CN112235545B - Multi-machine cooperation and video relay transmission method - Google Patents
Multi-machine cooperation and video relay transmission method Download PDFInfo
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- CN112235545B CN112235545B CN202011118536.5A CN202011118536A CN112235545B CN 112235545 B CN112235545 B CN 112235545B CN 202011118536 A CN202011118536 A CN 202011118536A CN 112235545 B CN112235545 B CN 112235545B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
Abstract
The invention discloses a multi-machine cooperation and video relay transmission method, and relates to the technical field of wireless communication. The method comprises the following steps: deploying a cooperative control communication waveform; executing a search task; relaying the communication link request; establishing a relay communication link: the cluster head aircraft sends ROS information containing relay communication waveform deployment commands and relay position information to the related unmanned aerial vehicles, after the unmanned aerial vehicles receive the ROS information, corresponding relay communication waveforms are deployed and fly to the relay positions to circle, then confirmation information is sent to the cluster head aircraft, and after the cluster head aircraft receives all the confirmation information, the relay link is established; target video information relaying: after receiving an ROS message which is sent by the cluster head aircraft and contains relay link establishment success information, the unmanned aerial vehicle which searches the target transmits video information to the command center through the relay communication link. The method has the advantages of good universality, easy upgrading, convenience for unmanned aerial vehicle cluster cooperative control and real-time relay transmission of video information and the like.
Description
Technical Field
The invention relates to the technical field of communication methods, in particular to a multi-machine cooperation and video relay transmission method.
Background
In recent years, unmanned aerial vehicle technology is rapidly developed and widely applied to various fields such as reconnaissance and relay communication. But single unmanned aerial vehicle ability is limited, is difficult to satisfy the demand of complex task, consequently, unmanned aerial vehicle cluster technical theory takes place at the end, and its key thought is: many drones with limited capacity perform high-complexity tasks through cooperative cooperation. One key technology of the unmanned aerial vehicle cluster is multi-machine cooperation. Many researchers introduce a Robot Operating System (ROS) into an unmanned aerial vehicle cluster, and use the ROS System to realize cooperation between unmanned aerial vehicles.
The ROS system is a de facto standard in the field of current robotics and has found wide application in many robotic systems. The ROS system may be composed of a number of physically separate components. Therefore, people regard the unmanned aerial vehicle cluster as an ROS system, wherein each unmanned aerial vehicle serves as a component of the ROS system, and the ROS Master operates on the cluster head aircraft, so that the cooperative control of the unmanned aerial vehicle cluster can be completely realized by the ROS system. In the ROS system, information interaction is carried out among all nodes in a publish/subscribe mechanism mode, all nodes register with the ROS Master at first, and messages generated by all nodes are collected into a message pool of the ROS Master at first and then distributed. Therefore, each drone should maintain as stable a communication connection with the cluster head aircraft as possible. Because unmanned aerial vehicle maneuvering range is big, communication distance between the unmanned aerial vehicle is also great, and in order to guarantee that the communication link between the unmanned aerial vehicle is stable, unmanned aerial vehicle often can adopt the communication waveform that the interference killing feature is strong, transmission distance is far away, transmission rate is low relatively to carry out cooperative communication to accomplish the transmission of cooperative control message. However, when the cluster of the unmanned aerial vehicles completes a long-distance and large-data-volume real-time relay task, the low communication rate between the unmanned aerial vehicles and the message transmission mechanism of the ROS system for collecting and distributing messages are very inefficient, and even the task requirements are difficult to meet.
If the unmanned aerial vehicle has two communication modules, one is used for transmitting the cooperative control message in the ROS system; another communication waveform with adaptive transmission capability is deployed according to different tasks, so that the problem can be solved. For example: when a real-time relay task with large data volume is executed, the cluster head aircraft can control the unmanned aerial vehicle cluster to construct a relay transmission link from a data source to the command center, and sends a command for deploying a corresponding relay transmission waveform to the unmanned aerial vehicles participating in the construction of the relay communication link according to the distance between the unmanned aerial vehicles and the rate requirement of the relay transmission link, after receiving the command, the unmanned aerial vehicles deploy the corresponding relay transmission waveform, and finally, real-time data are transmitted to the command center through the adaptive relay transmission waveform. ROS systems do not have the ability to manage and dynamically deploy communication waveforms. Software Communication Architecture (SCA) is currently well established and widely used as an important Architecture in the field of Software radio. The method has a universal software and hardware platform, can manage and integrate various communication waveforms, has the advantages of dynamic waveform deployment, easy waveform upgrade, easy waveform integration and the like, and can completely make up the disadvantages of the ROS system in the aspects of communication waveform management and deployment. Therefore, under the scene that cooperative control and relay transmission are repeated, the ROS control system and the SCA communication system are efficiently integrated, and the relay transmission task completion efficiency of the unmanned aerial vehicle cluster can be effectively improved. Through previous research findings, no research result about the mutual fusion of the ROS system and the SCA system is disclosed at present.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a multi-machine cooperation and video relay transmission method which is good in universality, easy to upgrade and convenient for unmanned aerial vehicle cluster cooperation control and real-time relay transmission of video information.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a multi-machine cooperation and video relay transmission method is characterized in that: the method is realized by an airborne cooperative control and relay transmission system, and comprises the following steps:
deployment of cooperative control communication waveforms: before the unmanned aerial vehicle cluster executes a task, all the airplanes load and deploy the same cooperative control communication waveform for transmitting ROS messages;
and (3) executing a search task: the unmanned aerial vehicle cluster flies to a task area under the cooperative control of the cluster head aircraft, and a task search area is assigned to each unmanned aerial vehicle;
relaying the communication link request: after the unmanned aerial vehicle searches for the target, an ROS message containing a relay communication link request is sent to the cluster head aircraft;
establishing a relay communication link: after receiving the relay communication link request, the cluster head aircraft sends an ROS message containing a relay communication waveform deployment command and relay position information to the unmanned aerial vehicle participating in establishing the relay communication link, after receiving the ROS message, the unmanned aerial vehicle deploys a corresponding relay communication waveform and flies to the relay position to hover, then sends a confirmation message to the cluster head aircraft, and after receiving the confirmation messages of all the unmanned aerial vehicles participating in establishing the relay communication link, the cluster head aircraft completes the establishment of the relay communication link;
target video information relaying: after receiving an ROS message which is sent by the cluster head aircraft and contains relay communication link establishment success information, the unmanned aerial vehicle which searches the target transmits the collected video information to the command center through the relay communication link.
And (5) ending the search task: when the target video information is no longer needed, the unmanned aerial vehicle cluster flies back under the control of the cluster head airplane.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
1) unmanned aerial vehicle cluster cooperative control and the real-time relay transmission of video information are convenient for: the unmanned aerial vehicle cluster cooperative control needs a reliable communication mode and a complete cooperative control system, which inevitably reduces the real-time and high-speed video relay transmission capability of the unmanned aerial vehicle cluster, and the invention integrates the advantages of an ROS system in the cooperative control aspect and an SCA system in the communication waveform management deployment aspect based on the design idea of separating a cooperative control channel and a relay communication channel, namely, the ROS system is used for cooperatively controlling the unmanned aerial vehicle cluster and the SCA system is used for dynamically deploying communication waveforms, so that the unmanned aerial vehicle cluster can construct a suitable video relay transmission link according to task requirements, and the unmanned aerial vehicle cluster cooperative control and the real-time relay transmission of video information are facilitated;
2) the universality is good: the ROS system and the SCA system have good openness and universality, the airborne cooperative control and relay transmission system realizes the fusion of the two systems through the waveform agent module and the waveform management component without damaging the openness and the universality of the two systems, so that a user can deploy the applications developed on the ROS system and the SCA system into the device to operate;
3) easy upgrading: the airborne cooperative control and relay transmission system keeps a design scheme that a control end and a communication end are separated, the control end and the communication end are connected through a control port (a serial port or a USB port) and an Ethernet port, and an ROS system and an SCA system run on different CPU processors and are weak in coupling, so that the control end and the communication end have technical conditions for independent development of technology, and the system is easy to upgrade.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flowchart of the multi-machine cooperation and video relay transmission method according to the embodiment of the present invention;
fig. 2 is a schematic diagram of a stage in which a cluster of unmanned aerial vehicles performs a search task in an embodiment of the present invention;
fig. 3 is a schematic diagram of a stage of constructing a relay communication link by a cluster of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of the cooperative control and relay transmission system according to the embodiment of the present invention;
fig. 5 is a block diagram of an application of the cooperative control and relay transmission system deployed on a cluster head aircraft according to an embodiment of the present invention;
fig. 6 is an application block diagram of a cooperative control and relay transmission system deployed on a drone outside a cluster head in an embodiment of the present invention;
FIG. 7 is a message format diagram of a hardware abstraction layer in the system according to the embodiment of the present invention;
FIG. 8 is a diagram illustrating a waveform deployment command message format in the system according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating the execution of the load _ wave function of the waveform agent in the system according to an embodiment of the present invention;
fig. 10 is a flowchart illustrating the execution of the set _ wave function of the waveform agent in the system according to the embodiment of the present invention;
fig. 11 is a flowchart illustrating the execution of the flow _ wave function of the waveform agent module in the system according to the embodiment of the present invention;
fig. 12 is a flow diagram of a waveform management component in the system according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described 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 of the 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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1 to fig. 3, an embodiment of the present invention discloses a multi-machine cooperation and video relay transmission method, where the method is implemented by an airborne cooperative control and relay transmission system, and includes the following steps:
s10: deployment of cooperative control communication waveforms: before the unmanned aerial vehicle cluster executes a task, all the airplanes load and deploy the same cooperative control communication waveform for transmitting ROS messages;
s20: and (3) executing a search task: the unmanned aerial vehicle cluster flies to a task area under the cooperative control of the cluster head aircraft, and a task search area is assigned to each unmanned aerial vehicle;
s30: relaying the communication link request: after the unmanned aerial vehicle searches for the target, an ROS message containing a relay communication link request is sent to the cluster head aircraft;
s40: establishing a relay communication link: after receiving the relay communication link request, the cluster head aircraft sends an ROS message containing a relay communication waveform deployment command and relay position information to the unmanned aerial vehicle participating in establishing the relay communication link, after receiving the ROS message, the unmanned aerial vehicle deploys a corresponding relay communication waveform and flies to the relay position to hover, then sends a confirmation message to the cluster head aircraft, and after receiving the confirmation messages of all the unmanned aerial vehicles participating in establishing the relay communication link, the cluster head aircraft completes the establishment of the relay communication link;
s50: target video information relaying: after receiving an ROS message which contains successful relay communication link establishment information and is sent by a cluster head aircraft, the unmanned aerial vehicle which searches for the target transmits the collected video information to a command center through the relay communication link;
s60: and (5) ending the search task: when the video information of the target is no longer needed, the unmanned aerial vehicle cluster flies back under the control of the cluster head node.
Further, the deploying the coordinated control communication waveform comprises the steps of:
determining a cooperative control communication waveform: according to the area range of executing tasks, aiming at ensuring that a cluster head aircraft can keep stable communication with unmanned aerial vehicles except the cluster head, selecting a communication waveform for transmitting ROS messages between the unmanned aerial vehicles, wherein the communication waveform is called as a cooperative control communication waveform;
deploying a cooperative control communication waveform by the cluster head aircraft: the cluster head aircraft main management node sends a waveform deployment command to the waveform management component through the waveform agent module, and the waveform management component deploys the selected cooperative control communication waveform to a cooperative control channel;
deploying cooperative control communication waveforms by unmanned aerial vehicles outside the cluster heads: and the slave management node of the unmanned aerial vehicle outside the cluster head sends a waveform deployment command to the waveform management component through the waveform agent module, and the waveform management component deploys the selected cooperative control communication waveform to the cooperative control channel.
Further, the executing the search task includes the following steps:
flying to the task area: a main flight control node of the cluster head aircraft sends an ROS message containing position information of a task area to a slave flight control node of the unmanned aerial vehicle except the cluster head through a cooperative control channel, and the unmanned aerial vehicle flies into the task area after receiving the ROS message to search for a target;
searching for a target: and the unmanned aerial vehicle identifies the target through the camera node.
Further, the relay communication link request includes the steps of:
and (3) finding a target: the unmanned aerial vehicle identifies a target through the camera node;
sending a request: and the camera node sends an ROS message containing target position information and a relay communication link request to the cluster head aircraft main management node through a cooperative control channel.
Further, the relay communication link establishment includes the following steps:
calculating a relay communication link: after the cluster head aircraft main management node receives the ROS message from the unmanned aerial vehicle camera node, according to the distance between the target position and the command center and the transmission bandwidth required by the video information, the minimum transmission capacity required by the relay communication waveform and the number of unmanned aerial vehicles required by the relay communication link establishment are calculated, then the unmanned aerial vehicles participating in the relay communication link establishment are selected, and the relay communication waveform to be deployed and the relay position coiled on the relay communication link are selected for the unmanned aerial vehicles;
issuing a relay link establishment command: the cluster head aircraft master management node sends an ROS message containing a waveform number of a relay communication waveform and a waveform deployment command to a slave management node of an unmanned aerial vehicle participating in establishing a relay communication link, and the cluster head aircraft master flight control node sends an ROS message containing relay position information to a slave flight control node of the unmanned aerial vehicle participating in establishing the relay communication link;
establishing a relay communication link: after a slave management node of an unmanned aerial vehicle participating in establishing a relay communication link receives an ROS message, a waveform deployment command is sent to a waveform management component through a waveform agent module, and the waveform management component deploys a selected relay communication waveform to a relay communication channel; after receiving an ROS message containing relay position information from a flight control node of an unmanned aerial vehicle participating in the establishment of a relay communication link, flying to the relay position to hover, and sending a confirmation message to a cluster head aircraft main management node through a slave management node; and after the cluster head aircraft main management node receives the confirmation messages replied by all the unmanned aerial vehicles participating in the establishment of the relay communication link, the relay communication link is successfully established.
Further, the target video information relay includes the following steps:
and informing the relay link to be established successfully: the cluster head aircraft main management node sends an ROS message containing relay link establishment success information to the unmanned aerial vehicle camera node which searches the target;
relaying video information: after the unmanned aerial vehicle camera node which searches the target receives the ROS message, the collected video information is transmitted to the relay communication waveform of the communication end through the Ethernet port B, and the relay communication waveform is transmitted to the command center.
As shown in fig. 4, an embodiment of the present invention discloses an airborne cooperative control and relay transmission system, which includes a control end and a communication end,
the control end comprises a first hardware platform layer, a first operating system layer, a first middleware layer and a first application layer, wherein the first hardware platform layer comprises a first CPU (central processing unit) processor, a first control interface, an Ethernet port A and an Ethernet port B, and the first control interface, the Ethernet port A and the Ethernet port B are bidirectionally connected with the first CPU processor; the first operating system layer comprises a first Linux system, and the first middle layer comprises a client library module, a TCPROS/UDPROS module, a node API module and a waveform agent module; the first application layer comprises a Master node and a plurality of ROS nodes;
the communication end comprises a second hardware platform layer, a second operating system layer, a second middleware layer and a second application layer, the second hardware platform comprises a second CPU processor, a second control interface, an Ethernet port A ', an Ethernet port B', a channel A and a channel B, and the second control interface, the Ethernet port A ', the Ethernet port B', the channel A and the channel B are in bidirectional connection with the second CPU processor; the second operating system layer comprises a second Linux/VxWorks system, and the second middleware layer comprises a hardware abstraction layer, a CORBA middleware and an SCA core framework; the second application layer comprises a waveform management component and a plurality of waveform components;
the first control interface is connected with the second control interface, the Ethernet port A is connected with the Ethernet port A ', the Ethernet port B is connected with the Ethernet port B', and the first CPU processor is connected with the second CPU processor through the control port and the Ethernet port which are connected with each other; the control port is used for respectively connecting the waveform agent module and the waveform management component;
the channel A is a communication platform supporting dynamic deployment of communication waveforms, can be used as a cooperative control channel and deploys cooperative control communication waveforms, and the communication waveforms running on the channel A are used for sending data from the Ethernet port A 'to the air and forwarding the data received from the air to the Ethernet port A'; the channel B is a communication platform supporting dynamic deployment of communication waveforms, can be used as a relay communication channel and deploys relay communication waveforms, and the communication waveforms running on the channel B are used for sending data from the Ethernet port B 'to the air and forwarding the data received from the air to the Ethernet port B';
the ROS node publishes or subscribes a cooperative control message through an Ethernet port A, an Ethernet port A 'and a channel A, and transmits real-time data acquired from the outside through an Ethernet port B, an Ethernet port B' and a channel B in a relay way;
the waveform agent module is used for transmitting a waveform deployment command sent by the ROS node to the waveform management component through the first control port;
and the waveform management component is used for loading, configuring and unloading communication waveforms for the channel A and the channel B according to the waveform deployment command sent by the waveform agent module.
In the application, the specific structure of the first application layer can be set differently, and the first application layer is divided into a cluster head device and a member device according to the different settings, wherein the cluster head device is an airborne cooperative control and relay transmission system which runs a Master node, a main management node and a main flight control node, and is deployed on a cluster head airplane of an unmanned aerial vehicle cluster, as shown in fig. 5;
the Master node is a central node of the ROS system;
the main management node is an ROS node running on a first application layer of the control end, on one hand, waveform loading and unloading can be carried out on a communication end channel through a waveform proxy module, and on the other hand, ROS messages containing cooperative control commands can be sent to slave management nodes of other unmanned aerial vehicles through a cooperative control channel, so that cooperative deployment of relay communication waveforms is realized;
the main flight control node is an ROS node running on a first application layer of the control end, and can send ROS messages containing cooperative flight track information to the slave flight control nodes of other unmanned aerial vehicles through a cooperative control channel;
the member device is an airborne cooperative control and relay transmission system running a slave management node, a slave flight control node and a camera node, and is deployed on the unmanned aerial vehicle except the cluster head of the unmanned aerial vehicle cluster, as shown in fig. 6.
The slave management node is an ROS node running on a first application layer of the control end, can receive ROS messages containing relay communication waveform deployment commands sent by a main management node of the cluster head aircraft through a cooperative control channel, and deploys corresponding relay communication waveforms through a waveform agent module;
the slave flight control node is an ROS node running on a first application layer of the control end, can receive an ROS message containing air hovering position information sent by a master flight control node of the cluster head aircraft through a cooperative control channel, and flies to a relay position to hover;
the camera node is an ROS node running on a first application layer of the control end, can identify a target, can send an ROS message containing a relay communication link request to a main management node of the cluster head aircraft through a cooperative control channel, and can transmit collected video information to the control center through the relay communication link after the relay communication link is established.
Further, the waveform agent module interacts with the waveform management component based on hardware abstraction layer messages, and Payload parts of the messages include channel numbers and waveform deployment commands, as shown in fig. 7;
the channel number is used for distinguishing a channel A and a channel B, the channel A is used for transmitting a cooperative control message between the ROS nodes and can be called as a cooperative control channel, and the channel B is used for relaying real-time data acquired by the ROS nodes from an external environment and can be called as a relay transmission channel;
further, as shown in fig. 8, the waveform deployment command includes a command type and a command parameter; the command types comprise waveform loading, waveform configuration, waveform unloading and command response; the command parameters comprise parameters corresponding to command types;
when the command type is waveform loading, the corresponding command parameter is a waveform number; the waveform number is an arabic number for identifying different communication waveforms;
the waveform is the result of the combined operation of a plurality of waveform components, namely the waveform consists of a plurality of waveform components;
when the command type is waveform configuration, the corresponding command parameters are waveform numbers and configuration parameters;
when the command type is waveform unloading, the corresponding command parameter is a waveform number;
when the command type is a command response, the corresponding command parameters are the execution results of the waveform loading, waveform configuration and waveform unloading commands.
Further, the waveform agent module is a set of C language functions running on the Linux system, and comprises a load _ wave function, a set _ wave function and an offload _ wave function.
Further, as shown in fig. 9, the load _ wave function includes the following steps:
s101: inputting parameters: the input parameters comprise channel numbers and waveform numbers;
s102: constructing a waveform loading command message: constructing a message comprising a waveform loading command and a waveform number;
s103: constructing a hardware abstraction layer message: an LD field in the hardware abstraction layer message is an LD of the waveform management component, a payload field includes a channel number and a waveform loading command message, and a format of the hardware abstraction layer message is shown in fig. 7;
s104: sending hardware abstraction layer messages: sending the hardware abstraction layer message to a waveform management component through a control interface;
s105: and returning an execution result: waiting for the execution result sent back by the waveform management component, returning the execution result when the execution result arrives within the effective time, and returning to-1 when the execution result waits for overtime;
further, as shown in fig. 10, the set _ wave function includes the following steps:
s201: inputting parameters: the input parameters comprise channel numbers, waveform numbers and waveform configuration parameters;
s202: constructing a waveform configuration command message: constructing a message comprising a waveform configuration command, a waveform number and waveform configuration parameters;
s203: constructing a hardware abstraction layer message: an LD field in the hardware abstraction layer message is an LD of the waveform management component, a payload field includes a channel number and a waveform configuration command message, and a format of the hardware abstraction layer message is shown in fig. 7;
s204: sending hardware abstraction layer messages: sending the hardware abstraction layer message to a waveform management component through a control interface;
s205: and returning an execution result: waiting for the execution result sent back by the waveform management component, returning the execution result when the execution result arrives within the effective time, and returning to-1 when the execution result waits for overtime;
further, as shown in fig. 11, the overflow _ wave function includes the following steps:
s301: inputting parameters: the input parameters comprise channel numbers and waveform numbers;
s302: constructing a waveform unloading command message: constructing a message comprising a waveform unloading command and a waveform number;
s303: constructing a hardware abstraction layer message: the LD field in the hardware abstraction layer message is the LD of the waveform management component, the payload field includes the channel number and the waveform unload command message, and the format of the hardware abstraction layer message is shown in fig. 7;
s304: sending hardware abstraction layer messages: sending the hardware abstraction layer message to a waveform management component through a control interface;
s305: and returning an execution result: waiting for the execution result sent back by the waveform management component, returning the execution result when the execution result arrives within the effective time, and returning to-1 when the execution result waits for overtime;
further, the waveform management component is a component running on the SCA core framework, as shown in fig. 12, and includes the following steps:
s401: wait for hardware abstraction messages: waiting for a hardware abstraction layer message sent by a waveform agent module and extracting a channel number and a waveform deployment command message;
s402: analyzing a waveform deployment command: extracting a command type and a command parameter;
s403: executing a waveform loading command: when the command type is waveform loading, the following steps are carried out:
s4031: searching a waveform combination table: searching a waveform combination table by taking the waveform number as an index to obtain a waveform component contained in the waveform;
the waveform combination table is stored in a waveform management component and comprises a waveform number column and a waveform component set column; the waveform number column comprises the number of the communication waveform supported by the communication terminal; the waveform component column comprises a waveform component set corresponding to a waveform number; each waveform number corresponds to at least one waveform component;
s4032: loading a waveform component: loading the waveform component corresponding to the waveform number to the channel corresponding to the channel number;
s4033: and returning a loading result: constructing a hardware abstraction layer message by taking the waveform loading success or failure information as contents, and sending the hardware abstraction layer message to a waveform proxy module;
s404: executing a waveform configuration command: when the command type is the waveform configuration, the following steps are carried out:
s4041: configuring a waveform: configuring a waveform component on a channel identified by the channel number;
s4042: and returning a loading result: constructing a hardware abstraction layer message by taking the waveform configuration success or failure information as contents, and sending the hardware abstraction layer message to a waveform agent module;
s405: executing a waveform unload command: when the command type is waveform unloading, the following steps are carried out:
s4051: unloading the waveform: unloading the waveform component on the channel identified by the channel number;
s4052: and returning a loading result: and constructing a hardware abstraction layer message by taking the waveform unloading success or failure information as contents, and sending the hardware abstraction layer message to the waveform agent module.
In one embodiment of the present invention, it is assumed that: the command center can receive data sent by the relay communication waveform, and the IP address of the command center is 192.168.1.1; the LD of the waveform agent module is 0x1, and the LD of the waveform management component is 0x 2; the unmanned aerial vehicle formation comprises a cluster head aircraft and three unmanned aerial vehicles, and an airborne cooperative control and relay transmission system is installed on each aircraft, and the network address configuration of the system is as follows:
1. an IP address corresponding to an Ethernet port A of the airborne cooperative control and relay transmission system on the cluster head aircraft is 10.90.1.1, a gateway of the airborne cooperative control and relay transmission system is set to be 10.90.1.254, and a subnet mask of the airborne cooperative control and relay transmission system is 255.255.255.0; the IP address corresponding to the Ethernet port A' is set to 10.90.1.254; the channel A is provided with a communication waveform for transmitting ROS node messages, and the communication waveform has the characteristics of strong anti-interference capability, long communication distance, low communication speed and the like;
2. in the airborne cooperative control and relay transmission system on the unmanned aerial vehicle A, the IP address corresponding to the Ethernet port A is 10.90.2.1, the gateway is set to be 10.90.2.254, and the subnet mask is 255.255.255.0; the IP address corresponding to the Ethernet port A' is set to 10.90.2.254; channel a deploys the communication waveform used to transmit ROS node messages; the corresponding IP address of the ethernet port B is 192.168.2.1, the gateway is set to 192.168.2.254, and the subnet mask is 255.255.255.0; the IP address corresponding to the ethernet port B' is set to 192.168.2.254; a communication waveform is not deployed in the channel B, and a corresponding relay communication waveform is selected to be deployed according to the actual task requirement;
3. in the airborne cooperative control and relay transmission system on the unmanned aerial vehicle B, the IP address corresponding to the Ethernet port A is 10.90.3.1, the gateway is set to be 10.90.3.254, and the subnet mask is 255.255.255.0; the IP address corresponding to the Ethernet port A' is set to 10.90.3.254; channel a deploys the communication waveform used to transmit ROS node messages; the corresponding IP address of the Ethernet port B is 192.168.3.1, the gateway is set to be 192.168.3.254, and the subnet mask is 255.255.255.0; the IP address corresponding to the ethernet port B' is set to 192.168.3.254; a communication waveform is not deployed in the channel B, and a corresponding relay communication waveform is selected to be deployed according to the actual task requirement;
4. in the airborne cooperative control and relay transmission system on the unmanned aerial vehicle C, the IP address corresponding to the ethernet port a is 10.90.4.1, the gateway is set to be 10.90.4.254, and the subnet mask is 255.255.255.0; the IP address corresponding to the Ethernet port A' is set to 10.90.4.254; channel a deploys the communication waveform used to transmit ROS node messages; the corresponding IP address of the Ethernet port B is 192.168.4.1, the gateway is set to be 192.168.4.254, and the subnet mask is 255.255.255.0; the IP address corresponding to the ethernet port B' is set to 192.168.4.254; a communication waveform is not deployed in the channel B, and a corresponding relay communication waveform is selected to be deployed according to the actual task requirement;
after the configuration, the ROS nodes (main management node and main flight control node) on the cluster head aircraft operate in an ROS system with the IP address of 10.90.1.1; ROS nodes (slave management nodes, slave flight control nodes and camera nodes) on the unmanned aerial vehicle A, the unmanned aerial vehicle B and the unmanned aerial vehicle C operate in ROS systems with IP addresses of 10.90.2.1, 10.90.3.1 and 10.90.4.1, wherein the IP addresses of 10.90.1.1, 10.90.2.1, 10.90.3.1 and 10.90.4.1 are communicated with each other based on cooperative control waveforms; similarly, the command center, the drone a, the drone B and the drone C respectively have IP addresses 192.168.1.1, 192.168.2.1, 192.168.3.1 and 192.168.4.1, and the four IP addresses can be interconnected and intercommunicated based on the relay communication waveform on the channel B.
Further, assuming that the formation of the drones needs to construct a relay link for transmitting the video in real time between the data source and the control center, as shown in fig. 3, the following steps are performed:
1. after finding a target, a camera node of the unmanned aerial vehicle C sends an ROS message containing target position coordinate information and a relay link request to a cluster head aircraft main management node;
2. after receiving the requested ROS message, the cluster head aircraft master management node selects a relay communication waveform to be deployed and the spatial positions of the unmanned aerial vehicle A and the unmanned aerial vehicle B in a relay link according to the distance between the target position and the command center and the bandwidth required by video transmission, and then sends the ROS message containing a communication waveform number (assuming that the waveform number is 0x 1) and a waveform deployment command to slave management nodes of the unmanned aerial vehicle A, the unmanned aerial vehicle B and the unmanned aerial vehicle C; the method comprises the steps that a main flight control node respectively sends ROS messages containing relay space position information to slave flight control nodes of an unmanned aerial vehicle A and an unmanned aerial vehicle B;
3. after receiving the ROS message sent by the main management node of the cluster head aircraft from the slave management node of the unmanned aerial vehicle a, the unmanned aerial vehicle B and the unmanned aerial vehicle C, deploying the relay communication waveform with the waveform number of 0x1 through the waveform proxy module, and operating as follows:
1) the slave management node executes a load _ wave function, and inputs parameter channel numbers and waveform numbers of B and 0x1 respectively; at this time, the waveform management component receives the waveform loading command, then searches the waveform combination table by the waveform number 0x1, as shown in table 1, and loads the waveform component corresponding to the waveform number 0x1 to the CPU, DSP and FPGA processor in the channel B; when the waveform loading is successful, the waveform management component constructs a hardware abstraction layer message by using LD as 0x1 and Payload as waveform loading success information 0x1 (assuming that the success information is 0x 1), and sends the hardware abstraction layer message to the load _ wave function of the waveform proxy module, and the load _ wave function returns to 0x1 and exits.
TABLE 1 waveform combination table
2) The load _ wave function is executed from the management node to obtain a return value of 0x1, which indicates that the waveform loading is successful;
3) and sending a confirmation message from the management node to the cluster head aircraft main management node.
4. After receiving the ROS message sent by the main flight control node of the cluster head aircraft, the slave flight control nodes of the unmanned aerial vehicles a and B fly to a designated relay position to hover, as shown in fig. 3, and send a confirmation message to the main management node of the cluster head aircraft;
5. after receiving the confirmation messages of the unmanned aerial vehicle A, the unmanned aerial vehicle B and the unmanned aerial vehicle C, the cluster head aircraft main management node sends a message that the relay link is established to the camera node of the unmanned aerial vehicle C;
6. after receiving the message that the relay communication link is established, the camera node of the unmanned aerial vehicle C transmits the acquired video information to the relay channel through the ethernet port B, wherein the target IP address of the video information is 192.168.1.1, that is, the IP address of the command center in the relay communication waveform network.
Claims (10)
1. A multi-machine cooperation and video relay transmission method is characterized in that: the method is realized by an airborne cooperative control and relay transmission system, and comprises the following steps:
deployment of cooperative control communication waveforms: before the unmanned aerial vehicle cluster executes a task, all airplanes load and deploy the same cooperative control communication waveform for transmitting a Robot Operating System (ROS) message;
and (3) executing a search task: the unmanned aerial vehicle cluster flies to a task area under the cooperative control of the cluster head aircraft, and a task search area is assigned to each unmanned aerial vehicle;
relaying the communication link request: after the unmanned aerial vehicle searches for the target, an ROS message containing a relay communication link request is sent to the cluster head aircraft;
establishing a relay communication link: after receiving the relay communication link request, the cluster head aircraft sends an ROS message containing a relay communication waveform deployment command and relay position information to the unmanned aerial vehicle participating in establishing the relay communication link, after receiving the ROS message, the unmanned aerial vehicle deploys a corresponding relay communication waveform and flies to the relay position to hover, then sends a confirmation message to the cluster head aircraft, and after receiving the confirmation messages of all the unmanned aerial vehicles participating in establishing the relay communication link, the cluster head aircraft completes the establishment of the relay communication link;
target video information relaying: after receiving an ROS message which contains successful relay communication link establishment information and is sent by a cluster head aircraft, the unmanned aerial vehicle which searches for the target transmits the collected video information to a command center through the relay communication link;
and (5) ending the search task: when the target video information is no longer needed, the unmanned aerial vehicle cluster flies back under the control of the cluster head airplane.
2. The multi-machine cooperative and video relay transmission method according to claim 1, wherein said deploying cooperative control communication waveforms comprises the steps of:
determining a cooperative control communication waveform: according to the area range of executing tasks, aiming at ensuring that a cluster head aircraft can keep stable communication with unmanned aerial vehicles except the cluster head, selecting a communication waveform for transmitting ROS messages between the unmanned aerial vehicles, wherein the communication waveform is called as a cooperative control communication waveform;
deploying a cooperative control communication waveform by the cluster head aircraft: the cluster head aircraft main management node sends a waveform deployment command to the waveform management component through the waveform agent module, and the waveform management component deploys the selected cooperative control communication waveform to a cooperative control channel;
deploying cooperative control communication waveforms by unmanned aerial vehicles outside the cluster heads: and the slave management node of the unmanned aerial vehicle outside the cluster head sends a waveform deployment command to the waveform management component through the waveform agent module, and the waveform management component deploys the selected cooperative control communication waveform to the cooperative control channel.
3. The multi-machine cooperation and video relay transmission method according to claim 1, wherein said performing a search task comprises the steps of:
flying to the task area: a main flight control node of the cluster head aircraft sends an ROS message containing position information of a task area to a slave flight control node of the unmanned aerial vehicle except the cluster head through a cooperative control channel, and the unmanned aerial vehicle flies to the task area to search for a target after receiving the ROS message;
searching for a target: the unmanned aerial vehicle identifies a target through the camera node;
the relay communication link request comprises the steps of:
and (3) finding a target: the unmanned aerial vehicle identifies a target through the camera node;
sending a request: and the camera node sends an ROS message containing target position information and a relay communication link request to the cluster head aircraft main management node through a cooperative control channel.
4. The multi-machine cooperation and video relay transmission method according to claim 1, wherein said relay communication link establishment comprises the steps of:
calculating a relay communication link: after the cluster head aircraft main management node receives the ROS message from the unmanned aerial vehicle camera node, according to the distance between the target position and the command center and the transmission bandwidth required by the video information, the minimum transmission capacity required by the relay communication waveform and the number of unmanned aerial vehicles required by the relay communication link establishment are calculated, then the unmanned aerial vehicles participating in the relay communication link establishment are selected, and the relay communication waveform to be deployed and the relay position coiled on the relay communication link are selected for the unmanned aerial vehicles;
issuing a relay link establishment command: the cluster head aircraft master management node sends an ROS message containing a waveform number of a relay communication waveform and a waveform deployment command to a slave management node of an unmanned aerial vehicle participating in establishing a relay communication link, and the cluster head aircraft master flight control node sends an ROS message containing relay position information to a slave flight control node of the unmanned aerial vehicle participating in establishing the relay communication link;
establishing a relay communication link: after a slave management node of an unmanned aerial vehicle participating in establishing a relay communication link receives an ROS message, a waveform deployment command is sent to a waveform management component through a waveform agent module, and the waveform management component deploys a selected relay communication waveform to a relay communication channel; after receiving an ROS message containing relay position information from a flight control node of an unmanned aerial vehicle participating in the establishment of a relay communication link, flying to the relay position to hover, and sending a confirmation message to a cluster head aircraft main management node through a slave management node; after the cluster head aircraft main management node receives confirmation messages replied by all unmanned aerial vehicles participating in the establishment of the relay communication link, the relay communication link is established successfully;
the target video information relay comprises the following steps:
and informing the relay link to be established successfully: the cluster head aircraft main management node sends an ROS message containing relay link establishment success information to the unmanned aerial vehicle camera node which searches the target;
relaying video information: after the unmanned aerial vehicle camera node which searches the target receives the ROS message, the collected video information is transmitted to the relay communication waveform of the communication end through the Ethernet port B, and the relay communication waveform is transmitted to the command center.
5. The multi-machine cooperative and video relay transmission method according to claim 1, wherein the airborne cooperative control and relay transmission system comprises a control end and a communication end:
the control end comprises a first hardware platform layer, a first operating system layer, a first middleware layer and a first application layer, wherein the first hardware platform layer comprises a first CPU (central processing unit) processor, a first control interface, an Ethernet port A and an Ethernet port B, and the first control interface, the Ethernet port A and the Ethernet port B are bidirectionally connected with the first CPU processor; the first operating system layer comprises a first Linux system; the first middleware layer comprises a client side library module, a transmission control protocol (TCP ROS) of a robot operating system/a user datagram protocol (UDP ROS) module of the robot operating system, a node Application Programming Interface (API) module and a waveform agent module; the first application layer comprises a Master node and a plurality of ROS nodes;
the communication end comprises a second hardware platform layer, a second operating system layer, a second middleware layer and a second application layer, the second hardware platform comprises a second CPU processor, a second control interface, an Ethernet port A ', an Ethernet port B', a channel A and a channel B, and the second control interface, the Ethernet port A ', the Ethernet port B', the channel A and the channel B are in bidirectional connection with the second CPU processor; the second operating system layer comprises a second Linux/VxWorks system; the second middleware layer comprises a hardware abstraction layer, a Common Object Request Broker Architecture (CORBA) middleware and a Software Communication Architecture (SCA) core framework; the second application layer comprises a waveform management component and a plurality of waveform components;
the first control interface is connected with the second control interface, the Ethernet port A is connected with the Ethernet port A ', the Ethernet port B is connected with the Ethernet port B', and the first CPU processor is connected with the second CPU processor through the control interface and the Ethernet port which are connected with each other; the first control interface is connected with the waveform agent module, and the second control interface is connected with the waveform management component;
the channel A is a communication platform supporting dynamic deployment of communication waveforms, and the communication waveforms running on the channel A are used for sending data from the Ethernet port A 'to the air and forwarding the data received from the air to the Ethernet port A';
the channel A is used as a cooperative control channel for deploying cooperative control communication waveforms;
the channel B is a communication platform supporting dynamic deployment of communication waveforms, and the communication waveforms running on the channel B are used for sending data from the Ethernet port B 'to the air and forwarding the data received from the air to the Ethernet port B';
the channel B is used as a relay communication channel and used for deploying relay communication waveforms;
the ROS node issues a subscription cooperative control message through an Ethernet port A, an Ethernet port A 'and a channel A, and transmits real-time data acquired from the outside through an Ethernet port B, an Ethernet port B' and a channel B in a relay manner;
the waveform agent module is used for transmitting a waveform deployment command sent by the ROS node to the waveform management component through the first control interface;
the waveform management component is used for loading, configuring and unloading communication waveforms for the channel A and the channel B according to a waveform deployment command sent by the waveform agent module;
the waveform agent module and the waveform management component are interacted based on hardware abstraction layer messages, and Payload parts of the messages comprise channel numbers and waveform deployment commands;
the channel number is used for distinguishing a channel A and a channel B;
the waveform deployment command comprises a command type and command parameters; the command types comprise waveform loading, waveform configuration, waveform unloading and command response; the command parameters include parameters corresponding to a command type.
6. The multi-machine cooperative and video relay transmission method according to claim 5, wherein: the first application layer of the airborne cooperative control and relay transmission system deployed on the cluster head aircraft comprises a Master node, a main management node and a main flight control node:
the Master node is a central node of the ROS system;
the main management node is an ROS node running on a first application layer of the control end, and on one hand, the main management node can perform waveform loading and unloading on a communication end channel through a waveform proxy module, and on the other hand, the main management node can send ROS messages containing cooperative control commands to slave management nodes of other unmanned aerial vehicles through a cooperative control channel;
the master flight control node is an ROS node running on a first application layer of the control end, and can send ROS messages containing cooperative flight trajectory information to slave flight control nodes of other unmanned aerial vehicles through a cooperative control channel.
7. The multi-machine cooperative and video relay transmission method according to claim 5, wherein: the first application layer of the airborne cooperative control and relay transmission system deployed on the unmanned aerial vehicle outside the cluster head comprises a slave management node, a slave flight control node and a camera node;
the slave management node is an ROS node running on a first application layer of the control end, can receive ROS messages containing relay communication waveform deployment commands sent by a main management node of the cluster head aircraft through a cooperative control channel, and deploys corresponding relay communication waveforms through a waveform agent module;
the slave flight control node is an ROS node running on a first application layer of the control end, can receive an ROS message containing air hovering position information sent by a master flight control node of the cluster head aircraft through a cooperative control channel, and flies to a relay position to hover;
the camera node is an ROS node running on a first application layer of the control end, can identify a target, can send an ROS message containing a relay communication link request to a main management node of the cluster head aircraft through a cooperative control channel, and can transmit collected video information to the control center through the relay communication link after the relay communication link is established.
8. The multi-machine cooperative and video relay transmission method according to claim 5, wherein:
when the command type is waveform loading, the corresponding command parameter is a waveform number; the waveform number is an arabic number for identifying different communication waveforms;
the waveform is the result of the combined operation of a plurality of waveform components, namely the waveform consists of a plurality of waveform components;
when the command type is waveform configuration, the corresponding command parameters are waveform numbers and configuration parameters;
when the command type is waveform unloading, the corresponding command parameter is a waveform number;
when the command type is a command response, the corresponding command parameters are the execution results of the waveform loading, waveform configuration and waveform unloading commands.
9. The multi-machine cooperative and video relay transmission method according to claim 5, wherein:
the waveform proxy module is a group of functions running on a first Linux system, and comprises a load _ wave function, a set _ wave function and an offload _ wave function;
the load _ wave function is realized by the following steps:
inputting parameters: the input parameters comprise channel numbers and waveform numbers;
constructing a waveform loading command message: constructing a message comprising a waveform loading command and a waveform number;
constructing a hardware abstraction layer message: a logical address (LD) field in the hardware abstraction layer message is an LD of the waveform management component, and a payload field comprises a channel number and a waveform loading command message;
sending hardware abstraction layer messages: sending the hardware abstraction layer message to a waveform management component through a control interface;
and returning an execution result: waiting for the execution result sent back by the waveform management component, returning the execution result when the execution result arrives within the effective time, and returning to-1 when the execution result waits for overtime;
the set _ wave function is implemented by the following steps:
inputting parameters: the input parameters comprise channel numbers, waveform numbers and waveform configuration parameters;
constructing a waveform configuration command message: constructing a message comprising a waveform configuration command, a waveform number and waveform configuration parameters;
constructing a hardware abstraction layer message: an LD field in the hardware abstraction layer message is an LD of the waveform management component, and a payload field comprises a channel number and a waveform configuration command message;
sending hardware abstraction layer messages: sending the hardware abstraction layer message to a waveform management component through a control interface;
and returning an execution result: waiting for the execution result sent back by the waveform management component, returning the execution result when the execution result arrives within the effective time, and returning to-1 when the execution result waits for overtime;
the offload _ wave function is implemented by the following steps:
inputting parameters: the input parameters comprise channel numbers and waveform numbers;
constructing a waveform unloading command message: constructing a message comprising a waveform unloading command and a waveform number;
constructing a hardware abstraction layer message: an LD field in the hardware abstraction layer message is an LD of the waveform management component, and a payload field comprises a channel number and a waveform unloading command message;
sending hardware abstraction layer messages: sending the hardware abstraction layer message to a waveform management component through a control interface;
and returning an execution result: and (4) waiting for the execution result sent back by the waveform management component, returning the execution result when the execution result arrives within the effective time, and returning to-1 when the execution result waits for overtime.
10. The multi-machine cooperative and video relay transmission method according to claim 5, wherein:
the operation method of the waveform management component is as follows:
wait for hardware abstraction messages: waiting for a hardware abstraction layer message sent by a waveform agent module and extracting a channel number and a waveform deployment command message;
analyzing a waveform deployment command: extracting a command type and a command parameter;
executing a waveform loading command or executing a waveform configuration command or executing a waveform unloading command;
when the command type is waveform loading, the following steps are carried out:
searching a waveform combination table: searching a waveform combination table by taking the waveform number as an index to obtain a waveform component contained in the waveform;
the waveform combination table is stored in a waveform management component and comprises a waveform number column and a waveform component set column; the waveform number column comprises the number of the communication waveform supported by the communication terminal; the waveform component column comprises a waveform component set corresponding to a waveform number; each waveform number corresponds to at least one waveform component;
loading a waveform component: loading the waveform component corresponding to the waveform number to the channel corresponding to the channel number;
and returning a loading result: constructing a hardware abstraction layer message by taking the waveform loading success or failure information as contents, and sending the hardware abstraction layer message to a waveform proxy module;
when the command type is the waveform configuration, the following steps are carried out:
configuring a waveform: configuring a waveform component on a channel identified by the channel number;
and returning a loading result: constructing a hardware abstraction layer message by taking the waveform configuration success or failure information as contents, and sending the hardware abstraction layer message to a waveform agent module;
when the command type is waveform unloading, the following steps are carried out:
unloading the waveform: unloading the waveform component on the channel identified by the channel number;
and returning a loading result: and constructing a hardware abstraction layer message by taking the waveform unloading success or failure information as contents, and sending the hardware abstraction layer message to the waveform agent module.
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