CN110832887A - Internal communication link system and unmanned aerial vehicle - Google Patents
Internal communication link system and unmanned aerial vehicle Download PDFInfo
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- CN110832887A CN110832887A CN201880042137.XA CN201880042137A CN110832887A CN 110832887 A CN110832887 A CN 110832887A CN 201880042137 A CN201880042137 A CN 201880042137A CN 110832887 A CN110832887 A CN 110832887A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L61/00—Network arrangements, protocols or services for addressing or naming
- H04L61/50—Address allocation
- H04L61/5007—Internet protocol [IP] addresses
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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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
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an internal communication link system and an unmanned aerial vehicle, wherein the sensor communication link system comprises: an Ethernet communication link; the sensor assembly comprises a sensing module, a data transceiving module and a sensor control module, and the sensing module and the data transceiving module are communicated through the Ethernet communication link. According to the technical scheme of the invention, the data transmission rate can be greatly improved, and meanwhile, the method and the device can also be used for upgrading the sensing module and transmitting data, so that the convenience of taking the sensing data by a user is improved.
Description
Technical Field
The embodiment of the invention relates to the field of data transmission, in particular to a sensor communication link system.
Background
Unmanned aerial vehicles have become common aircrafts in people's life and production, for example, unmanned aerial vehicles for photography, exploration, detection and plant protection. On present unmanned aerial vehicles, many sensor assemblies are usually provided, such as cameras, barometers, GNSS modules, radars, lidar and the like. These sensor assemblies typically generate large amounts of data, and therefore the amount of data transmission within the sensor is very demanding. For example, in a radar, signals collected by the radar may be transmitted to a flight control module of the drone for processing. Also, in some special cases, such as where it is desired to detect information in multiple directions, a rotating radar may be used. However, in the rotary radar, the radar radio frequency transmitting part is rigidly connected with the central data processing part, and data communication from the processing part to the outside of the module generally adopts conduction of slip rings or contacts to transmit signals or narrow-band wireless communication to transmit signals. However, such a radar internal communication link has the following disadvantages: (1) when the rotary radar transmits signals through the slip ring, the communication speed is low, and the service life of the slip ring is influenced due to the requirement of the signals on the communication quality of a transmission medium; (2) transmission bandwidth is limited by narrow-band wireless communication. Therefore, it is necessary to provide a more reliable and high-rate data transmission method.
Disclosure of Invention
The embodiment of the invention provides a sensor communication link system, which can be used for upgrading a sensing module and transmitting data while greatly improving the data transmission rate, so that the convenience of taking the sensing data by a user is improved.
In order to achieve the above object, a first aspect of embodiments of the present invention provides a sensor communication link system, including: an Ethernet communication link and a primary communication link; the sensor assembly comprises a sensing module, a data transceiver module and a sensor control module, and the sensing module, the data transceiver module and the sensor control module are communicated through the Ethernet communication link and the main communication link.
The technical solution of the second aspect of the present invention provides an internal communication link system for an unmanned aerial vehicle, including: the sensor communication link system according to the technical solution of the first aspect; an avionics module in communication with the sensor assembly over the Ethernet communication link; a flight control module in communication with the sensor assembly through the primary communication link.
An aspect of the third aspect of the present invention provides an unmanned aerial vehicle, including: the internal communication link system of the unmanned aerial vehicle in the technical scheme of the second aspect; the body is provided with the internal communication link system of the unmanned aerial vehicle; and the power assembly is connected to the machine body and used for providing power for the unmanned aerial vehicle.
In the sensor communication link system and the unmanned aerial vehicle internal communication link system provided by the embodiment of the invention, the communication data transmission inside the sensor is realized by establishing the Ethernet communication link. Through the mode, on one hand, the data transmission rate can be greatly improved, and further more sensing details can be reflected by received sensing data, on the other hand, an Ethernet communication link is established, on the basis of a TCP/IP Protocol, the existing FTP (File transfer Protocol) which is a file transfer Protocol on the Internet and belongs to an application layer based on a client/server mode and uses reliable transport services of TCP, UDT and other file transfer protocols can be used for upgrading and data transmission, and the convenience of the user for the application of the sensing data is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 shows a schematic block diagram of a sensor assembly of an embodiment of the present invention;
FIG. 2 shows a schematic block architecture diagram of a sensor communication link system of an embodiment of the present invention;
FIG. 3 shows a schematic block architecture diagram of a rotary radar internal communication link system of an embodiment of the present invention;
fig. 4 shows a schematic block diagram of the intra-drone communication link system of an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
FIG. 1 is a schematic block diagram of a sensor assembly provided in accordance with an embodiment of the present invention.
The sensor assembly comprises a rotating end and a fixed end, and the fixed end can be fixed on the unmanned aerial vehicle.
Wherein, rotatory end includes: the sensor module 102 comprises a data receiving module 104 communicating with the sensor module 102, a receiving end bracket 106, and a receiving end coil 108 fixed on the receiving end bracket 106.
The motor 116 is used for driving the rotating end to rotate, and includes a motor stator and a motor rotor, one end of the motor rotor is connected to the sensing module 102 to drive the sensing module 102 to rotate, and the other end of the motor rotor is connected to the receiving end bracket 106.
The fixed end includes a base, a transmitting end bracket 112 fixed on the base, a transmitting end coil 110 fixed on the transmitting end bracket 112, and a data transmitting module 114.
Wherein, wireless power supply is realized through the matching of the receiving end coil 108 and the transmitting end coil 110.
And the receiving end circuit module and the sending end circuit module are respectively provided with an antenna for wireless communication so as to realize wireless communication.
When the motor rotates, the sensing module 102 and the receiving end bracket 106 are driven to rotate, and the base is fixed relative to the sensing module 102.
An embodiment of the present invention provides a sensor communication link system, as shown in fig. 2, where a communication mode of a sensor is defined, and the sensor communication link system includes: ethernet communication link 202 primary communication link 206,
specifically, the ethernet communication link 202 has a high transmission rate and a performance that is convenient for maintenance, so that transmission of large data can be performed, and functions of upgrading, debugging, data exporting, data sharing, and the like of the sensor component 204 can be realized, thereby improving the data transmission performance of the sensor component 204. The main communication link 206 has high stable transmission performance, and data transmitted through the main communication link 206 has high reliability and can be used for transmission of control instruction data and the like. The main communication link 206 may be a USB serial communication link, a UART serial communication link, or other forms.
The sensor assembly 204, the sensor assembly 204 includes a sensing module 2042, a data transceiver module and a sensor control module 2048, and the sensing module 2042 and the data transceiver module communicate with each other through the ethernet communication link 202.
The sensor assembly 204 may also include a power transmission module for providing power to the sensor assembly.
Specifically, the sensor assembly 204 may collect environmental information that may be transmitted to an external avionics module via the ethernet communication link 202 or to a flight control module via the primary communication link 206, depending on the different uses of the environmental information.
In the sensor communication link system provided in the embodiment of the present invention, an ethernet communication link is established between the sensing module 2042 and the data transceiver module to perform data transmission, and the transmission rate of the ethernet may reach 10M/s, 100M/s, or even 1000M/s, so that compared with a method of transmitting data through a narrowband wireless communication manner in the prior art, on one hand, the data transmission rate can be greatly increased, and further, the received sensing data can reflect more sensing details, on the other hand, by establishing the ethernet communication link 202, an existing FTP (file transfer Protocol) can be used on the basis of a TCP/IP Protocol, which is a file transfer Protocol on the internet, and belongs to an application layer based on a client/server mode, and uses reliable transport services of TCP, UDT, and other file transfer protocols, the method can be used for upgrading and data transmission, so that convenience of a user for sensing data application is improved.
In one possible embodiment, the data transceiver module includes: a data receiving module (RX module) 2044 and a data transmitting module (TX module) 2046, where the data receiving module (RX module) 2044 communicates with the sensing module 2042 through an ethernet communication link 202, and the data transmitting module (TX module) 2046 is provided with an ethernet interface for establishing the ethernet communication link 202 with an external device.
Specifically, the data transceiver module may further be divided into a data receiving module (RX module) 2044(RX module) and a data transmitting module (TX module) 2046(TX module), and those skilled in the art can understand that both the data receiving module (RX module) 2044(RX module) and the data transmitting module (TX module) 2046(TX module) have a data transceiving function, and both the data receiving module (RX module) 2044(RX module) and the data transmitting module (TX module) 2046(TX module) are data transceiving systems on a chip.
In the sensor communication link system provided in the embodiment of the present invention, an ethernet interface for establishing the ethernet communication link 202 with an external device is provided on the data transmission module (TX module) 2046, so that a local area network can be formed between the sensor communication link system and other modules supporting the ethernet, and thus data sharing is performed with the other modules through the ethernet communication link 202.
In a possible manner, the data transmission module (TX module) 2046 is further provided with a serial interface for establishing a main communication link 206 with an external device.
Specifically, by providing a serial interface for establishing a main communication connection with an external device on the data transmission module (TX module) 2046, reliable and stable transmission of data is achieved.
In a possible manner, the sensor control module 2048 is also provided with a serial interface to establish a primary communication link 206 with an external device. Specifically, the sensor control module 2048 communicates with the flight control module via the primary communication link 206.
In one possible implementation, the serial interface includes at least one of a controller area network bus interface, a universal asynchronous receiver/transmitter interface, and a universal serial bus interface.
In a feasible manner, the sensor module 204 includes a rotating transceiver end and a fixed transceiver end for supporting the rotating transceiver end, the sensing module 2042 and the data receiving module (RX module) 2044 are disposed at the rotating transceiver end, the data transmitting module (TX module) 2046 is disposed at the fixed transceiver end, and the data receiving module (RX module) 2044 communicates with the data transmitting module (TX module) 2046 through the broadband wireless communication link 208.
In the sensor communication link system provided by the embodiment of the invention, a broadband wireless communication link is established and comprises at least one of a Wi-Fi communication link and a mobile communication link near field communication link, so that on one hand, a slip ring is not required to be arranged for communication transmission, and on the other hand, the narrow-band wireless communication is improved into a wireless communication mode to improve the communication speed.
Specifically, the rotating transceiver end mainly implements a transceiving function of the detection signal, the sensing module 2042 may include an infrared detection signal, an electromagnetic wave detection signal (i.e., a radar detection signal), a photoelectric detection signal, and the like according to a difference in signal type, the data receiving module (RX module) 2044 is configured to receive the detection signal received by the sensing module 2042 through the ethernet communication link 202, or transmit a detection instruction sent by the unmanned aerial vehicle to the sensing module 2042 through the ethernet communication link 202, so as to control the sensing module 2042 to send the detection signal, and further implement efficient transmission of internal communication data of the rotating transceiver end.
Specifically, the data communication between sensor module 204 and the unmanned aerial vehicle is mainly realized to fixed transceiver end, because fixed transceiver end is fixed setting relatively unmanned vehicles, consequently fixed transceiver end CAN set up ethernet adapter (including ethernet interface) with carry out between the unmanned vehicles to transmission rate require highly, stability requires lower data transmission relatively, consequently fixed transceiver end CAN also set up the CAN interface to with carry out between the unmanned vehicles to transmission rate require lowly, stability requires higher data transmission relatively.
Specifically, the sensor assembly 204 may be a rotation sensor that includes a rotating end (including a rotating transceiving end) and a fixed end (including a fixed transceiving end), wherein the fixed end is capable of being fixed to the UAV. The rotation sensor may be a rotary radar, i.e. the radar may be rotated to enable circumferential detection. It will be appreciated that the rotation sensor may also be a rotary lidar or other rotatable sensor, and is not limited thereto.
Wherein, rotatory end includes: the sensing module 2042, the sensing driving motor, the data receiving module support, the receiving end coil fixed on the data receiving module support and the data receiving module, the sensing driving motor comprises a motor stator and a motor rotor, one end of the motor rotor is connected with the sensing module 2042 to drive the sensing module 2042 to rotate, and the other end of the motor rotor is connected with the data receiving module support.
The fixed end comprises a base, a data sending module bracket fixed on the base, a sending end coil and a data sending module (TX module) 2046 fixed on the data sending module bracket.
The wireless power supply is realized by matching the receiving end coil with the transmitting end coil.
The data receiving module (RX module) 2044 and the data transmitting module (TX module) 2046 are respectively provided with an antenna for wireless communication.
When the motor rotor rotates, the sensing module 2042 and the data receiving module support are driven to rotate, and the base is fixed relative to the sensing module 2042.
In one possible aspect, a wireless power transmission module includes: the receiving coil is arranged at the rotating transceiving end, and the transmitting coil is arranged at the fixed transceiving end, so that electricity is transmitted to the rotating transceiving end through electromagnetic induction between the receiving coil and the transmitting coil.
In one possible approach, the broadband wireless communication link 208 includes at least one of a Wi-Fi communication link, a mobile communication link, or a near field communication link.
Specifically, the broadband wireless communication link 208 is implemented by correspondingly arranging a transmission antenna, which may be a broadcast antenna (such as a Wi-Fi antenna) or a communication antenna (such as 3G mobile communication transmission, 4G mobile communication transmission, and 5G mobile communication transmission).
In one possible approach, the sensor control module 2048 communicates with the data transmission module (TX module) 2046 via the primary communication link 206.
In a feasible manner, the data receiving module (RX module) 2044 is provided with a first ethernet adapter and a first Wi-Fi module, respectively, and the first ethernet adapter and the first Wi-Fi module are connected through a static routing configuration.
In a feasible manner, the data sending module (TX module) 2046 is respectively provided with a second ethernet adapter and a second Wi-Fi module, and the second ethernet adapter and the second Wi-Fi module are connected through a static routing configuration.
In a feasible manner, the sensing module 2042 and the first ethernet adapter configure IP addresses respectively under the same ethernet gateway.
In a feasible mode, the first Wi-Fi module and the second Wi-Fi module configure IP addresses under the same Wi-Fi gateway respectively.
Specifically, the gateway is a gateway through which information is sent from one network to another network, combines a TCP/IP protocol, and simplifies the maintenance process of the local area network in the unmanned aerial vehicle by allocating a reasonable IP address.
In a feasible mode, the first Wi-Fi module and/or the second Wi-Fi module are/is a Wi-Fi wireless IC chip.
Specifically, the first Wi-Fi module and the second Wi-Fi module are provided in the form of Wi-Fi wireless IC chips, and are respectively assembled on the data receiving module (RX module) 2044 and the data transmitting module (TX module) 2046.
In one possible approach, the data receiving module (RX module) 2044 also communicates with the sensing module 2042 via the main communication link 206.
Specifically, while the ethernet communication link 202 is established, the main communication link 206 may also be established, and the main communication link 206 between the data receiving module (RX module) 2044 and the sensing module 2042 and the ethernet communication link 202 may be in a parallel communication mode, or may set a priority communication mode for the two communication links.
In one possible approach, the sensor assembly 204 includes at least one of a radar, an image acquisition device, and a mapper.
In particular, the radar may be a directional radar or a rotational radar.
In a possible manner, the rotary radar further comprises: a rotation driving module including a driving motor; the data receiving module is a rotary receiving end, and the data sending module is a fixed receiving end; the rotating receiving end is connected with a motor rotor of the driving motor.
The environmental data collected by the radar can be used for adjusting the flight line of the unmanned aerial vehicle and constructing a detected environment.
The image acquisition device comprises a camera and a video camera, and can be arranged on the unmanned aerial vehicle or arranged on the unmanned aerial vehicle through a cloud platform.
As shown in fig. 3, taking a rotating radar as an example, to further define a data transmission system inside the sensor assembly, the radar module 302 may exist in the form of a circuit board, and is configured to form a radar signal transceiver circuit board, the radar signal transceiver circuit board is capable of running an ethernet protocol stack, an ethernet configurator is respectively disposed on the radar signal transceiver circuit board and the RX circuit board 306(RX module) and is configured with an IP address to establish an ethernet communication link 304, a Wi-Fi chip 3062 and a Wi-Fi chip 3082 are respectively disposed on the RX circuit board 306 and the TX circuit board 308(TX module) to establish a broadband wireless communication link 310, a MAC interface and a UART interface (or USB interface) are respectively disposed on the TX circuit board 308 to respectively implement the ethernet communication link 304 and the serial communication link 312, wherein high-speed data transmission is performed between the ethernet interface and the avionic module, and low-speed data transmission is carried out between the CAN interface (serial port communication link 312) and the flight control module.
An embodiment of the present invention provides an internal communication link system of an unmanned aerial vehicle, as shown in fig. 4, which defines a communication mode between different communication modules in the unmanned aerial vehicle, and includes: the ethernet communication link 404 is a link to an ethernet communication,
specifically, the main communication link 402 has a high stable transmission performance, and data transmitted through the main communication link 402 has a high reliability and can be used for transmission of control instruction data and the like. Ethernet communication link 404 has high transmission rate and the performance of being convenient for maintain, consequently can carry out the transmission of great data to and can realize functions such as upgrading, debugging, data derivation and data sharing of inside module, thereby promote the inside data transmission performance of unmanned aerial vehicle.
The sensor assembly comprises a sensing module, a data transceiving module and a sensor control module, and the sensing module and the data transceiving module are communicated through the Ethernet communication link.
In particular, the sensor assembly 408 may collect environmental information that may be transmitted to the avionics module 410 over the Ethernet communication link 404 or to the flight control module 406 over the primary communication link 402, depending on the different uses of the environmental information.
In the unmanned aerial vehicle provided by the embodiment of the invention, the Ethernet adapters are respectively arranged on the assembled unmanned aerial vehicle and the sensor assembly 408 to realize data transmission between the unmanned aerial vehicle and the sensor assembly 408 through the Ethernet communication link 404, on one hand, the transmission rate of the Ethernet CAN reach 10M/s, 100M/s or even 1000M/s, and compared with the mode of data transmission through a CAN (controller area network) bus (the highest transmission rate is 1M/s) in the prior art, the transmission rate CAN be greatly improved, so that the feedback efficiency of detection signals CAN be improved, on the other hand, the Ethernet link is adopted for communication, the complicated routing information does not need to be maintained, the communication data interaction CAN be realized only by knowing the IP address of the opposite side, the maintenance is simpler, on the other hand, through establishing the Ethernet communication link 404, on the basis of the TCP/IP Protocol, the existing File Transfer Protocol (FTP), which is a File Transfer Protocol on the internet, belongs to an application layer based on a client/server mode and uses a reliable transport service of TCP, UDT, and other File Transfer protocols can be used for upgrading and data transmission.
In one possible embodiment, the data transceiver module includes: the data receiving module (RX module) 4084 communicates with the data transmitting module (TX module) 4086, and the data receiving module (RX module) 4084 communicates with the sensing module 4082 through the ethernet communication link 404.
Specifically, the data transceiver module may further be divided into a data receiving module (RX module) 4084 and a data transmitting module (TX module) 4086, and those skilled in the art can understand that both the data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086 have a data transceiving function, and the data receiving module (RX module) 4084, the data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086 are all data transceiver systems on a chip.
In a feasible manner, the sensor module 408 includes a rotating transceiver end and a fixed transceiver end for supporting the rotating transceiver end, the sensing module 4082 and the data receiving module (RX module) 4084 are disposed on the rotating transceiver end, the data transmitting module (TX module) 4086 is disposed on the fixed transceiver end, and the data receiving module (RX module) 4084 communicates with the data transmitting module (TX module) 4086 through the broadband wireless communication link 412.
Specifically, the transceiver end mainly realizes the transceiving function of the detection signal, the sensing module 4082 may include an infrared detection signal according to the difference of the signal type, an electromagnetic wave detection signal (i.e., a radar detection signal) and a photoelectric detection signal, and the like, the data receiving module (RX module) 4084 is configured to receive the detection signal received by the sensing module 4082 through the ethernet communication link 404, or transmit the detection instruction sent by the unmanned aerial vehicle to the sensing module 4082 through the ethernet communication link 404, so as to control the sensing module 4082 to send the detection signal, and further, the internal communication data of the transceiver end is efficiently transmitted.
Specifically, the fixed transceiver end mainly implements data communication between the sensor module 408 and the drone, and since the fixed transceiver end is fixedly disposed relative to the drone, the fixed transceiver end may be configured with an ethernet adapter (including an ethernet interface) to perform data transmission with a high transmission rate requirement and a relatively low stability requirement with the drone, and may be further configured with a CAN interface to perform data transmission with a relatively low transmission rate requirement and a relatively high stability requirement with the drone,
specifically, the sensor assembly 408 may be a rotary radar that includes a rotating end (including a rotating transceiver end) and a fixed end (including a fixed transceiver end), wherein the fixed end is capable of being fixed to the UAV.
Wherein, rotatory end includes: the sensing module 4082, the sensing driving motor, data receiving module (RX module) 4084 support, fix receiving end coil and data receiving module (RX module) 4084 on data receiving module (RX module) 4084 support, the sensing driving motor includes motor stator and electric machine rotor, electric machine rotor's one end is connected with sensing module 4082 to it is rotatory to drive sensing module 4082, electric machine rotor's the other end and data receiving module (RX module) 4084 leg joint.
The fixed end comprises a base, a data transmission module (TX module) 4086 bracket fixed on the base, and a transmission end coil and data transmission module (TX module) 4086 fixed on the data transmission module (TX module) 4086 bracket.
The wireless power supply is realized by matching the receiving end coil with the transmitting end coil.
The data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086 are provided with antennas for wireless communication, respectively.
When the motor rotor rotates, the sensing module 4082 and the data receiving module (RX module) 4084 are driven to rotate, and the base is fixed relative to the sensing module 4082.
In one possible approach, the broadband wireless communication link 412 comprises a Wi-Fi communication link or a mobile communication link.
Specifically, the broadband wireless communication link 412 is implemented by correspondingly arranging a transmission antenna, which may be a broadcast antenna (such as a Wi-Fi antenna) or a communication antenna (such as 3G mobile communication transmission, 4G mobile communication transmission, and 5G mobile communication transmission).
In a feasible manner, a data receiving module (RX module) 4084 is provided with a first ethernet adapter and a first Wi-Fi module, respectively, and the first ethernet adapter and the first Wi-Fi module are connected through a static routing configuration.
In a feasible manner, the data sending module (TX module) 4086 is respectively provided with a second ethernet adapter and a second Wi-Fi module, and the second ethernet adapter and the second Wi-Fi module are connected through a static routing configuration.
In one possible approach, the sensing module 4082 and the first ethernet adapter configure IP addresses separately under the same ethernet gateway. In a feasible mode, the first Wi-Fi module and the second Wi-Fi module configure IP addresses under the same Wi-Fi gateway respectively.
In a feasible manner, the data sending module (TX module) 4086 and the avionics module 410 configure IP addresses respectively under the same ethernet gateway.
Specifically, the gateway is a gateway through which information is sent from one network to another network, combines a TCP/IP protocol, and simplifies the maintenance process of the local area network in the unmanned aerial vehicle by allocating a reasonable IP address.
In a feasible mode, the first Wi-Fi module and/or the second Wi-Fi module are/is a Wi-Fi wireless IC chip.
Specifically, the first Wi-Fi module and the second Wi-Fi module are provided in the form of Wi-Fi wireless IC chips, and are respectively assembled on the data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086.
In one possible approach, the data receiving module (RX module) 4084 also communicates with the sensing module 4082 via the primary communication link 402.
Specifically, while the ethernet communication link 404 is established, the primary communication link 402 may also be established, and the primary communication link 402 and the ethernet communication link 404 between the data receiving module (RX module) 4084 and the sensing module 4082 may be in a parallel communication mode, or may set a priority communication mode for both communication links.
In one possible approach, the sensor assembly 408 includes at least one of a radar, an image acquisition device, and a mapper.
Specifically, the radar can be directional radar and also can be rotary radar, and environmental data through the radar collection can be used for adjusting unmanned aerial vehicle flight line, also can be used for constructing the environment that detects.
The image acquisition device comprises a camera and a video camera, can be arranged on the unmanned aerial vehicle, can also be arranged on the unmanned aerial vehicle through a cloud platform, and can also realize data transmission between the avionic module 410 and the cloud platform through an Ethernet transmission link when the cloud platform is arranged.
In one possible approach, the primary communication link 402 is a serial communication link. Specifically, through serial port communication link, guarantee the stability of data transmission process.
In a feasible manner, the avionics module 410 is provided with a first universal asynchronous receiver/transmitter interface, and the data transceiver module is provided with a second universal asynchronous receiver/transmitter interface (UART) or a universal serial bus interface (USB) which establishes a serial communication link with the first universal asynchronous receiver/transmitter interface (UART).
As shown in fig. 4, an ethernet communication link 404 is established through a corresponding MAC (media access control layer) interface connection, and a serial communication link 402 is established through a corresponding UART (universal asynchronous receiver transmitter) interface connection.
The embodiment of the invention also provides an unmanned aerial vehicle which comprises the unmanned aerial vehicle internal communication link system in any one of the embodiments; the unmanned aerial vehicle internal communication link system is arranged on the body; and the power assembly is connected to the airframe and used for providing power for the unmanned aerial vehicle. Further, it will be understood that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (20)
1. A sensor communication link system comprising an ethernet communication link and a primary communication link;
the sensor assembly comprises a sensing module, a data transceiver module and a sensor control module, and the sensing module, the data transceiver module and the sensor control module are communicated through the Ethernet communication link and the main communication link.
2. The sensor communication link system of claim 1, wherein the data transceiver module comprises:
the data receiving module communicates with the sensing module through the Ethernet communication link, and the data sending module is provided with an Ethernet interface for establishing the Ethernet communication link with external equipment.
3. The sensor communication link system of claim 2,
the data sending module is also provided with a serial interface for establishing the main communication link with external equipment.
4. The sensor communication link system of claim 2,
and the sensor control module is also provided with a serial interface for establishing the main communication link with external equipment.
5. The sensor communication link system of claim 3 or 4,
the serial interface comprises at least one of a controller area network bus interface, a universal asynchronous receiving/sending device interface and a universal serial bus interface.
6. The sensor communication link system of claim 2,
the sensor assembly comprises a rotary receiving and transmitting end and a fixed receiving and transmitting end used for supporting the rotary receiving and transmitting end, the sensing module and the data receiving module are arranged at the rotary receiving and transmitting end, the data transmitting module is arranged at the fixed receiving and transmitting end, and the data receiving module is communicated with the data transmitting module through a broadband wireless communication link.
7. The sensor communication link system of claim 6, further comprising: a wireless power transmission module, the wireless power transmission module comprising:
the receiving coil is arranged at the rotating receiving and transmitting end, and the transmitting coil is arranged at the fixed receiving and transmitting end so as to transmit power to the rotating receiving and transmitting end through electromagnetic induction between the receiving coil and the transmitting coil.
8. The sensor communication link system of claim 6,
the broadband wireless communication link comprises at least one of a Wi-Fi communication link, a mobile communication link, or a near field communication link.
9. The sensor communication link system of any one of claims 2 to 7,
the sensor control module and the data transmission module communicate through the primary communication link.
10. The sensor communication link system of claim 6,
the data receiving module is respectively provided with a first Ethernet adapter and a first Wi-Fi module, and the first Ethernet adapter is connected with the first Wi-Fi module through static routing configuration.
11. The sensor communication link system of claim 10,
the data sending module is respectively provided with a second Ethernet adapter and a second Wi-Fi module, and the second Ethernet adapter is connected with the second Wi-Fi module through static routing configuration.
12. The sensor communication link system of claim 11,
and the sensing module and the first Ethernet adapter are respectively configured with IP addresses under the same Ethernet gateway.
13. The sensor communication link system of claim 12,
and the first Wi-Fi module and the second Wi-Fi module configure IP addresses under the same Wi-Fi gateway respectively.
14. The sensor communication link system of claim 13,
the first Wi-Fi module and/or the second Wi-Fi module are/is a Wi-Fi wireless IC chip.
15. The sensor communication link system of any one of claims 2 to 14, wherein the sensor assembly is a rotary sensor.
16. The sensor communication link system of claim 15, wherein the rotation sensor further comprises:
a rotation driving module including a driving motor;
the data receiving module is a rotary receiving end, and the data sending module is a fixed receiving end;
the rotating receiving end is connected with a motor rotor of the driving motor.
17. The sensor-communication-link system of claim 16, wherein the rotation sensor is a rotary radar.
18. The sensor communication link system of any one of claims 1 to 14, wherein the sensor assembly further comprises an image acquisition device and a mapper.
19. An unmanned aerial vehicle intercom link system, comprising:
the sensor communication link system of any one of claims 1 to 18;
an avionics module in communication with the sensor assembly over the Ethernet communication link;
a flight control module in communication with the sensor assembly through the primary communication link.
20. An unmanned aerial vehicle, comprising:
the intra-drone communication link system of claim 19;
the body is provided with the internal communication link system of the unmanned aerial vehicle; and
and the power assembly is connected to the machine body and used for providing power for the unmanned aerial vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2018/118793 WO2020107493A1 (en) | 2018-11-30 | 2018-11-30 | Internal communication link system and unmanned aerial vehicle |
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| CN110832887B CN110832887B (en) | 2023-06-30 |
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| CN110832887B (en) | 2023-06-30 |
| WO2020107493A1 (en) | 2020-06-04 |
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