CN103533041A - Unmanned underwater vehicle-oriented remote software updating method - Google Patents
Unmanned underwater vehicle-oriented remote software updating method Download PDFInfo
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Abstract
The invention discloses an unmanned underwater vehicle-oriented remote software updating method, which comprises the following steps of preparing software updating data packets according to the updating requirement; downloading the software updating data packets to a task control computer through a wireless telecommunication mode, wherein in order to ensure the reliability of software downloading, a downloading mode of software data packet-by-packet downloading and data transmission handshaking is adopted; performing merging and primary unpacking on the software updating data packets received packet by packet by the task control computer, and sending each updating data packet to a corresponding function computer through a network communication mode; performing secondary unpacking on received sub updating data packets by all underwater function computers which need to be updated, and then, performing software updating. According to the unmanned underwater vehicle-oriented remote software updating method disclosed by the invention, the software updating is performed by adopting a method that various communication modes are combined, so that the software updating process of an unmanned underwater vehicle is more convenient and rapid.
Description
Technical field
The present invention relates to software upgrading field, relate in particular to a kind of towards the remote software update method of unmanned vehicles under water.
Background technology
Control software concerning unmanned vehicles under water, can be compared to the soul of unmanned vehicles under water, the maturity of software has determined the maturity of unmanned vehicles under water to a certain extent.Unmanned vehicles may need constantly to upgrade being arranged on the software of the functional machines such as task control computer in unmanned vehicles sealed compartment under water, motion control computer, navigational computer, location guiding computer in process of the test under water.And at present, adopt traditional approach to carry out software upgrading to unmanned vehicles under water and must be reclaimed, then by network communication mode, carry out software upgrading.Monitor surface computer is as the required software update data bag of each functional machine under server end storage of water, and functional machine is set up network as client and server and is connected under water, then the more new data packets sending by network reception server end, mode that traditional unmanned vehicles under water carries out software upgrading that Here it is.Owing to being subject to the restriction of network service distance, traditional software upgrading mode must complete within closely.
There is following shortcoming in the mode that above-mentioned traditional unmanned vehicles under water carries out software upgrading: because network service distance is short; therefore if will carry out software upgrading for carrying out the unmanned vehicles under water of underwater operation; must reclaim it; wired network communication also needs manually netting twine to be inserted under water and just can to communicate on unmanned vehicles conventionally, and wireless communication operating distance is very limited.This software upgrading communication mode has not only interrupted ongoing underwater operation, and has increased cost recovery.In a word, this mode is not suitable for the unmanned vehicles under water of remote job to carry out software upgrading.
Summary of the invention
The object of the present invention is to provide a kind of can facilitating, quick, and the method for effectively unmanned vehicles under water of long distance work being carried out software upgrading.In software upgrading process, take monitor surface computer as update software transmit leg, recipient of task control computer under water, each functional machine is secondary recipient, the method that adopts plurality of communication schemes to combine is carried out transfer of data, whole process does not need lifting to reclaim, do not need dismounting unmanned vehicles under water, make the software upgrading process of unmanned vehicles under water convenient, quick, especially can realize the remote software update of unmanned vehicles under water.
The present invention realizes by following steps:
A), according to upgrading demand, monitor surface computer carries out encapsulation process by the corresponding document of the required update software of each functional machine under water, prepares software update data bag;
B) monitor surface computer sends software upgrading notice to task control computer;
C) task control computer receives after the software upgrading notice of monitor surface computer, according to the operating state of unmanned vehicles under water, selects suitable communication pattern to realize replying of monitor surface computer and task control intercomputer;
D) after the software upgrading that monitor surface computer receives task control computer is replied, by radio, satellite communication or underwater sound communication mode, software update data bag is downloaded to task control computer, for the reliability that guarantees that software is downloaded, the downloading mode that has adopted software package subpackage download and transfer of data to shake hands;
E) the software update data bag that task control computer receives subpackage merges and once unpacks, according to son more the sign judgement of new data packets need the functional machine of software upgrading, and notify it to carry out software upgrading preparation, then by each son more new data packets by network communication mode, send to corresponding function computer;
F) each that needs software upgrading under water functional machine by the son receiving more new data packets carry out secondary and unpack, then carry out software upgrading, with software update file displacement corresponding software ancient deed;
G) accordingly under water functional machine after software upgrading, by network communication mode, inform that task control computer upgrades complete, then by task control computer, by radio, satellite communication or underwater sound communication mode, to monitor surface computer reporting software, upgrade complete;
H) monitor surface computer judges whether to resend according to the renewal performance of each functional machine under water, if there is the failure of function updating computer software, by monitor surface computer, resend more new data packets, repeating step a)-h), otherwise finish software upgrading process.
Described software upgrading step is prepared more new data packets in a) and is also comprised step by step following:
A1) monitor surface computer will need each functional machine sign of software upgrading and the corresponding document of required update software thereof to encapsulate under water, form more new data packets of son, the sub more particular content of new data packets comprises needs the functional machine of software upgrading sign, the filename length of required update software corresponding document, the length of file content, filename, file content and check code etc.;
A2) monitor surface computer upgrades packet combining by each son, carry out secondary encapsulation with software upgrading sign, bag length and check code etc., form software update data bag, the particular content of software update data bag comprises length, software upgrading sign, each son more new data packets, check code etc.
Described software upgrading step b) and c) in, monitor surface computer sends update notification and task control computer to task control computer and receives and reply after update notification and carry out software upgrading preparation.
Described software upgrading steps d) in, monitor surface computer downloads to task control computer by radio communication mode by software update data bag, for the reliability that guarantees that software is downloaded, the downloading mode that has adopted software package subpackage download and transfer of data to shake hands, this process specifically comprises the following steps:
D1) monitor surface computer downloads to task control computer by software update data bag by radio, satellite communication or the subpackage of underwater sound communication mode;
D2) task control computer receives software update data bag, first, by judging that to wrapping the analysis of long and check code whether packet is complete, then to monitor surface computer, sends a feedback data packet.Described feedback data packet comprises software update data bag sign and the whether complete sign of this packet;
D3) monitor surface computer is received after the feedback data packet of task control computer transmission, according to the whether complete sign of packet wherein, judges, if imperfect, resends.
Described software upgrading step e) in, specifically comprise the following steps:
E1) task control computer receives after complete software update data bag, once unpacks, according to needing the sign of carrying out software upgrade function computer by the more new data packets separation of each son in packet;
E2) task control computer notice needs the functional machine of software upgrading to carry out software upgrading preparation;
E3) task control computer by each son more new data packets by network communication mode, send to each corresponding function computer.
Described software upgrading step f) each that needs in to upgrade under water functional machine by the son receiving more new data packets carry out secondary and unpack, then carry out software upgrading, with software update file displacement corresponding software ancient deed, this process specifically comprises the following steps:
F1) each under water functional machine by the son receiving more new data packets carry out secondary and unpack, obtain file name length and the file content length of required update software;
F2) according to filename length, obtain file name, according to file content length, obtain the file content of required renewal;
F3) each filename that functional machine obtains after secondary is unpacked under water detects.If this document exists, by its content direct replacement, be to unpack the file content obtaining, otherwise create this document, and its content is replaced into and unpacks the file content obtaining;
F4) upgrade completely, prepare to upgrade complete packet.
Described software upgrading step g) in, specifically comprise the following steps:
G1) functional machine, after software upgrading, will upgrade complete Packet Generation to task control computer by network communication mode under water accordingly;
G2) task control computer sends to monitor surface computer by the complete packet of the renewal of each functional machine receiving by radio communication mode.Upgrade complete packet particular content and comprise whether the sign of functional machine and software upgrading successfully identify.
Described software upgrading step h) in, monitor surface computer judges whether to resend according to the renewal performance of each functional machine under water, if there is the failure of function updating computer software, by monitor surface computer, resend more new data packets, repeating step a)-h), otherwise finish software upgrading process, specifically comprise the following steps:
H1) monitor surface computer upgrades complete packet and unpacks each, according to the sign of each functional machine under water and software upgrading thereof whether successfully sign judge whether to resend;
H2) if there is function computer software not to be updated successfully, resend, repeating step a)-h), otherwise finish software upgrading process.
Described step h) if in the functional machine that has software not to be updated successfully, resend, repeating step a)-h), it is characterized in that, only again perform step a) while preparing software update data bag and the more new data of the unsuccessful functional machine of software upgrading need be encapsulated, the functional machine being updated successfully is upgraded without repeating.
With tradition under water unmanned vehicles Oftware updating method compare, the invention has the advantages that the software that can realize the inner whole computer system of unmanned vehicles under water carries out remote update, software upgrading distance compare tradition under water unmanned vehicles Oftware updating method greatly increase.While adopting the present invention to carry out software upgrading, do not need unmanned vehicles under water to lift by crane, reclaim, be particularly useful for the unmanned vehicles under water of remote job.The present invention is towards a kind of convenience of unmanned vehicles under water, quick and effective remote software update method.
Accompanying drawing explanation
Fig. 1 is towards the block diagram of the remote software update method of unmanned vehicles under water;
Fig. 2 is towards the flow chart of the remote software update method of unmanned vehicles under water;
Fig. 3 is the flow chart that monitor surface computer transmission update notification and task control computer are replied;
Fig. 4 is the flow chart that software package subpackage download and transfer of data are shaken hands;
Fig. 5 is unmanned vehicles inner computer software upgrading process flow diagram under water.
Embodiment
The present invention proposes a kind of towards the remote software update method of unmanned vehicles under water, for upgrading being arranged on the remote software of the functional machines such as task control computer in unmanned vehicles sealed compartment under water, motion control computer, navigational computer, location guiding computer by monitor surface computer.According to communication condition and remote job mission requirements, the plurality of communication schemes that adopts radio, satellite communication and underwater sound communication to combine is carried out software update data transmission, consider that above-mentioned three kinds of communication modes exist a little feature of transmitted data amount, the remote download mode of using software update data bag subpackage download and transfer of data to shake hands is proposed, with the reliability that guarantees that software is downloaded.Because adopting the method that plurality of communication schemes combines, the present invention carries out software upgrading, whole process does not need lifting to reclaim, do not need dismounting unmanned vehicles under water, make the software upgrading process of unmanned vehicles under water convenient, quick, especially can realize the remote software update of unmanned vehicles under water.
The present invention can be widely used in the remote software update of unmanned vehicles under water, can be easily and effectively the software of unmanned vehicles be under water upgraded at a distance.Below in conjunction with accompanying drawing, further illustrate feature of the present invention and function.
It is a kind of towards the remote software update method of unmanned vehicles under water that the embodiment of the present invention provides, and comprising: (1) multiple communication modes is for remote software new data transmission more; (2) encapsulation of monitor surface computer to update software packet; (3) function calculating loom upgrades packet; (4) software update data bag; (5) monitor surface computer and the under water acknowledge communication of unmanned vehicles; (6) the remote download mode that software update data bag subpackage download and transfer of data are shaken hands; (7) software package merges and unpacks; (8) executive software upgrades; (9) upgrade complete packet; (10) software upgrading performance judgement.
Wherein, multiple communication modes is used for more new data transmission of remote software, monitor surface computer can carry out transfer of data by network, radio, satellite communication and four kinds of communication patterns of underwater acoustic communication and unmanned vehicles under water, and can according to communication condition and under water unmanned vehicles work requirements between four kinds of communication modes, switch.
Preferably, monitor surface computer encapsulates update software packet.First by needing to carry out each functional machine sign of software upgrading and the corresponding document of required update software thereof under water, encapsulate, form more new data packets of son, secondly each son is upgraded to packet combining, carry out secondary encapsulation with software upgrading sign, bag length and check code etc. simultaneously, form software update data bag.
Optionally, the particular content that function calculating loom upgrades packet comprises that the functional machine sign, the filename length of required update software corresponding document of needs renewal are, the length of file content, filename, file content and check code etc.
Optionally, the particular content of software update data bag comprises that length, software upgrading sign, function calculating loom upgrade packet, check code etc.
Preferably, according to the operating state of unmanned vehicles under water, select corresponding communication pattern to realize the acknowledge communication of monitor surface computer and task control intercomputer.
Preferably, the remote download mode that use software update data bag subpackage download and transfer of data are shaken hands is proposed, with the reliability that guarantees that software is downloaded.Specifically comprise the following steps:
Monitor surface computer is downloaded software update data bag mode with subpackage transfers to task control computer, and the transport data communications pattern basis under water operating state of unmanned vehicles is freely switched between radio, satellite communication and underwater sound communication;
Task control computer receives more after new data packets, first by judge that to wrapping the analysis of long and check code whether packet is complete, then to a feedback data packet of monitor surface computer transmission.Described feedback data packet comprises software update data bag sign and the whether complete sign of this packet;
Monitor surface computer is received after the feedback data packet of task control computer transmission, according to the whether complete sign of packet wherein, judges, if imperfect, resends, and realizes transfer of data and shakes hands.
Preferably, need to the software update data bag receiving be merged and be unpacked.Then the software update data inclusion that task control computer receives subpackage also once unpacks, according to the son functional machine that more the sign judgement of new data packets need to be upgraded, and notify it to carry out software upgrading preparation, simultaneously by each son more new data packets by network communication mode, send to corresponding function computer, each need renewal under water functional machine by the son receiving more new data packets carry out secondary and unpack.
Optionally, it is with software update data APMB package displacement corresponding software ancient deed that executive software upgrades, and after upgrading, prepares to upgrade complete packet.
Preferably, by each functional machine, generated and upgraded complete packet, its particular content comprises whether the sign of each functional machine and software upgrading thereof successfully identify.Each functional machine will upgrade complete Packet Generation to task control computer by network communication mode, and task control computer sends to monitor surface computer by the complete packet of the renewal receiving by radio, satellite communication or underwater sound communication mode.
Preferably, need judge software upgrading performance.Monitor surface computer upgrades performance and whether needs to resend software update data bag according to the complete packet judgement of the renewal receiving.If there is the failure of function updating computer software, by monitor surface computer, resend more new data packets, again carry out while preparing software update data bag and only the more new data of the functional machine of software upgrading failure need be encapsulated, the functional machine being updated successfully is upgraded without repeating.Otherwise software upgrading process is complete.
Fig. 1 is towards the block diagram of the remote software update method of unmanned vehicles under water.Functional machine in unmanned vehicles sealed compartment mainly comprises task control computer, motion control computer, navigational computer, location guiding computer etc. under water.The present invention is directed to this under water unmanned vehicles system carry out remote software renewal, information interaction between monitor surface computer and task control computer adopts radio, satellite communication or underwater sound communication mode, and unmanned vehicles internal task is controlled the information interaction Adoption Network communication mode between computer and other functional machine under water.Monitor surface computer encapsulates the required software update information of each functional machine, software update data bag is downloaded to task control computer, then by task control computer, each son obtaining after once unpacking is upgraded to Packet Generation to other each corresponding function computer.Each functional machine upgrades complete, informs task control machine, then will upgrade complete Packet Generation to monitor surface computer by task control computer.Monitor surface computer has judged whether the failure of function updating computer software according to upgrading complete packet, if having, needs to resend more new data packets.
Fig. 2 is towards the program flow diagram of the remote software update method of unmanned vehicles under water.Concrete steps can be expressed as:
Step 1, according to software upgrading demand, monitor surface computer carries out encapsulation process by the corresponding document of the required update software of each functional machine under water, prepares software update data bag, and this process is further comprising the steps of:
1) monitor surface computer, by needing each functional machine sign of software upgrading and the corresponding document of required update software thereof to encapsulate, forms more new data packets of son under water;
2) monitor surface computer upgrades packet combining by each son, carries out secondary encapsulation with software upgrading sign, bag length and check code etc., forms software update data bag;
Wherein, the son of each functional machine more the particular content of new data packets comprise that functional machine sign that needs upgrade, the filename length of required update software corresponding document are, the length of file content, filename, file content and check code etc.The particular content of software update data bag comprises length, software upgrading sign, each son more new data packets, check code etc.
Step 2, monitor surface computer sends software upgrading notice to task control computer;
Step 3, task control computer receives after the software upgrading notice of monitor surface computer, according to the operating state of unmanned vehicles under water, selects suitable communication pattern to realize replying of monitor surface computer and task control intercomputer; The detailed process of step 2 and step 3 is shown in Fig. 3.
Step 4, after the software upgrading that monitor surface computer receives task control computer is replied, by radio, satellite communication or underwater sound communication mode, software update data bag is downloaded to task control computer, for the reliability that guarantees that software is downloaded, the downloading mode that has adopted software package subpackage download and transfer of data to shake hands, is specifically shown in Fig. 4.
Step 5, the software update data bag that task control computer receives subpackage merges and once unpacks, according to son more the judgement of the sign of the functional machine in new data packets need the functional machine of software upgrading, and notify it to carry out software upgrading preparation, then by each son more new data packets by network communication mode, send to corresponding function computer.
Step 6, each that needs software upgrading under water functional machine by the son receiving more new data packets carry out secondary and unpack, then carry out software upgrading, with software update file displacement corresponding software ancient deed.
Step 7, respectively functional machine, after software upgrading, will upgrade complete Packet Generation to task control computer by network communication mode under water.Task control computer sends to monitor surface computer by the complete packet of the renewal of each functional machine receiving by radio communication mode.Step 6 and step 7 embodiment are shown in Fig. 5.
Step 8, whether monitor surface computer upgrades complete packet and unpacks each, according to sign and the software upgrading thereof of each functional machine under water, successfully identify and judge whether to resend.If there is the failure of function updating computer software, by monitor surface computer, resend more new data packets, repeating step 1-8, otherwise finish software upgrading process.
Wherein, if there is function computer software not to be updated successfully, while again performing step 1 preparation software update data bag, only the more new data of the unsuccessful functional machine of software upgrading need be encapsulated, the functional machine being updated successfully is upgraded without repeating.
Fig. 3 is the flow chart that monitor surface computer transmission update notification and task control computer are replied, and has explained in detail the detailed process of step 2 and step 3.First according to the depth information of unmanned vehicles under water, judge that it is in water surface operating state or in underwater operation state, as in water surface operating state, directly by radio or satellite communication mode, to task control computer, send software upgrading and notify; As in underwater operation state, by underwater sound communication mode, to task control computer, sending software upgrading notifies, then according to job task demand, further judge whether to need unmanned vehicles under water to float up to the water surface, if, task control computer is first controlled unmanned vehicles under water and is floated up to the water surface, then by radio or satellite communication mode, the software upgrading notice of monitor surface computer is replied, if not, by underwater acoustic communication mode, reply.
Fig. 4 is the flow chart that software package subpackage download and transfer of data are shaken hands, and is the detailed step of step 4, and first monitor surface computer downloads to task control computer by software update data bag by the subpackage of radio communication mode; Task control computer receives more after new data packets, first by judge that to wrapping the analysis of long and check code whether packet is complete, then to a feedback data packet of monitor surface computer transmission.Described feedback data packet comprises software update data bag sign and the whether complete sign of this packet; Monitor surface computer is received after the feedback data packet of task control computer transmission, according to the whether complete sign of packet wherein, judges, if imperfect, resends.
Fig. 5 is unmanned vehicles inner computer software upgrading process flow diagram under water, it is the specific implementation process of step 6 and step 7, each under water functional machine by the son receiving more new data packets carry out secondary and unpack, obtain file name length and the file content length of required update software; According to filename length, obtain file name, according to file content length, obtain the file content of required renewal; Respectively functional machine detects the filename obtaining after unpacking under water.If this document exists, by its content direct replacement, be to unpack the file content obtaining, otherwise create this document, and its content is replaced into and unpacks the file content obtaining; Upgrade completely, prepare to upgrade complete packet.Wherein, the complete packet particular content of described renewal comprises whether the sign of functional machine and software upgrading thereof successfully identify.
The present invention is mainly towards the remote software update of unmanned vehicles under water, can be easily and effectively the software of unmanned vehicles be under water upgraded at a distance.In the situation that not departing from inventive concept, the various equivalences that all application specification of the present invention and accompanying drawing content are done change, and all reason is with being contained within the scope of claim of the present invention.
Claims (8)
1. towards a remote software update method for unmanned vehicles under water, it is characterized in that, comprising:
A), according to upgrading demand, monitor surface computer generates software update data bag;
B) described monitor surface computer sends software upgrading notice to task control computer;
C) described task control computer receives after the software upgrading notice of described monitor surface computer, selects communication pattern to send software upgrading to described monitor surface computer reply according to the operating state of unmanned vehicles under water;
D) software upgrading that described monitor surface computer receives described task control computer sends to task control computer by software update data bag after replying;
E) described task control computer merges the software update data bag of reception and once unpack, according to son more the sign judgement of new data packets need the functional machine of software upgrading, and by each son more new data packets by network communication mode, send to the functional machine that needs software upgrading;
F) each that needs software upgrading under water functional machine by the son receiving more new data packets carry out secondary and unpack, then carry out software upgrading.
2. method according to claim 1, is characterized in that, after described step f), also comprises:
G) need the functional machine under water of software upgrading after software upgrading, inform that described task control computer upgrades complete, then by described task control computer, to described monitor surface computer reporting software, upgrade complete;
H) described monitor surface computer judges whether to resend software update data bag according to the renewal performance of each functional machine under water, if there is the failure of function updating computer software, by described monitor surface computer, resend software update data bag, otherwise finish software upgrading process.
3. method according to claim 1, is characterized in that, described step a) comprising:
A1) described monitor surface computer, by needing each functional machine sign of software upgrading and the corresponding document of required update software thereof to encapsulate, forms more new data packets of son under water;
A2) described monitor surface computer upgrades packet combining by each son, carries out secondary encapsulation with software upgrading sign, bag length and check code etc., forms software update data bag.
4. method according to claim 1, it is characterized in that, described son more new data packets comprises: need the filename length of file of the functional machine sign of software upgrading, required update software, the length of file content, filename, file content and check code; Described software update data bag comprises: bag length, software upgrading sign, each son be new data packets and check code more.
5. method according to claim 1, is characterized in that, described steps d) comprising:
D1) described monitor surface computer sends to described task control computer by software update data bag by radio, satellite communication or the subpackage of underwater sound communication mode;
D2) after described task control computer receives software update data bag, by judging that to wrapping the analysis of long and check code whether packet is complete, then to monitor surface computer, send feedback data packet, described feedback data packet comprises software update data bag sign and the whether complete sign of this packet;
D3) described monitor surface computer is received after the feedback data packet of described task control computer transmission, according to the whether complete sign of packet wherein, judges, if judge, this packet is imperfect, resends this packet.
6. method according to claim 1, is characterized in that, described step f) comprising:
F1) each under water functional machine by the son receiving more new data packets carry out secondary and unpack, obtain file name length and the file content length of required update software;
F2) according to filename length, obtain file name, according to file content length, obtain the file content of required renewal;
F3) each filename that functional machine obtains after secondary is unpacked under water detects, if this document exists, by its content direct replacement, be to unpack the file content obtaining, otherwise create this document, and its content is replaced into and unpacks the file content obtaining;
F4) upgrade completely, prepare to upgrade complete packet.
7. method according to claim 2, is characterized in that, described step g) comprising:
G1) functional machine, after software upgrading, will upgrade complete Packet Generation to described task control computer by network communication mode under water accordingly;
G2) described task control computer sends to monitor surface computer by the complete packet of the renewal of each functional machine receiving by radio communication mode, wherein, upgrade complete packet and comprise whether the sign of functional machine and software upgrading successfully identify.
8. method according to claim 2, is characterized in that, described step h) comprising:
H1) monitor surface computer upgrades complete packet and unpacks each, according to the sign of each functional machine under water and software upgrading thereof whether successfully sign judge whether to resend;
H2) if there is function computer software not to be updated successfully, resend, repeating step a)-h), otherwise finish software upgrading process.
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