CN105867190A - Interface system and interface control method of unmanned aerial vehicle - Google Patents
Interface system and interface control method of unmanned aerial vehicle Download PDFInfo
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- CN105867190A CN105867190A CN201610236913.2A CN201610236913A CN105867190A CN 105867190 A CN105867190 A CN 105867190A CN 201610236913 A CN201610236913 A CN 201610236913A CN 105867190 A CN105867190 A CN 105867190A
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- pin
- target load
- physical interface
- module
- protocol conversion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
Abstract
An embodiment of the invention relates to an interface system and an interface control method of an unmanned aerial vehicle. The interface system comprises the components of a physical interface which comprises a plurality of pins; at least one protocol conversion module which performs communication protocol conversion on a target load according to the communication protocol type of the target load that accesses the physical interface; an I/O strong driving module which drives each pin of the physical interface according to configuration data and communication protocol type of the target load; and a main controller which performs the functions of configuring the function of each pin of the physical interface according to the configuration data of the target load, determining the communication protocol type of the target load according to the configuration data, configuring the protocol conversion module according to the communication protocol type of the target load, communicating with the target load through the I/O strong driving module and the protocol conversion module, and executing the target load. Through the interface system and the interface control method, relatively high versatility of the load of the unmanned aerial vehicle can be realized by means of relatively small number of pins and relatively small physical interface dimension, and expandability of the unmanned aerial vehicle is improved.
Description
Technical field
The present invention relates to unmanned vehicle technical field, particularly relate to a kind of unmanned vehicle
Interface system and interface control method.
Background technology
Unmanned vehicle (also referred to as unmanned vehicle, unmanned plane etc.) be a kind of with wireless remotecontrol or
The person's unmanned aircraft under autonomous, half independent procedure control.Owing to its cost is relatively low, without personnel
Injures and deaths risk, the advantages such as mobility is good, its all kinds of Aerial photographies, geological survey, line data-logging, should
First aid the field such as is helped and is widely used.Wherein, due to integrated circuit and the development of microsystems technology so that nothing
The microminiaturization of people's aircraft is achieved, and have greatly expanded the executable task type of unmanned vehicle.Root
Different according to performed task according to small unmanned vehicle, it usually needs to carry different load.
Owing to task is of a great variety, so the power rail number needed for load type extreme enrichment, all kinds of load
Amount, holding wire quantity, interface protocol mode vary, and existing general-purpose interface technology is difficult to fly small
The generalization of all load is realized in the case of row device is size-constrained.
Summary of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is, how to provide a kind of unmanned vehicle
General interface system.
Solution
In order to solve above-mentioned technical problem, according to one embodiment of the invention, it is provided that a kind of unmanned
The interface system of aircraft, including:
Physical interface, including multiple pins；
At least one protocol conversion module, for the communication according to the target load accessing described physical interface
Protocol type, communicates the conversion of agreement to described target load；
I/O drives by force module, is connected respectively with described protocol conversion module and described physical interface, is used for
Configuration data according to described target load and communication protocol type, enter each pin of described physical interface
Row cutting；
Master controller, drives by force module respectively with described physical interface, protocol conversion module and described I/O
Connect, for the configuration data according to described target load, configure the merit of each pin of described physical interface
Energy；The communication protocol type of described target load is determined according to described configuration data, and according to described target
The communication protocol type of load configures the function of described protocol conversion module；Mould is driven by force through described I/O
Block and described protocol conversion module communicate with described target load, and perform the merit of described target load
Energy.
For said system, in a kind of possible implementation, also include:
Insert detection and identification module；For whether described physical interface is inserted target load insert
Detection and identification.
For said system, in a kind of possible implementation, described insertion is detected and identification module bag
Include:
Insert detector unit, for inserting detection and identifying the voltage of pin according to described physical interface
Value, it is judged that whether described physical interface inserts described target load；
Load recognition unit, is connected with described insertion detector unit, for sentencing in described insertion detector unit
In the case of being set to the described target load of insertion, insert detection by described and identify pin from described target
Load reads configuration data, and described configuration data are verified.
For said system, in a kind of possible implementation, described insertion detector unit is additionally operable to
Detect described target load in the case of described physical interface is extracted, control described I/O and drive by force
Module disconnects, and controls described protocol conversion module and quits work, and indicates described insertion detector unit to continue
Carry out inserting detection.
For said system, in a kind of possible implementation, described physical interface includes general purpose I/O
Pin, described general purpose I/O pin drives by force module to be connected with described I/O.
For said system, in a kind of possible implementation,
Described master controller is additionally operable to, according to described configuration data, configure the function of each general purpose I/O pin；
It is defeated that described I/O drives by force module to be additionally operable to the first general purpose I/O pin configuration at described master controller
In the case of entering, control described first general purpose I/O pin and lead directly to described protocol conversion module；Described
In the case of second general purpose I/O pin configuration is numeral output by master controller, control described second general
I/O pin leads directly to described protocol conversion module；At described master controller by the 3rd general I/O pin configuration
In the case of strong output, send after the signal received from described protocol conversion module is carried out enhancement process
To described 3rd general I/O pin；It is that power supply is defeated at described master controller by the 4th general I/O pin configuration
In the case of going out, control described 4th general I/O pin and lead directly to corresponding power rail.
For said system, in a kind of possible implementation, described physical interface also includes inserting inspection
Surveying and identify pin and grounding pin, described master controller is additionally operable to control described insertion detection and draws with identification
Foot with insert detection be connected with identification module, described grounding pin be systematically connected.
The present invention also provides for the interface control method of a kind of unmanned vehicle, described nolo flight
The physical interface of device includes multiple pin；
Described method includes:
According to the configuration data of the target load accessing described physical interface, configure each of described physical interface
The function of pin；
The communication protocol type of described target load is determined according to described configuration data, and according to described target
The function of the communication protocol type configuration protocol modular converter of load；
Drive by force module and described protocol conversion module to communicate with described target load through I/O, and
Perform the function of described target load.
For said method, in a kind of possible implementation, also include:
Whether described physical interface inserts target load carry out inserting detection and identifying.
For said method, in a kind of possible implementation, whether described physical interface is inserted mesh
Mark load carries out inserting detection and identifying, including:
The magnitude of voltage inserting detection and identification pin according to described physical interface, it is judged that described physical interface
Whether insert described target load；
Judging that described physical interface inserts in the case of described target load, by described insert detection with
Identify that pin reads configuration data from described target load, and described configuration data are verified.
For said method, in a kind of possible implementation, also include:
Detecting described target load in the case of described physical interface is extracted, controlling described I/O
Strong driving module disconnects, and controls described protocol conversion module and quits work, and return proceeds to insert inspection
Survey.
For said method, in a kind of possible implementation, described physical interface includes general purpose I/O
Pin, described general purpose I/O pin drives by force module to be connected with described I/O, and described method also includes:
According to described configuration data, configure the function of each general purpose I/O pin.
For said method, in a kind of possible implementation, described according to described configuration data, join
Put the function of each general purpose I/O pin, including:
In the case of the first general purpose I/O pin configuration is input by master controller, described I/O drives by force mould
Block controls described first general purpose I/O pin and leads directly to described protocol conversion module；
In the case of the second general purpose I/O pin configuration is numeral output by master controller, described I/O drives by force
Dynamic model block controls described second general purpose I/O pin and leads directly to described protocol conversion module；
In the case of the 3rd general I/O pin configuration is strong output by master controller, described I/O drives by force
The module signal to receiving from described protocol conversion module sends to described threeway after carrying out enhancement process
Use I/O pin；
In the case of the 4th general I/O pin configuration is power supply output by described master controller, described I/O
Strong driving module controls described 4th general I/O pin and leads directly to corresponding power rail.
For said method, in a kind of possible implementation, described physical interface also includes inserting inspection
Surveying and identify pin and grounding pin, described method also includes:
Insert detection described in main controller controls and identify that pin is connected with identification module with inserting detection, and
Control described grounding pin and be systematically connected.
Beneficial effect
The embodiment of the present invention is capable of identify that the configuration data of the target load of insertion, each in configuration physical interface
The function of pin, to adapt to the requirement of various target load docking port, protocol conversion module can be by target
In load, any defined protocol translation is that unified puppy parc is to realize target load and unmanned plane
The communication of master controller.By the embodiment of the present invention, the load of unmanned plane can be with less pin and thing
Reason interface size realizes bigger versatility, greatly strengthens the extensibility of unmanned plane.
Interface control method and interface system involved by the embodiment of the present invention can own by self-adjusted block
Link pin for power supply or data-interface, be adapted to arbitrary power rail, track and holding wire quantity,
Holding wire can realize any defined interface protocol by interface switching device.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, other of the embodiment of the present invention is special
Levy and aspect will be clear from.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates with description
The exemplary embodiment of the present invention, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the structural representation of the interface system of unmanned vehicle according to an embodiment of the invention
Figure；
Fig. 2 illustrates that the structure of the interface system of unmanned vehicle according to another embodiment of the present invention is shown
It is intended to；
Fig. 3 illustrates the flow process of the interface control method of unmanned vehicle according to an embodiment of the invention
Schematic diagram；
Fig. 4 illustrate unmanned vehicle according to an embodiment of the invention interface control method another
Schematic flow sheet；
Fig. 5 illustrates the stream of the interface control method of unmanned vehicle according to another embodiment of the present invention
Journey schematic diagram.
Detailed description of the invention
Various exemplary embodiments, feature and the aspect of the present invention is described in detail below with reference to accompanying drawing.Attached
Reference identical in figure represents the same or analogous element of function.Although enforcement shown in the drawings
The various aspects of example, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as
Any embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous
Detail.It will be appreciated by those skilled in the art that do not have some detail, the present invention is equally
Implement.In some instances, for method well known to those skilled in the art, means, element and circuit
It is not described in detail, in order to highlight the purport of the present invention.
Embodiment 1
Fig. 1 illustrates the structural representation of the interface system of unmanned vehicle according to an embodiment of the invention
Figure.As it is shown in figure 1, the interface system of this unmanned vehicle mainly may include that
Physical interface 11, including multiple pins；
At least one protocol conversion module 13, for according to the target load 12 accessing described physical interface 11
Communication protocol type, described target load 12 is communicated the conversion of agreement；
I/O (input/output, i.e. input/output end port) drives by force module 15, with described protocol conversion
Module 13 and described physical interface 11 connect respectively, for according to the configuration data of described target load 12 and
Communication protocol type, is driven each pin of described physical interface 11；
Master controller 17, drives by force module with described physical interface 11, protocol conversion module 13 and described I/O
15 connect respectively, for the configuration data according to described target load 12, configure described physical interface 11
The function of each pin；The communication protocol type of described target load 12 is determined according to described configuration data, and
Communication protocol type according to described target load 12 configures the function of described protocol conversion module 13；Pass through
Described I/O drives by force module 15 and described protocol conversion module 13 to communicate with described target load 12,
And perform the function of described target load 12.
The embodiment of the present invention is capable of a kind of general-purpose interface system being applied to small unmanned vehicle load
System, provides power supply supply and data transmission etc. by interface for the payload arbitrarily meeting this interface standard
Function.
Embodiment 2
Fig. 2 illustrates that the structure of the interface system of unmanned vehicle according to another embodiment of the present invention is shown
It is intended to.The assembly that in Fig. 2, label is identical with Fig. 1 has identical function, for simplicity's sake, omits this
The detailed description of a little assemblies.
As in figure 2 it is shown, the differring primarily in that of the present embodiment and a upper embodiment, this nolo flight
The interface system of device can also include:
Insert detection and identification module 21；For whether described physical interface 11 is inserted target load 12 enter
Row inserts detection and identifies.
In a kind of possible implementation, described insertion detection includes with identification module 21:
Insert detector unit, for inserting detection and identifying the voltage of pin according to described physical interface 11
Value, it is judged that whether described physical interface 11 inserts described target load 12；
Load recognition unit, is connected with described insertion detector unit, for sentencing in described insertion detector unit
In the case of being set to the described target load 12 of insertion, insert detection by described and identify pin from described mesh
Mark load 12 reads configuration data, and described configuration data are verified.
In a kind of possible implementation, described insertion detector unit is additionally operable to detecting described mesh
Mark load 12, in the case of described physical interface 11 is extracted, controls described I/O and drives by force module 15 to disconnect,
Control described protocol conversion module 13 to quit work, and indicate described insertion detector unit to proceed to insert
Detection.
In a kind of possible implementation, described physical interface 11 includes general purpose I/O pin, described general
I/O pin drives by force module 15 to be connected with described I/O.
In a kind of possible implementation, described master controller 17 is additionally operable to according to described configuration data,
Configure the function of each general purpose I/O pin；
Described I/O drives by force module 15 to be additionally operable to the first general purpose I/O pin configuration at described master controller 17
In the case of input, control described first general purpose I/O pin and lead directly to described protocol conversion module 13；
In the case of the second general purpose I/O pin configuration is numeral output by described master controller 17, control described
Second general purpose I/O pin leads directly to described protocol conversion module 13；At described master controller 17 by threeway
In the case of being strong output with I/O pin configuration, the signal received from described protocol conversion module 13 is entered
Send to described 3rd general I/O pin after row enhancement process, in this case, drive by force mould through I/O
The driving force of signal after block 15 processes strengthens, and the signal level and the of protocol conversion module 13 output
The signal level of three general I/O pins is identical；At described master controller 17 by the 4th general I/O pin configuration
In the case of exporting for power supply, control described 4th general I/O pin and lead directly to corresponding power rail.
In a kind of possible implementation, described physical interface 11 also includes inserting detection and identifying pin
And grounding pin, described master controller 17 be additionally operable to described insert detection with identify pin with insert detection with
Identification module 21 is connected, described grounding pin be systematically connected.
Specifically, as in figure 2 it is shown, target load 12 is detected by physical interface 11 with inserting and identifies mould
Block 21 connects, and inserts and judges the insert action of target load 12 with detection module, and identifies target
The features such as the concrete model of load 12.Described target load 12 drives by force module 15 by physical interface 11 with I/O
Being connected, be attached with protocol conversion module 13 further, wherein I/O drives by force module 15 to strengthen association
The output signal driving force of view modular converter 13.Unmanned plane master controller 17 and insertion detect and identify mould
Block 21 is connected, and completes the identification of load.Unmanned plane master controller 17 is by such as USB (Universal
Serial Bus, USB (universal serial bus)) agreement is connected with protocol conversion module 13, it is achieved with the communication of load.
Unmanned plane master controller 17 is logical drives by force module 15 to be connected with I/O, and I/O drives by force the functional configuration of module 15.
Wherein, each functions of modules is described below:
1) unmanned plane master controller 17: this part can be made up of application processor and peripheral circuit thereof；
2) target load 12: this part connects into the physical interface of small unmanned vehicle, are used for realizing
The load of certain function.Target load 12 include but not limited to video camera, The Cloud Terrace, mechanical arm, searchlight,
Smoking device etc..Target load 12 should at least possess: memorizer (such as Flash chip), insertion detection
With identification pin, grounding pin 4, general purpose I/O pin 1.Wherein target load 12 and physical interface 11
Middle insertion is detected and identifies that output level clamper to such as 3.3V, target are carried by clamp diode by pin
The general purpose I of numbered the 0 of lotus 12/O pin is connected to the system power supply of load system, the data of Flash chip
With inserting, mouth detects and identifies that pin is connected；
3) physical interface 11: this part is the actual thing that small unmanned vehicle is connected with target load 12
Reason interface 11, including some connected pins.Such as, physical interface 11 can comprise 1 insertion detection
With identification pin, 4 grounding pins, some general purpose I/O pins etc..Insert detection and identify pin and insert
Entering detection to be connected with identification module 21, general purpose I/O pin drives by force module 15 to be connected with I/O, grounding pin
Be systematically connected；
4) detection and identification module 21 are inserted: this part includes insertion detection circuit and load identification module,
Insertion detection is pulled to such as 3.6V electricity with identification pin by such as 100K resistance by insertion detection circuit
Source, inserting detection and identifying pin is high resistant input.Load identification module, by inserting detection and identifying
Pin utilizes such as 1-Wire agreement to communicate with the target load 12 of insertion, obtains target load 12
Configuration data.
5) protocol conversion module 13: protocol conversion module 13 can be made up of such as PLD.
Protocol conversion module 13 is according to inserting detection and the identification module 21 recognition result to target load 12, by nothing
It is reprogrammed with the communication Protocol Conversion realizing supporting load as standard by man-machine master controller 17
USB device is connected with master control, completes the bridging functionality of communication；
6) I/O drives by force module 15: this module is for driving by force general purpose I/O pin output, if nothing
Certain general purpose I/O pin configuration of physical interface is input by man-machine master controller 17, then I/O drives by force module
15 control this pin leads directly to protocol conversion module 13.If certain general purpose I/O is drawn by unmanned plane master controller 17
Foot is configured to numeral output, then I/O drives by force module 15 to control this pin and protocol conversion module 13 leads directly to.
If certain general purpose I/O pin configuration is strong output by unmanned plane master controller 17, then I/O drives by force module 15 to control
Make this pin to be connected with by I/O drive circuit protocol conversion module 13.If unmanned plane master controller 17 will
Certain general purpose I/O pin configuration is power supply output, then I/O drives by force module 15 to control this pin and corresponding power
Rail is connected.
Embodiment 3
Fig. 3 illustrates the flow process of the interface control method of unmanned vehicle according to an embodiment of the invention
Schematic diagram.
The present embodiment interface control method can apply to as shown in Figure 1, Figure 2 in shown in any one structure
Unmanned vehicle interface system in.
As it is shown on figure 3, the interface control method of this unmanned vehicle mainly may include that described side
Method includes:
Step 401, according to accessing the configuration data of target load of described physical interface, configure described thing
The function of each pin of reason interface；
Step 402, determine the communication protocol type of described target load, and root according to described configuration data
Function according to the communication protocol type configuration protocol modular converter of described target load；
Step 403, module and described protocol conversion module is driven by force to carry out with described target load through I/O
Communication, and perform the function of described target load.
In a kind of possible implementation, as shown in Figure 4, before step 401, the method also includes:
Step 400, whether physical interface is inserted target load carry out insert detection with identify.If inspection
Measure target load and inserted physical interface, and successfully identified this target load, then perform step 401.
Specifically, step 400 may include that
Step 4001, inserting detection and identifying the magnitude of voltage of pin according to described physical interface, it is judged that institute
State whether physical interface inserts described target load；
Step 4002, judging that described physical interface inserts in the case of described target load, by described
Insert detection and identify that pin reads configuration data from described target load, and described configuration data are entered
Row verification.
In a kind of possible implementation, after step 403, the method also includes:
Step 404, detecting by described target load in the case of described physical interface is extracted, control
Making described I/O drives by force module to disconnect, and controls described protocol conversion module and quits work, and returns continuation
Carry out inserting detection.
In a kind of possible implementation, the physical interface of unmanned plane includes multiple pin, such as, thing
Reason interface includes general purpose I/O pin, and described general purpose I/O pin drives by force module to be connected with described I/O, described
Method also includes: step 406, according to described configuration data, configures the function of each general purpose I/O pin.
Specifically, step 406 can include situations below any one or multiple:
In the case of the first general purpose I/O pin configuration is input by master controller, described I/O drives by force mould
Block controls described first general purpose I/O pin and leads directly to described protocol conversion module；
In the case of the second general purpose I/O pin configuration is numeral output by master controller, described I/O drives by force
Dynamic model block controls described second general purpose I/O pin and leads directly to described protocol conversion module；
In the case of the 3rd general I/O pin configuration is strong output by master controller, described I/O drives by force
The module signal to receiving from described protocol conversion module sends to described threeway after carrying out enhancement process
Use I/O pin；
In the case of the 4th general I/O pin configuration is power supply output by described master controller, described I/O
Strong driving module controls described 4th general I/O pin and leads directly to corresponding power rail.
In a kind of possible implementation, described physical interface also include insert detection with identify pin and
Grounding pin, described method also includes:
Insert detection described in step 407, main controller controls and identify pin and insert detection and identify mould
Block is connected, and controls described grounding pin and be systematically connected.
Wherein, the sequential of step 406 and step 407 can be exchanged, it is also possible to perform simultaneously, the present embodiment
The most specifically limit.
Embodiment 4
Fig. 5 illustrates the stream of the interface control method of unmanned vehicle according to another embodiment of the present invention
Journey schematic diagram.
As it is shown in figure 5, carry out an exemplary mistake of Interface Controller for the interface system of embodiment 1,2
Journey, can be divided into following steps: insert detection-phase 501, cognitive phase 502, the connection establishment stage 503,
Stage of communication 504, extract the stage 505.
Insert detection-phase 501: this stage unmanned plane master controller 17 constantly reads insertion detection and identifies
Pin voltage value, if 3.6V is then judged as being not inserted into load, remains in insertion detection-phase.If
Reading voltage is 3.3V (the clamp diode impact on loaded), then it is assumed that already inserted into payload,
Enter cognitive phase.This stage protocol modular converter 13 does not works, and I/O drives by force module 15 to be in disconnection
State；
Cognitive phase 502: this stage first driven by force by I/O module 15 drive the general purpose I/O of numbered 0 to
System power supply, load numeral power supply electrifying also starts, and inserts detection and the load identification in identification module 21
Module reads the configuration data in the Flash in target load 12 by 1-Wire agreement and verifies.If
Verification is passed through, then enter the connection establishment stage, if verification is not passed through, returns to insert detection-phase；
The connection establishment stage 503: first this stage is inserted according in cognitive phase by unmanned plane master controller 17
Enter detection and joining in the Flash in the target load 12 of the load identification module reading in identification module 21
Put data determine all general purpose I/O pin in physical interface 11 function (input, numeral output, export by force
Or power supply exports), and configuration I/O drives by force module 15 on this basis.Afterwards by unmanned plane main control
Device 17 determines the communication protocol type of load according to configuration data, and is followed successively by according to configuration protocol modulus of conversion
Block 13.Attempted driving by force through protocol conversion module 13 and I/O by unmanned plane master controller 17 after having configured
Dynamic model block 15 initiates communication request to target load 12, if obtaining correct response, enters stage of communication, no
Then return to cognitive phase；
Stage of communication 504: this stage is strong through protocol conversion module 13 and I/O by unmanned plane master controller 17
Module 15 and target load 12 is driven to communicate and perform loading functionality, unmanned plane master controller 17 simultaneously
Constantly read the magnitude of voltage inserting detection with identifying pin, if magnitude of voltage is 3.6V, enter the stage of extracting,
Otherwise it is maintained at stage of communication；
Extract the stage 505: this stage is controlled I/O by unmanned plane master controller 17 and drives by force module 15 to return to break
Open state, control protocol modular converter 13 quits work, and enters afterwards and inserts detection-phase.
Embodiments provide the general load of the complete set that can be applied to small unmanned vehicle
Lotus interface system and control method, in implementing, this interface system can be that load provides reconfigurable
Cut-in method, system be capable of identify that insertion target load configuration data the general purpose I/O in interface is joined
It is set to several functions, to adapt to the requirement of various target load docking port.Protocol conversion module is permissible simultaneously
The usb protocol that defined protocol translation any on target load is unified is realized target load and nothing
The communication of man-machine master controller.By the embodiment of the present invention, the load of small unmanned plane can be with less
Pin and physical interface size realize bigger versatility, greatly strengthen the extensibility of small unmanned plane.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
In this, any those familiar with the art, can be easily in the technical scope that the invention discloses
Expect change or replace, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with described scope of the claims.
Claims (14)
1. the interface system of a unmanned vehicle, it is characterised in that including:
Physical interface, including multiple pins；
At least one protocol conversion module, for the communication according to the target load accessing described physical interface
Protocol type, communicates the conversion of agreement to described target load；
I/O drives by force module, is connected respectively with described protocol conversion module and described physical interface, is used for
Configuration data according to described target load and communication protocol type, enter each pin of described physical interface
Row cutting；
Master controller, drives by force module respectively with described physical interface, protocol conversion module and described I/O
Connect, for the configuration data according to described target load, configure the merit of each pin of described physical interface
Energy；The communication protocol type of described target load is determined according to described configuration data, and according to described target
The communication protocol type of load configures the function of described protocol conversion module；Mould is driven by force through described I/O
Block and described protocol conversion module communicate with described target load, and perform the merit of described target load
Energy.
System the most according to claim 1, it is characterised in that also include:
Insert detection and identification module；For whether described physical interface is inserted target load insert
Detection and identification.
System the most according to claim 2, it is characterised in that described insertion detection and identification module
Including:
Insert detector unit, for inserting detection and identifying the voltage of pin according to described physical interface
Value, it is judged that whether described physical interface inserts described target load；
Load recognition unit, is connected with described insertion detector unit, for sentencing in described insertion detector unit
In the case of being set to the described target load of insertion, insert detection by described and identify pin from described target
Load reads configuration data, and described configuration data are verified.
System the most according to claim 3, it is characterised in that described insertion detector unit is additionally operable to
Detecting described target load in the case of described physical interface is extracted, controlling described I/O and drive by force
Dynamic model block disconnects, and controls described protocol conversion module and quits work, and indicates described insertion detector unit to continue
Continuous carrying out inserts detection.
System the most according to any one of claim 1 to 4, it is characterised in that described physics connects
Mouth includes that general purpose I/O pin, described general purpose I/O pin drive by force module to be connected with described I/O.
System the most according to claim 5, it is characterised in that
Described master controller is additionally operable to, according to described configuration data, configure the function of each general purpose I/O pin；
It is defeated that described I/O drives by force module to be additionally operable to the first general purpose I/O pin configuration at described master controller
In the case of entering, control described first general purpose I/O pin and lead directly to described protocol conversion module；Described
In the case of second general purpose I/O pin configuration is numeral output by master controller, control described second general
I/O pin leads directly to described protocol conversion module；At described master controller by the 3rd general I/O pin configuration
In the case of strong output, send after the signal received from described protocol conversion module is carried out enhancement process
To described 3rd general I/O pin；It is that power supply is defeated at described master controller by the 4th general I/O pin configuration
In the case of going out, control described 4th general I/O pin and lead directly to corresponding power rail.
System the most according to claim 5, it is characterised in that described physical interface also includes inserting
Detection and identification pin and grounding pin, described master controller is additionally operable to control described insertion and detects and identify
Pin with insert detection be connected with identification module, described grounding pin be systematically connected.
8. the interface control method of a unmanned vehicle, it is characterised in that described unmanned
The physical interface of aircraft includes multiple pin；
Described method includes:
According to the configuration data of the target load accessing described physical interface, configure each of described physical interface
The function of pin；
The communication protocol type of described target load is determined according to described configuration data, and according to described target
The function of the communication protocol type configuration protocol modular converter of load；
Drive by force module and described protocol conversion module to communicate with described target load through I/O, and
Perform the function of described target load.
Method the most according to claim 8, it is characterised in that also include:
Whether described physical interface inserts target load carry out inserting detection and identifying.
Method the most according to claim 9, it is characterised in that whether described physical interface is inserted
Enter target load to carry out inserting detection and identifying, including:
The magnitude of voltage inserting detection and identification pin according to described physical interface, it is judged that described physical interface
Whether insert described target load；
Judging that described physical interface inserts in the case of described target load, by described insert detection with
Identify that pin reads configuration data from described target load, and described configuration data are verified.
11. methods according to claim 10, it is characterised in that also include:
Detecting described target load in the case of described physical interface is extracted, controlling described I/O
Strong driving module disconnects, and controls described protocol conversion module and quits work, and return proceeds to insert inspection
Survey.
12. according to Claim 8 to the method according to any one of 11, it is characterised in that described physics
Interface includes that general purpose I/O pin, described general purpose I/O pin drive by force module to be connected with described I/O, described side
Method also includes:
According to described configuration data, configure the function of each general purpose I/O pin.
13. methods according to claim 12, it is characterised in that described according to described configuration data,
Configure the function of each general purpose I/O pin, including:
In the case of the first general purpose I/O pin configuration is input by master controller, described I/O drives by force mould
Block controls described first general purpose I/O pin and leads directly to described protocol conversion module；
In the case of the second general purpose I/O pin configuration is numeral output by master controller, described I/O drives by force
Dynamic model block controls described second general purpose I/O pin and leads directly to described protocol conversion module；
In the case of the 3rd general I/O pin configuration is strong output by master controller, described I/O drives by force
The module signal to receiving from described protocol conversion module sends to described threeway after carrying out enhancement process
Use I/O pin；
In the case of the 4th general I/O pin configuration is power supply output by described master controller, described I/O
Strong driving module controls described 4th general I/O pin and leads directly to corresponding power rail.
14. methods according to claim 12, it is characterised in that described physical interface also includes inserting
Entering detection and identify pin and grounding pin, described method also includes:
Insert detection described in main controller controls and identify that pin is connected with identification module with inserting detection, and
Control described grounding pin and be systematically connected.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610236913.2A CN105867190B (en) | 2016-04-15 | 2016-04-15 | The interface system and interface control method of unmanned vehicle |
| PCT/CN2016/086309 WO2017177541A1 (en) | 2016-04-15 | 2016-06-17 | Interface system and interface control method for unmanned aerial vehicle |
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| CN201610236913.2A CN105867190B (en) | 2016-04-15 | 2016-04-15 | The interface system and interface control method of unmanned vehicle |
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| WO (1) | WO2017177541A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2017177541A1 (en) | 2017-10-19 |
| CN105867190B (en) | 2018-11-27 |
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