CN105373084B - Multi-platform cooperative Control on Communication accuses station and multi-platform cooperative communication control method - Google Patents
Multi-platform cooperative Control on Communication accuses station and multi-platform cooperative communication control method Download PDFInfo
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- CN105373084B CN105373084B CN201410395345.1A CN201410395345A CN105373084B CN 105373084 B CN105373084 B CN 105373084B CN 201410395345 A CN201410395345 A CN 201410395345A CN 105373084 B CN105373084 B CN 105373084B
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Abstract
The present invention provides a kind of multi-platform cooperative Control on Communication and accuses station and multi-platform cooperative communication control method, including：Mode selection module, master-slave mode management module, main operating mode module and from operating mode module；Master-slave mode management module is connected with main operating mode module and from operating mode module respectively；Main operating mode module includes：First host computer communication interface, the first test platform communication interface, the first cascaded communication interface, detection mission planning submodule, test platform bottom control submodule, detection mission battle state display submodule and test platform control interface；Include from operating mode module：Second test platform communication interface and the second cascaded communication interface.The communication for coordination of whole detection system control is melted as an entirety, the system complexity that each test platform decentralised control is brought is effectively reduced, simplifies whole communication control system framework, improve the operating efficiency, reliability and security of whole detection system.
Description
Technical field
The invention belongs to Communication Control Technology field, and in particular to a kind of multi-platform cooperative Control on Communication is accused station and put down more
Platform communication for coordination control method.
Background technology
If test platform is by the movable carrier platform with certain maneuverability and is carried on the carrier platform
Dry detection load composition, detection load can be various kinds of sensors, and target acquisition is carried out to search coverage by detecting load.
Because the detectivity of single detective platform is limited, it is difficult to complete the target acquisition under complex environment, therefore, go out in the prior art
Multi-platform cooperative detection is showed, the complex task that can not be completed by the single test platform of completion that acts synergistically.For example, pass through
Collaboration between unmanned plane, realize collaborative perception, concerted attack and co-interfere etc..
For multi-platform cooperative detection system, it is multi-platform between communication for coordination control belong to core, directly determine whole
The operating efficiency of individual detection system and task success or failure.In the prior art, it is distributed communication that conventional communication for coordination, which controls framework,
Framework is controlled, is made up of master control system and each platform point control system, i.e., each platform sub-control system is managed collectively by master control system
System, each platform point control system independently control respective platform and platform load.This kind control framework is made a distinction between the important and the lesser one, work(
Can be clear and definite, but the complicated network structure, particularly in the case that test platform is large number of, the mission planning of system is more multiple
Miscellaneous, the information interaction amount between test platform and master control system greatly increases, and so as to reduce system effectiveness, also easily occurs
Communication disruption and the problem of losing data, whole communication control system is caused to fail.
The content of the invention
The defects of existing for prior art, the present invention provide a kind of multi-platform cooperative Control on Communication and accuse station and multi-platform
Communication for coordination control method, to solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of multi-platform cooperative Control on Communication and accuses station, including：Mode selection module, master-slave mode
Management module, main operating mode module and from operating mode module；The master-slave mode management module respectively with the master
Operating mode module connects with described from operating mode module；
It is single-stage mode of operation or two-stage mode of operation that the mode selection module, which is used to configure this charge station,；
The master-slave mode management module is used for：According to the configuration result of the mode selection module, this master is judged
Control station is operated in main mode of operation or under mode of operation；If be operated under main mode of operation, start the main Working mould
Formula module；If be operated under mode of operation, start described from operating mode module；
The main operating mode module includes：First host computer communication interface, the first test platform communication interface, the first order
Join communication interface, detection mission planning submodule, test platform bottom control submodule, detection mission battle state display submodule and
Test platform control interface；Wherein, test platform includes carrier platform and detection load；
The first host computer communication interface is used for the charge station and communicated with host computer；
The first test platform communication interface is used for the communication for accusing station and each test platform；
The communication that the first cascaded communication interface is used between the charge station that this charge is stood and cascaded；
The detection mission planning submodule is used for：According to overall test mission requirements, with reference to the composition of acquisition station and each
The performance characteristics of test platform, generate the maneuver detecting task of each test platform；
The test platform bottom control submodule is used for：According to the composition and communication control processor of each test platform, knot
Its maneuver detecting mission requirements is closed, the control instruction of test platform is generated, realizes the bottom control to each test platform；
The test platform control interface includes status display sub-interface and test platform bottom control instruction input interface；
The status display sub-interface is used to showing that the test platform bottom control submodule to be generated to each detection
The control instruction of platform；
The test platform bottom control instruction input interface is used for：Receive the bottom to each test platform of client input
Layer control instruction, realizes and carries out manual intervention control to test platform；
The detection mission battle state display submodule is used for：Show the oneself state information and motion rail of each carrier platform
Mark, the detection information that each detection load obtains is shown, realizes that the visualization to whole detection mission situation is shown；
It is described to include from operating mode module：Second test platform communication interface and the second cascaded communication interface；
The second test platform communication interface is used for the communication for accusing station and each test platform；
The communication that the second cascaded communication interface is used between the charge station that this charge is stood and cascaded.
Preferably, the master-slave mode management module is specifically used for：If this charge station is single-stage mode of operation,
Start the main operating mode module, this charge station is operated in the state of main mode of operation；If this charge station is two-stage
Mode of operation, then determine whether that this charge station accuses that station or two level accuse station for one-level, accuse and stand if one-level, then start
The main operating mode module, makes this charge station be operated in the state of main mode of operation；Accuse and stand if two level, then start
It is described from operating mode module, this charge station is operated in the state of mode of operation.
Preferably, the first host computer communication interface is specifically used for：Receive that host computer sends to carrier platform and/or
Detect the control signal of load；Carrier platform is returned to host computer and/or detects the feedback signal of load；
The first test platform communication interface is specifically used for：By the first test platform communication interface, make charge
Stand and communicated with each carrier platform and/or detection load；For detecting load, according to control signal lattice caused by detection load
Formula and detectable signal form, needs are sent to the control instruction of detection load and the spy from detection load to receiving
Survey signal and carry out protocol conversion and form encapsulation；
The detection mission planning submodule is specifically used for：The motor-driven scheme of each carrier platform is generated, also generation detection carries
The specific detection mission of lotus；
The test platform bottom control submodule is specifically used for：Generation meets the bottom of each carrier platform communication control processor
Layer instruction, each carrier platform is directly acted on, while generate the load control for directly controlling detection load to perform corresponding actions and refer to
Order；
The test platform control interface also comes into force select button including pattern, and the pattern select button that comes into force is used for：
When the pattern come into force select button be triggered when, the test platform bottom control submodule generated to test platform
Control instruction is effective, and the control instruction inputted by the test platform bottom control instruction input interface is invalid；Conversely, work as
The pattern comes into force select button when not being triggered, the control inputted by the test platform bottom control instruction input interface
System instruction is effective, and the control instruction to test platform that the test platform bottom control submodule is generated is invalid；
The detection mission battle state display submodule is specifically used for：The motion for all carrier platforms being connected with accusing station
Track is shown in the same window；Show with the detection information of all detection load accused station and be connected in the same window
Show；The oneself state information of each carrier platform can shown in pop-up window.
Preferably, it is described to accuse that station passes through ethernet communication by the first host computer communication interface and host computer；Institute
Charge station is stated by passing through Ethernet between the first cascaded communication interface and the second cascaded communication interface and other charge stations
Realize the communication between charge station level connection；It is described to accuse that station passes through the first test platform communication interface or the second test platform
Communication interface uses serial communication mode with each carrier platform.
The present invention also provides a kind of multi-platform cooperative communication control method, comprises the following steps：
S1, multi-platform cooperative Control on Communication is accused that station is referred to as accused at station；
The current operation mode at this charge station is configured by mode selection module, if single-stage mode of operation, is then started
Main operating mode module, and perform S2, S3, S4 and S5；If two-stage mode of operation, then it is one to determine whether this charge station
Level accuse station or two level accuse station, if one-level accuse stand, then start main operating mode module, and perform S2, S3, S4 and
S6；Accuse and stand if two level, then start from operating mode module, and perform S7；
S2, it is described to accuse that station receives the overall test mission bit stream from host computer by the first host computer communication interface,
And overall test task data is gone out according to the data protocol format analysis of setting, the overall test task data that then will be parsed
It is sent to detection mission planning submodule；
S3, the detection mission planning submodule receive the overall test task data, will according to overall test task
Ask, with reference to the detection system composition of reality and the functional characteristics of each test platform, overall tasks planning is carried out, by optimum allocation plan
Task distribution is slightly carried out, determines the maneuvring route and load operation mode of each test platform；Then each detection is flat by determined by
The maneuvring route and load operation mode of platform are sent respectively to test platform bottom control submodule corresponding with test platform；
S4, the test platform bottom control submodule receive the maneuvring route and load operation side to specifying test platform
Formula, according to the instruction of the communication control processor generating platform maneuver autopilot of specified test platform and load operation control instruction；
S5, if this charge station is single-stage mode of operation, by the motor-driven control instruction of platform and load operation of S4 generations
Control instruction is sent to corresponding test platform by the first test platform communication interface；
Also include：Platform status and the detection information that test platform returns are received by the first test platform communication interface；
On the one hand, the platform status and detection information are sent to detection mission battle state display submodule；On the other hand, will be described flat
Mesa-shaped state and detection information are sent to the first host computer communication interface；
S6, if this charge station is two-stage mode of operation, by the motor-driven control instruction of platform and load operation of S4 generations
Control instruction is sent to two level by the first cascaded communication interface and accuses station；
Also include：The platform status and detection information returned by the first cascaded communication interface test platform；Then
The platform status and detection information are sent to the first host computer communication interface；
S7, the motor-driven control instruction of platform and load work at station are accused from upper level by the second cascaded communication interface
Make control instruction, and the motor-driven control instruction of the platform and load operation control instruction are sent to second test platform and led to
Believe interface；
The second test platform communication interface sends the motor-driven control instruction of the platform and load operation control instruction
To corresponding test platform；
Also include：
Platform status and the detection information that test platform returns are received by the second test platform communication interface, and led to
Cross the second cascaded communication interface and the platform status and detection information are transmitted to upper level charge station.
Beneficial effects of the present invention are as follows：
Multi-platform cooperative Control on Communication provided by the invention accuses station and multi-platform cooperative communication control method, will entirely visit
The communication for coordination control of examining system is melted only needs transmission overall test task can be to whole detection system for an entirety, host computer
System carries out Collaborative Control, effectively reduces the system complexity that each test platform decentralised control is brought, and simplifies whole communication control
System architecture processed, the setting up of its Two level control module efficiently solve between charge station and test platform serial communication distance by
The problem of limit, remote-control that can be by real-time performance to detection system, improve the operating efficiency, reliable of whole detection system
Property and security.
Brief description of the drawings
Fig. 1 is the integrated stand composition that multi-platform cooperative Control on Communication provided by the invention accuses station；
Fig. 2 is the flow chart of multi-platform cooperative communication control method provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail：
As shown in figure 1, the present invention, which provides a kind of multi-platform cooperative Control on Communication, accuses station, earth station system can be applied to
In, overall tasks planning is carried out according to mission requirements, is realized to polymorphic type, the maneuver detecting platform Collaborative Control of multi-quantity, together
When can be required to carry out the corresponding interface and communication protocol design according to test platform and host computer communication task, meet maneuver detecting system
Unite the requirement of a variety of test platform communications for coordination control.Specifically, including：Mode selection module, master-slave mode management mould
Block, main operating mode module and from operating mode module；Master-slave mode management module respectively with main operating mode module and
Connected from operating mode module.Each module is described in detail respectively below：
(1) mode selection module
It is single-stage mode of operation or two-stage mode of operation that mode selection module, which is used to configure this charge station,.
(2) master-slave mode management module
Master-slave mode management module is used for：According to the configuration result of mode selection module, judge that this master station works
In main mode of operation or under mode of operation；If be operated under main mode of operation, start main operating mode module；If work
Make under mode of operation, then to start from operating mode module.
Specifically, if this charge station is single-stage mode of operation, start main operating mode module, make this charge station work
In the state of main mode of operation；If this charge station is two-stage mode of operation, determine whether that this charge station refers to for one-level
Control station or two level accuse station, accuse and stand if one-level, then start main operating mode module, this charge station is operated in main work
In the state of pattern；Accuse and stand if two level, then start from operating mode module, this charge station is operated in from mode of operation
In the state of.
Master-slave mode management module can be arranged on different charge stations simultaneously, accuse and pass through network interaction institute between standing
There is information, can be needed to carry out principal and subordinate's charge station setting according to system, realize single-stage or Two level control module.Specifically, work as
For single-stage control model when, accuse that station is set as main mode of operation, realize all communication control functions；When for Two level control module
When, it can be set by priority and realize that one-level accuses that station-two level accuses station Two level control module, one-level accuses that station and two level are accused
Stand and connected by Ethernet, mode selecting button is provided with Software tool column, and function is set equipped with IP.Preferred scheme is：
One-level accuses that station is set as main mode of operation, two level accuse station be arranged to from mode of operation when, two-stage accuses that connection is established at station, one
Level accuses that all control functions are realized at station, and two level accuses that station is only used as signal terminal.
(3) main operating mode module
Main operating mode module includes：First host computer communication interface, the first test platform communication interface, first order UNICOM
Believe interface, detection mission planning submodule, test platform bottom control submodule, detection mission battle state display submodule and detection
Platform courses interface；Wherein, test platform includes carrier platform and detection load.
(3.1) first host computer communication interfaces
First host computer communication interface is used to accuse that station communicates with host computer, and communication network is preferably Ethernet；Specifically
, the first host computer communication interface is designed by corresponding communication protocol and interface parameters, can receive host computer transmission to carrier
Platform and/or the control signal for detecting load；And first host computer communication interface to host computer return carrier platform and/or
Detect the feedback signal of load.
(3.2) first test platform communication interfaces
First test platform communication interface is used to accuse station and the communication of each test platform；Specifically, pass through the first detection
Platform communication interface, charge station is set to be communicated with each carrier platform and/or detection load；Test platform divides into carrier platform
With detection load；Accuse that station and carrier platform communication mode are preferably serial communication mode；Accuse station and the communication of detection load
Then control signal form and detectable signal form determine according to caused by different loads, i.e.,：According to control caused by detection load
Signal format and detectable signal form, needs are sent to the control instruction of detection load and receive from detection load
Detectable signal carries out protocol conversion and form encapsulation.
(3.3) first cascaded communication interfaces
When for two-stage mode of operation when, the first cascaded communication interface be used for this charges stand and cascaded accuse stand between
Communication, communication mode can be Ethernet.
(3.4) detection mission planning submodule
Detection mission planning submodule is used for：According to overall test mission requirements, composition and each detection with reference to acquisition station
The performance characteristics of platform, generate the maneuver detecting task of each test platform.
Specifically, detection mission planning submodule generates the tool of the motor-driven scheme, also generation detection load of each carrier platform
Body detection mission；
(3.5) test platform bottom control submodule
Test platform bottom control submodule is used for：According to the composition and communication control processor of each test platform, with reference to it
Maneuver detecting mission requirements, the control instruction of test platform is generated, realize the bottom control to each test platform；
Specifically, the bottom that the generation of test platform bottom control submodule meets each carrier platform communication control processor refers to
Order, each carrier platform is directly acted on, while generate the load control instruction that directly control detection load performs corresponding actions.
(3.6) test platform control interface
Test platform control interface includes status display sub-interface and test platform bottom control instruction input interface；
Status display sub-interface is used to show the control to each test platform that test platform bottom control submodule is generated
System instruction；In addition, according to being actually needed, control that the control instruction of interface display inputs with test platform bottom control submodule
Instruction changes and real-time change updates.
Test platform bottom control instruction input interface is used for：Receive the bottom control to each test platform of client input
System instruction, manual intervention control is carried out to test platform instead of the control instruction of bottom control submodule generation, facilitates system to adjust
Examination；
Also come into force select button including pattern, the pattern select button that comes into force is used for：When the pattern select button that comes into force is triggered
When, the control instruction to test platform that test platform bottom control submodule is generated is effective, passes through test platform bottom control
The control instruction that instruction input interface processed is inputted is invalid；Conversely, when pattern come into force select button be not triggered when, pass through detection
The control instruction that platform bottom control instruction input interface is inputted is effective, pair that test platform bottom control submodule is generated
The control instruction of test platform is invalid.
(3.7) detection mission battle state display submodule
Detection mission battle state display submodule is used for：The oneself state information and movement locus of each carrier platform are shown, is shown
Show the detection information that each detection load obtains, realize that the visualization to whole detection mission situation is shown；
Specifically, the movement locus for all carrier platforms being connected with accusing station is shown in the same window, all spies
The detection information for surveying load is shown in the same window, is easy to integrated management with assessing；The oneself state information of each carrier platform
It can shown as needed in pop-up window.
(4) from operating mode module
Include from operating mode module：Second test platform communication interface and the second cascaded communication interface；
Second test platform communication interface is used to accuse station and the communication of each test platform；
The communication that second cascaded communication interface is used between the charge station that this charge is stood and cascaded.
As shown in Fig. 2 the present invention also provides a kind of multi-platform cooperative communication control method, it is each to detection system for realizing
The mission planning and control of test platform, comprise the following steps：
S1, multi-platform cooperative Control on Communication is accused that station is referred to as accused at station；
The current operation mode at this charge station is configured by mode selection module, if single-stage mode of operation, is then started
Main operating mode module, and perform S2, S3, S4 and S5；If two-stage mode of operation, then it is one to determine whether this charge station
Level accuse station or two level accuse station, if one-level accuse stand, then start main operating mode module, and perform S2, S3, S4 and
S6；Accuse and stand if two level, then start from operating mode module, and perform S7；
S2, accuse that station receives the overall test mission bit stream from host computer, and root by the first host computer communication interface
Go out overall test task data according to the data protocol format analysis of setting, then send the overall test task data parsed
Submodule is planned to detection mission；
S3, detection mission planning submodule receives overall test task data, according to overall test mission requirements, with reference to reality
The detection system composition on border and the functional characteristics of each test platform, carry out overall tasks planning, are appointed by optimal distribution strategy
Business distribution, determine the maneuvring route and load operation mode of each test platform；Then by the motor-driven of identified each test platform
Route and load operation mode are sent respectively to test platform bottom control submodule corresponding with test platform；
S4, test platform bottom control submodule receive the maneuvring route and load operation mode to specifying test platform,
According to the instruction of the communication control processor generating platform maneuver autopilot of specified test platform and load operation control instruction；
S5, if this charge station is single-stage mode of operation, by the motor-driven control instruction of platform and load operation of S4 generations
Control instruction is sent to corresponding test platform by the first test platform communication interface；
Also include：Platform status and the detection information that test platform returns are received by the first test platform communication interface；
On the one hand, platform status and detection information are sent to detection mission battle state display submodule；On the other hand, by platform status and
Detection information is sent to the first host computer communication interface；
S6, if this charge station is two-stage mode of operation, by the motor-driven control instruction of platform and load operation of S4 generations
Control instruction is sent to two level by the first cascaded communication interface and accuses station；
Also include：The platform status and detection information returned by the first cascaded communication interface test platform；Then
Platform status and detection information are sent to the first host computer communication interface；
S7, the motor-driven control instruction of platform and load work at station are accused from upper level by the second cascaded communication interface
Make control instruction, and the motor-driven control instruction of platform and load operation control instruction are sent to the second test platform communication interface；
The motor-driven control instruction of platform and load operation control instruction are sent to corresponding by the second test platform communication interface
Test platform；
Also include：
Platform status and the detection information that test platform returns are received by the second test platform communication interface, and pass through the
Platform status and detection information are transmitted to upper level and accuse station by two cascaded communication interfaces.
Above-mentioned is the signal flow for being carried out according to mission requirements detection mission planning and test platform control, when the system of progress
During debugging, the bottom control that test platform control interface can generate test platform by control instruction input interface instructs, and realizes
Direct control to test platform, facilitates system debug.
As can be seen here, multi-platform cooperative communication control method provided by the invention can be summarized as：
Accuse that station receives the overall test mission bit stream that host computer is sent, carry out detection system overall tasks planning, generation
The maneuvring route and load operation mode of each test platform, and send to each test platform, realize the collaboration control of each test platform
System.Platform status and the detection information that each test platform returns are received simultaneously, and detection mission situation is shown with visual pattern, and
Above- mentioned information is sent to host computer.
Master-slave mode management module is set according to user to be switched in main mode of operation and between mode of operation：
(1) under main mode of operation, accuse that the repertoire of communication for coordination control is realized at station, including：First host computer communication interface with
Host computer communicates, and the first test platform communication interface communicates with test platform, and the first cascaded communication interface accuses that station is logical with two level
Letter, detection mission planning submodule carry out overall test mission planning and distribution, and the generation of test platform bottom control submodule is single
The bottom control instruction of one test platform, control interface can artificially participate in the bottom control to test platform and show each instruction
Controlled quentity controlled variable size, detection mission battle state display submodule show the spy that the working condition of whole detection system and detection load obtain
Measurement information.(2) under mode of operation, the second cascaded communication interface accuses that station communicates with upper level, the communication of the second test platform
Interface communicates with each test platform.
Workflow can be summarized as follows.
Under single-stage control model, accuse that station acquiescence is main mode of operation；First host computer communication interface passes through Ethernet
The overall test mission bit stream that host computer is sent is received, communication protocol module goes out totality according to the data protocol format analysis of setting
Detection mission data, the input as detection mission planning submodule；Detection mission plans that submodule requires according to detection mission,
With reference to the detection system composition of reality and the functional characteristics of each test platform, overall tasks planning is carried out, by optimal distribution strategy
Carry out task distribution, determine the maneuvring route and load operation mode of each test platform；Test platform bottom control submodule is then
According to the instruction of the communication control processor generating platform bottom control of each test platform and load operation control instruction, by corresponding
Communication interface is sent to each test platform.At the same time, the oneself state information of test platform and detection load detection information lead to
Cross the corresponding interface and input to this charge and stand, the on the one hand feed back input information as test platform bottom control submodule, a side
Face carries out visualization as the input information of detection mission battle state display submodule and shown, while also exports to host computer.
Under Two level control module, one-level accuses that station and two level accuse that station connects and composes Combat Command System by Ethernet, when
When one-level accuses that station and two level accuse that the IP at station sets matching, one-level accuses that station and two level accuse that connection is established at station, and one-level is accused
Station is set accuses that station is arranged to from mode of operation for main mode of operation, two level.One-level accuses that station is completed under single-stage control model
Whole communication control functions, only difference are：Under single-stage control model, platform courses instruction and load detection information pass through
First test platform communication interface communicates with test platform, and under Two level control module, then pass through the first cascaded communication interface
Accuse that station communicates with two level.Two level accuses the control function Module Fail at station, only as communication terminal, is connect by cascaded communication
Mouth accuses that station communicates with one-level, is communicated by test platform communication interface with test platform, and one-level is accused into station network bag form
Bottom control instruction be converted into serial ports instruction and other interface data needed for test platform, also by the serial ports of test platform and
The states such as other interface data and load detection information are converted into network bag form and are back to one-level charge station.
In summary, multi-platform cooperative Control on Communication provided by the invention accuses station and multi-platform cooperative Control on Communication side
Method, the communication for coordination control of whole detection system is melted only to be needed to send overall test task for an entirety, host computer
Collaborative Control is carried out to whole detection system, effectively reduces the system complexity that each test platform decentralised control is brought, is simplified
Whole communication control system framework, the setting up to efficiently solve of its Two level control module are gone here and there between charge station and test platform
The limited problem of port communications distance, remote-control that can be by real-time performance to detection system improve whole detection system
Operating efficiency, reliability and security.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (4)
1. a kind of multi-platform cooperative Control on Communication accuses station, it is characterised in that including：Mode selection module, master-slave mode
Management module, main operating mode module and from operating mode module；The master-slave mode management module respectively with the master
Operating mode module connects with described from operating mode module；
It is single-stage mode of operation or two-stage mode of operation that the mode selection module, which is used to configure this charge station,；
The master-slave mode management module is used for：According to the configuration result of the mode selection module, this master station is judged
It is operated in main mode of operation or under mode of operation；If be operated under main mode of operation, start the main mode of operation mould
Block；If be operated under mode of operation, start described from operating mode module；
The main operating mode module includes：First host computer communication interface, the first test platform communication interface, first order UNICOM
Believe interface, detection mission planning submodule, test platform bottom control submodule, detection mission battle state display submodule and detection
Platform courses interface；Wherein, test platform includes carrier platform and detection load；
The first host computer communication interface is used for the charge station and communicated with host computer；
The first test platform communication interface is used for the communication for accusing station and each test platform；
The communication that the first cascaded communication interface is used between the charge station that this charge is stood and cascaded；
The detection mission planning submodule is used for：According to overall test mission requirements, composition and each detection with reference to acquisition station
The performance characteristics of platform, generate the maneuver detecting task of each test platform；
The test platform bottom control submodule is used for：According to the composition and communication control processor of each test platform, with reference to it
Maneuver detecting mission requirements, the control instruction of test platform is generated, realize the bottom control to each test platform；
The test platform control interface includes status display sub-interface and test platform bottom control instruction input interface；
The status display sub-interface is used to showing that the test platform bottom control submodule to be generated to each test platform
Control instruction；
The test platform bottom control instruction input interface is used for：Receive the bottom control to each test platform of client input
System instruction, realizes and carries out manual intervention control to test platform；
The detection mission battle state display submodule is used for：The oneself state information and movement locus of each carrier platform are shown, is shown
Show the detection information that each detection load obtains, realize that the visualization to whole detection mission situation is shown；
It is described to include from operating mode module：Second test platform communication interface and the second cascaded communication interface；
The second test platform communication interface is used for the communication for accusing station and each test platform；
The communication that the second cascaded communication interface is used between the charge station that this charge is stood and cascaded；
Wherein, the master-slave mode management module is specifically used for：If this charge station is single-stage mode of operation, start institute
Main operating mode module is stated, this charge station is operated in the state of main mode of operation；If this charge station is two-stage Working mould
Formula, then determine whether that this charge station accuses that station or two level accuse station for one-level, accuse and stand if one-level, then start the master
Operating mode module, this charge station is set to be operated in the state of main mode of operation；Accuse and stand if two level, then start it is described from
Operating mode module, this charge station is set to be operated in the state of mode of operation.
2. multi-platform cooperative Control on Communication according to claim 1 accuses station, it is characterised in that first host computer leads to
Letter interface is specifically used for：Receive host computer send to carrier platform and/or detect load control signal；Returned to host computer
Carrier platform and/or the feedback signal for detecting load；
The first test platform communication interface is specifically used for：By the first test platform communication interface, make charge station with
Each carrier platform and/or detection load are communicated；For detect load, according to detection load caused by control signal form and
Detectable signal form, the control instruction and the detection from detection load to receiving that needs are sent to detection load are believed
Number carry out protocol conversion and form encapsulation；
The detection mission planning submodule is specifically used for：The motor-driven scheme of each carrier platform is generated, also generation detects load
Specific detection mission；
The test platform bottom control submodule is specifically used for：The bottom that generation meets each carrier platform communication control processor refers to
Order, each carrier platform is directly acted on, while generate the load control instruction that directly control detection load performs corresponding actions；
The test platform control interface also comes into force select button including pattern, and the pattern select button that comes into force is used for：Work as institute
The pattern of stating comes into force select button when being triggered, the control to test platform that the test platform bottom control submodule is generated
Instruction is effective, and the control instruction inputted by the test platform bottom control instruction input interface is invalid；Conversely, when described
Pattern comes into force select button when not being triggered, and the control inputted by the test platform bottom control instruction input interface refers to
Order is effective, and the control instruction to test platform that the test platform bottom control submodule is generated is invalid；
The detection mission battle state display submodule is specifically used for：The movement locus for all carrier platforms being connected with accusing station
Shown in the same window；Shown with the detection information of all detection load accused station and be connected in the same window；
The oneself state information of each carrier platform can shown in pop-up window.
3. multi-platform cooperative Control on Communication according to claim 1 accuses station, it is characterised in that the charge station passes through institute
State the first host computer communication interface and pass through ethernet communication with host computer；It is described to accuse that station passes through the first cascaded communication interface
And second cascaded communication interface and it is other accuse station between pass through Ethernet realize accuse station level connection between communication；The charge
Stand and serial communication is used with each carrier platform by the first test platform communication interface or the second test platform communication interface
Mode.
4. a kind of multi-platform cooperative communication control method, it is characterised in that comprise the following steps：
S1, multi-platform cooperative Control on Communication is accused that station is referred to as accused at station；
The current operation mode at this charge station is configured by mode selection module, if single-stage mode of operation, then starts main work
Operation mode module, and perform S2, S3, S4 and S5；If two-stage mode of operation, then determine whether that this charge station refers to for one-level
Control station or two level accuse station, accuse and stand if one-level, then start main operating mode module, and perform S2, S3, S4 and S6；Such as
Fruit is that two level accuses station, then starts from operating mode module, and perform S7；
S2, it is described to accuse that station receives the overall test mission bit stream from host computer, and root by the first host computer communication interface
Go out overall test task data according to the data protocol format analysis of setting, then send the overall test task data parsed
Submodule is planned to detection mission；
S3, the detection mission planning submodule receives the overall test task data, according to overall test mission requirements, knot
The functional characteristics of actual detection system composition and each test platform is closed, overall tasks planning is carried out, enters by optimal distribution strategy
Row task is distributed, and determines the maneuvring route and load operation mode of each test platform；Then by identified each test platform
Maneuvring route and load operation mode are sent respectively to test platform bottom control submodule corresponding with test platform；
S4, the test platform bottom control submodule receive the maneuvring route and load operation mode to specifying test platform,
According to the instruction of the communication control processor generating platform maneuver autopilot of specified test platform and load operation control instruction；
S5, if this charge station is single-stage mode of operation, the motor-driven control instruction of platform of S4 generations and load operation are controlled
Instruction is sent to corresponding test platform by the first test platform communication interface；
Also include：Platform status and the detection information that test platform returns are received by the first test platform communication interface；One side
Face, the platform status and detection information are sent to detection mission battle state display submodule；On the other hand, by the platform-like
State and detection information are sent to the first host computer communication interface；
S6, if this charge station is two-stage mode of operation, the motor-driven control instruction of platform of S4 generations and load operation are controlled
Instruction is sent to two level by the first cascaded communication interface and accuses station；
Also include：The platform status and detection information returned by the first cascaded communication interface test platform；Then by institute
State platform status and detection information is sent to the first host computer communication interface；
S7, the motor-driven control instruction of platform and the load operation control at station are accused from upper level by the second cascaded communication interface
System instruction, and the motor-driven control instruction of the platform and load operation control instruction are sent to the second test platform communication interface；
The motor-driven control instruction of the platform and load operation control instruction are passed through serial ports by the second test platform communication interface
It is sent to corresponding test platform；
Also include：
Platform status and the detection information that test platform returns are received by the second test platform communication interface, and pass through institute
State the second cascaded communication interface and the platform status and detection information are transmitted to upper level charge station.
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|---|---|---|---|---|
| JP2007102737A (en) * | 2005-10-03 | 2007-04-19 | Eri Ito | Cooperation control system with human being |
| CN201004174Y (en) * | 2007-01-26 | 2008-01-09 | 青岛天骄无人机遥感技术有限公司 | Ground monitoring system for unmanned plane |
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| CN102768518A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Multiple-unmanned plane platform cooperative control system |
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2014
- 2014-08-12 CN CN201410395345.1A patent/CN105373084B/en not_active Expired - Fee Related
Patent Citations (4)
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|---|---|---|---|---|
| JP2007102737A (en) * | 2005-10-03 | 2007-04-19 | Eri Ito | Cooperation control system with human being |
| CN201004174Y (en) * | 2007-01-26 | 2008-01-09 | 青岛天骄无人机遥感技术有限公司 | Ground monitoring system for unmanned plane |
| CN102110991A (en) * | 2011-03-31 | 2011-06-29 | 山亿新能源股份有限公司 | Cyclic master-slave group control method of grid inverters in photovoltaic power station |
| CN102768518A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Multiple-unmanned plane platform cooperative control system |
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