third module, a fourth module, and a fifth module.

[0024] Preferably, each first module is deployed on the device control terminal of each unmanned device. It is generally software embedded in the device control terminal and is used as an interface for issuing control commands to the unmanned device and for extracting and uploading data at the device control terminal.

[0025] Preferably, the second module is connected point-to-point to the device control terminal of each unmanned device, so as to realize the connection between the access processing device and the device control terminal of each unmanned device, so as to send control commands to the corresponding first module and receive the feedback data sent from the first module.

[0026] Preferably, the third module employs a robust security design (including but not limited to independent switching channels, network isolation, and traffic filtering) to enable controlled data exchange between modules within the access processing device via independent channels.

[0027] The data exchange relationships are as follows: bidirectional exchange between the second module and the fourth module, bidirectional exchange between the fourth module and the fifth module, but data cannot be directly exchanged between different second modules, and data cannot be directly exchanged between the second module and the fifth module.

[0028] Preferably, the fourth module establishes a data connection with each of the first modules via the third module to realize the identity authentication and access control of various heterogeneous unmanned devices, and to adapt and convert different control commands and returned data.

[0029] The conversion process includes converting the data uploaded by the unmanned equipment into the same format and sending it to the fifth module, and converting the control commands issued by the fifth module into data formats that can be recognized by different unmanned equipment and sending them to different equipment control terminals.

[0030] Preferably, the fifth module performs comprehensive processing of the data uploaded by the fourth module, generates control commands for each unmanned device, and sends them to the fourth module. The fifth module is connected to an external centralized device control terminal to provide a human-machine interface for the operator.

[0031] The specific methods for handling the integration of multiple heterogeneous unmanned devices are as follows: Step S0: Generate device identification in the first module of each unmanned device.

[0032] Step S1: The first module and the fourth module perform a security authentication process, and the fourth module controls the third module to open the corresponding business data exchange channel.

[0033] Step S2: The first module obtains the data to be collected and uploaded according to the external interface protocol of the device control terminal, such as unmanned equipment data including environmental images and unmanned equipment operating status data, and sends it to the fourth module through the second module.

[0034] Step S3: The second module performs internal and external interface conversion, sending the data sent by the first module to the third module.

[0035] Step S4: The third module exchanges the collected data received from the second module with the fourth module.

[0036] Step S5: After receiving the collected data from various unmanned devices, the fourth module performs data normalization processing, converting data of different formats into the same data format, and then sends the converted data to the third module.

[0037] Step S6: The third module exchanges the collected data received from the fourth module with the fifth module.

[0038] Step S7: The fifth module receives the same format of collected data from different unmanned devices from the fourth module, performs comprehensive processing as needed, and realizes multi-device joint environmental perception and data fusion.

[0039] Step S8: The fifth module generates control commands for each unmanned device based on user operation or preset strategy and sends them to the third module.

[0040] Step S9: The third module exchanges the control commands to the fourth module.

[0041] Step S10: The fourth module converts the control commands sent by the fifth module into control commands that meet the data format requirements of different unmanned equipment, and then sends them to the third module.

[0042] Step S11: The third module exchanges control commands for different unmanned devices with the corresponding second module.

[0043] Step S12: The second module performs internal and external interface conversion and sends control commands to the connected first module.

[0044] Step S13: The first module sends control commands to the device control terminal according to the external interface protocol of the device control terminal, and the device control terminal executes the subsequent commands.

[0045] This application normalizes and converts data and commands for unmanned devices with different interface protocols and data interface protocols, enabling flexible expansion of unmanned device types and rapid upgrades. The comprehensive data processing and control functions of unmanned devices only require handling a single protocol, facilitating rapid iteration of the centralized control application and reducing the cost of application innovation. The application uses the device control terminal provided by the unmanned device itself for connection, allowing for broad adaptation to various unmanned devices without special modifications. Furthermore, the application employs highly secure partitioning and isolation methods to improve system security and prevent systemic impact caused by the infiltration of a single unmanned device.

[0046] Application Cases In an example of an access processing device that utilizes a variety of heterogeneous unmanned devices for environmental image capture, the relevant functional entities include multiple device control terminals (containing access agent software, i.e., the first module), one access processing device (containing n second modules, one third module, one fourth module, and one fifth module), and one centralized device control terminal.

[0047] Each unmanned device's control terminal embeds access agent software. The control terminal connects to the access processing device via Ethernet, USB, or Wi-Fi interfaces. Inside the access processing device, a third module connects to the second, fourth, and fifth modules via Ethernet. This third module is implemented using dedicated programmable hardware and only supports data exchange through preset channels and formats. The fifth module connects to the centralized device control terminal via an Ethernet interface.

[0048] Based on the corresponding access processing device, the specific implementation steps include: Step S1: The access agent software in each device control terminal performs two-way authentication with the fourth module based on the preset unmanned device identity (through the second and third modules; similar connection forwarding relationships will not be elaborated on later).

[0049] In step S2, after authentication is completed, the fourth module controls the third module to open the business data exchange channel with the corresponding access agent, and then bidirectional data communication can be carried out with the access agent.

[0050] Step S3: The access agent obtains the action status and captured image data of the unmanned device from the device control terminal and sends it to the fourth module. The data format and encapsulation protocol of different unmanned devices can be different.

[0051] Step S4: The fourth module converts data from multiple protocol formats into a single protocol format.

[0052] Step S5: The fourth module sends the converted single-format data to the fifth module.

[0053] Steps S6-7: The fifth module processes multiple data streams, enables functions such as image fusion, and can provide information such as the status and images of unmanned equipment to the centralized equipment control terminal.

[0054] Step S8: The operator issues new unmanned equipment movement and shooting operations through the centralized equipment control terminal.

[0055] In steps S9-S10, the fifth module generates control commands for the unmanned equipment based on user operations and sends them to the fourth module.

[0056] Steps S11-12: The fourth module converts the control commands, converts them into the corresponding format according to the interface protocol rules of different unmanned devices, and then sends them to the corresponding access agent software.

[0057] Step S13: The access agent software sends control commands to the device control terminal for execution.

[0058] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A heterogeneous unmanned equipment access processing device, characterized in that, The heterogeneous unmanned equipment access processing device includes: Several first modules are deployed on the equipment control terminal of each unmanned device, and are used as interfaces for issuing control commands to the unmanned device and for extracting and uploading data at the equipment control terminal. Several second modules are connected point-to-point to the equipment control terminal of each unmanned device, so as to realize the connection between the access processing device and the equipment control terminal of each unmanned device, so as to send control commands to the corresponding first module and receive the feedback data sent from the first module. The third module, through a robust security design, enables controlled data exchange between modules within the access processing device via independent channels. The fourth module establishes a data connection with each of the first modules through the third module to realize the identity authentication and access control of various heterogeneous unmanned devices, and to adapt and convert different control commands and returned data. The conversion process includes converting the data uploaded by the unmanned devices into the same format and sending it to the fifth module, and converting the control commands issued by the fifth module into data formats that can be recognized by different unmanned devices and sending them to different device control terminals. The fifth module performs comprehensive processing of the data uploaded by the fourth module, generates control commands for each unmanned device, and sends them to the fourth module. The fifth module is also connected to an external centralized device control terminal to provide a human-machine interface for the operator.

2. The heterogeneous unmanned equipment access processing device as described in claim 1, characterized in that, The first module is embedded in the software of the device control terminal.

3. The heterogeneous unmanned equipment access processing device as described in claim 1, characterized in that, The robust security design within the third module includes: independent switching channels, network isolation, and traffic filtering measures.

4. The heterogeneous unmanned equipment access processing device as described in claim 3, characterized in that, The data exchange relationship within the third module is as follows: The second module and the fourth module can exchange data bidirectionally, and the fourth module and the fifth module can exchange data bidirectionally. However, different second modules cannot exchange data directly, and the second module and the fifth module cannot exchange data directly.

5. A method for processing heterogeneous unmanned equipment access, characterized in that, Based on the access processing apparatus according to any one of claims 1 to 4, the heterogeneous unmanned equipment access processing method includes: S1. A security authentication process is executed between the first module and the fourth module. The fourth module controls the third module to open the corresponding business data exchange path. S2. The first module obtains the data to be collected and uploaded according to the external interface protocol of the device control terminal, and sends it to the fourth module through the second module; S3. The second module performs internal and external interface conversion, sending the data sent by the first module to the third module; S4. The third module will exchange the collected data received from the second module with the fourth module; S5. After receiving the collected data from various unmanned devices, the fourth module performs data normalization processing, converting data of different formats into the same data format, and then sends the converted data to the third module. S6. The third module will exchange the collected data received from the fourth module with the fifth module; S7. The fifth module receives collected data in the same format from different unmanned devices from the third module, performs comprehensive processing as needed, and realizes joint environmental perception and data fusion of multiple devices. S8. The fifth module generates control commands for each unmanned device based on user operations or preset strategies and sends them to the third module. S9. The third module switches the control commands to the fourth module; S10. The fourth module converts the control commands sent from the fifth module into control commands that meet the data format requirements of different unmanned equipment, and then sends them to the third module. S11, The third module will exchange control commands for different unmanned devices with the corresponding second module; S12. The second module performs internal and external interface conversion and sends control commands to the connected first module. S13. The first module sends control commands to the device control terminal according to the external interface protocol of the device control terminal, and the device control terminal executes the subsequent commands.

6. The heterogeneous unmanned equipment access processing method as described in claim 5, characterized in that, The heterogeneous unmanned equipment access processing method further includes: S0, generating a device identity identifier in the first module of each unmanned equipment.

7. The heterogeneous unmanned equipment access processing method as described in claim 5, characterized in that, In step S2, the data collected and uploaded includes: data collected by the unmanned equipment and data on the operating status of the unmanned equipment.

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