CN110832887B - Internal communication link system and unmanned aerial vehicle - Google Patents
Internal communication link system and unmanned aerial vehicle Download PDFInfo
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- CN110832887B CN110832887B CN201880042137.XA CN201880042137A CN110832887B CN 110832887 B CN110832887 B CN 110832887B CN 201880042137 A CN201880042137 A CN 201880042137A CN 110832887 B CN110832887 B CN 110832887B
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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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- 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
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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 transceiver module and a sensor control module, wherein the sensing module and the data transceiver module communicate through the Ethernet communication link. According to the technical scheme, the data transmission rate can be greatly improved, and the method can be also used for upgrading and data transmission of the sensing module, so that the convenience of a user for taking the sensing data 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 an aircraft commonly used in people's life and production, for example, unmanned aerial vehicles for shooting, exploration, detection, plant protection. Many sensor components, such as cameras, barometers, GNSS modules, radars, lidars, etc., are typically provided on present day unmanned aerial vehicles. These sensor assemblies typically generate large amounts of data, and therefore the data transmission capacity requirements inside the sensor are great. For example, in the radar, signals collected by the radar are transmitted to a flight control module of the unmanned aerial vehicle for processing. Also, in some special cases, such as where it is necessary to detect information in multiple directions, a rotary radar may be used. However, in a rotary radar, the radar radio frequency emitting portion is rigidly connected to a central data processing portion, and the data communication from the processing portion to the outside of the module typically employs conductive transfer signals of slip rings or contacts, or signals are transferred by narrowband wireless communication. However, such radar intercom links have the following drawbacks: (1) The communication rate is low when the rotating radar transmits signals through the slip ring, and the service life of the slip ring is influenced due to the requirement of the signals on the communication quality of transmission media; (2) bandwidth limited by narrowband wireless communications. Therefore, there is a need to provide a more reliable and high-rate data transmission scheme.
Disclosure of Invention
The embodiment of the invention provides a sensor communication link system which can be used for upgrading and data transmission of a sensing module while greatly improving the data transmission rate, thereby improving the convenience of a user for taking sensing data.
To achieve the above object, a first aspect of an embodiment 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 receiving and transmitting module and a sensor control module, wherein the sensing module, the data receiving and transmitting 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 of an unmanned aerial vehicle, including: the sensor communication link system 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.
A third aspect of the present invention provides an unmanned aerial vehicle, comprising: the unmanned aerial vehicle internal communication link system according to the technical scheme of the second aspect; the machine body is provided with the unmanned aerial vehicle internal communication link system; 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. In this way, on the one hand, the data transmission rate can be greatly improved, and further, the received sensing data can reflect more sensing details, on the other hand, by establishing an ethernet communication link, 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 a reliable transport service of TCP) and the file transfer protocols such as UDT can be used for upgrading and data transmission so as to improve the convenience of users for applying the sensing data.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 shows a schematic block diagram of a sensor assembly of an embodiment of the present invention;
FIG. 2 shows a schematic architecture block diagram of a sensor communication link system of an embodiment of the present invention;
FIG. 3 shows a schematic block diagram of the architecture of a rotary radar internal communication link system of an embodiment of the present invention;
fig. 4 shows a schematic architecture block diagram of a drone internal communication link system of an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "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 herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic architectural diagram of a sensor assembly provided in accordance with an embodiment of the present invention.
The sensor assembly includes a rotating end and a fixed end that can be fixed on the unmanned aerial vehicle.
Wherein, the rotation end includes: the sensing module 102 is in communication with the data receiving module 104, the receiving-side bracket 106, and the receiving-side coil 108 fixed to the receiving-side bracket 106.
The motor 116 is used for driving the rotating end to rotate, and comprises a motor stator and a motor rotor, one end of the motor rotor is connected with the sensing module 102 to drive the sensing module 102 to rotate, and the other end of the motor rotor is connected with 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 achieved by the cooperation of the receiving end coil 108 and the transmitting end coil 110.
The receiving end circuit module and the transmitting 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, which defines a communication manner of a sensor, including: ethernet communication link 202 primary communication link 206,
specifically, the ethernet communication link 202 has a high transmission rate and a performance of being convenient for maintenance, so that larger data can be transmitted, and functions of upgrading, debugging, data deriving, data sharing and the like of the sensor assembly 204 can be realized, thereby improving the data transmission performance of the sensor assembly 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, or a UART serial communication link, or other forms.
The sensor assembly 204 may also include a power transmission module for powering the sensor assembly.
In particular, sensor assembly 204 may collect environmental information, may be transmitted to an external avionics module via ethernet communication link 202, or may be transmitted to a flight control module via primary communication link 206, depending on the use of the environmental information.
In the sensor communication link system provided by the embodiment of the invention, the data transmission is performed by establishing an ethernet communication link between the sensing module 2042 and the data transceiver module, the transmission rate of the ethernet can reach 10M/s, 100M/s or even 1000M/s, and compared with the mode of transmitting data through a narrowband wireless communication mode in the prior art, on one hand, the data transmission rate can be greatly improved, and further, the received sensing data can reflect more sensing details, on the other hand, by establishing the ethernet communication link 202, the conventional FTP (File Transfer Protocol) can be used on the basis of the TCP/IP protocol, which is a file transmission protocol on the internet, based on a client/server mode, belongs to an application layer, and uses the reliable transport service of TCP), the UDT and other file transmission protocols, and can be used for upgrading and data transmission, so as to improve the convenience of the application of the user to the sensing data.
In one possible manner, the data transceiver module includes: the data receiving module (RX module) 2044 and the data transmitting module (TX module) 2046, the data receiving module (RX module) 2044 communicates with the sensing module 2042 through the 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 be further 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 will understand that the data receiving module (RX module) 2044 (TX module) and the data transmitting module (TX module) 2046 (TX module) have data transceiver functions, and the data receiving module (RX module) 2044 (RX module) and the data transmitting module (TX module) 2046 (TX module) are all data transceiver systems on a chip.
In the sensor communication link system provided by the embodiment of the invention, an ethernet interface for establishing an ethernet communication link 202 with an external device is provided on a 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 ethernet, and data sharing is performed between the sensor communication link system and other modules through the ethernet communication link 202.
In a possible manner, a serial interface for establishing a main communication link 206 with an external device is also provided on the data transmission module (TX module) 2046.
Specifically, by providing a serial interface that establishes 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, a serial interface is also provided on the sensor control module 2048 to establish a primary communication link 206 with an external device. Specifically, the sensor control module 2048 communicates with the flight control module via a primary communication link 206.
In one possible manner, 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 one possible implementation, the sensor assembly 204 includes a rotary transceiver and a fixed transceiver for supporting the rotary transceiver, the sensor module 2042 and the data receiving module (RX module) 2044 are disposed at the rotary transceiver, the data transmitting module (TX module) 2046 is disposed at the fixed transceiver, 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, by establishing a broadband wireless communication link comprising at least one of a Wi-Fi communication link and a mobile communication link near field communication link, on one hand, a slip ring is not required to be arranged for communication transmission, and on the other hand, the narrowband wireless communication is improved to be a wireless communication mode, so that the improvement of the communication rate is realized.
Specifically, the rotating transceiver mainly realizes the function of receiving and transmitting detection signals, 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 different signal types, and 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 realize efficient transmission of internal communication data of the rotating transceiver.
Specifically, the fixed transceiver mainly realizes data communication between the sensor assembly 204 and the unmanned aerial vehicle, and because the fixed transceiver is fixed relative to the unmanned aerial vehicle, the fixed transceiver CAN be provided with an ethernet adapter (including an ethernet interface) to perform data transmission with the unmanned aerial vehicle with high transmission rate requirements and relatively low stability requirements, and CAN be provided with a CAN interface to perform data transmission with the unmanned aerial vehicle with relatively low transmission rate requirements and relatively high stability requirements.
Specifically, the sensor assembly 204 may be a rotation sensor that includes a rotation end (including a rotation transceiver end) and a fixed end (including a fixation transceiver end), wherein the fixed end is capable of being fixed on an unmanned aerial vehicle. The rotation sensor may be a rotary radar, i.e. the radar may be rotated to achieve circumferential detection. It will be appreciated that the rotation sensor may also be a rotary lidar or other rotatable sensor, without limitation.
Wherein, the rotation end includes: the sensing module 2042, the sensing driving motor, the data receiving module support, the receiving end coil and the data receiving module fixed on the data receiving module support, 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 includes a base, a data transmission module bracket fixed on the base, a transmission end coil fixed on the data transmission module bracket, and a data transmission module (TX module) 2046.
Wherein, realize wireless power supply through receiving end coil and transmitting end coil cooperation.
The data receiving module (RX module) 2044 and the data transmitting module (TX module) 2046 are provided with antennas for wireless communication, respectively.
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 manner, a wireless power transmission module includes: the receiving coil is arranged at the rotary receiving and transmitting end, and the transmitting coil is arranged at the fixed receiving and transmitting end, so that the rotary receiving and transmitting end transmits power through electromagnetic induction between the receiving coil and the transmitting coil.
In one possible manner, 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 disposing a transmission antenna, which may be a broadcast antenna (such as a Wi-Fi antenna) or a communication antenna (such as a 3G mobile communication transmission, a 4G mobile communication transmission, and a 5G mobile communication transmission).
In a possible manner, the sensor control module 2048 communicates with a data transmission module (TX module) 2046 via a primary communication link 206.
In a possible manner, a first ethernet adapter and a first Wi-Fi module are respectively disposed in the data receiving module (RX module) 2044, and the first ethernet adapter and the first Wi-Fi module are connected through a static routing configuration.
In a possible manner, the data transmitting module (TX module) 2046 is provided with a second ethernet adapter and a second Wi-Fi module, respectively, and the second ethernet adapter is connected to the second Wi-Fi module through a static routing configuration.
In one possible manner, the sensing module 2042 and the first ethernet adapter are separately configured with IP addresses under the same ethernet gateway.
In a feasible manner, the first Wi-Fi module and the second Wi-Fi module are respectively configured with IP addresses under the same Wi-Fi gateway.
Specifically, the gateway is a gateway through which information is sent from one network to another network, and by combining with a TCP/IP protocol, the maintenance process of the local area network in the unmanned aerial vehicle is simplified by distributing reasonable IP addresses.
In one possible manner, the first Wi-Fi module and/or the second Wi-Fi module is a Wi-Fi wireless IC chip.
Specifically, the first Wi-Fi module and the second Wi-Fi module are configured as 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 a possible manner, the data receiving module (RX module) 2044 also communicates with the sensing module 2042 via a primary communication link 206.
Specifically, while the ethernet communication link 202 is established, a main communication link 206 may also be established, and the main communication link 206 and the ethernet communication link 202 between the data receiving module (RX module) 2044 and the sensing module 2042 may be in a parallel communication mode or may be in a priority communication mode.
In one possible approach, the sensor assembly 204 includes at least one of a radar, an image acquisition device, and a plotter.
Specifically, the radar may be a directional radar or a rotational radar.
In a possible manner, the rotary radar further comprises: the rotary driving module comprises a driving motor; the data receiving module is a rotary receiving end, and the data transmitting module is a fixed receiving end; the rotary receiving end is connected with a motor rotor of the driving motor.
The environment data collected by the radar can be used for adjusting the flight route of the unmanned aerial vehicle and also can be used for constructing the 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 the cradle head.
As shown in fig. 3, taking a rotary radar as an example, a data transmission system inside the sensor assembly is further defined, the radar module 302 may exist in a circuit board form, and is configured to form a radar signal transceiver circuit board, where the radar signal transceiver circuit board CAN operate an ethernet protocol stack, ethernet configurators are respectively disposed on the radar signal transceiver circuit board and the RX circuit board 306 (RX module) and configure IP addresses, then an ethernet communication link 304 is established, wi- Fi chips 3062 and 3082 are respectively disposed on the RX circuit board 306 and the TX circuit board 308 (TX module), so as to establish a broadband wireless communication link 310, and MAC interfaces and UART interfaces (or USB interfaces) are respectively disposed on the TX circuit board 308, so as to implement the ethernet communication link 304 and the serial communication link 312, where high-speed data transmission is performed between the ethernet interfaces and the avionics module, and low-speed data transmission is performed between the CAN interfaces (serial communication links 312) and the flight control module.
The embodiment of the invention provides an internal communication link system of an unmanned aerial vehicle, as shown in fig. 4, which limits communication modes among different communication modules in the unmanned aerial vehicle, and comprises the following steps: an ethernet communication link 404,
specifically, the main communication link 402 has a high stable transmission performance, and the 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. The ethernet communication link 404 has high transmission rate and easy maintenance, so that larger data can be transmitted, and functions of upgrading, debugging, data exporting, data sharing and the like of the internal module can be realized, thereby improving the data transmission performance of the interior of the unmanned aerial vehicle.
The sensor assembly comprises a sensing module, a data transceiver module and a sensor control module, wherein the sensing module and the data transceiver module communicate through the Ethernet communication link.
In particular, sensor assembly 408 may collect environmental information, may be transmitted to avionics module 410 via Ethernet communication link 404, or may be transmitted to flight control module 406 via primary communication link 402, depending on the use 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, so that the data transmission between the unmanned aerial vehicle and the sensor assembly 408 CAN be realized 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, 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, the feedback efficiency of detection signals CAN be further improved, on the other hand, the communication CAN be realized by adopting the ethernet link, the complex routing information is not required to be maintained, the communication data interaction CAN be realized only by knowing the IP address of the other party, the maintenance is simpler, on the other hand, the existing FTP (File Transfer Protocol) CAN be used on the basis of the TCP/IP protocol by establishing the ethernet communication link 404, the existing FTP (the client/server mode, the reliable transport service is used by the application layer based on the client/server mode, the UDT and the like) and the file transmission and the data CAN be used for the data transmission.
In one possible manner, the data transceiver module includes: a data receiving module (RX module) 4084 and a data transmitting module (TX module) 4086, the data receiving module (RX module) 4084 communicates with the sensing module 4082 via an ethernet communication link 404.
Specifically, the data transceiver module may be further 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 the data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086 have data transceiver functions, and the data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086 are all data transceiver systems on a chip.
In one possible manner, the sensor assembly 408 includes a rotary transceiver and a stationary transceiver for supporting the rotary transceiver, the sensor module 4082 and the data receiving module (RX module) 4084 are disposed on the rotary transceiver, the data transmitting module (TX module) 4086 is disposed on the stationary transceiver, 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 rotating transceiver end mainly realizes the transceiver function of the detection signal, the sensing module 4082 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 different signal types, and 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 a 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 realize efficient transmission of internal communication data of the rotating transceiver end.
In particular, the fixed transceiver mainly realizes data communication between the sensor assembly 408 and the unmanned aerial vehicle, and because the fixed transceiver is fixedly arranged relative to the unmanned aerial vehicle, the fixed transceiver CAN be provided with an ethernet adapter (including an ethernet interface) to perform data transmission with high transmission rate requirements and relatively low stability requirements with the unmanned aerial vehicle, CAN be further provided with a CAN interface to perform data transmission with low transmission rate requirements and relatively high stability requirements with the unmanned aerial vehicle,
specifically, the sensor assembly 408 may be a rotary radar that includes a rotary end (including a rotary transceiver end) and a fixed end (including a stationary transceiver end), wherein the fixed end is capable of being fixed on an unmanned aerial vehicle.
Wherein, the rotation end includes: the sensing device comprises a sensing module 4082, a sensing driving motor, a data receiving module (RX module) 4084 support, a receiving end coil fixed on the data receiving module (RX module) 4084 support and a data receiving module (RX module) 4084, wherein the sensing driving motor comprises a motor stator and a motor rotor, one end of the motor rotor is connected with the sensing module 4082 so as to drive the sensing module 4082 to rotate, and the other end of the motor rotor is connected with the data receiving module (RX module) 4084 support.
The fixed end comprises a base, a data transmission module (TX module) 4086 bracket fixed on the base, and a transmitting end coil and a data transmission module (TX module) 4086 fixed on the data transmission module (TX module) 4086 bracket.
Wherein, realize wireless power supply through receiving end coil and transmitting end coil cooperation.
The data receiving module (RX module) 4084 and the data transmitting module (TX module) 4086 are respectively provided with antennas for wireless communication.
When the motor rotor rotates, the sensing module 4082 and the data receiving module (RX module) 4084 support are driven to rotate, and the base is fixed relative to the sensing module 4082.
In one possible manner, the broadband wireless communication link 412 comprises a Wi-Fi communication link or a mobile communication link.
In particular, the broadband wireless communication link 412 is implemented by correspondingly providing a transmission antenna, which may be a broadcast antenna (such as a Wi-Fi antenna) or a communication antenna (such as a 3G mobile communication transmission, a 4G mobile communication transmission, and a 5G mobile communication transmission).
In a possible manner, the data receiving module (RX module) 4084 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 a static routing configuration.
In a possible manner, the data sending module (TX module) 4086 is provided with a second ethernet adapter and a second Wi-Fi module, respectively, and the second ethernet adapter is connected with the second Wi-Fi module through a static routing configuration.
In one possible manner, the sensing module 4082 configures the IP address separately from the first ethernet adapter under the same ethernet gateway. In a feasible manner, the first Wi-Fi module and the second Wi-Fi module are respectively configured with IP addresses under the same Wi-Fi gateway.
In one possible manner, the data transmission module (TX module) 4086 and avionics module 410 are separately configured with IP addresses under the same ethernet gateway.
Specifically, the gateway is a gateway through which information is sent from one network to another network, and by combining with a TCP/IP protocol, the maintenance process of the local area network in the unmanned aerial vehicle is simplified by distributing reasonable IP addresses.
In one possible manner, the first Wi-Fi module and/or the second Wi-Fi module 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 a possible manner, the data receiving module (RX module) 4084 also communicates with the sensing module 4082 via a primary communication link 402.
Specifically, the ethernet communication link 404 may be established, and the main 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 be in a priority communication mode.
In one possible approach, the sensor assembly 408 includes at least one of a radar, an image acquisition device, and a plotter.
Specifically, the radar can be a directional radar or a rotary radar, and the environment data acquired by the radar can be used for adjusting the flight route of the unmanned aerial vehicle and also can be used for constructing the detected environment.
The image acquisition device comprises a camera and a video camera, the image acquisition device can be arranged on the unmanned aerial vehicle, the image acquisition device can also be arranged on the unmanned aerial vehicle through a tripod head, and when the tripod head is arranged, data transmission between the avionics module 410 and the tripod head can also be realized through an Ethernet transmission link.
In one possible manner, the primary communication link 402 is a serial communication link. Specifically, stability of the data transmission process is ensured through a serial port communication link.
In one possible 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 universal serial bus interface (USB) that 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 embodiment; the unmanned aerial vehicle comprises a machine body provided with an unmanned aerial vehicle internal communication link system; and the power assembly is connected to the machine body and used for providing power for the unmanned aerial vehicle. Further, it will be appreciated 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 preferred embodiments of the present invention include 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.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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 may even be paper or other suitable medium upon which the program is printed, as the program may 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or part of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the program when executed includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented as software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (19)
1. An unmanned aerial vehicle intercom 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, wherein 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 sensor control module is communicated with the data transceiver module through a main communication link, and the main communication link comprises a serial communication link;
an avionics module in communication with the sensor assembly over the ethernet communication link; and
a flight control module in communication with the sensor assembly through the primary communication link.
2. The communication link system of claim 1, wherein the data transceiver module comprises:
the data receiving module is communicated with the sensing module through the Ethernet communication link, and the data transmitting module is provided with an Ethernet interface for establishing the Ethernet communication link with external equipment.
3. The communication link system according to claim 2, wherein,
the data transmission module is also provided with a serial interface for establishing the main communication link with external equipment.
4. The communication link system according to claim 2, wherein,
the sensor control module is also provided with a serial interface for establishing the main communication link with external equipment.
5. A communication link system according to claim 3 or 4, characterized in that,
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.
6. The communication link system according to claim 2, wherein,
the sensor assembly comprises a rotary receiving end and a fixed receiving end for supporting the rotary receiving end, the sensor module and the data receiving module are arranged at the rotary receiving end, the data transmitting module is arranged at the fixed receiving end, and the data receiving module is communicated with the data transmitting module through a broadband wireless communication link.
7. The communication link system of claim 6, further comprising: a wireless power transfer module, the wireless power transfer module comprising:
the receiving coil is arranged at the rotary receiving and transmitting end, and the transmitting coil is arranged at the fixed receiving and transmitting end, so that the rotary receiving and transmitting end is transmitted with electricity through electromagnetic induction between the receiving coil and the transmitting coil.
8. The communication link system according to claim 6, wherein,
the broadband wireless communication link includes at least one of a Wi-Fi communication link, a mobile communication link, or a near field communication link.
9. The communication link system according to claim 2, wherein,
the sensor control module communicates with the data transmission module via the primary communication link.
10. The communication link system according to claim 6, wherein,
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 route configuration.
11. The communication link system according to claim 10, wherein,
the data transmission 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 route configuration.
12. The communication link system according to claim 11, wherein,
the sensing module and the first Ethernet adapter are respectively configured with IP addresses under the same Ethernet gateway.
13. The communication link system according to claim 12, wherein,
the first Wi-Fi module and the second Wi-Fi module are respectively configured with IP addresses under the same Wi-Fi gateway.
14. The communication link system according to claim 13, wherein,
the first Wi-Fi module and/or the second Wi-Fi module is/are a Wi-Fi wireless IC chip.
15. The communication link system of claim 2, wherein the sensor assembly is a rotation sensor.
16. The communication link system of claim 15, wherein the rotation sensor further comprises:
the rotary driving module comprises a driving motor;
the data receiving module is a rotary receiving end, and the data transmitting module is a fixed receiving end;
the rotary receiving end is connected with a motor rotor of the driving motor.
17. The communication link system of claim 16, wherein the rotation sensor is a rotary radar.
18. The communication link system of claim 1, wherein the sensor assembly further comprises an image acquisition device and a mapper.
19. An unmanned aerial vehicle, comprising:
the unmanned aerial vehicle intercom link system of any of claims 1-18;
the machine body is provided with the unmanned aerial vehicle internal communication link system; a kind of electronic device with high-pressure air-conditioning system
And the power assembly is connected to the machine body and used for providing power for the unmanned aerial vehicle.
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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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