阅读说明：本技术 海陆激光雷达与无人机通信的适配器及其通信方法 (Adapter for communication between sea-land laser radar and unmanned aerial vehicle and communication method thereof ) 是由 黄宜帆 胡善江 侯春鹤 贺岩 于 2020-12-07 设计创作，主要内容包括：一种海陆激光雷达与无人机通信的适配器,包括：接口模块,与协议转换模块。接口模块包括异步RS422接口,百兆网口、千兆网口。适配器通过异步RS422接口,接收无人机的控制指令信息,通过千兆网口接收海陆激光雷达探测数据。接收到的数据通过协议转换模块进行协议转换,并通过百兆网口将转换后的海陆激光雷达探测数据传送到无人机上,通过千兆网口将转换后的控制指令信息传送到海陆激光雷达上。通过本发明解决了无人机与海陆激光雷达接口不匹配的问题,从而无需重新设计海陆激光雷达的硬件接口,即可完成无人机与海陆激光雷达的通讯。(An adapter for sea-land lidar to communicate with a drone, comprising: and the interface module is connected with the protocol conversion module. The interface module comprises an asynchronous RS422 interface, a hundred-megabyte network port and a gigabit network port. The adapter receives the control instruction information of the unmanned aerial vehicle through the asynchronous RS422 interface and receives the land and sea laser radar detection data through the gigabit network port. And the received data is subjected to protocol conversion through a protocol conversion module, converted sea and land laser radar detection data is transmitted to the unmanned aerial vehicle through a hundred-megabyte network port, and converted control instruction information is transmitted to the sea and land laser radar through a gigabit network port. The invention solves the problem that the interfaces of the unmanned aerial vehicle and the sea-land laser radar are not matched, so that the communication between the unmanned aerial vehicle and the sea-land laser radar can be completed without redesigning the hardware interface of the sea-land laser radar.)

1. An adapter of sea and land laser radar and unmanned aerial vehicle communication, its characterized in that includes:

the interface module is used for acquiring control instruction information from a data link on the unmanned aerial vehicle and detection data of the sea-land laser radar and transmitting the control instruction information and the detection data to the protocol conversion module; the system is also used for receiving sea and land laser radar target protocol data transmitted by the protocol conversion module and transmitting the data to the sea and land laser radar; receiving the packaged detection data of the sea-land laser radar transmitted by the protocol conversion module, and transmitting the data to an onboard data link of the unmanned aerial vehicle;

the protocol conversion module is used for receiving the control instruction information of the data link on the unmanned aerial vehicle transmitted by the interface module, analyzing the control instruction information, converting the control instruction information into sea and land laser radar target protocol data and transmitting the sea and land laser radar target protocol data to the interface module; and receiving detection data of the sea-land laser radar, packaging and transmitting the detection data to the interface module.

2. An adapter for sea and land lidar to communicate with a drone of claim 1, wherein the interface module comprises an asynchronous RS422 interface, a hundred mega network port and a gigabit network port; the asynchronous RS422 interface is used for being connected with the unmanned aerial vehicle data link to acquire control instruction information of the onboard data link and send the control instruction information to the protocol conversion module; the hundred-million network port is used for being connected with an unmanned aerial vehicle data chain and transmitting sea and land laser radar detection data packaged by the protocol conversion module; the gigabit net port is used for being connected with the sea and land laser radar, transmitting control instruction information which is sent to the sea and land laser radar and converted by the protocol conversion module, and receiving detection data of the sea and land laser radar.

3. The adapter of claim 1, wherein the protocol conversion module converts the control command information received from the data link on the drone transmitted by the asynchronous RS422 interface into the sea-land lidar target protocol data that satisfies the communication protocol format of the sea-land lidar.

4. The adapter of claim 1, wherein the protocol conversion module packages the land and sea lidar probe data received from the gigabit port according to a communication protocol of a data link of the drone.

5. A method for realizing communication between a sea-land laser radar and an unmanned aerial vehicle is characterized by comprising the following steps:

s11: receiving control instruction information from a data link on an unmanned aerial vehicle;

s12: analyzing according to an airborne remote control communication protocol, converting into a communication protocol format of a sea-land laser radar, and transmitting to the sea-land laser radar;

s21: receiving detection data from a sea-land laser radar;

s22: and packaging the detection data according to a communication protocol of the data chain on the unmanned aerial vehicle, and transmitting the detection data to the data chain on the unmanned aerial vehicle.

Technical Field

The invention relates to the technical field of sea and land laser radar detection and unmanned aerial vehicle communication, in particular to an adapter for communication between a sea and land laser radar and an unmanned aerial vehicle and a communication method thereof.

Background

The traditional manned airborne sea and land laser radar mapping has the advantages of high efficiency, strong maneuverability and the like, and is particularly suitable for large-area investigation and research.

Along with the continuous maturity of unmanned aerial vehicle technique, transfer sea and land laser radar work platform to unmanned aerial vehicle on can reduce the manpower and the maintenance cost that have the man-machine, and unmanned aerial vehicle can effectively reduce the survey and drawing work in dangerous area and develop danger.

Traditional unmanned aerial vehicle provides asynchronous RS422 interface for sea and land laser radar and as sea and land laser radar control command interface, provides the interface of ethernet as interface under the sea and land laser radar data. And sea and land laser radar only provides an ethernet interface and is regarded as sea and land laser radar control command interface and sea and land laser radar data interface down simultaneously, can't reach the communication requirement between sea and land laser radar and the unmanned aerial vehicle.

Disclosure of Invention

Aiming at the problems, the invention aims to realize the communication function between the sea-land laser radar and the unmanned aerial vehicle.

In order to achieve the purpose, the technical scheme of the adapter provided by the invention is as follows:

on the one hand, the invention provides an adapter for communication between a sea-land laser radar and an unmanned aerial vehicle, which is characterized by comprising the following components:

the interface module is used for acquiring control instruction information from a data link on the unmanned aerial vehicle and detection data of the sea-land laser radar and transmitting the control instruction information and the detection data to the protocol conversion module; the system is also used for receiving sea and land laser radar target protocol data transmitted by the protocol conversion module and transmitting the data to the sea and land laser radar; receiving the packaged detection data of the sea-land laser radar transmitted by the protocol conversion module, and transmitting the data to an onboard data link of the unmanned aerial vehicle;

the protocol conversion module is used for receiving the control instruction information of the data link on the unmanned aerial vehicle transmitted by the interface module, analyzing the control instruction information, converting the control instruction information into sea and land laser radar target protocol data and transmitting the sea and land laser radar target protocol data to the interface module; and receiving detection data of the sea-land laser radar, packaging and transmitting the detection data to the interface module.

Preferably, the interface module comprises an asynchronous RS422 interface, a hundred mega network port and a gigabit network port; the asynchronous RS422 interface is used for being connected with the unmanned aerial vehicle data link to acquire control instruction information of the onboard data link and send the control instruction information to the protocol conversion module; the hundred-million network port is used for being connected with an unmanned aerial vehicle data chain and transmitting sea and land laser radar detection data packaged by the protocol conversion module; the gigabit net port is used for being connected with the sea and land laser radar, transmitting control instruction information which is sent to the sea and land laser radar and converted by the protocol conversion module, and receiving detection data of the sea and land laser radar.

Preferably, the protocol conversion module converts control instruction information of a data link on the unmanned aerial vehicle, which is received from the asynchronous RS422 interface, into sea and land laser radar target protocol data meeting a communication protocol format of the sea and land laser radar.

Preferably, the protocol conversion module packages the sea and land laser radar detection data received from the gigabit network port according to a communication protocol of the data chain of the unmanned aerial vehicle.

On the other hand, the invention also provides a method for communication between the sea-land laser radar and the unmanned aerial vehicle, which is characterized by comprising the following steps:

s11: receiving control instruction information from a data link on an unmanned aerial vehicle;

s12: analyzing according to an airborne remote control communication protocol, converting into a communication protocol format of a sea-land laser radar, and transmitting to the sea-land laser radar;

s21: receiving detection data from a sea-land laser radar;

s22: and packaging the detection data according to a communication protocol of the data chain on the unmanned aerial vehicle, and transmitting the detection data to the data chain on the unmanned aerial vehicle.

Compared with the prior art, the invention has the beneficial effects that:

the communication between the sea-land laser radar and the unmanned aerial vehicle is completed through the adapter for the communication between the sea-land laser radar and the unmanned aerial vehicle, the hardware interface of the sea-land laser radar is not required to be redesigned, and the adapter is independent of the sea-land laser radar and the unmanned aerial vehicle and is convenient to install and disassemble. For the communication protocols of the data chains on different unmanned aerial vehicles, the communication between the sea-land laser radar and different unmanned aerial vehicles can be completed only by modifying the protocol conversion software of the adapter. Through the remote control data chain and the remote measurement data chain of the unmanned aerial vehicle and the ground, the ground can control the working parameters of the sea and land laser radar, and the detection data of the sea and land laser radar can be previewed.

Drawings

FIG. 1 is a schematic structural diagram of an adapter for communication between a sea-land lidar and an unmanned aerial vehicle according to an embodiment of the present invention

FIG. 2 is a flow chart of a method for converting control instruction information of an on-board datalink of protocol conversion software

FIG. 3 is a flow chart of a method for packing sea-land lidar detection data by protocol conversion software

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, and the specific examples described herein are only for the purpose of illustrating the present invention and should not be construed as limiting the scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an adapter for communication between a sea-land laser radar and an unmanned aerial vehicle according to an embodiment of the present invention. Be applicable to the condition of land and sea laser radar and unmanned aerial vehicle communication, this adapter is an ARM industrial control board, and required supply voltage is 12V, is provided by land and sea laser radar system oneself, and this industrial control board size is 146mm 102 mm. As shown in fig. 1, the adapter for communication between sea and land laser radar and the unmanned aerial vehicle comprises: a protocol conversion module 100, an interface module 200; wherein: the protocol conversion module 100 is connected to the interface module 200, and includes onboard protocol conversion software, which is configured to analyze and convert the received control instruction information from the drone data link 300 and the detection data from the sea-land laser radar 400 according to a corresponding communication protocol, and transmit the analyzed and converted control instruction information and detection data to a target interface; the interface module 200 comprises an asynchronous RS422 interface 210 and a hundred mega network port 220 required by the unmanned aerial vehicle data chain 300, and a giga network port 230 required by the sea-land laser radar 400, and is used for completing connection between an adapter and the unmanned aerial vehicle data chain 300 and the sea-land laser radar 400 through the interfaces, so as to acquire data from the unmanned aerial vehicle data chain 300 and the sea-land laser radar 400, and simultaneously transmit data to the unmanned aerial vehicle data chain 300 and the sea-land laser radar 400;

referring to fig. 1, fig. 2 and fig. 3, fig. 2 is a flowchart of a method for converting control instruction information of a data link on a converting machine of protocol conversion software according to an embodiment of the present invention, and fig. 3 is a flowchart of a method for converting sea-land lidar detection data of protocol conversion software according to an embodiment of the present invention. As shown, the method includes:

s11: the onboard protocol conversion software 110 receives the control instruction information of the onboard data link transmitted from the asynchronous RS422 interface 210.

S12: the onboard protocol conversion software 110 performs the parsing according to the onboard remote control communication protocol.

The communication bodies of the airborne remote control communication protocol are in a peer-to-peer relationship, a simple mechanism is used, and the data is directly sent without establishing connection before communication. The transmission protocol is specifically that the task computer sends a baud rate 115200 of load equipment, 1 start bit, 8 bit data bit, 1 stop bit and 1 odd check bit (11 bits in total), and the load equipment sends the baud rate 115200 of the task computer, 1 start bit, 8 bit data bit, 1 stop bit and 1 odd check bit (11 bits in total). The data frame needs to meet the requirement that the correct bits of the frame header synchronization word and the frame check are valid, and invalid frames are directly discarded.

S13: onboard protocol conversion software 110 converts the received data to sea-land lidar target protocol data for sea-land lidar 400.

S14: and sends the data to the sea and land laser radar 400 through the gigabit internet port 230 in UDP protocol.

S21: the onboard protocol conversion software 110 receives the seashore lidar 400 probe data transmitted from the gigabit portal 230.

S22: the onboard protocol conversion software 110 packages the probe data according to the high-speed telemetry communication protocol.

The unmanned aerial vehicle load equipment is a TCP server, and the IP address and the port number support can be matched. The hundred megabyte portal 220 is a client that requests a connection from the protocol conversion software 110.

S23: the onboard protocol conversion software 110 sends the packetized data to the drone data chain 300 system in TCP protocol through the hundred megabyte network port 220.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.