WO2017177541A1 - 无人驾驶飞行器的接口***和接口控制方法 - Google Patents
无人驾驶飞行器的接口***和接口控制方法 Download PDFInfo
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- WO2017177541A1 WO2017177541A1 PCT/CN2016/086309 CN2016086309W WO2017177541A1 WO 2017177541 A1 WO2017177541 A1 WO 2017177541A1 CN 2016086309 W CN2016086309 W CN 2016086309W WO 2017177541 A1 WO2017177541 A1 WO 2017177541A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
Definitions
- the invention relates to the technical field of unmanned aerial vehicles, and in particular to an interface system and an interface control method for an unmanned aerial vehicle.
- Unmanned aerial vehicles also known as unmanned aerial vehicles, drones, etc.
- unmanned aerial vehicles are unmanned aircraft that are either radio-controlled or under autonomous, semi-autonomous procedures. Because of its low cost, no risk of casualties, and good mobility, it is widely used in various fields of aerial photography, geological survey, line inspection, and emergency rescue. Among them, due to the development of integrated circuits and micro-system technology, the miniaturization of the UAV has been realized, greatly expanding the types of tasks that the UAV can perform. Depending on the task being performed, a small unmanned aerial vehicle usually needs to carry different loads.
- the technical problem to be solved by the present invention is how to provide a universal interface system for an unmanned aerial vehicle.
- an interface system for an unmanned aerial vehicle including:
- Physical interface including multiple pins
- At least one protocol conversion module configured to perform a conversion of a communication protocol on the target payload according to a communication protocol type of a target payload that accesses the physical interface;
- the I/O strong driving module is respectively connected to the protocol conversion module and the physical interface, and is configured to drive each pin of the physical interface according to the configuration data and the communication protocol type of the target load;
- a main controller which is respectively connected to the physical interface, the protocol conversion module, and the I/O strong driving module, and configured to configure a function of each pin of the physical interface according to the configuration data of the target load; Determining, by the configuration data, a communication protocol type of the target payload, and configuring a function of the protocol conversion module according to a communication protocol type of the target payload; and transmitting, by the I/O strong driving module, the protocol conversion module and the The target load communicates and performs the function of the target load.
- the method further includes:
- Inserting a detection and identification module performing insertion detection and identification on whether the physical interface is inserted into a target load.
- the insertion detection and identification module includes:
- the insertion detecting unit is configured to determine, according to the insertion value of the physical interface, the voltage value of the identification pin, whether the physical interface is inserted into the target load;
- a load identification unit connected to the insertion detecting unit, configured to read configuration data from the target load by the insertion detection and identification pin in a case where the insertion detecting unit determines to insert the target load And verifying the configuration data.
- the insertion detecting unit is further configured to control the I/O strong driving module to be broken when detecting that the target load is pulled out from the physical interface. Turning on, the protocol conversion module is controlled to stop working, and the insertion detecting unit is instructed to continue the insertion detection.
- the physical interface includes a general-purpose I/O pin, and the general-purpose I/O pin is connected to the I/O strong driving module.
- the main controller is further configured to configure a function of each general-purpose I/O pin according to the configuration data;
- the I/O strong driving module is further configured to control the first general-purpose I/O pin and the protocol conversion module if the main controller configures the first general-purpose I/O pin as an input Straight through; in the case where the main controller configures the second general purpose I/O pin as a digital output, controlling the second general purpose I/O pin to communicate with the protocol conversion module;
- the third general purpose I/O pin is configured as a strong output, the signal received from the protocol conversion module is enhanced and sent to the third general purpose I/O pin; at the main controller
- 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 rail.
- the physical interface further includes an insertion detection and identification pin and a ground pin
- the main controller is further configured to control the insertion detection and identification pin and insertion detection.
- the ground pin is connected to the system ground.
- the invention also provides an interface control method for an unmanned aerial vehicle, the physical interface of the unmanned aerial vehicle comprising a plurality of pins;
- the method includes:
- the method further includes:
- Insert detection and identification is performed on whether the physical interface is inserted into a target load.
- insertion detection and identification are performed on whether the physical interface is inserted into a target load, including:
- configuration data is read from the target payload by the insertion detection and identification pin, and the configuration data is verified.
- the method further includes:
- the I/O strong driving module is controlled to be disconnected, the protocol conversion module is controlled to stop working, and the insertion detection is continued.
- the physical interface includes a general-purpose I/O pin, and the general-purpose I/O pin is connected to the I/O strong driving module, and the method further includes:
- each general-purpose I/O pin is configured according to the configuration data.
- the configuring the functions of each general-purpose I/O pin according to the configuration data includes:
- the I/O strong driving module controls the first general-purpose I/O pin to communicate with the protocol conversion module;
- the I/O strong driving module controls the second general-purpose I/O pin to communicate with the protocol conversion module;
- the I/O strong driving module performs enhancement processing on the signal received from the protocol conversion module, and then sends the signal to the third pass.
- the I/O strong driving module controls the fourth general-purpose I/O pin to be directly connected to the corresponding power rail.
- the physical interface further includes an insertion detection and identification pin and a ground pin
- the method further includes:
- 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.
- the embodiment of the present invention can identify the configuration data of the inserted target payload, configure the function of each pin in the physical interface to meet the requirements of various target loads on the interface, and the protocol conversion module can convert any defined protocol on the target payload into A unified universal protocol to achieve communication between the target payload and the UAV master controller.
- the load of the drone can achieve greater versatility with fewer pins and physical interface sizes, greatly enhancing the scalability of the drone.
- the interface control method and the interface system according to the embodiments of the present invention can adaptively allocate all the connection 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 by the interface conversion device. Any defined interface protocol.
- FIG. 1 is a schematic structural view of an interface system of an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 2 shows a structural diagram of an interface system of an unmanned aerial vehicle according to another embodiment of the present invention. intention
- FIG. 3 is a flow chart showing an interface control method of an unmanned aerial vehicle according to an embodiment of the present invention.
- FIG. 4 is a schematic flow chart showing another interface control method of an unmanned aerial vehicle according to an embodiment of the present invention.
- FIG. 5 is a flow chart showing an interface control method of an unmanned aerial vehicle according to another embodiment of the present invention.
- Fig. 6 is a block diagram showing the structure of an interface control device for an unmanned aerial vehicle according to another embodiment of the present invention.
- FIG. 1 is a block diagram showing the structure of an interface system of an unmanned aerial vehicle according to an embodiment of the present invention.
- the interface system of the unmanned aerial vehicle may mainly include:
- Physical interface 11 comprising a plurality of pins
- At least one protocol conversion module 13 for receiving a target load 12 according to the physical interface 11 a communication protocol type for performing a conversion of a communication protocol to the target payload 12;
- An I/O (input/output port) strong driving module 15 is respectively connected to the protocol conversion module 13 and the physical interface 11 for configuring data and a communication protocol type according to the target load 12. Driving each pin of the physical interface 11;
- the main controller 17 is connected to the physical interface 11, the protocol conversion module 13, and the I/O strong driving module 15, respectively, for configuring the reference of the physical interface 11 according to the configuration data of the target load 12. a function of the foot; determining a communication protocol type of the target load 12 according to the configuration data, and configuring a function of the protocol conversion module 13 according to a communication protocol type of the target load 12; and driving through the I/O
- the module 15 and the protocol conversion module 13 communicate with the target load 12 and perform the function of the target load 12.
- the embodiment of the invention can realize a universal interface system applied to the load of a small unmanned aerial vehicle, and provides functions such as power supply and data transmission for any payload complying with the interface standard through the interface.
- FIG. 2 is a block diagram showing the structure of an interface system of an unmanned aerial vehicle according to another embodiment of the present invention.
- the same components in Fig. 2 as those in Fig. 1 have the same functions, and a detailed description of these components will be omitted for the sake of brevity.
- the interface system of the unmanned aerial vehicle may further include:
- the insertion detection and identification module 21 is configured to perform insertion detection and identification on whether the physical interface 11 is inserted into the target load 12.
- the insertion detection and identification module 21 includes:
- the insertion detecting unit is 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;
- a load identification unit coupled to the insertion detection unit for determining at the insertion detection unit
- the configuration data is read from the target load 12 by the insertion detection and identification pin, and the configuration data is verified.
- the insertion detecting unit is further configured to control the I/O strong driving module 15 to be disconnected if it is detected that the target load 12 is pulled out from the physical interface 11 And controlling the protocol conversion module 13 to stop working, and instructing the insertion detecting unit to continue the insertion detection.
- the physical interface 11 includes a general purpose I/O pin that is connected to the I/O strong drive module 15.
- the main controller 17 is further configured to configure a function of each general-purpose I/O pin according to the configuration data;
- the I/O strong driving module 15 is further configured to control the first general-purpose I/O pin and the protocol if the main controller 17 configures the first general-purpose I/O pin as an input.
- the conversion module 13 is directly connected; in the case where the main controller 17 configures the second general-purpose I/O pin as a digital output, the second general-purpose I/O pin is controlled to be directly connected to the protocol conversion module 13;
- 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 enhanced and sent to the third general-purpose I/O pin.
- the driving capability of the signal processed by the I/O strong driving 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;
- the main controller 17 configures the fourth general-purpose I/O pin as a power supply output, the fourth general-purpose I/O pin is controlled to be directly connected to the corresponding power rail.
- the physical interface 11 further includes an insertion detection and identification pin and a ground pin
- the main controller 17 is further configured to use the insertion detection and identification pin and the insertion detection and identification module. 21 is connected, and the ground pin is connected to the system ground.
- the target load 12 is connected to the insertion detection and recognition module 21 through the physical interface 11, the insertion and detection module determines the insertion action of the target load 12, and identifies features such as the specific model of the target load 12.
- the target load 12 passes through the physical interface 11 and the I/O strong drive module 15 Connected, further connected to the protocol conversion module 13, wherein the I/O strong drive module 15 enhances the output signal driving capability of the protocol conversion module 13.
- the drone main controller 17 is connected to the insertion detecting and identifying module 21 to complete the identification of the load.
- the drone master controller 17 is connected to the protocol conversion module 13 via, for example, a USB (Universal Serial Bus) protocol to implement communication with a payload.
- the UAV main controller 17 is connected to the I/O strong drive module 15, and the I/O strong drive module 15 is functionally configured.
- each module is as follows:
- UAV main controller 17 This part can be composed of an application processor and its peripheral circuits;
- Target load 12 This part is connected to the physical interface of the micro-unmanned aerial vehicle to achieve a certain functional load.
- the target load 12 includes, but is not limited to, a camera, a pan/tilt head, a robotic arm, a searchlight, a smoking device, and the like.
- the target payload 12 should have at least one memory (such as a Flash chip), an insertion detection and identification pin, four ground pins, and one general-purpose I/O pin. Wherein the target load 12 and the physical interface 11 are inserted into the detection and identification pin, the output level is clamped to a system such as 3.3V by a clamp diode, and the general-purpose I/O pin of the target load 12 is numbered 0 is connected to the system of the load system. Power supply, the data port of the Flash chip is connected to the insertion detection and identification pin;
- Physical interface 11 This part is the actual physical interface 11 of the micro-UAV connected to the target payload 12, including a number of connected pins.
- the physical interface 11 can include one insertion detection and identification pin, four ground pins, a number of general purpose I/O pins, and the like.
- the insertion detection and identification pin is connected to the insertion detection and identification module 21, the general-purpose I/O pin is connected to the I/O strong drive module 15, and the ground pin is connected to the system ground;
- Insertion detection and identification module 21 The portion includes an insertion detection circuit and a load identification module.
- the insertion detection circuit pulls the insertion detection and identification pin up to, for example, a 3.6V power supply through, for example, a 100K resistor, and the insertion detection and identification pin is high. Resistance input.
- the load identification module acquires configuration data of the target load 12 by inserting the detection and identification pin and the inserted target payload 12 by, for example, a 1-Wire protocol.
- the protocol conversion module 13 may be composed of, for example, a programmable logic device. The protocol conversion module 13 reprograms the target load 12 according to the recognition result of the insertion detection and identification module 21 by the unmanned host controller 17 to convert the load-supported communication protocol into a standard USB device and is connected to the master. Complete the bridging function of communication;
- I/O strong drive module 15 This module is used to strongly drive the general-purpose I/O pin output. If the drone main controller 17 configures a general-purpose I/O pin of the physical interface as an input, then The I/O strong drive module 15 controls the pin to communicate with the protocol conversion module 13. If the drone main controller 17 configures a general-purpose I/O pin as a digital output, the I/O strong drive module 15 controls the pin to communicate with the protocol conversion module 13. If the drone main controller 17 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 I/O drive circuit protocol conversion module 13. If the drone master controller 17 configures a general purpose I/O pin as a power supply output, the I/O strong drive module 15 controls the pin to be connected to the corresponding power rail.
- FIG. 3 is a flow chart showing an interface control method of an unmanned aerial vehicle according to an embodiment of the present invention.
- the interface control method of the present embodiment can be applied to an interface system of an unmanned aerial vehicle as shown in any of the structures of FIGS. 1 and 2.
- the interface control method of the unmanned aerial vehicle may mainly include: the method includes:
- Step 401 Configure a function of each pin of the physical interface according to configuration data of a target load that accesses the physical interface.
- Step 402 Determine a communication protocol type of the target payload according to the configuration data, and configure a function of the protocol conversion module according to the communication protocol type of the target payload.
- Step 403 Communicate with the target load through the I/O strong driving module and the protocol conversion module, and execute the function of the target load.
- the method further includes:
- Step 400 Perform insertion detection and identification on whether the physical interface is inserted into the target load. If it is detected that the target load is inserted into the physical interface and the target load is successfully identified, step 401 is performed.
- step 400 can include:
- Step 4001 Determine, according to the insertion value of the physical interface, the voltage value of the identification pin, whether the physical interface is inserted into the target load;
- Step 4002 In a case where it is determined that the physical interface is inserted into the target payload, configuration data is read from the target payload by the insertion detection and identification pin, and the configuration data is verified.
- step 403 the method further includes:
- Step 404 When detecting that the target load is pulled out from the physical interface, control the I/O strong driving module to be disconnected, control the protocol conversion module to stop working, and return to perform insertion detection.
- the physical interface of the drone includes a plurality of pins, for example, the physical interface includes a general-purpose I/O pin, and the general-purpose I/O pin and the I/O strong driving module
- the method further includes: Step 406: Configure a function of each general-purpose I/O pin according to the configuration data.
- step 406 can include any one or more of the following:
- the I/O strong driving module controls the first general-purpose I/O pin to communicate with the protocol conversion module;
- the I/O strong driving module controls the second general-purpose I/O pin to communicate with the protocol conversion module;
- the I/O strong driving module performs enhancement processing on the signal received from the protocol conversion module, and then sends the signal to the third universal I/O pin;
- the I/O strong driving module controls the fourth general-purpose I/O pin to be directly connected to the corresponding power rail.
- the physical interface further includes an insertion detection and identification pin and a ground pin
- the method further includes:
- 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.
- the timings of the steps 406 and 407 may be interchanged or may be performed at the same time, which is not specifically limited in this embodiment.
- FIG. 5 is a flow chart showing an interface control method of an unmanned aerial vehicle according to another embodiment of the present invention.
- an exemplary process for performing interface control on the interface systems of Embodiments 1 and 2 can be divided into the following steps: an insertion detection phase 501, an identification phase 502, a connection establishment phase 503, a communication phase 504, and an extraction process. Stage 505.
- Insertion detection phase 501 At this stage, the UAV main controller 17 continuously reads the insertion detection and identification pin voltage value, and if it is 3.6 V, it judges that the load is not inserted, and continues to stay in the insertion detection phase. If the read voltage is 3.3V (affected by the clamp diode on the load), it is considered that the payload has been inserted and enters the identification phase.
- the stage protocol conversion module 13 does not work, and the I/O strong drive module 15 is in an off state;
- This stage first drives the general-purpose I/O numbered 0 to the system power supply by the I/O strong drive module 15, the load digital power supply is powered on and started, and the load identification module in the insertion detection and identification module 21 passes through 1-
- the Wire protocol reads the configuration data in the Flash in the target payload 12 and performs verification. If the verification passes, the connection establishment phase is entered, and if the verification fails, the interpolation detection phase is returned;
- Connection establishment phase 503 This phase first determines all of the physical interfaces 11 by the UAV main controller 17 based on the configuration data in the Flash in the target payload 12 read by the load identification module in the insertion detection and identification module 21 in the identification phase.
- the functions of the general-purpose I/O pins are used to configure the I/O strong drive module 15.
- the device 17 determines the communication protocol type of the payload according to the configuration data, and sequentially converts the module 13 according to the configuration protocol.
- 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, and enters the communication phase if a correct response is obtained, otherwise returns to the identification phase;
- Communication phase 504 This phase is communicated with the target load 12 by the UAV main controller 17 through the protocol conversion module 13 and the I/O strong drive module 15 and performs the load function, while the UAV main controller 17 continuously reads Insert the voltage value of the detection and identification pin. If the voltage value is 3.6V, it will enter the pull-out phase, otherwise it will remain in the communication phase;
- Pull-out phase 505 This stage is controlled by the drone master controller 17 to return the I/O strong drive module 15 to the disconnected state, and the control protocol conversion module 13 stops working, and then enters the insertion detection phase.
- Embodiments of the present invention provide a complete universal payload interface system and control method that can be applied to a micro UAV.
- the interface system can provide a reconfigurable access method for a load, and the system can recognize the inserted
- the target payload configuration data configures the general purpose I/O in the interface into multiple functions to accommodate the interface requirements of various target loads.
- the protocol conversion module can convert any defined protocol on the target payload into a unified USB protocol to achieve communication between the target payload and the main controller of the drone.
- the load of the micro drone can achieve greater versatility with fewer pins and physical interface sizes, greatly enhancing the scalability of the micro drone.
- Fig. 6 is a block diagram showing the structure of an interface control device for an unmanned aerial vehicle according to another embodiment of the present invention.
- the interface control device 1100 of the unmanned aerial vehicle may be a host server having a computing capability, a personal computer PC, or a portable computer or terminal that can be carried.
- the specific embodiments of the present invention do not limit the specific implementation of the computing node.
- the interface control device 1100 of the unmanned aerial vehicle includes a processor 1110, a communication interface 1120, a memory 1130, and a bus 1140.
- the processor 1110, the communication interface 1120, and the memory 1130 complete each other through the bus 1140. Communication between.
- Communication interface 1120 is for communicating with network devices, including, for example, a virtual machine management center, shared storage, and the like.
- the processor 1110 is configured to execute a program.
- the processor 1110 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.
- ASIC Application Specific Integrated Circuit
- the memory 1130 is used to store files.
- the memory 1130 may include a high speed RAM memory and may also include a non-volatile memory such as at least one disk memory.
- Memory 1130 can also be a memory array.
- the memory 1130 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
- the above program may be program code including computer operating instructions.
- the program can be specifically used to: perform the operations of the steps in Embodiment 3 or 4.
- the function is implemented in the form of computer software and sold or used as a stand-alone product, it is considered to some extent that all or part of the technical solution of the present invention (for example, a part contributing to the prior art) is It is embodied in the form of computer software products.
- the computer software product is typically stored in a computer readable non-volatile storage medium, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform all of the methods of various embodiments of the present invention. Or part of the steps.
- the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
- the embodiment of the present invention can identify the configuration data of the inserted target payload, configure the function of each pin in the physical interface to meet the requirements of various target loads on the interface, and the protocol conversion module can convert any defined protocol on the target payload into A unified universal protocol to achieve communication between the target payload and the UAV master controller.
- the load of the drone can achieve greater versatility with fewer pins and physical interface sizes, greatly enhancing the scalability of the drone.
- the interface control method and the interface system according to the embodiments of the present invention can adaptively allocate all the connection 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 by the interface conversion device. Any defined interface protocol.
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Claims (14)
- 一种无人驾驶飞行器的接口***,其特征在于,包括:物理接口,包括多个引脚;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;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;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。
- 根据权利要求1所述的***,其特征在于,还包括:***检测与识别模块;用于对所述物理接口是否***目标载荷进行***检测与识别。
- 根据权利要求2所述的***,其特征在于,所述***检测与识别模块包括:***检测单元,用于根据所述物理接口的***检测与识别引脚的电压值,判断所述物理接口是否***所述目标载荷;载荷识别单元,与所述***检测单元连接,用于在所述***检测单元判定为***所述目标载荷的情况下,通过所述***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。
- 根据权利要求3所述的***,其特征在于,所述***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***检测单元继续进行***检测。
- 根据权利要求1至4中任一项所述的***,其特征在于,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。
- 根据权利要求5所述的***,其特征在于,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;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。
- 根据权利要求5所述的***,其特征在于,所述物理接口还包括***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***检测与识别引脚与***检测与识别模块相连,所述接地引脚与***地相连。
- 一种无人驾驶飞行器的接口控制方法,其特征在于,所述无人驾驶飞行器的物理接口包括多个引脚;所述方法包括: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;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;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。
- 根据权利要求8所述的方法,其特征在于,还包括:对所述物理接口是否***目标载荷进行***检测与识别。
- 根据权利要求9所述的方法,其特征在于,对所述物理接口是否***目标载荷进行***检测与识别,包括:根据所述物理接口的***检测与识别引脚的电压值,判断所述物理接口是否***所述目标载荷;在判定所述物理接口***所述目标载荷的情况下,通过所述***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。
- 根据权利要求10所述的方法,其特征在于,还包括: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***检测。
- 根据权利要求8至11中任一项所述的方法,其特征在于,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:根据所述配置数据,配置各通用I/O引脚的功能。
- 根据权利要求12所述的方法,其特征在于,所述根据所述配置数据,配置各通用I/O引脚的功能,包括: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;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;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;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。
- 根据权利要求12所述的方法,其特征在于,所述物理接口还包括***检测与识别引脚和接地引脚,所述方法还包括:主控制器控制所述***检测与识别引脚与***检测与识别模块相连,并控制所述接地引脚与***地相连。
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