CN115225648A - Heterogeneous unmanned platform information sharing and interoperation system - Google Patents
Heterogeneous unmanned platform information sharing and interoperation system Download PDFInfo
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- CN115225648A CN115225648A CN202210845674.6A CN202210845674A CN115225648A CN 115225648 A CN115225648 A CN 115225648A CN 202210845674 A CN202210845674 A CN 202210845674A CN 115225648 A CN115225648 A CN 115225648A
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Abstract
The invention discloses an information sharing and interoperation system of a heterogeneous unmanned platform, which relates to the technical field of unmanned cluster systems and comprises the following steps: a transmission service layer, a core service layer, a business service layer and a service support layer; the transmission service layer is used for providing transmission control services of various communication buses; the core service layer is used for providing a basic function of coordinating the activities of the unmanned cluster system; the service layer is used for providing functional services of the unmanned platforms or loads, and for the unmanned platforms or loads of the same type, the common services of the platforms or loads are extracted by establishing a common prototype model; the service support layer is used for providing basic support for other service layers; the system provided by the invention is a software layer between platform hardware and platform application, and is based on a distributed/subscribed message model, and provides the functions of the unmanned platform in a service form by carrying out abstract modeling on the unmanned platform.
Description
Technical Field
The invention relates to the technical field of unmanned cluster systems, in particular to an information sharing and interoperation system for heterogeneous unmanned platforms.
Background
In recent years, unmanned technology is rapidly developed, and unmanned platforms with various types and complex functions, such as unmanned planes, unmanned vehicles, unmanned ships, robots and the like, appear; with the expansion of application scenes and the increasing complexity of application tasks, the single unmanned platform is limited by factors such as load capacity, functional performance and the like, and the capacity which can be shown by the single unmanned platform is more and more limited; an unmanned cluster system composed of a plurality of heterogeneous unmanned platforms can be matched with one another, and task cooperation is achieved, and the unmanned cluster system becomes a future development trend.
The traditional unmanned cluster system usually adopts a master-slave scheme of one control multiple machines; the unmanned platform and the control station carry out information interaction in a point-to-point mode; the control station is responsible for planning cluster tasks, visually presenting cluster information and monitoring and managing cluster members; the unmanned platform is responsible for decomposing and executing the task instruction, monitoring and maintaining the state of the unmanned platform and returning the task execution result. However, the master-slave scheme has the following disadvantages: 1) The control station and the unmanned platforms are in one-to-one communication, and information interaction cannot be directly carried out between the unmanned platforms;
2) The messages transmitted among the cluster members are fixed, and the messages cannot be dynamically subscribed; 3) When the unmanned platform receives different instructions of a plurality of control stations, a cross control phenomenon can be generated, so that the unmanned platform is damaged;
4) And the system expansibility is poor, and if a new heterogeneous unmanned platform needs to be added, the control station needs to customize and develop the new unmanned platform.
Disclosure of Invention
The invention aims to: aiming at the problems that the conventional unmanned platforms of the unmanned cluster system cannot directly exchange information, cannot dynamically subscribe messages, cannot accept a plurality of different instructions and has poor system expansibility, the heterogeneous unmanned platform information sharing and interoperating system is provided, and the system provides the functions of the unmanned platforms in a service form by carrying out abstract modeling on the unmanned platforms based on a distributed/subscribed message model, so that the problems are solved.
The technical scheme of the invention is as follows:
heterogeneous unmanned platform information sharing and interoperation system specifically includes:
a transport service layer for providing transport control services for various communication buses;
the core service layer is used for providing a basic function of coordinating the activities of the unmanned cluster system;
the service layer is used for providing functional services of the unmanned platform or the load, and extracting the common services of the unmanned platform or the load by establishing a common prototype model for the unmanned platforms or the loads of the same type;
a service support layer for providing base support for other service layers.
Further, the transport control service provided by the transport service layer includes:
TCP/IP based transport services, UDP/IP based transport services, serial based transport services;
the transmission service layer is also responsible for bus parameter control, bus state monitoring, communication data receiving and sending and data cache maintenance;
the transmission service layer shields the communication bus difference and can directly provide communication data for upper layer application.
Further, the basic functions of the core service layer include:
transport services, message services, access services, life services, time services, active services, discovery services.
Furthermore, the transmission service is used for abstracting a communication interface of a transmission service layer and providing a uniform data exchange interface for other services;
the message service is used for providing a publishing and subscribing mechanism of the message;
the access service is used for providing exclusive control service;
the lifecycle service is to manage a lifecycle of the component;
the time service is used for setting and inquiring the system time of the component;
the active service is used for keeping the activity of the connection between different components;
the discovery service is used to provide a method of discovering other components in a communication network.
Further, the functional services provided by the business service layer include:
chassis control service, pan-tilt control service, camera control service.
Further, the basic support provided by the service support layer includes:
data base type definition, base class interface definition and base tool implementation.
Compared with the prior art, the invention has the beneficial effects that:
1. the heterogeneous unmanned platform information sharing and interoperating system can realize information sharing of all nodes in the unmanned cluster system, and lays a communication interaction foundation for establishment of an intelligent unmanned system.
2. The heterogeneous unmanned platform information sharing and interoperation system can also customize the message content of the designated node according to the service requirement, thereby reducing the communication bandwidth pressure and reducing the communication delay.
3. The heterogeneous unmanned platform information sharing and interoperation system can realize one-machine multi-control without cross control.
4. The heterogeneous unmanned platform information sharing and interoperation system improves the expansion capability of the unmanned cluster system by providing the unmanned platform function in a service form.
5. The heterogeneous unmanned platform information sharing and interoperation system provides a core function of unmanned cluster system interaction, and reduces the integration difficulty of the unmanned cluster system.
6. The heterogeneous unmanned platform information sharing and interoperation system reduces the repeated development work of the same type of platform/load, shortens the development period and reduces the development cost through the abstract modeling of the unmanned platform.
Drawings
FIG. 1 is a diagram of a heterogeneous unmanned platform information sharing and interoperation system architecture;
FIG. 2 is a diagram illustrating a second embodiment of a heterogeneous unmanned platform information sharing and interoperation system;
FIG. 3 is a flowchart illustrating information interaction in a second embodiment of a heterogeneous unmanned platform information sharing and interoperation system;
fig. 4 is a control flowchart of a second embodiment of the heterogeneous unmanned platform information sharing and interoperation system.
Detailed Description
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
Example one
The traditional unmanned cluster system usually adopts a master-slave scheme of one control multiple machines; the unmanned platform and the control station carry out information interaction in a point-to-point mode; the control station is responsible for planning cluster tasks, visually presenting cluster information and monitoring and managing cluster members; the unmanned platform is responsible for decomposing and executing the task instruction, monitoring and maintaining the state of the unmanned platform and returning the task execution result. However, the master-slave scheme has the following disadvantages: 1) The control station and the unmanned platform are in one-to-one communication, and information interaction cannot be directly carried out between the unmanned platforms;
2) The messages transmitted among the cluster members are fixed, and the messages cannot be dynamically subscribed; 3) When the unmanned platform receives different instructions of a plurality of control stations, a cross control phenomenon can be generated, so that the unmanned platform is damaged;
4) And the system expansibility is poor, and if a new heterogeneous unmanned platform needs to be added, the control station needs to be customized and developed aiming at the new unmanned platform.
In order to solve the above problems, the present embodiment provides an information sharing and interoperation system for a heterogeneous unmanned platform, where the system provides functions of the unmanned platform in a form of "service" by performing abstract modeling on the unmanned platform based on a distributed/subscribed message model.
Referring to fig. 1, the heterogeneous unmanned platform information sharing and interoperation system specifically includes:
the transmission service layer is used for providing transmission control services of various communication buses;
the core service layer is used for providing a basic function of coordinating the activities of the unmanned cluster system;
the service layer is used for providing functional services of the unmanned platform or the load, and for the unmanned platforms or the loads of the same type, the common services of the platforms or the loads are extracted by establishing a common prototype model;
and the service support layer is used for providing basic support for other service layers.
In this embodiment, specifically, the transmission control service provided by the transmission service layer includes:
TCP/IP based transport services, UDP/IP based transport services, serial based transport services;
the transmission service layer is also responsible for bus parameter control, bus state monitoring, communication data receiving and sending and data cache maintenance;
the transport service layer shields communication bus differences and can directly provide communication data to upper-layer applications.
In this embodiment, specifically, the basic functions of the core service layer include:
transport services, message services, access services, life services, time services, active services, discovery services.
In this embodiment, specifically, the transport service is used to abstract a transport service layer communication interface, and provide a uniform data exchange interface for other services;
the message service is used for providing a publishing and subscribing mechanism of the message;
the access service is used for providing exclusive control service;
the lifecycle service is to manage a lifecycle of the component;
the time service is used for setting and inquiring the system time of the component;
the active service is used for keeping the activity of the connection between different components;
the discovery service is used to provide a method of discovering other components in a communication network.
In this embodiment, specifically, the functional services provided by the business service layer include:
chassis control service, pan-tilt control service, camera control service.
In this embodiment, specifically, the basic support provided by the service support layer includes:
data base type definition, base class interface definition and base tool implementation.
The invention has the following advantages: 1) Each node in the unmanned cluster system can realize information sharing, and a communication interaction foundation is laid for the establishment of the intelligent unmanned system; 2) The message content of the designated node can be customized according to the service requirement, so that the communication bandwidth pressure is reduced, and the communication delay is reduced; 3) The multi-control of one machine can be realized, and the cross control phenomenon can not occur; 4) The unmanned platform function is provided in a service form, so that the expansion capability of the unmanned cluster system is improved; 5) The interactive core function of the unmanned cluster system is provided, and the integration difficulty of the unmanned cluster system is reduced; 6) By the abstract modeling of the unmanned platform, the repeated development work of platforms/loads of the same type is reduced, the development period is shortened, and the development cost is reduced.
Example two
Referring to fig. 2, the second embodiment is a specific implementation form of the heterogeneous unmanned platform information sharing and interoperation system provided in the first embodiment.
This embodiment consists of three parts: two unmanned patrol robots, a ground control station and a remote control terminal. The unmanned patrol robot is used for carrying out scouting and patrolling on a specific area; the ground control station is used for carrying out remote control, scouting information monitoring, scouting task planning and the like on the patrol robot; the remote control terminal is used for carrying out close-range remote control, reconnaissance monitoring and the like on the patrol robot.
Each platform adopts the same application architecture, namely platform hardware is taken as a carrier, a heterogeneous unmanned platform information sharing and interoperation system is taken as a basis, and platform functions are taken as applications; the platforms are communicated with each other through a wireless local area network.
FIG. 3 is a flow chart of information interaction in the present embodiment; firstly, a ground control station/remote control terminal sends detection information to a network through discovery service, and after receiving the detection information, an unmanned patrol robot returns self information to the ground control station/remote control terminal; then, the ground control station/the remote control terminal subscribes the service provided by the unmanned patrol robot according to the actual requirement; after the subscription is finished, the unmanned patrol robot reports the subscribed service messages periodically or in a triggering mode.
FIG. 4 is a control flowchart of the present embodiment; firstly, a ground control station sends detection information to a network through discovery service, and after receiving the detection information, an unmanned patrol robot returns self information to the ground control station; then the ground control station sends a control request to the unmanned patrol robot; if the unmanned patrol robot is in an uncontrolled state currently or in a control state of the remote control terminal and the control authority of the remote control terminal is lower than the control authority of the ground control station, the unmanned patrol robot returns a control confirmation message to the ground control station, at the moment, the ground control station acquires the control authority of the unmanned patrol robot, and finally the unmanned patrol robot can be controlled through corresponding control service; if the unmanned patrol robot is currently in a control state of the remote control terminal and the control right of the remote control terminal is higher than that of the ground control station, the unmanned patrol robot returns a control refusing message to the ground control station, and at the moment, the ground control station cannot acquire the control right and cannot control the patrol robot.
The above-mentioned embodiments only express the specific embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which are all within the protection scope of the present application.
Claims (6)
1. Heterogeneous unmanned platform information sharing and interoperation system, characterized by comprising:
a transport service layer for providing transport control services for various communication buses;
the core service layer is used for providing a basic function of coordinating the activities of the unmanned cluster system;
the service layer is used for providing functional services of the unmanned platform or the load, and extracting the common services of the unmanned platform or the load by establishing a common prototype model for the unmanned platforms or the loads of the same type;
a service support layer for providing base support for other service layers.
2. The heterogeneous unmanned platform information sharing and interoperation system according to claim 1, wherein the transport control service provided by the transport service layer comprises:
TCP/IP based transport services, UDP/IP based transport services, serial based transport services;
the transmission service layer is also responsible for bus parameter control, bus state monitoring, communication data receiving and transmitting and data cache maintenance;
the transport service layer shields communication bus differences and can directly provide communication data to upper-layer applications.
3. The heterogeneous unmanned platform information sharing and interoperation system according to claim 2, wherein the basic functions of the core service layer include:
transport services, message services, access services, life services, time services, active services, discovery services.
4. The heterogeneous unmanned platform information sharing and interoperation system according to claim 3, wherein the transport service is configured to abstract a transport service layer communication interface and provide a unified data exchange interface for other services;
the message service is used for providing a publishing and subscribing mechanism of the message;
the access service is used for providing exclusive control service;
the lifecycle service is to manage a lifecycle of the component;
the time service is used for setting and inquiring the system time of the component;
the active service is used for keeping the activity of the connection between different components;
the discovery service is used to provide a method of discovering other components in a communication network.
5. The heterogeneous unmanned platform information sharing and interoperation system according to claim 4, wherein the functional services provided by the business service layer comprise:
chassis control service, pan-tilt control service, camera control service.
6. The heterogeneous unmanned platform information sharing and interoperation system according to claim 5, wherein the service support layer provides basic support comprising:
data base type definition, base class interface definition and base tool implementation.
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