RU2639249C1 - Method of information and technical connection of mobile robotic engineering complex components - Google Patents

Abstract

FIELD: information technology.

SUBSTANCE: in the method, information is received and transmitted through computing means via communication channels to control terminals - automated workstations and peripherals of the complex, packet data transmission. Control terminals - automated operator-driver's and scout operator's workstations - exchange information with the components of mobile robotics complex: information-control calculator, video processing unit, engine control unit, collision avoidance system, information and technical interface of the information-control calculator with components of mobile robotic complex via the Ethernet interface is defined in the private pairing protocols with these components, the operator-driver's workstation receives telemetry data from the information-control calculator, the motion control system, the topography and navigation system, and its responses to control commands, obstacle data, target load data, video stream, telemetry and answers to questions from video processing unit.

EFFECT: increasing the reliability of information and technical interaction of the mobile robotic complex.

1 dwg, 5 tbl

Description

The invention relates to methods for information and technical interaction of control terminals, computing devices and peripheral devices of military and special-purpose mobile robotic complexes.

There is a method of information interaction of autonomous topographic and navigation equipment with an on-board computer (see No. 2510585, H04L 29/00, 03/27/2014), adopted as a prototype. The method of information interaction of the autonomous equipment of topographic location and navigation with an onboard computer includes the conversion, transmission, reception of measuring and control signals over communication lines according to the information interaction protocol. The protocol of information interaction ensures the operation of topographic and navigation equipment in various modes. Information is transferred between the onboard computer and the topographic and navigation system using binary digital serial code in asynchronous mode. Information interaction is carried out in accordance with the following lists of parameters, each of which has a corresponding data type: receiving AATN data from the on-board computer — data packet number, object latitude, object longitude, object elevation, northern component of the linear velocity of the object, eastern component the linear velocity of the object, the vertical component of the linear velocity of the object, the true course of the object, roll of the object, pitch of the object, Moscow time of day, geometric parameter, medium the apparent quadratic error in determining the coordinates, the altitude barometric absolute, the mechanical linear speed of the object, the Doppler linear speed of the object, Moscow time of day at the time of measuring the speed, the word of reliability signs, command word, checksum, data output from the AATN to the on-board computer - data packet number, the latitude of the object’s location, the longitude of the object’s location, the height of the object’s elevation, the northern component of the linear velocity of the object, the eastern component of the linear velocity of the object, the vertical component the linear speed of the object, the true course of the object, roll of the object, pitch of the object, Moscow time of day at the time of measurement of the issued parameters, distance traveled, status word, mode word, checksum.

The disadvantages of the prototype are:

- high configurational complexity of the information exchange system of the mobile robotic complex;

- lack of clarity in organizing the logical interaction of information flows;

- insufficient level of preservation of data integrity.

The proposed invention solves the problem of increasing the efficiency and reliability of information and technical interaction of the components of a mobile robotic complex.

The technical result obtained by the implementation of the invention is to create a method of information and technical pairing of the components of a mobile robotic complex, providing the reception and transmission of information between control terminals, information and control computer and peripheral devices.

The specified technical result is achieved by the fact that in the proposed method of information and technical pairing of the components of a mobile robotic complex, which provides, according to the pairing protocol, information reception and transmission through computing means via communication channels to control terminals — workstations and peripheral devices of the complex, packet data transmission, new is that the control terminals are automated workstations of the driver and reconnaissance operator a) exchange information through a communication and data transmission system with the components of a mobile robotic complex: an information-control computer, a video processing unit, an engine control unit, a collision avoidance system, information and technical interface of an information-control computer with the components of a mobile robotic complex via an interface Ethernet is defined in private interface protocols with these components, the logical organization of inter The action provides for assigning unique identifier names to tasks and information flows, all the components in the Ethernet network of the mobile robotic complex have a network address, when transmitting information, data is transmitted from the upper to the lower level of the protocol performed in accordance with this method, and when information is received by components data is extracted in the reverse order; at the top level of tasks, each frame transmitted by a task is accompanied by the following information: frame size, frame serial number a, information flow identifier, identifier of the sending task, the cell level is located between the upper level of tasks and the level of datagrams, the data frame coming from the task level is converted into one cell, and then it is transferred to the level of datagrams received from control terminals and components of mobile the robotic complex of the datagram contains cells that are collected in a data frame and transmitted to the task level, the datagram includes one simple cell, information flows in the transmission system to control command are distributed according to the following configuration: from the operator’s driver’s workstation, traffic control commands, collision avoidance system control commands, topographic reference and navigation control commands, information and control computer control commands are transmitted, and target control commands are transmitted from the operator’s intelligence workstation load, commands to control the video control unit to the workstation the driver’s driver’s telemetry data is received from the information-managing calculator, the motion control system, topographic and navigation systems and its answers to control commands, obstacle data, the target load telemetry data, video stream, telemetry and answers to questions are sent to the automated workstation of the reconnaissance operator from the video processing unit.

The organization of the exchange of control terminals — the automated workstations of the driver and reconnaissance operator — through a communication and data transfer system with the components of a mobile robotic complex allows:

- organize the transfer from the automated workstation of the operator-driver of traffic control commands to a collision avoidance system, a topographic location and navigation system, and an information management computer;

- organize the transfer from the automated workstation of the reconnaissance operator of the target load control commands to the video processing unit;

- organize the transfer of telemetry data, obstacle data and video information from peripheral devices.

The implementation of the information and technical interface of the information management computer with the components of the mobile robotic complex via the Ethernet interface in private interface protocols with these components allows:

- to provide information and technical interface information management computer with the engine control unit;

- to provide information and technical interconnection of the information-managing calculator with the automated workstations of the driver and intelligence operator;

- provide information and technical interface information management computer with a collision avoidance system.

Assignment of logical names to identifiers in the logical organization of interaction allows tasks:

- analyze the information and control computer information of all information flows transmitted through it;

- cut off frames of unknown information flows.

Assigning a network address to all components of an Ethernet network of a mobile robotic complex allows you to create a network address structure consisting of an IP address and a UDP protocol port for receiving information.

Data transmission from the upper to the lower level of the protocol, and when information is received by the constituent parts, the data is extracted in the reverse order, allows you to organize the information exchange between the constituent parts of the mobile robotic complex.

Maintenance at the top level of tasks of each frame transmitted by the task with the following information: frame size, frame serial number, information flow identifier, sender task identifier allows:

- identify tasks and information flows;

- register the receiving side of frame loss, count the number of received and lost frames.

Placing a cell level between the top level of tasks and the level of datagrams allows you to:

- form a simple cell structure;

- convert the data frame coming from the task level into a simple cell;

- transfer frames consisting of data-gram cells to the task level.

The distribution of information flows in the transmission system of control commands according to a specific configuration allows you to:

- from the automated workstation of the operator-driver, transmit motion control commands, collision warning system control commands, topographic reference and navigation system control commands, information management computer control commands;

- from the automated workstation of the reconnaissance operator, transmit commands to control the target load, commands to control the video control unit;

- transmit the telemetry data of the information management computer to the workstation of the operator-driver, the motion control system, the topographic location and navigation systems and its responses to control commands, data on obstacles;

- transmit telemetry data of the target load, video stream from video cameras, telemetry data and answers to questions from the video processing unit to the automated workstation of the reconnaissance operator.

The invention is illustrated in the drawing, which shows a diagram of the levels of the Ethernet protocol, made in accordance with this method.

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The method of information technology pairing of the components of a mobile robotic complex is implemented on the basis of the corresponding protocol as follows. The method determines the procedure for receiving and transmitting information between control terminals (TU), information management computer (IUV) and other components of a mobile robotic complex (RTOs). The following products belong to TU: the automated workstation (AWP) of the operator-driver and the automated workplace (AWP) of the reconnaissance operator. TUs can exchange information through the communication and data transmission system (SSPD) with the following components of RTOs: IMS, video processing unit (BOV), engine control unit (ECU), collision avoidance system (SPS). In addition, two digital ip-cameras work in this Ethernet network, information and technical interfacing with IPMs of which (except for the ip-address and UDP-port) is not regulated. Information exchange between the components through the IWM via Ethernet interfaces (via the Ethernet router). Information and technical pairing with individual devices via the Ethernet interface is carried out using private protocols:

- protocol of information and technical interface between the IWM and the ECU via the Ethernet interface;

- protocol of information and technical pairing of the IWM with the workstation of the operator-driver over the air;

- protocol of information and technical pairing of the IWM with the AWS of the reconnaissance operator via radio

- protocol of information and technical interface between IWM and ATP via Ethernet.

Physical interaction is organized as follows:

- interface standard: Fast Ethernet IEEE 802.3u;

- physical interface: twisted pair UTP Cat.5 (5e);

- exchange rate: 100 Mbps.

Logical organization of interaction

The task is understood as a program procedure performed on an RTO device or on a terminal that transmits or receives information through the IMS and SSPD.

A data frame is a portion of data prepared by a task for transmission. Data frames are arbitrary sized messages exchanged between tasks.

An information stream is understood as a sequence of frames with data for which it is defined: a source task, a set of receiver tasks, and stream transmission parameters. The parameters of the information flow include: transmission route of frames, processing priority, etc.

Data frames are transmitted by the task to the information stream and read by tasks from the information stream. Tasks and information flows have unique names (identifiers). The task (flow) identifier is a word of not more than six characters of the Latin alphabet. The identifier size is always six bytes. Characters in identifiers are encoded in accordance with the ASCII table. If the identifier contains less than six characters, then the last identifiers that do not contain bytes (characters) have a null value. Each device on an Ethernet network has a network address: an IP address and a UDP protocol port for receiving information. This pairing method provides batch data transfer between tasks, while non-guaranteed data transfer is ensured. In case of data loss, the DRCS does not recover it by retransmission. The method also provides control of the transmission order of data frames and data integrity.

Protocol levels

When transmitting information by a task, data is transferred from the upper to the lower level of the protocol. The data frame during processing at each level can be broken down into component parts or assembled from component parts. Upon receipt of information, data is retrieved in reverse order.

Control Command Transmission System (SPKU) Configuration

SPKU - a system, the role of which is performed by the IMS and which consists in the distribution of network packets into blocks.

Information about the information flows served by the IPM is given in table 1.

IMS can analyze the information of all information flows transmitted through it. Frames of unknown information flows are ignored by the IPM.

Task identifiers are given in table 2.

The network addresses of the control terminals and components of RTOs used to interface with the IMS are shown in Table 3.

Task level

Each data frame transmitted by the task is accompanied by the following meta-information:

- frame size;

- serial number of the frame;

- information flow identifier;

- identifier of the sender task.

The maximum frame size at the task level does not exceed 483 bytes. The sequence number of the frame is a number from 0 to 21 ¹⁶ -1. The task should number each frame transferred to the information stream. The sequence number of the first transmitted frame does not matter. Each subsequent frame has a sequence number one more than the previous one. When the sequence number (21 ¹⁶ -1) is reached, the next frame is transmitted with the sequence number 0. The frame number can be used by the receiving party to register frame losses, count the number of received and lost frames, etc.

Cell level

The cell level is between the task level and the datagram level. The data frame coming from the task level is converted into one cell, and then transferred to the datagram level. Datagrams received from control terminals and components contain cells that are collected in a data frame and transmitted to the task level. Cells are transmitted or received from the datagram level one at a time or in a group. There is only one type of cell - a simple cell. The frame size transmitted by a simple cell must not exceed 483 bytes. The size of a simple cell does not exceed Chunk Size = 512 bytes.

The structure of a simple cell is shown in table 4.

Datagram level

The datagram includes one simple cell and is accompanied by meta-information. The structure of a simple datagram is shown in table 5.

The size of the transmitted datagram must not exceed 1512 bytes. The number of cells in the datagram is 1.

Data types

A bit sequence b of length n is an ordered set of bits of length from 0 to n, where 0≤n≤64. Each bit of the sequence is indicated by an index:

b = b ₀ b ₁ b ₂ ... b _n-1

Concatenation (+) and inversion (~) operations are defined for bit sequences. A bit sequence of length n is converted and transmitted at the physical level as a sequence of octets of length l = [n / 8]. Bits of the high octet, whose numbers exceed n, do not contain bits of the transmitted sequence, their value is not defined.

Type VOIDn

Here is an n-integer, 0≤n≤64. Data of type VOIDn is represented by a bit sequence of length n.

Type UNSIGNEDn

The type is designed to store positive integers in the range 0, 1, 2, ..., 2 ⁿ -1. A type is represented by a bit sequence of length n. The bit sequence b = b ₀ b ₁ b ₂ ... b _n-1 corresponds to the value:

UNSIGNEDn (b) = b _n-1 (2 ₁ , b ^n-1 ) + ... + b ₁ 2 ¹ + b ₀

Type UNTEGERn

The type is designed to store integer values in the range - 2 ⁿ -1, ... 2 ^n-1 -1. The bit sequence b = b ₀ b ₁ b ₂ ... b _n-1 corresponds to the value:

UNTEGERn (b) = b _n-2 (2 ₁ b ^n-2 ) + ... + b ₁ 2 ¹ + b ₀ if b _n-1 = 0

UNTEGERn (b) = - UNTEGERn (~ b) +1 if b _n-1 = 1

Array

An array is defined as follows:

ARRAY [<Length>] OF <Base Type> <Type Name>

Composite type data is represented by a bit sequence obtained by concatenating bit sequences of constituent components. The total length of the structure or array should not exceed 64 bits.

Type STRINGn

The type STRINGn is intended for storing string data and is defined as follows:

ARRAY [n] OF UNSIGNED8 STRINGn

Each element of the array is a character code in accordance with the ASCII table and the encoding KOI8-R.

Thus, in the present invention, the problem is solved to achieve a technical result, which consists in creating a method of information and technical conjugation of the components of a mobile robotic complex, which provides reception and transmission of information between control terminals, an information-control computer and peripheral devices.

Claims (1)

The method of information and technical interfacing of the components of a mobile robotic complex, which provides, according to the pairing protocol, the reception and transmission of information through computing means through communication channels to control terminals — workstations and peripheral devices of the complex, packet data transmission, characterized in that the control terminals are automated work places of the driver and reconnaissance operator - exchange information through a communication and data transmission system with components of a mobile robotic complex: an information-control computer, a video processing unit, an engine control unit, a collision avoidance system, information and technical interface of an information-control computer with the components of a mobile robotics complex via the Ethernet interface is defined in private interface protocols with these components, the logical organization of interaction provides for the assignment of tasks and information flows to of identifier names, all the components in the Ethernet network of a mobile robotic complex have a network address, when transmitting information, data is transmitted from the upper to the lower level of the protocol performed in accordance with this method, and when information is received by the components, the data is retrieved in the reverse order, At the top level of tasks, each frame transmitted by the task is accompanied by the following information: frame size, frame serial number, information flow identifier, send task identifier The cell level is located between the upper level of tasks and the level of datagrams, the data frame coming from the level of tasks is converted into one cell, and then it is transferred to the level of datagrams received from control terminals and components of the mobile robotic complex of the datagram. They contain cells that are collected in data frame and transmitted to the task level, the datagram includes one simple cell, information flows in the control command transmission system are distributed according to the following configuration: with auto the operator’s driver’s computerized workstation receives motion control commands, collision avoidance system control commands, topographic reference and navigation system control commands, information-control computer control commands, target load control commands, video image control unit control commands are transmitted from the automated workstation of the reconnaissance operator, information and control telemetry data are sent to the operator’s automated workstation conductive calculator, traffic control systems, topographic location and navigation systems and its responses to control commands, data about the obstacles on the workstation data telemetry payload reconnaissance operator received, the video, telemetry and answers to questions from the video processing unit.

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