技术领域technical field
本发明涉及无人驾驶飞行器技术领域，尤其涉及一种无人驾驶飞行器的接口系统和接口控制方法。The invention relates to the technical field of unmanned aerial vehicles, in particular to an interface system and an interface control method of an unmanned aerial vehicle.
背景技术Background technique
无人飞行器(也称为无人驾驶飞行器、无人机等)是一种以无线电遥控或者在自主、半自主程序控制下的不载人的飞行器。由于其成本较低，无人员伤亡风险，机动性好等优势，其在各类航空拍摄、地质测量、线路巡检、应急救援等领域应用广泛。其中，由于集成电路和微系统技术的发展，使得无人飞行器的微小化得以实现，极大扩展了无人飞行器可执行的任务类型。根据微小无人飞行器根据所执行任务不同，通常需要搭载不同的载荷。An unmanned aerial vehicle (also known as an unmanned aerial vehicle, UAV, etc.) is an unmanned aerial vehicle controlled by radio remote control or under autonomous or semi-autonomous program control. Due to its low cost, no risk of casualties, and good mobility, it is widely used in various fields such as aerial photography, geological survey, line inspection, and emergency rescue. Among them, due to the development of integrated circuit and microsystem technology, the miniaturization of unmanned aerial vehicles can be realized, which greatly expands the types of tasks that can be performed by unmanned aerial vehicles. According to the different tasks performed by micro UAVs, they usually need to carry different loads.
由于任务种类繁多，所以载荷类型极大丰富，各类载荷所需的电源轨数量、信号线数量、接口协议方式千差万别，现有通用接口技术很难在微小飞行器尺寸受限的情况下实现所有载荷的通用化。Due to the wide variety of tasks, the types of loads are extremely rich. The number of power rails, signal lines, and interface protocols required by various types of loads vary widely. It is difficult for existing general interface technologies to realize all loads under the condition of limited size of tiny aircraft. generalization.
发明内容Contents of the invention
技术问题technical problem
有鉴于此，本发明要解决的技术问题是，如何提供一种无人驾驶飞行器的通用的接口系统。In view of this, the technical problem to be solved by the present invention is how to provide a general interface system for unmanned aerial vehicles.
解决方案solution
为了解决上述技术问题，根据本发明的一实施例，提供了一种无人驾驶飞行器的接口系统，包括：In order to solve the above technical problems, according to an embodiment of the present invention, an interface system for unmanned aerial vehicles is provided, including:
物理接口，包括多个引脚；Physical interface, including multiple pins;
至少一个协议转换模块，用于根据接入所述物理接口的目标载荷的通信协议类型，对所述目标载荷进行通信协议的转换；At least one protocol conversion module, configured to convert the communication protocol of the target payload according to the communication protocol type of the target payload connected to the physical interface;
I/O强驱动模块，与所述协议转换模块和所述物理接口分别连接，用于根据所述目标载荷的配置数据和通信协议类型，对所述物理接口的各引脚进行驱动；The I/O strong drive module is connected to the protocol conversion module and the physical interface respectively, and is used to drive each pin of the physical interface according to the configuration data and communication protocol type of the target load;
主控制器，与所述物理接口、协议转换模块和所述I/O强驱动模块分别连接，用于根据所述目标载荷的配置数据，配置所述物理接口的各引脚的功能；根据所述配置数据确定所述目标载荷的通信协议类型，并根据所述目标载荷的通信协议类型配置所述协议转换模块的功能；透过所述I/O强驱动模块和所述协议转换模块与所述目标载荷进行通信，并执行所述目标载荷的功能。The main controller is respectively connected to the physical interface, the protocol conversion module and the I/O strong drive module, and is used to configure the functions of each pin of the physical interface according to the configuration data of the target load; according to the The configuration data determines the communication protocol type of the target load, and configures the function of the protocol conversion module according to the communication protocol type of the target load; through the I/O strong drive module and the protocol conversion module and the communicate with the target payload and perform the function of the target payload.
对于上述系统，在一种可能的实现方式中，还包括：For the above system, in a possible implementation manner, it also includes:
插入检测与识别模块；用于对所述物理接口是否插入目标载荷进行插入检测与识别。Insertion detection and identification module; used for insertion detection and identification of whether the physical interface is inserted into the target load.
对于上述系统，在一种可能的实现方式中，所述插入检测与识别模块包括：For the above system, in a possible implementation manner, the insertion detection and identification module includes:
插入检测单元，用于根据所述物理接口的插入检测与识别引脚的电压值，判断所述物理接口是否插入所述目标载荷；an insertion detection unit, configured to determine whether the physical interface is inserted into the target load according to the voltage value of the insertion detection and identification pin of the physical interface;
载荷识别单元，与所述插入检测单元连接，用于在所述插入检测单元判定为插入所述目标载荷的情况下，通过所述插入检测与识别引脚从所述目标载荷中读取配置数据，并对所述配置数据进行校验。A load identification unit, connected to the insertion detection unit, used to read configuration data from the target load through the insertion detection and identification pin when the insertion detection unit determines that the target load is inserted , and verify the configuration data.
对于上述系统，在一种可能的实现方式中，所述插入检测单元还用于在检测到将所述目标载荷从所述物理接口拔出的情况下，控制所述I/O强驱动模块断开，控制所述协议转换模块停止工作，并指示所述插入检测单元继续进行插入检测。For the above system, in a possible implementation manner, the insertion detection unit is further configured to control the I/O strong drive module to disconnect the On, to control the protocol conversion module to stop working, and instruct the insertion detection unit to continue the insertion detection.
对于上述系统，在一种可能的实现方式中，所述物理接口包括通用I/O引脚，所述通用I/O引脚与所述I/O强驱动模块相连。Regarding the above system, in a possible implementation manner, the physical interface includes a general I/O pin, and the general I/O pin is connected to the I/O strong drive module.
对于上述系统，在一种可能的实现方式中，For the above system, in a possible implementation,
所述主控制器还用于根据所述配置数据，配置各通用I/O引脚的功能；The main controller is also configured to configure the functions of each general-purpose I/O pin according to the configuration data;
所述I/O强驱动模块还用于在所述主控制器将第一通用I/O引脚配置为输入的情况下，控制所述第一通用I/O引脚与所述协议转换模块直通；在所述主控制器将第二通用I/O引脚配置为数字输出的情况下，控制所述第二通用I/O引脚与所述协议转换模块直通；在所述主控制器将第三通用I/O引脚配置为强输出的情况下，对从所述协议转换模块接收的信号进行增强处理后发送至所述第三通用I/O引脚；在所述主控制器将第四通用I/O引脚配置为电源输出的情况下，控制所述第四通用I/O引脚与对应电源轨直通。The I/O strong drive module is also used to control the first general I/O pin and the protocol conversion module when the main controller configures the first general I/O pin as an input Straight-through; in the case that the main controller configures the second general-purpose I/O pin as a digital output, control the second general-purpose I/O pin to communicate with the protocol conversion module; in the main controller When the third general-purpose I/O pin is configured as a strong output, the signal received from the protocol conversion module is enhanced and then sent to the third general-purpose I/O pin; in the main controller When the fourth general-purpose I/O pin is configured as a power supply output, the fourth general-purpose I/O pin is controlled to be directly connected to the corresponding power supply rail.
对于上述系统，在一种可能的实现方式中，所述物理接口还包括插入检测与识别引脚和接地引脚，所述主控制器还用于控制所述插入检测与识别引脚与插入检测与识别模块相连，所述接地引脚与系统地相连。For the above system, in a possible implementation manner, the physical interface further includes an insertion detection and identification pin and a grounding pin, and the main controller is also used to control the insertion detection and identification pin and the insertion detection pin It is connected with the identification module, and the ground pin is connected with the system ground.
本发明还提供一种无人驾驶飞行器的接口控制方法，所述无人驾驶飞行器的物理接口包括多个引脚；The present invention also provides an interface control method of the unmanned aerial vehicle, the physical interface of the unmanned aerial vehicle includes a plurality of pins;
所述方法包括：The methods include:
根据接入所述物理接口的目标载荷的配置数据，配置所述物理接口的各引脚的功能；Configuring the functions of each pin of the physical interface according to the configuration data of the target load connected to the physical interface;
根据所述配置数据确定所述目标载荷的通信协议类型，并根据所述目标载荷的通信协议类型配置协议转换模块的功能；determining the communication protocol type of the target payload according to the configuration data, and configuring the function of the protocol conversion module according to the communication protocol type of the target payload;
透过I/O强驱动模块和所述协议转换模块与所述目标载荷进行通信，并执行所述目标载荷的功能。Communicate with the target load through the I/O strong driver module and the protocol conversion module, and execute the function of the target load.
对于上述方法，在一种可能的实现方式中，还包括：For the above method, in a possible implementation manner, it also includes:
对所述物理接口是否插入目标载荷进行插入检测与识别。Insertion detection and identification are performed on whether the physical interface is inserted into the target load.
对于上述方法，在一种可能的实现方式中，对所述物理接口是否插入目标载荷进行插入检测与识别，包括：For the above method, in a possible implementation manner, the insertion detection and identification of whether the physical interface is inserted into the target load includes:
根据所述物理接口的插入检测与识别引脚的电压值，判断所述物理接口是否插入所述目标载荷；judging whether the physical interface is inserted into the target load according to the voltage value of the insertion detection and identification pin of the physical interface;
在判定所述物理接口插入所述目标载荷的情况下，通过所述插入检测与识别引脚从所述目标载荷中读取配置数据，并对所述配置数据进行校验。When it is determined that the physical interface is inserted into the target load, configuration data is read from the target load through the insertion detection and identification pin, and the configuration data is verified.
对于上述方法，在一种可能的实现方式中，还包括：For the above method, in a possible implementation manner, it also includes:
在检测到将所述目标载荷从所述物理接口拔出的情况下，控制所述I/O强驱动模块断开，控制所述协议转换模块停止工作，并返回继续进行插入检测。When it is detected that the target load is pulled out from the physical interface, control the I/O strong drive module to disconnect, control the protocol conversion module to stop working, and return to continue the insertion detection.
对于上述方法，在一种可能的实现方式中，所述物理接口包括通用I/O引脚，所述通用I/O引脚与所述I/O强驱动模块相连，所述方法还包括：Regarding the above method, in a possible implementation manner, the physical interface includes a general I/O pin, and the general I/O pin is connected to the I/O strong drive module, and the method further includes:
根据所述配置数据，配置各通用I/O引脚的功能。According to the configuration data, the function of each general-purpose I/O pin is configured.
对于上述方法，在一种可能的实现方式中，所述根据所述配置数据，配置各通用I/O引脚的功能，包括：For the above method, in a possible implementation manner, configuring the functions of each general-purpose I/O pin according to the configuration data includes:
在主控制器将第一通用I/O引脚配置为输入的情况下，所述I/O强驱动模块控制所述第一通用I/O引脚与所述协议转换模块直通；When the main controller configures the first general-purpose I/O pin as an input, the I/O strong drive module controls the first general-purpose I/O pin to communicate directly with the protocol conversion module;
在主控制器将第二通用I/O引脚配置为数字输出的情况下，所述I/O强驱动模块控制所述第二通用I/O引脚与所述协议转换模块直通；When the main controller configures the second general-purpose I/O pin as a digital output, the I/O strong drive module controls the second general-purpose I/O pin to communicate directly with the protocol conversion module;
在主控制器将第三通用I/O引脚配置为强输出的情况下，所述I/O强驱动模块对从所述协议转换模块接收的信号进行增强处理后发送至所述第三通用I/O引脚；In the case where the main controller configures the third general-purpose I/O pin as a strong output, the I/O strong drive module sends enhanced processing to the signal received from the protocol conversion module and sends it to the third general-purpose I/O pins;
在所述主控制器将第四通用I/O引脚配置为电源输出的情况下，所述I/O强驱动模块控制所述第四通用I/O引脚与对应电源轨直通。When the main controller configures the fourth general-purpose I/O pin as a power supply output, the I/O strong drive module controls the fourth general-purpose I/O pin to be directly connected to the corresponding power supply rail.
对于上述方法，在一种可能的实现方式中，所述物理接口还包括插入检测与识别引脚和接地引脚，所述方法还包括：For the above method, in a possible implementation manner, the physical interface further includes an insertion detection and identification pin and a ground pin, and the method further includes:
主控制器控制所述插入检测与识别引脚与插入检测与识别模块相连，并控制所述接地引脚与系统地相连。The main controller controls the insertion detection and identification pin to be connected to the insertion detection and identification module, and controls the ground pin to be connected to the system ground.
有益效果Beneficial effect
本发明实施例能够识别插入的目标载荷的配置数据，配置物理接口中各引脚的功能，以适应各种目标载荷对接口的要求，协议转换模块可以将目标载荷上任意已定义的协议转化为统一的通用协议来实现目标载荷与无人机主控制器的通信。通过本发明实施例，无人机的载荷可以用较少的引脚和物理接口尺寸实现较大的通用性，极大增强无人机的可扩展性。The embodiment of the present invention can identify the configuration data of the inserted target load, and configure the functions of each pin in the physical interface to adapt to the requirements of various target loads on the interface. The protocol conversion module can convert any defined protocol on the target load into A unified general protocol is used to realize the communication between the target payload and the main controller of the UAV. Through the embodiment of the present invention, the payload of the drone can achieve greater versatility with fewer pins and physical interface sizes, greatly enhancing the scalability of the drone.
本发明实施例所涉及的接口控制方法及接口系统能够自适应分配所有的连结引脚为供电或数据接口，可以适应任意的电源轨、地轨和信号线数量，信号线通过接口转换装置可以实现任意已定义的接口协议。The interface control method and interface system involved in the embodiment of the present invention can adaptively allocate all connecting pins as power supply or data interfaces, and can adapt to any number of power rails, ground rails, and signal lines, and the signal lines can be realized through the interface conversion device Any defined interface protocol.
根据下面参考附图对示例性实施例的详细说明，本发明实施例的其它特征及方面将变得清楚。Other features and aspects of embodiments of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.
附图说明Description of drawings
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本发明的示例性实施例、特征和方面，并且用于解释本发明的原理。The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the invention and together with the description, serve to explain the principles of the invention.
图1示出根据本发明一实施例的无人驾驶飞行器的接口系统的结构示意图；FIG. 1 shows a schematic structural diagram of an interface system of an unmanned aerial vehicle according to an embodiment of the present invention;
图2示出根据本发明另一实施例的无人驾驶飞行器的接口系统的结构示意图；Fig. 2 shows a schematic structural diagram of an interface system of an unmanned aerial vehicle according to another embodiment of the present invention;
图3示出根据本发明一实施例的无人驾驶飞行器的接口控制方法的流程示意图；3 shows a schematic flow chart of an interface control method for an unmanned aerial vehicle according to an embodiment of the present invention;
图4示出根据本发明一实施例的无人驾驶飞行器的接口控制方法另一的流程示意图；FIG. 4 shows another schematic flowchart of an interface control method for an unmanned aerial vehicle according to an embodiment of the present invention;
图5示出根据本发明另一实施例的无人驾驶飞行器的接口控制方法的流程示意图。Fig. 5 shows a schematic flowchart of an interface control method for an unmanned aerial vehicle according to another embodiment of the present invention.
具体实施方式Detailed ways
以下将参考附图详细说明本发明的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。Various exemplary embodiments, features, and aspects of the invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.
另外，为了更好的说明本发明，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本发明同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本发明的主旨。In addition, in order to better illustrate the present invention, numerous specific details are given in the specific embodiments below. It will be understood by those skilled in the art that the present invention may be practiced without certain of the specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail in order to highlight the gist of the present invention.
实施例1Example 1
图1示出根据本发明一实施例的无人驾驶飞行器的接口系统的结构示意图。如图1所示，该无人驾驶飞行器的接口系统主要可以包括：Fig. 1 shows a schematic structural diagram of an interface system of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in Figure 1, the interface system of the unmanned aerial vehicle may mainly include:
物理接口11，包括多个引脚；Physical interface 11, including a plurality of pins;
至少一个协议转换模块13，用于根据接入所述物理接口11的目标载荷12的通信协议类型，对所述目标载荷12进行通信协议的转换；At least one protocol conversion module 13, configured to convert the communication protocol of the target load 12 according to the communication protocol type of the target load 12 connected to the physical interface 11;
I/O(input/output，即输入/输出端口)强驱动模块15，与所述协议转换模块13和所述物理接口11分别连接，用于根据所述目标载荷12的配置数据和通信协议类型，对所述物理接口11的各引脚进行驱动；I/O (input/output, i.e. input/output port) strong drive module 15 is respectively connected with the protocol conversion module 13 and the physical interface 11 for configuration data and communication protocol type according to the target load 12 , driving each pin of the physical interface 11;
主控制器17，与所述物理接口11、协议转换模块13和所述I/O强驱动模块15分别连接，用于根据所述目标载荷12的配置数据，配置所述物理接口11的各引脚的功能；根据所述配置数据确定所述目标载荷12的通信协议类型，并根据所述目标载荷12的通信协议类型配置所述协议转换模块13的功能；透过所述I/O强驱动模块15和所述协议转换模块13与所述目标载荷12进行通信，并执行所述目标载荷12的功能。The main controller 17 is respectively connected to the physical interface 11, the protocol conversion module 13 and the I/O strong drive module 15, and is used to configure each lead of the physical interface 11 according to the configuration data of the target load 12. pin function; determine the communication protocol type of the target load 12 according to the configuration data, and configure the function of the protocol conversion module 13 according to the communication protocol type of the target load 12; drive through the strong I/O The module 15 and the protocol conversion module 13 communicate with the target payload 12 and execute the functions of the target payload 12 .
本发明实施例能够实现一种应用于微小无人飞行器载荷的通用接口系统，通过接口为任意符合该接口标准的有效载荷提供电源供给和数据传输等功能。The embodiment of the present invention can realize a general interface system applied to the payload of a tiny unmanned aerial vehicle, and provide functions such as power supply and data transmission for any payload conforming to the interface standard through the interface.
实施例2Example 2
图2示出根据本发明另一实施例的无人驾驶飞行器的接口系统的结构示意图。图2中标号与图1相同的组件具有相同的功能，为简明起见，省略对这些组件的详细说明。Fig. 2 shows a schematic structural diagram of an interface system of an unmanned aerial vehicle according to another embodiment of the present invention. Components with the same numbers in FIG. 2 as those in FIG. 1 have the same functions, and for the sake of brevity, detailed descriptions of these components are omitted.
如图2所示，本实施例与上一实施例的主要区别在于，该无人驾驶飞行器的接口系统还可以包括：As shown in Figure 2, the main difference between this embodiment and the previous embodiment is that the interface system of the unmanned aerial vehicle may also include:
插入检测与识别模块21；用于对所述物理接口11是否插入目标载荷12进行插入检测与识别。Insertion detection and identification module 21 ; for performing insertion detection and identification on whether the physical interface 11 is inserted into the target load 12 .
在一种可能的实现方式中，所述插入检测与识别模块21包括：In a possible implementation manner, the insertion detection and identification module 21 includes:
插入检测单元，用于根据所述物理接口11的插入检测与识别引脚的电压值，判断所述物理接口11是否插入所述目标载荷12；An insertion detection unit, configured to determine whether the physical interface 11 is inserted into the target load 12 according to the voltage value of the insertion detection and identification pin of the physical interface 11;
载荷识别单元，与所述插入检测单元连接，用于在所述插入检测单元判定为插入所述目标载荷12的情况下，通过所述插入检测与识别引脚从所述目标载荷12中读取配置数据，并对所述配置数据进行校验。A load identification unit, connected to the insertion detection unit, used to read from the target load 12 through the insertion detection and identification pin when the insertion detection unit determines that the target load 12 is inserted configuration data, and verify the configuration data.
在一种可能的实现方式中，所述插入检测单元还用于在检测到将所述目标载荷12从所述物理接口11拔出的情况下，控制所述I/O强驱动模块15断开，控制所述协议转换模块13停止工作，并指示所述插入检测单元继续进行插入检测。In a possible implementation manner, the insertion detection unit is further configured to control the I/O strong drive module 15 to disconnect when it is detected that the target load 12 is pulled out from the physical interface 11 , controlling the protocol conversion module 13 to stop working, and instructing the insertion detection unit to continue the insertion detection.
在一种可能的实现方式中，所述物理接口11包括通用I/O引脚，所述通用I/O引脚与所述I/O强驱动模块15相连。In a possible implementation manner, the physical interface 11 includes a general I/O pin, and the general I/O pin is connected to the I/O strong drive module 15 .
在一种可能的实现方式中，所述主控制器17还用于根据所述配置数据，配置各通用I/O引脚的功能；In a possible implementation manner, the main controller 17 is further configured to configure functions of each general-purpose I/O pin according to the configuration data;
所述I/O强驱动模块15还用于在所述主控制器17将第一通用I/O引脚配置为输入的情况下，控制所述第一通用I/O引脚与所述协议转换模块13直通；在所述主控制器17将第二通用I/O引脚配置为数字输出的情况下，控制所述第二通用I/O引脚与所述协议转换模块13直通；在所述主控制器17将第三通用I/O引脚配置为强输出的情况下，对从所述协议转换模块13接收的信号进行增强处理后发送至所述第三通用I/O引脚，这种情况下，经过I/O强驱动模块15处理后的信号的驱动能力增强，且协议转换模块13输出的信号电平与第三通用I/O引脚的信号电平相同；在所述主控制器17将第四通用I/O引脚配置为电源输出的情况下，控制所述第四通用I/O引脚与对应电源轨直通。The I/O strong drive module 15 is also used to control the first general-purpose I/O pin to communicate with the protocol when the main controller 17 configures the first general-purpose I/O pin as an input. The conversion module 13 is directly connected; when the main controller 17 configures the second general-purpose I/O pin as a digital output, it controls the second general-purpose I/O pin to be directly connected to the protocol conversion module 13; When the main controller 17 configures the third general-purpose I/O pin as a strong output, the signal received from the protocol conversion module 13 is sent to the third general-purpose I/O pin after enhanced processing , in this case, the driving capability of the signal processed by the I/O strong drive module 15 is enhanced, and the signal level output by the protocol conversion module 13 is the same as the signal level of the third general-purpose I/O pin; In the case where the main controller 17 configures the fourth general-purpose I/O pin as a power supply output, it controls the fourth general-purpose I/O pin to be directly connected to the corresponding power supply rail.
在一种可能的实现方式中，所述物理接口11还包括插入检测与识别引脚和接地引脚，所述主控制器17还用于所述插入检测与识别引脚与插入检测与识别模块21相连，所述接地引脚与系统地相连。In a possible implementation, the physical interface 11 also includes an insertion detection and identification pin and a ground pin, and the main controller 17 is also used for the insertion detection and identification pin and the insertion detection and identification module 21, and the ground pin is connected to the system ground.
具体地，如图2所示，目标载荷12通过物理接口11与插入检测与识别模块21连接，插入与检测模块对目标载荷12的插入动作进行判断，并识别目标载荷12具体型号等特征。所述目标载荷12通过物理接口11与I/O强驱动模块15相连，进一步与协议转换模块13进行连接，其中I/O强驱动模块15加强了协议转换模块13的输出信号驱动能力。无人机主控制器17和插入检测与识别模块21相连，完成载荷的识别。无人机主控制器17通过例如USB(Universal Serial Bus，通用串行总线)协议与协议转换模块13相连，实现与载荷的通信。无人机主控制器17通与I/O强驱动模块15相连，I/O强驱动模块15的功能配置。Specifically, as shown in FIG. 2, the target load 12 is connected to the insertion detection and identification module 21 through the physical interface 11. The insertion and detection module judges the insertion action of the target load 12 and identifies the specific model of the target load 12 and other characteristics. The target load 12 is connected to the I/O strong drive module 15 through the physical interface 11, and further connected to the protocol conversion module 13, wherein the I/O strong drive module 15 strengthens the output signal driving capability of the protocol conversion module 13. The main controller 17 of the UAV is connected with the insertion detection and identification module 21 to complete the identification of the load. The main controller 17 of the UAV is connected to the protocol conversion module 13 through, for example, a USB (Universal Serial Bus, universal serial bus) protocol, so as to realize communication with the payload. The UAV main controller 17 is connected with the I/O strong drive module 15, and the function configuration of the I/O strong drive module 15.
其中，各模块功能介绍如下：Among them, the functions of each module are introduced as follows:
1)无人机主控制器17：该部分可以由应用处理器及其外围电路组成；1) UAV main controller 17: this part may be composed of an application processor and its peripheral circuits;
2)目标载荷12：该部分连接入微小无人飞行器的物理接口，用于实现一定功能的载荷。目标载荷12包括但不限于摄像机、云台、机械臂、探照灯、发烟装置等。目标载荷12应至少具备：存储器(例如Flash芯片)、插入检测与识别引脚、接地引脚4个、通用I/O引脚1个。其中目标载荷12与物理接口11中插入检测与识别引脚通过钳位二极管将输出电平钳位到例如3.3V，目标载荷12的编号为0的通用I/O引脚连接到载荷系统的系统电源，Flash芯片的数据口与插入检测与识别引脚相连；2) Target payload 12: This part is connected to the physical interface of the micro UAV, and is used to realize a certain function of the payload. The target load 12 includes, but is not limited to, a camera, a pan/tilt, a robot arm, a searchlight, a smoke device, and the like. The target payload 12 should at least have: memory (such as a Flash chip), insertion detection and identification pins, 4 ground pins, and 1 general-purpose I/O pin. The target load 12 and the physical interface 11 insert detection and identification pins to clamp the output level to, for example, 3.3V through clamping diodes, and the general I/O pin numbered 0 of the target load 12 is connected to the system of the load system The power supply, the data port of the Flash chip is connected to the insertion detection and identification pin;
3)物理接口11：该部分为微小无人飞行器与目标载荷12相连的实际物理接口11，包括若干相连的引脚。例如，物理接口11可以包含1根插入检测与识别引脚、4根接地引脚、若干通用I/O引脚等。插入检测与识别引脚与插入检测与识别模块21相连，通用I/O引脚与I/O强驱动模块15相连，接地引脚与系统地相连；3) Physical interface 11: This part is the actual physical interface 11 for connecting the tiny UAV to the target payload 12, including several connected pins. For example, the physical interface 11 may include 1 insertion detection and identification pin, 4 ground pins, several general I/O pins, and the like. The insertion detection and identification pin is connected to the insertion detection and identification module 21, the general I/O pin is connected to the I/O strong drive module 15, and the grounding pin is connected to the system ground;
4)插入检测与识别模块21：该部分包括插入检测电路和载荷识别模块，插入检测电路将插入检测与识别引脚通过例如100K电阻上拉至例如3.6V电源，插入检测与识别引脚为高阻输入。载荷识别模块，通过插入检测与识别引脚与插入的目标载荷12利用例如1-Wire协议进行通信，获取目标载荷12的配置数据。4) Insertion detection and identification module 21: This part includes an insertion detection circuit and a load identification module. The insertion detection circuit pulls up the insertion detection and identification pin to, for example, a 3.6V power supply through a 100K resistor, and the insertion detection and identification pin is high resistance input. The load identification module communicates with the inserted target load 12 through, for example, the 1-Wire protocol through the insertion detection and identification pin, and obtains configuration data of the target load 12 .
5)协议转换模块13：协议转换模块13可以由例如可编程逻辑器件组成。协议转换模块13根据插入检测与识别模块21对目标载荷12的识别结果，由无人机主控制器17对其进行重编程以实现将载荷支持的通信协议转换为标准USB设备与主控相连，完成通信的桥接功能；5) Protocol conversion module 13: The protocol conversion module 13 may be composed of, for example, a programmable logic device. The protocol conversion module 13 is reprogrammed by the main controller 17 of the UAV according to the identification result of the target payload 12 by the insertion detection and identification module 21 so as to convert the communication protocol supported by the payload into a standard USB device and connect it to the main control, Complete the bridging function of communication;
6)I/O强驱动模块15：该模块用于对通用I/O引脚输出进行强驱动，若无人机主控制器17将物理接口的某通用I/O引脚配置为输入，则I/O强驱动模块15控制该引脚与协议转换模块13直通。若无人机主控制器17将某通用I/O引脚配置为数字输出，则I/O强驱动模块15控制该引脚与协议转换模块13直通。若无人机主控制器17将某通用I/O引脚配置为强输出，则I/O强驱动模块15控制该引脚与通过I/O驱动电路协议转换模块13相连。若无人机主控制器17将某通用I/O引脚配置为电源输出，则I/O强驱动模块15控制该引脚与对应电源轨相连。6) I/O strong drive module 15: This module is used to strongly drive the output of general I/O pins. If the main controller 17 of the drone configures a certain general I/O pin of the physical interface as an input, then The I/O strong drive module 15 controls the pin to communicate directly with the protocol conversion module 13 . If the main controller 17 of the drone configures a general-purpose I/O pin as a digital output, the I/O strong drive module 15 controls the pin to communicate directly with the protocol conversion module 13. If the main controller 17 of the UAV configures a general-purpose I/O pin as a strong output, the I/O strong drive module 15 controls the pin to be connected to the protocol conversion module 13 through the I/O drive circuit. If the UAV main controller 17 configures a general I/O pin as a power output, the I/O strong drive module 15 controls the pin to be connected to the corresponding power rail.
实施例3Example 3
图3示出根据本发明一实施例的无人驾驶飞行器的接口控制方法的流程示意图。Fig. 3 shows a schematic flowchart of an interface control method for an unmanned aerial vehicle according to an embodiment of the present invention.
本实施例的的接口控制方法可以应用于如图1、图2中任意一种结构所示的无人驾驶飞行器的接口系统中。The interface control method of this embodiment can be applied to an interface system of an unmanned aerial vehicle as shown in any one of structures in FIG. 1 and FIG. 2 .
如图3所示，该无人驾驶飞行器的接口控制方法主要可以包括：所述方法包括：As shown in Figure 3, the interface control method of the unmanned aerial vehicle may mainly include: the method includes:
步骤401、根据接入所述物理接口的目标载荷的配置数据，配置所述物理接口的各引脚的功能；Step 401, configure the function of each pin of the physical interface according to the configuration data of the target load connected to the physical interface;
步骤402、根据所述配置数据确定所述目标载荷的通信协议类型，并根据所述目标载荷的通信协议类型配置协议转换模块的功能；Step 402: Determine the communication protocol type of the target payload according to the configuration data, and configure the function of the protocol conversion module according to the communication protocol type of the target payload;
步骤403、透过I/O强驱动模块和所述协议转换模块与所述目标载荷进行通信，并执行所述目标载荷的功能。Step 403, communicate with the target payload through the I/O strong driver module and the protocol conversion module, and execute the function of the target payload.
在一种可能的实现方式中，如图4所示，在步骤401之前，该方法还包括：In a possible implementation, as shown in FIG. 4, before step 401, the method further includes:
步骤400、对物理接口是否插入目标载荷进行插入检测与识别。如果检测到有目标载荷插入物理接口，并成功识别该目标载荷，再执行步骤401。Step 400, performing insertion detection and identification on whether the physical interface is inserted into the target payload. If it is detected that a target load is inserted into the physical interface, and the target load is successfully identified, then step 401 is performed.
具体而言，步骤400可以包括：Specifically, step 400 may include:
步骤4001、根据所述物理接口的插入检测与识别引脚的电压值，判断所述物理接口是否插入所述目标载荷；Step 4001, according to the voltage value of the insertion detection and identification pin of the physical interface, determine whether the physical interface is inserted into the target load;
步骤4002、在判定所述物理接口插入所述目标载荷的情况下，通过所述插入检测与识别引脚从所述目标载荷中读取配置数据，并对所述配置数据进行校验。Step 4002 , if it is determined that the physical interface is inserted into the target load, read configuration data from the target load through the insertion detection and identification pin, and verify the configuration data.
在一种可能的实现方式中，在步骤403之后，该方法还包括：In a possible implementation, after step 403, the method further includes:
步骤404、在检测到将所述目标载荷从所述物理接口拔出的情况下，控制所述I/O强驱动模块断开，控制所述协议转换模块停止工作，并返回继续进行插入检测。Step 404: When it is detected that the target load is pulled out from the physical interface, control the I/O strong drive module to disconnect, control the protocol conversion module to stop working, and return to continue the insertion detection.
在一种可能的实现方式中，无人机的物理接口包括多个引脚，例如，物理接口包括通用I/O引脚，所述通用I/O引脚与所述I/O强驱动模块相连，所述方法还包括：步骤406、根据所述配置数据，配置各通用I/O引脚的功能。In a possible implementation, the physical interface of the drone includes multiple pins, for example, the physical interface includes general-purpose I/O pins, and the general-purpose I/O pins are connected to the I/O strong drive module connected, the method further includes: step 406, configuring the function of each general-purpose I/O pin according to the configuration data.
具体而言，步骤406可以包括以下情况的任意一种或者多种：Specifically, step 406 may include any one or more of the following situations:
在主控制器将第一通用I/O引脚配置为输入的情况下，所述I/O强驱动模块控制所述第一通用I/O引脚与所述协议转换模块直通；When the main controller configures the first general-purpose I/O pin as an input, the I/O strong drive module controls the first general-purpose I/O pin to communicate directly with the protocol conversion module;
在主控制器将第二通用I/O引脚配置为数字输出的情况下，所述I/O强驱动模块控制所述第二通用I/O引脚与所述协议转换模块直通；When the main controller configures the second general-purpose I/O pin as a digital output, the I/O strong drive module controls the second general-purpose I/O pin to communicate directly with the protocol conversion module;
在主控制器将第三通用I/O引脚配置为强输出的情况下，所述I/O强驱动模块对从所述协议转换模块接收的信号进行增强处理后发送至所述第三通用I/O引脚；In the case where the main controller configures the third general-purpose I/O pin as a strong output, the I/O strong drive module sends enhanced processing to the signal received from the protocol conversion module and sends it to the third general-purpose I/O pins;
在所述主控制器将第四通用I/O引脚配置为电源输出的情况下，所述I/O强驱动模块控制所述第四通用I/O引脚与对应电源轨直通。When the main controller configures the fourth general-purpose I/O pin as a power supply output, the I/O strong drive module controls the fourth general-purpose I/O pin to be directly connected to the corresponding power supply rail.
在一种可能的实现方式中，所述物理接口还包括插入检测与识别引脚和接地引脚，所述方法还包括：In a possible implementation manner, the physical interface further includes an insertion detection and identification pin and a ground pin, and the method further includes:
步骤407、主控制器控制所述插入检测与识别引脚与插入检测与识别模块相连，并控制所述接地引脚与系统地相连。Step 407 , the main controller controls the insertion detection and identification pin to be connected to the insertion detection and identification module, and controls the ground pin to be connected to the system ground.
其中，步骤406和步骤407的时序可以互换，也可以同时执行，本实施例不进行具体限定。Wherein, the sequence of step 406 and step 407 may be interchanged, or may be executed at the same time, which is not specifically limited in this embodiment.
实施例4Example 4
图5示出根据本发明另一实施例的无人驾驶飞行器的接口控制方法的流程示意图。Fig. 5 shows a schematic flowchart of an interface control method for an unmanned aerial vehicle according to another embodiment of the present invention.
如图5所示，对于实施例1、2的接口系统进行接口控制的一个示例性过程，可以分为如下步骤：插入检测阶段501、识别阶段502、连接建立阶段503、通信阶段504、拔出阶段505。As shown in Figure 5, an exemplary process of interface control for the interface system of Embodiments 1 and 2 can be divided into the following steps: insertion detection phase 501, identification phase 502, connection establishment phase 503, communication phase 504, unplugging Stage 505.
插入检测阶段501：该阶段无人机主控制器17不断读取插入检测与识别引脚电压值，若为3.6V则判断为未插入载荷，继续停留在插入检测阶段。若读到电压为3.3V(受载荷上的钳位二极管影响)，则认为已经插入有效载荷，进入识别阶段。该阶段协议转换模块13不工作，I/O强驱动模块15处于断开状态；Insertion detection stage 501: In this stage, the main controller 17 of the UAV continuously reads the voltage value of the insertion detection and identification pin. If it is 3.6V, it is judged that the load is not inserted, and it continues to stay in the insertion detection stage. If the read voltage is 3.3V (affected by the clamping diode on the load), it is considered that the payload has been inserted and the identification stage is entered. The protocol conversion module 13 does not work at this stage, and the I/O strong drive module 15 is in a disconnected state;
识别阶段502：该阶段首先由I/O强驱动模块15驱动编号为0的通用I/O到系统电源，载荷数字电源上电并启动，插入检测与识别模块21中的载荷识别模块通过1-Wire协议读取目标载荷12中的Flash中的配置数据并进行校验。若校验通过，则进入连接建立阶段，若校验不通过，回到插入检测阶段；Identification stage 502: In this stage, the I/O strong drive module 15 first drives the general-purpose I/O numbered 0 to the system power supply, the load digital power supply is powered on and started, and the load identification module inserted into the detection and identification module 21 passes 1- The Wire protocol reads and verifies the configuration data in the Flash in the target payload 12 . If the verification is passed, enter the connection establishment stage, if the verification fails, return to the insertion detection stage;
连接建立阶段503：该阶段首先由无人机主控制器17根据识别阶段中插入检测与识别模块21中的载荷识别模块读取的目标载荷12中的Flash中的配置数据确定物理接口11中所有通用I/O引脚的功能(输入、数字输出、强输出或者电源输出)，并以此为依据配置I/O强驱动模块15。之后由无人机主控制器17根据配置数据确定载荷的通信协议类型，并依次为依据配置协议转换模块13。配置完成后由无人机主控制器17尝试透过协议转换模块13和I/O强驱动模块15向目标载荷12发起通信请求，若获得正确回应则进入通信阶段，否则回到识别阶段；Connection establishment phase 503: In this phase, at first, the main controller 17 of the UAV determines all the data in the physical interface 11 according to the configuration data in the Flash in the target load 12 read by the load identification module inserted into the detection and identification module 21 in the identification phase. The function of the general I/O pin (input, digital output, strong output or power output), and configure the I/O strong drive module 15 based on this. Afterwards, the main controller 17 of the UAV determines the communication protocol type of the payload according to the configuration data, and then follows the configuration protocol conversion module 13 in turn. After the configuration is completed, the UAV main controller 17 attempts to initiate a communication request to the target load 12 through the protocol conversion module 13 and the I/O strong drive module 15. If a correct response is obtained, it enters the communication phase, otherwise it returns to the identification phase;
通信阶段504：该阶段由无人机主控制器17透过协议转换模块13和I/O强驱动模块15与目标载荷12进行通信并执行载荷功能，同时无人机主控制器17不断读取插入检测与识别引脚的电压值，若电压值为3.6V则进入拔出阶段，否则保持在通信阶段；Communication stage 504: In this stage, the UAV main controller 17 communicates with the target payload 12 through the protocol conversion module 13 and the I/O strong drive module 15 and executes the payload function. At the same time, the UAV main controller 17 continuously reads The voltage value of the insertion detection and identification pin, if the voltage value is 3.6V, it will enter the unplugging stage, otherwise it will remain in the communication stage;
拔出阶段505：该阶段由无人机主控制器17控制I/O强驱动模块15回到断开状态，控制协议转换模块13停止工作，之后进入插入检测阶段。Extraction stage 505: In this stage, the UAV main controller 17 controls the I/O strong drive module 15 to return to the disconnected state, the control protocol conversion module 13 stops working, and then enters the insertion detection stage.
本发明实施例提供了能够应用于微小无人飞行器的一套完整的通用载荷接口系统与控制方法，在具体实现中该接口系统可以为载荷提供可重配置的接入方法，系统能够识别插入的目标载荷配置数据将接口中的通用I/O配置为多种功能，以适应各种目标载荷对接口的要求。同时协议转换模块可以将目标载荷上任意已定义的协议转化为统一的USB协议实现目标载荷与无人机主控制器的通信。通过本发明实施例，微小无人机的载荷可以用较少的引脚和物理接口尺寸实现较大的通用性，极大增强微小无人机的可扩展性。The embodiment of the present invention provides a complete set of universal payload interface system and control method that can be applied to tiny unmanned aerial vehicles. The target load configuration data configures the general-purpose I/O in the interface into multiple functions to meet the requirements of various target loads on the interface. At the same time, the protocol conversion module can convert any defined protocol on the target payload into a unified USB protocol to realize the communication between the target payload and the UAV main controller. Through the embodiments of the present invention, the payload of the micro-drone can achieve greater versatility with fewer pins and physical interface sizes, greatly enhancing the scalability of the micro-drone.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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| CN201610236913.2ACN105867190B (en) | 2016-04-15 | 2016-04-15 | The interface system and interface control method of unmanned vehicle |
| PCT/CN2016/086309WO2017177541A1 (en) | 2016-04-15 | 2016-06-17 | Interface system and interface control method for unmanned aerial vehicle |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610236913.2ACN105867190B (en) | 2016-04-15 | 2016-04-15 | The interface system and interface control method of unmanned vehicle |
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| CN105867190A CN105867190A (en) | 2016-08-17 |
| CN105867190Btrue CN105867190B (en) | 2018-11-27 |
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| CN201610236913.2AActiveCN105867190B (en) | 2016-04-15 | 2016-04-15 | The interface system and interface control method of unmanned vehicle |
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