CN113778643A - Unmanned aerial vehicle task management computer software architecture system and configuration switching method - Google Patents
Unmanned aerial vehicle task management computer software architecture system and configuration switching method Download PDFInfo
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- CN113778643A CN113778643A CN202110931817.0A CN202110931817A CN113778643A CN 113778643 A CN113778643 A CN 113778643A CN 202110931817 A CN202110931817 A CN 202110931817A CN 113778643 A CN113778643 A CN 113778643A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F8/00—Arrangements for software engineering
- G06F8/20—Software design
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The application relates to an unmanned aerial vehicle task management computer software architecture system and a configuration switching method, wherein the system comprises a system-level function unit, a configuration-level function unit, a task-level function unit and a module-level function unit, wherein: the system level function unit is used for guiding an operating system of the task management computer, initializing hardware of the task management computer and driving a bottom layer of the task management computer; the configuration level function unit is used for implementing configuration selection of the task and creating a configured task thread; the task level function unit is used for creating specific content of the task thread and calling a module level function related to the task thread; and the module-level functions related to the task thread in the module-level function units are used for executing respective functions, so that the task thread is realized. According to the scheme provided by the application, flexible switching among various task configurations and various load devices of the airplane is realized, and the configuration of the airplane task system can be adjusted through command communication.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle task management computer software architecture system and a configuration switching method.
Background
At present, a task management computer is used for task execution of a large unmanned aerial vehicle, various load devices and flight control devices on the computer are connected, various complex tasks such as unmanned aerial vehicle flight, patrol, link communication, target striking and the like can be managed, management control is carried out on overall operation of the unmanned aerial vehicle, and the task management computer belongs to key equipment of the large unmanned aerial vehicle.
The task management computer is used as a core control device of a large unmanned aerial vehicle task management system, takes all management responsibilities of flying, sliding and executing tasks of the whole airplane, determines various types of configurations of the unmanned aerial vehicle and various types of mounted devices due to the facing task diversity, and the configurations comprise: a patrol configuration, an aviation mapping configuration, a forest fire prevention configuration, an ocean monitoring configuration, an emergency communication configuration, a scouting and fighting integrated configuration, an artificial rain enhancement configuration and the like; the various types of load equipment derived from various configurations and matching modes comprise various types of aerial cameras, photoelectric rotary tables, radars, fire extinguishing bombs, air-ground missiles and the like.
Disclosure of Invention
Because of the diversity of the drone tasks, the task management computer needs to have the ability to flexibly switch and add different configurations and devices. In the aspect of hardware, the task management computer can meet the access of different equipment interfaces in a multi-board and multi-type interface mode, and in the aspect of software, the conventional architecture is difficult to adjust and add configuration and equipment under the condition that the source code of the task management computer is unchanged, the flexibility is poor, and the actual use requirement of a large unmanned aerial vehicle cannot be met, so that the configuration and the equipment can be flexibly adjusted through a communication instruction, and the software architecture of the unmanned aerial vehicle task can be quickly executed.
In the scheme provided by the application, the load equipment of the unmanned aerial vehicle can be adjusted as required, and the software equipment modules are not coupled and can be flexibly adjusted, so that the software modules of different equipment can be fully decoupled in a software architecture. Data transmission and control between all load equipment and flight control equipment monitored by the task management computer, and execution of various complex tasks requires multi-thread mutual coordination scheduling.
Based on this, according to a first aspect of the present application, there is provided an unmanned aerial vehicle task management computer software architecture system, the system comprising a system level function unit, a configuration level function unit, a task level function unit, and a module level function unit, wherein:
the system-level function unit is used for guiding an operating system of the task management computer, initializing hardware of the task management computer and driving a bottom layer of the task management computer;
the configuration level function unit is used for implementing configuration selection of tasks and creating a configured task thread;
the task level function unit is used for creating specific content of the task thread and calling a module level function related to the task thread; and
and the module-level functions related to the task thread in the module-level function unit are used for executing respective functions, so that the task thread is realized.
According to a second aspect of the present application, there is provided a configuration switching method using the unmanned aerial vehicle task management computer software architecture system of the first aspect, comprising:
analyzing the configuration selection instruction through the system-level function unit to obtain configuration selection parameters;
creating a task thread related to the configuration according to the configuration selection parameter through a configuration level function unit;
creating specific contents of the task thread through a task-level function unit and calling a module-level function related to the task thread; and
and executing respective functions through module-level functions related to the task threads in the module-level function units, thereby realizing the task threads.
According to a third aspect of the present application, there is provided an electronic device comprising:
a processor; and
a memory storing computer instructions which, when executed by the processor, cause the processor to perform the method of the first aspect.
According to a fourth aspect of the present application, there is provided a non-transitory computer storage medium storing a computer program which, when executed by a plurality of processors, causes the processors to perform the method of the first aspect.
According to the unmanned aerial vehicle task management computer software architecture system and the configuration switching method, on one hand, flexible switching among various task configurations and various load devices of an airplane is achieved, the configuration of the airplane task system can be adjusted through instruction communication, and the configuration can be completed without modifying software source codes; on the other hand, through software modularization design, the equipment units on each software layer are completely decoupled, and new configurations and equipment can be completed only by loading software module source codes without adjusting original codes.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
Fig. 1 is a schematic diagram of a connection structure of a task management system of an unmanned aerial vehicle.
Fig. 2 is a flow chart of the operation of each level of function units of the unmanned aerial vehicle task management computer software architecture system.
Fig. 3 is a flowchart of a configuration switching method based on a task management computer software architecture system of an unmanned aerial vehicle.
Fig. 4 is a block diagram of an electronic device provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
According to one aspect of the present application, there is provided. Fig. 1 is a schematic diagram of a connection structure of a task management system of an unmanned aerial vehicle. As shown in fig. 1, the task management system of the unmanned aerial vehicle includes a task management computer (r), a flight control and management system (r), a link system (r), a task platform power distribution management machine (r), an air traffic management system (r) and a load system (c).
The task management computer is used as a task management system core, and the hardware is connected with each subsystem hardware and used for distributing, resolving and processing communication data of each subsystem. The flight control and management system II is communicated with communication data, a core hardware equipment flight control computer of the flight control and management system II sends flight data to a task management computer I, and meanwhile, the task management computer I transmits task related commands to the flight control and management system II; the link system is responsible for data communication transmission between air and ground, and transmits communication data, voice data and video data of the task management system on the whole computer in the task management computer to the link subsystem to be sent to the ground control station; the task platform power distribution management machine is responsible for power supply and switch control of task system equipment on the management machine and performs communication data interaction with the task management computer; the air management system comprises voice communication equipment such as a voice radio station, an answering machine and the like, is responsible for communication and voice data interaction between the ground and the air management, and is analyzed, transmitted and received by a task management computer; the load system has many kinds, the load collocation is changed according to different task configurations, the video data can be transmitted to the task management computer to be sent to the ground, the task management computer and the load system carry out communication data mutual transmission, and the load system sends the video data to the task management computer.
In fig. 1, the task management computer software may adopt various operating systems, such as a μ c/OS-ii real-time operating system, which has the characteristics of high reliability, multiple threads, open source, and the like, and can better adapt to aviation requirements. The structure shown in fig. 1 can realize data communication and control among load devices, monitoring of link devices, selection and transmission of video images, input and output of audio signals, management of a flight control system, and operation in a remote control/program control mode.
Fig. 2 is a flow chart of the operation of each level of function units of the unmanned aerial vehicle task management computer software architecture system. As shown in FIG. 2, the task management computer software architecture system includes four levels of functional units: a system level function unit (level I function unit), a configuration level function unit (level II function unit), a task level function unit (level III function unit), and a module level function unit (level IV function unit).
The system level function unit is mainly used for configuring the operating system, guiding an application layer program, initializing and configuring the software driver, the computer hardware storage module and other modules. The configuration level function unit is mainly used for selecting a configuration function to be used according to an instruction and organizing and creating all tasks of the configuration; the task level function unit is used for describing all task specific contents created by the previous level and calling different software function modules; the module-level function unit comprises a single function module which is refined aiming at different equipment and functions, a data sending module similar to a power distribution manager and a photoelectric platform control module, and is used for calling and executing functions to be realized specifically by task-level functions.
In fig. 2, the system-level function unit starts from the main function, guides the operating system to start a task, guides the application layer interface initialization function, creates an application layer start task, and completes the application layer front-bottom layer configuration part of the code; the configuration level function unit uses the locally stored configuration selection parameters to judge the configuration selection module, the correct configuration selection function is entered only when the variable is matched with the code, and the configuration selection function can guide all task threads for creating the configuration; the task level function unit is a task function main body of all created task threads, creates the specific content of the task threads, writes the specific code of each task and calls the software function module; the module-level function units are specific calling function functions of software modules of each device, and after the functions in the module-level function units are called and executed, the functions can realize respective functions, including receiving and sending between a task management computer and the devices, receiving and sending functions used for remote control and remote measurement, a device connection state monitoring function, a data frame checking function and a control function of a control instruction rocker. Table 1 visually describes the functions of the function units at each level:
TABLE 1-1 task management computer software architecture system function hierarchy
Under the condition of not needing configuration switching, the task management computer implements the existing task configuration, after the task management computer is started, the system-level function unit initializes the running parameters after completing the related processes of operating system boot, computer hardware related initialization, bottom layer drive and the like, and then the configuration-level function unit executes configuration selection.
The configuration level function unit is used for implementing configuration selection of the task and creating a configured task thread. Specifically, a configuration selection function and a configuration guide function are arranged in the configuration level function unit, wherein the configuration selection function is used for using locally stored configuration selection parameters for configuration determination, when the locally stored configuration selection parameters are matched with configuration selection codes in the configuration selection function, the corresponding configuration guide function is entered, and the configuration guide function is used for creating a configured task thread.
Then, the task-level function unit is used to create the specific content of the task thread and call the module-level function related to the task thread. The specific content of the task thread created by the task-level function unit comprises a description of the task thread and a description of how to call the module-level function related to the task thread.
It should be noted that a configuration may contain one or more task threads, and for each task thread, the task-level function unit needs to describe the task thread and how to invoke the module-level functions associated with the task thread. Therefore, in the process of realizing the configuration, due to the overall arrangement function of the task-level function unit, the multithreading tasks can be coordinated and scheduled mutually.
And the module-level functions related to the task thread in the module-level function units are used for executing respective functions so as to realize the task thread. The module-level functions in the module-level function units comprise a load equipment and task management computer sending function, a load equipment link end remote control receiving function and load equipment link end remote control sending function, a load equipment connection monitoring function, a load equipment rocker operating function, a load equipment checking function, a load equipment and task computer receiving function and the like, wherein the load equipment comprises but is not limited to an aerial camera, a photoelectric platform, a camera module, a fire control system, various types of missiles, a responder, a voice radio station, a flight control computer, a power distribution manager and the like.
When configuration switching is needed, the process that the unmanned aerial vehicle switches the configuration according to the configuration selection instruction comprises the following steps:
and the ground operator sends out a configuration selection instruction, after the task management computer runs, the link interface receives the configuration selection instruction, analyzes the configuration selection instruction to obtain configuration selection parameters, wherein the configuration selection parameters comprise configuration numbers, and stores the configuration selection parameters in a cache and stores the configuration selection parameters in a storage chip.
And then, restarting the task management computer, entering a configuration selection function, entering a loading function for specifying the configuration according to the stored configuration number, loading the configuration parameters, and executing all thread tasks of the configuration.
According to another aspect of the application, a configuration switching method based on a unmanned aerial vehicle task management computer software architecture system is provided. Fig. 3 is a flowchart of a configuration switching method based on a task management computer software architecture system of an unmanned aerial vehicle. As shown in fig. 3, the method includes the following steps.
In step S301, the configuration selection instruction is analyzed by the system-level function unit to obtain configuration selection parameters.
After receiving a configuration selection instruction sent by a ground operator, analyzing the configuration selection instruction through a system-level function unit to obtain configuration selection parameters, wherein the configuration selection parameters comprise configuration numbers.
Step S302, a task thread related to the configuration is created according to the configuration selection parameters through a configuration level function unit.
The configuration level function unit is used for implementing configuration selection of the task and creating a configured task thread. Specifically, a configuration selection function and a configuration guide function are arranged in the configuration level function unit, wherein the configuration selection function is used for using locally stored configuration selection parameters for configuration determination, when the locally stored configuration selection parameters are matched with configuration selection codes in the configuration selection function, the corresponding configuration guide function is entered, and the configuration guide function is used for creating a configured task thread.
Step S303, creating the specific content of the task thread through a task-level function unit and calling a module-level function related to the task thread.
The task level function unit is used for creating specific content of the task thread and calling a module level function related to the task thread. The specific content of the task thread created by the task-level function unit comprises a description of the task thread and a description of how to call the module-level function related to the task thread.
Step S304, executing respective functions through module-level functions related to the task thread in the module-level function unit, thereby implementing the task thread.
And the module-level functions related to the task thread in the module-level function units are used for executing respective functions so as to realize the task thread.
Referring to fig. 4, fig. 4 provides an electronic device comprising a processor; and a memory storing computer instructions which, when executed by the processor, cause the processor to carry out the method and refinement scheme as shown in figure 2 when executing the computer instructions.
It should be understood that the above-described apparatus embodiments are merely exemplary, and that the apparatus disclosed herein may be implemented in other ways. For example, the division of the units/modules in the above embodiments is only one logical function division, and there may be another division manner in actual implementation. For example, multiple units, modules, or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented.
In addition, unless otherwise specified, each functional unit/module in the embodiments of the present application may be integrated into one unit/module, each unit/module may exist alone physically, or two or more units/modules may be integrated together. The integrated units/modules may be implemented in the form of hardware or software program modules.
If the integrated unit/module is implemented in hardware, the hardware may be digital circuits, analog circuits, etc. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and the like. The processor or chip may be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, ASIC, etc., unless otherwise specified. Unless otherwise specified, the on-chip cache, the off-chip Memory, and the Memory may be any suitable magnetic storage medium or magneto-optical storage medium, such as resistive Random Access Memory rram (resistive Random Access Memory), Dynamic Random Access Memory dram (Dynamic Random Access Memory), Static Random Access Memory SRAM (Static Random-Access Memory), enhanced Dynamic Random Access Memory edram (enhanced Dynamic Random Access Memory), High-Bandwidth Memory HBM (High-Bandwidth Memory), hybrid Memory cubic hmc (hybrid Memory cube), and so on.
The integrated units/modules, if implemented in the form of software program modules and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Embodiments of the present application also provide a non-transitory computer storage medium storing a computer program, which when executed by a plurality of processors causes the processors to perform the method and refinement scheme as shown in fig. 2.
According to the unmanned aerial vehicle task management computer software architecture system and the configuration switching method, the task management computer is more flexible in switching and loading different configurations, software modules are not mutually coupled and run independently, in the actual use process of the unmanned aerial vehicle, switching of task types and equipment are more convenient and efficient in a software layer, computer software does not need to be changed frequently, the unmanned aerial vehicle task management computer software architecture system is suitable for long-term use of products, and the requirements of different tasks of multiple configurations of an airplane can be met; the threads between the devices are independent, and the normal use of the multi-load device can be guaranteed not to be influenced.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.
Claims (10)
1. An unmanned aerial vehicle task management computer software architecture system, the system comprising a system-level function unit, a configuration-level function unit, a task-level function unit, and a module-level function unit, wherein:
the system-level function unit is used for guiding an operating system of the task management computer, initializing hardware of the task management computer and driving a bottom layer of the task management computer;
the configuration level function unit is used for implementing configuration selection of tasks and creating a configured task thread;
the task level function unit is used for creating specific content of the task thread and calling a module level function related to the task thread; and
and the module-level functions related to the task thread in the module-level function unit are used for executing respective functions, so that the task thread is realized.
2. The system of claim 1, wherein the system-level function unit is further to parse a configuration selection instruction to obtain configuration selection parameters.
3. The system according to claim 1 or 2, wherein a configuration selection function and a configuration guidance function are provided in the configuration level function unit, wherein the configuration selection function is used to use locally stored configuration selection parameters for configuration determination, and when the locally stored configuration selection parameters match configuration selection codes in the configuration selection function, a corresponding configuration guidance function is entered, and the configuration guidance function is used to create configured task threads.
4. The system of claim 1 or 2, wherein the specific content of the task thread created by the task-level function unit includes a description of the task thread and a description of how to invoke module-level functions associated with the task thread.
5. The system of claim 1 or 2, wherein module-level functions in the module-level function unit include a load device and task management computer transmit function, a load device link-end remote control receive function, and a load device link-end telemetry transmit function.
6. A configuration switching method utilizing the drone task management computer software architecture system of any one of claims 1-5, comprising:
analyzing the configuration selection instruction through the system-level function unit to obtain configuration selection parameters;
creating a task thread related to the configuration according to the configuration selection parameter through a configuration level function unit;
creating specific contents of the task thread through a task-level function unit and calling a module-level function related to the task thread; and
and executing respective functions through module-level functions related to the task threads in the module-level function units, thereby realizing the task threads.
7. The method as claimed in claim 6, wherein a configuration selection function and a configuration guide function are provided in the configuration level function unit, wherein the configuration selection function uses locally stored configuration selection parameters to determine the configuration, and when the locally stored configuration selection parameters match configuration selection codes in the configuration selection function, the configuration guide function enters the corresponding configuration guide function, and the configuration guide function creates a task thread of the configuration.
8. The method of claim 6 or 7, wherein the specific content of the task thread created by the task-level function unit includes a description of the task thread and a description of how to invoke module-level functions associated with the task thread.
9. An electronic device, comprising:
a processor; and
a memory storing computer instructions that, when executed by the processor, cause the processor to perform the method of any of claims 6-8.
10. A non-transitory computer storage medium storing a computer program that, when executed by a plurality of processors, causes the processors to perform the method of any one of claims 6-8.
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