CN111614521B - Monitoring method and device for mobile carrier, storage medium and processor - Google Patents
Monitoring method and device for mobile carrier, storage medium and processor Download PDFInfo
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- CN111614521B CN111614521B CN202010478353.8A CN202010478353A CN111614521B CN 111614521 B CN111614521 B CN 111614521B CN 202010478353 A CN202010478353 A CN 202010478353A CN 111614521 B CN111614521 B CN 111614521B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0817—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking functioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/04—Processing captured monitoring data, e.g. for logfile generation
- H04L43/045—Processing captured monitoring data, e.g. for logfile generation for graphical visualisation of monitoring data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0852—Delays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0876—Network utilisation, e.g. volume of load or congestion level
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application provides a monitoring method, a monitoring device, a storage medium and a processor of a mobile carrier, wherein the mobile carrier comprises a transfer device and a plurality of sensors which are communicated with the transfer device, the transfer device is used for transferring data of the plurality of sensors on the mobile carrier, the transfer device is also used for providing a network port for the mobile carrier, and the monitoring method comprises the following steps: monitoring the power supply condition and the power consumption condition of a total power supply of the transfer equipment; monitoring the power supply condition and the power consumption condition of each sensor; monitoring the network state of the transit equipment, wherein the network state comprises at least one of the following conditions: the scheme realizes the monitoring of the devices through monitoring whether the network is connected or not, whether the network is delayed or not, the type of the network signal and the strength of the network signal, thereby realizing the monitoring of the state of the mobile carrier and solving the problem that the prior art lacks a method for monitoring whether the mobile carrier normally works or not.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a mobile carrier monitoring method, a mobile carrier monitoring device, a storage medium, a processor and a mobile carrier.
Background
Nbox2.5 is an important relay device for sensor data on unmanned vehicles and provides a network port on the vehicle. The nbox2.5 internally includes a programmable logic unit (FPGA) and a computing unit (CPU), and communicates with external sensors and subordinate devices through various interfaces. The prior art lacks a method for monitoring whether a mobile carrier works normally, the mobile carrier comprises a transfer device and an external device, the external device comprises an external sensor and a subordinate device, and the mobile carrier comprises an unmanned vehicle.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The present application mainly aims to provide a method, a device, a storage medium, a processor and a mobile carrier for monitoring a mobile carrier, so as to solve the problem that a method for monitoring whether the mobile carrier normally works is absent in the prior art.
In order to achieve the above object, according to an aspect of the present application, there is provided a monitoring method for a mobile carrier, the mobile carrier including a relay device and a plurality of sensors communicating with the relay device, the relay device being configured to relay data of the plurality of sensors on the mobile carrier, the relay device being further configured to provide a network port for the mobile carrier, the monitoring method including: monitoring the total power supply condition and the total power consumption condition of the transfer equipment; monitoring the power supply condition and the power consumption condition of each sensor; monitoring a network state of the transfer device, wherein the network state includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.
Optionally, the monitoring a total power supply condition and a total power consumption condition of the transfer device includes: under the condition that the voltage of a total power supply is monitored not to be within a first preset range, the current of the total power supply is monitored not to be within a second preset range and/or the power consumption of the total power supply is monitored not to be within a third preset range, whether a power supply conversion module of the transfer equipment works normally or not is checked, and whether the configuration of a processing unit needing program configuration is successful or not is checked; monitoring the power supply condition and the power consumption condition of each sensor, including: checking whether the circuit connection of the sensor is normal and the configuration state is successful under the condition that the voltage of the power supply of the sensor is monitored not to be in a fourth preset range, the current of the power supply of the sensor is monitored not to be in a fifth preset range and/or the power consumption of the power supply of the sensor is monitored not to be in a sixth preset range; monitoring the network state of the transfer device, including: and under the condition that the network connection failure of the transfer equipment, the network delay is too large, the type of the network signal does not belong to the preset type and/or the strength of the network signal is not in a seventh preset range, adjusting the parameters of the network of the transfer equipment or restarting the network.
Optionally, the monitoring method further comprises: and monitoring the satellite navigation state of the transfer equipment, wherein the satellite navigation state comprises the positioning information and the time service information of the transfer equipment.
Optionally, the monitoring the satellite navigation state of the transit device includes: and under the condition that the positioning information and/or the time service information of the transfer equipment are/is monitored to be absent, checking an antenna of a corresponding module of the mobile carrier, wherein the corresponding module comprises a satellite navigation module and a programmable logic unit.
Optionally, the mobile carrier further comprises a laser radar and an inertial measurement unit, and the monitoring method further comprises: monitoring the working state of the laser radar, wherein the working state of the laser radar comprises the time synchronization state of the laser radar and the hardware connection state of the laser radar; and monitoring the working state of the inertia measurement unit, wherein the working state of the inertia measurement unit comprises whether the output signal of the inertia measurement unit meets a first preset condition.
Optionally, monitoring the operating state of the lidar comprises: restarting the laser radar under the condition that the time synchronization of the laser radar is not successful; checking a corresponding connector under the condition that the hardware of the laser radar is not connected; monitoring the operating state of the inertial measurement unit, including: restarting the inertia measurement unit under the condition that the output signal of the inertia measurement unit is monitored not to meet the first preset condition; checking the inertial measurement unit if the output signal of the inertial measurement unit still does not satisfy the first preset condition after the inertial measurement unit is restarted.
Optionally, the monitoring method further comprises: monitoring whether a temperature of a predetermined location of the moving carrier, the predetermined location including a motor, is within an eighth predetermined range; monitoring the working state of an internal switch of the mobile carrier, wherein the working state of the internal switch comprises whether the register value of the internal switch meets a second preset condition; monitoring the working state of a bus of the mobile carrier, wherein the working state of the bus comprises the transmission state of data of the bus and the connection state of the bus; and monitoring the running state of a programmable logic unit of the mobile carrier, wherein the running state of the programmable logic unit comprises whether the programmable logic unit controls the mobile carrier to work normally.
Optionally, monitoring whether the temperature of the predetermined location of the moving carrier is within an eighth predetermined range comprises: in the case that the temperature of the preset position of the moving carrier is monitored not to be in the eighth preset range, controlling the preset position to stop; monitoring an operating state of an internal switch of the mobile carrier, comprising: under the condition that the register value of the internal switch is monitored not to meet the second preset condition, reconfiguring the register of the internal switch; monitoring the working state of the bus of the mobile carrier, comprising: reconnecting the bus under the condition that the data transmission of the bus is monitored to be abnormal and/or the bus is disconnected; monitoring an operational state of a programmable logic unit of the mobile carrier, comprising: and restarting the programmable logic unit under the condition that the programmable logic unit cannot control the mobile carrier to normally work and cannot automatically recover.
Optionally, the monitoring method further comprises: under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, under the condition that the normal work of the mobile carrier is not influenced, the preset equipment is recovered to be in a normal working state; and checking the predetermined equipment under the condition that the predetermined equipment cannot be recovered to a normal working state.
Optionally, the monitoring method further comprises: under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, acquiring abnormal data and self-recovery data of the preset equipment; and checking the predetermined equipment according to the abnormal data and the self-recovery data.
Optionally, the operation data of each device of the mobile carrier is displayed to the user in the form of a web page.
According to another aspect of the present application, there is provided a monitoring apparatus for a mobile carrier, the mobile carrier including a relay device and a plurality of sensors in communication with the relay device, the relay device being configured to relay data of the plurality of sensors on the mobile carrier, the relay device being further configured to provide a network port for the mobile carrier, the monitoring apparatus comprising: the first monitoring unit is used for monitoring the total power supply condition and the total power consumption condition of the transfer equipment; the second monitoring unit is used for monitoring the power supply condition and the power consumption condition of each sensor; a third monitoring unit, configured to monitor a network state of the relay device, where the network state includes at least one of: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.
According to yet another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the monitoring methods.
According to yet another aspect of the present application, a processor for running a program is provided, wherein the program executes any one of the monitoring methods.
According to still another aspect of the present application, there is provided a mobile carrier including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the monitoring methods.
By applying the technical scheme of the application, the power supply condition and the power consumption condition of each sensor are monitored by monitoring the power supply condition and the power consumption condition of the total power supply of the transfer equipment, the network state of the transfer equipment is monitored, and the state of the mobile carrier is monitored by monitoring the equipment, so that the problem that the method for monitoring whether the mobile carrier normally works or not in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a flow chart of a method for monitoring a moving carrier according to an embodiment of the present application; and
fig. 2 shows a schematic diagram of a monitoring device for a moving carrier according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, there is no method for monitoring whether an unmanned vehicle operation system works normally in the prior art, and in order to solve the problem that there is no method for monitoring whether an unmanned vehicle operation system works normally, embodiments of the present application provide a method for monitoring a mobile carrier, a monitoring apparatus, a storage medium, a processor, and a mobile carrier.
According to an embodiment of the present application, there is provided a method of monitoring a moving carrier.
Fig. 1 is a flow chart of a method of monitoring a moving carrier according to an embodiment of the present application. The mobile carrier includes a relay device and a plurality of sensors communicating with the relay device, the relay device is configured to relay data of the plurality of sensors on the mobile carrier, and the relay device is further configured to provide a network port for the mobile carrier, as shown in fig. 1, the method includes the following steps:
step S101, monitoring the total power supply condition and the total power consumption condition of the transfer equipment;
step S102, monitoring the power supply condition and the power consumption condition of each sensor;
step S103, monitoring a network state of the transit device, where the network state includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.
In the scheme, the power supply condition and the power consumption condition of each sensor are monitored by monitoring the power supply condition and the power consumption condition of the total power supply of the transfer equipment, the network state of the transfer equipment is monitored, and the state of the mobile carrier is monitored by monitoring the equipment, so that the problem that whether the mobile carrier normally works or not is solved.
It should be noted that the mobile carrier includes, but is not limited to, an unmanned vehicle.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
In another embodiment of the present application, the monitoring of the total power supply condition and the total power consumption condition of the transfer device includes: checking the transfer equipment under the condition that the voltage of a total power supply is monitored not to be within a first preset range, the current of the total power supply is monitored not to be within a second preset range and/or the power consumption of the total power supply is monitored not to be within a third preset range; specifically, the first predetermined range includes, but is not limited to, an error range of 5% above and below the design voltage, the second predetermined range is a range from a predetermined minimum current value to a predetermined maximum current value, and the third predetermined range is a range from a predetermined minimum power consumption to a predetermined maximum power consumption, and a person skilled in the art may select a suitable first predetermined range, second predetermined range, and third predetermined range according to actual conditions, specifically, check whether the power conversion module of the relay device is operating normally, and whether the configuration of the processing unit requiring program configuration is successful, and monitor the power supply condition and the power consumption condition of each sensor, including: checking the sensor if it is monitored that the voltage of the power supply of the sensor is not within a fourth predetermined range, the current of the power supply of the sensor is not within a fifth predetermined range, and/or the power consumption of the power supply of the sensor is not within a sixth predetermined range; specifically, in the case where the sensor is an inertial measurement sensor (inertial measurement unit), it is checked whether the inertial measurement sensor outputs acceleration and angular acceleration that vary according to changes in the motion state of the device, the fourth predetermined range includes, but is not limited to, an error range of 5% above and below an input voltage range or a design voltage that is allowed for the sensor, the fifth predetermined range is a nominal current range or a current range of an expected maximum value and minimum value of the sensor, and the sixth predetermined range is a nominal power consumption range or a power range of an expected maximum value and minimum value of the sensor, and those skilled in the art can select an appropriate fourth predetermined range, fifth predetermined range, and sixth predetermined range according to actual circumstances, and specifically, it is checked whether the circuit connection of the sensor is normal and the configuration state is successful; monitoring the network state of the transit equipment comprises the following steps: when the network connection failure of the transfer equipment, the excessive network delay, the type of the network signal not belonging to the preset type and/or the strength of the network signal not being in the seventh preset range are monitored, the network parameters of the transfer equipment are adjusted or the network is restarted, the power supply condition and the power consumption condition of each sensor are monitored by monitoring the total power supply condition and the total power consumption condition of the transfer equipment, the network state of the transfer equipment is monitored, whether the transfer equipment and each sensor normally work or not is monitored, and corresponding recovery measures are taken when the transfer equipment and the sensor are monitored to be abnormally worked, so that the working stability of the transfer equipment and each sensor is ensured, and the normal work of a mobile carrier operation system is further ensured.
In another embodiment of the present application, the method further includes: monitoring the satellite navigation state of the transfer equipment, wherein the satellite navigation state comprises positioning information and time service information of the transfer equipment, the time service information refers to time information which is sent to the equipment by a satellite and is accurately corrected, and pulse signals per second for realizing accurate time service by monitoring the equipment, and whether the transfer equipment normally works is further monitored by monitoring the satellite navigation state of the transfer equipment.
In another embodiment of the present application, the monitoring the satellite navigation state of the transit device includes: and under the condition that the positioning information and/or the time service information of the transfer equipment are/is monitored to be absent, checking an antenna of a corresponding module of the mobile carrier, wherein the corresponding module comprises a satellite navigation module and a programmable logic unit, the satellite navigation module is used for receiving and calculating an original signal of a satellite and outputting the original signal to the programmable logic unit, and the programmable logic unit forwards the equipment time service and time service information through internal logic, namely under the condition that the transfer equipment is monitored to be abnormally operated, taking corresponding recovery measures to further ensure the working stability of the transfer equipment and further ensure the normal operation of a mobile carrier operation system.
In an embodiment of the present application, the moving carrier further includes a laser radar and an inertial measurement unit, and the method further includes: monitoring the working state of the laser radar, wherein the working state of the laser radar comprises the time synchronization state of the laser radar and the hardware connection state of the laser radar; monitoring the working state of the inertia measurement unit, wherein the working state of the inertia measurement unit comprises whether the output signal of the inertia measurement unit meets a first preset condition, the time synchronization state of the laser radar is whether the internal clock of the laser radar completes time synchronization with the satellite and keeps the time synchronization state, the hardware connection state of the laser radar is whether the data of the laser radar can be sent to the transfer equipment through a network interface, the output signal of the inertia measurement unit comprises the acceleration and the angular acceleration which are matched with the motion state of the equipment and provided with a timestamp, the first preset condition comprises that the output signal is not limited to be too large or is zero or other fixed output all the time, the time information of the timestamp is accurate and uniform, and the normal work of a mobile carrier running system is further ensured by monitoring the working state of the laser radar and the working state of the inertia measurement unit.
Another embodiment of the present application, the monitoring of the operating state of the laser radar includes: restarting the laser radar under the condition that the time synchronization of the laser radar is not successfully monitored; checking a corresponding connector under the condition that the hardware of the laser radar is not connected; monitoring the operating state of the inertial measurement unit, including: restarting the inertia measuring unit under the condition that the output signal of the inertia measuring unit is monitored not to meet the first preset condition; after the inertia measurement unit is restarted, under the condition that the output signal of the inertia measurement unit still does not meet the first preset condition, the inertia measurement unit is checked, namely under the condition that the laser radar and the inertia measurement unit are monitored to be out of work, corresponding recovery measures are taken so as to ensure the normal work of a mobile carrier operation system.
In another embodiment of the present application, the method further includes: monitoring whether the temperature of a preset position of the movable carrier is in an eighth preset range, wherein the preset position comprises different positions of a circuit board; the eighth predetermined range includes, but is not limited to, an operating temperature range allowed by the vehicle-mounted device, for example, a range from-40 degrees celsius to 125 degrees celsius, and a person skilled in the art can select an appropriate eighth predetermined range according to actual situations to monitor an operating state of the internal switch of the mobile carrier, where the operating state of the internal switch includes whether a register value of the internal switch meets a second preset condition; the second preset condition includes, but is not limited to, that the value read by the register is the same as the value written in the configuration phase, and a person skilled in the art can select an appropriate second preset condition according to actual conditions to monitor the working state of the bus of the mobile carrier, where the working state of the bus includes the data transmission state of the bus and the connection state of the bus; the bus comprises but is not limited to a CAN bus, monitors the running state of the programmable logic unit of the mobile carrier, the running state of the programmable logic unit comprises whether the programmable logic unit is in normal communication with other equipment components of the mobile carrier, monitors the working state of an internal switch of the mobile carrier and the working state of the bus of the mobile carrier by monitoring the temperature of a preset position of the mobile carrier, and further ensures the normal work of a mobile carrier running system.
In another embodiment of the present application, the monitoring whether the temperature of the predetermined position of the moving carrier is within an eighth predetermined range includes: controlling the preset position to stop under the condition that the temperature of the preset position of the moving carrier is monitored not to be in the eighth preset range; monitoring the operating state of the internal switch of the mobile carrier, comprising: reconfiguring the register of the internal switch under the condition that the register value of the internal switch is monitored not to meet the second preset condition; monitoring the working state of the bus of the mobile carrier, comprising: reconnecting the bus under the condition that the data transmission abnormality of the bus and/or the disconnection of the bus are monitored; monitoring the operating state of the programmable logic unit of the mobile carrier, comprising: and under the condition that the programmable logic unit cannot control the normal work of the mobile carrier and cannot automatically recover, restarting the programmable logic unit, namely under the condition that the temperature of the preset position of the mobile carrier is monitored to be not accordant, the working state of the internal switch is monitored to be not accordant and the running state of the programmable logic unit of the mobile carrier is monitored to be abnormal, taking corresponding recovery measures to ensure the normal work of a running system of the mobile carrier.
In an embodiment of the present application, the method further includes: under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, under the condition that the normal work of the mobile carrier is not influenced, the preset equipment is recovered to be in a normal working state; and under the condition that the preset equipment cannot be recovered to a normal working state, checking the preset equipment, namely under the condition that the working abnormality of the preset equipment of the mobile carrier is monitored, taking corresponding self-recovery measures under the condition that the normal working of the whole mobile carrier is not influenced as much as possible, and under the condition that the self-recovery is unsuccessful, carrying out corresponding check on the preset equipment so as to ensure the efficient and normal working of the mobile carrier operation system.
In another embodiment of the present application, the method further includes: under the condition that the work abnormality of the preset equipment of the mobile carrier is monitored, acquiring abnormal data and self-recovery data of the preset equipment; and checking the predetermined equipment according to the abnormal data and the self-recovery data, namely acquiring related abnormal data and self-recovery data and uploading the related abnormal data and self-recovery data to a server so as to analyze the offline data subsequently, thereby ensuring the efficient and normal operation of the mobile carrier operation system.
According to the embodiment of the application, the running data of each device of the mobile carrier is displayed to the user in a webpage form, and under the condition that the mobile carrier is an unmanned vehicle, generally speaking, the transfer device is installed on the roof, so that the user cannot see the state of the mobile carrier in real time in the automatic driving process, all data are presented to the user in the webpage form, the user can conveniently check the data, and efficient and normal work of the mobile carrier running system is ensured.
An embodiment of the present invention provides a mobile carrier, including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the monitoring methods described above.
The embodiment of the present application further provides a monitoring device for a mobile carrier, and it should be noted that the monitoring device for a mobile carrier in the embodiment of the present application may be used to execute the monitoring method for a mobile carrier provided in the embodiment of the present application. The following describes a monitoring device for a moving carrier according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a monitoring device for a moving carrier according to an embodiment of the application. The mobile carrier includes a relay device and a plurality of sensors communicating with the relay device, the relay device is configured to relay data of the plurality of sensors on the mobile carrier, and the relay device is further configured to provide a network port for the mobile carrier, as shown in fig. 2, the apparatus includes:
the first monitoring unit 10 is configured to monitor a total power supply condition and a total power consumption condition of the transfer device;
a second monitoring unit 20, configured to monitor a power supply condition and a power consumption condition of each of the sensors;
a third monitoring unit 30, configured to monitor a network state of the relay device, where the network state includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.
In the above scheme, the first monitoring unit monitors the total power supply condition and the total power consumption condition of the transfer device, the second monitoring unit monitors the power supply condition and the power consumption condition of each sensor, and the third monitoring unit monitors the network state of the transfer device, so that the monitoring of the state of the mobile carrier is realized, and the problem that the method for monitoring whether the mobile carrier normally works in the prior art is solved.
It should be noted that the mobile carrier includes, but is not limited to, an unmanned vehicle.
In another embodiment of the present application, the first monitoring unit is further configured to check the relay device when it is monitored that the voltage of the total power supply is not within a first predetermined range, the current of the total power supply is not within a second predetermined range, and/or the power consumption of the total power supply is not within a third predetermined range; specifically, the first predetermined range includes, but is not limited to, an error range of 5% above and below the design voltage, the second predetermined range is a range between a predetermined minimum current value and a predetermined maximum current value, and the third predetermined range is a range between a predetermined minimum power consumption and a predetermined maximum power consumption, and those skilled in the art may select a suitable first predetermined range, second predetermined range, and third predetermined range according to actual situations, specifically, check whether the power conversion module of the relay device is normally operated, and whether the configuration of the processing unit requiring program configuration is successful, and the second monitoring unit is further configured to check the sensor if it is monitored that the voltage of the power supply of the sensor is not within the fourth predetermined range, the current of the power supply of the sensor is not within the fifth predetermined range, and/or the power consumption of the power supply of the sensor is not within the sixth predetermined range; specifically, in the case where the sensor is an inertial measurement sensor, it is checked whether the inertial measurement sensor outputs the acceleration and angular acceleration values that vary according to the variation of the motion state of the equipment, the fourth predetermined range includes but is not limited to an error range of upper and lower 5% of an input voltage range or a design voltage allowed by the sensor, the fifth predetermined range includes but is not limited to a current range that is a nominal current range or an expected maximum value and minimum value of the sensor, and the sixth predetermined range includes but is not limited to a power range that is a nominal power consumption range or an expected maximum value and minimum value of the sensor, and those skilled in the art can select a suitable fourth predetermined range, fifth predetermined range, and sixth predetermined range according to actual situations, and specifically, it is checked whether the circuit connection of the sensor is normal and the configuration state is successful; the third monitoring unit is further configured to adjust a parameter of the network of the relay device or restart the network when it is monitored that the network connection of the relay device fails, the network delay is too large, the type of the network signal does not belong to a predetermined type, and/or the strength of the network signal is not within a seventh predetermined range, monitor the power supply condition and the power consumption condition of each sensor by monitoring the total power supply condition and the total power consumption condition of the relay device, monitor the network state of the relay device, and implement whether the relay device and each sensor normally operate, and take a corresponding recovery measure when the relay device and the sensor do not normally operate, thereby ensuring the stability of the operation of the relay device and each sensor, and further ensuring the normal operation of the mobile carrier operation system.
In another embodiment of the present application, the apparatus further includes a fourth monitoring unit, where the fourth monitoring unit is configured to monitor a satellite navigation state of the transfer device, the satellite navigation state includes positioning information and time service information of the transfer device, the time service information refers to a time message that is sent to the device by a satellite and is accurately corrected, and the device monitors a pulse signal per second to realize accurate time setting, and whether the transfer device normally works is further monitored by monitoring the satellite navigation state of the transfer device.
In another embodiment of the present application, the fourth monitoring unit is further configured to check an antenna of a corresponding module of the mobile carrier when the positioning information and/or the time service information of the transit device are/is detected to be missing, where the corresponding module includes a satellite navigation module and a programmable logic unit, the satellite navigation module is configured to receive and calculate an original signal of a satellite and output the original signal to the programmable logic unit, and the programmable logic unit performs device time service and time service information forwarding through internal logic, that is, when it is detected that the transit device does not work normally, a corresponding recovery measure is taken, so as to ensure the working stability of the transit device, and further ensure the normal work of the mobile carrier operating system.
In an embodiment of the present application, the mobile carrier further includes a laser radar and an inertia measurement unit, and the apparatus further includes a fifth monitoring unit and a sixth monitoring unit, where the fifth monitoring unit is configured to monitor a working state of the laser radar, and the working state of the laser radar includes a time synchronization state of the laser radar and a hardware connection state of the laser radar; the sixth monitoring unit is used for monitoring the working state of the inertia measurement unit, the working state of the inertia measurement unit comprises whether the output signal of the inertia measurement unit meets a first preset condition, the time synchronization state of the laser radar is whether the internal clock of the laser radar completes time synchronization with the satellite time service and keeps the time synchronization state, the hardware connection state of the laser radar is whether the data of the laser radar can be sent to the transfer equipment through a network interface, the output signal of the inertia measurement unit comprises the acceleration and the angular acceleration which are matched with the motion state of the equipment and provided with the timestamp, the first preset condition comprises that the output signal is not too large or is always zero or other fixed outputs, the time information of the timestamp is accurate and uniform, and the normal work of the mobile carrier running system is further ensured by monitoring the working state of the laser radar and the working state of the inertia measurement unit.
In another embodiment of the present application, the fifth monitoring unit further includes a first restart module and a first check module, where the first restart module is configured to restart the lidar when it is monitored that the time synchronization of the lidar is not successful; the first checking module is used for checking a corresponding connector under the condition that the hardware of the laser radar is not connected; the sixth monitoring unit comprises a second restarting module and a second checking module, wherein the second restarting module is used for restarting the inertia measuring unit under the condition that the output signal of the inertia measuring unit is monitored not to meet the first preset condition; the second checking module is used for checking the inertia measuring unit under the condition that the output signal of the inertia measuring unit still does not meet the first preset condition after the inertia measuring unit is restarted, namely corresponding recovery measures are taken under the condition that the laser radar and the inertia measuring unit are monitored to be out of work so as to ensure the normal work of the mobile carrier running system.
In another embodiment of the present application, the apparatus further includes a seventh monitoring unit, an eighth monitoring unit, a ninth monitoring unit and a tenth monitoring unit, the seventh monitoring unit is configured to monitor whether a temperature of a predetermined position of the mobile carrier is within an eighth predetermined range, the predetermined position includes different positions of the circuit board, the eighth predetermined range includes but is not limited to an operating temperature range allowed by the vehicle-mounted device, for example, a range from-40 degrees celsius to 125 degrees celsius, and a person skilled in the art can select a suitable eighth predetermined range according to actual situations; the eighth monitoring unit is configured to monitor a working state of an internal switch of the mobile carrier, where the working state of the internal switch includes whether a register value of the internal switch meets a second preset condition, where the second preset condition includes, but is not limited to, that a value read by a register is the same as a value written in a configuration stage, and a person skilled in the art may select a suitable second preset condition according to an actual situation; the ninth monitoring unit is configured to monitor an operating state of a bus of the mobile carrier, where the operating state of the bus includes a transmission state of data of the bus and a connection state of the bus, and the bus includes but is not limited to a CAN bus; the tenth monitoring unit is configured to monitor an operating state of the programmable logic unit of the mobile carrier, where the operating state of the programmable logic unit includes whether the programmable logic unit is in normal communication with other device components of the mobile carrier, and monitors an operating state of an internal switch of the mobile carrier and an operating state of a bus of the mobile carrier by monitoring a temperature of a predetermined location of the mobile carrier, so as to further ensure normal operation of the mobile carrier operating system.
In yet another embodiment of the present application, the seventh monitoring unit is further configured to control the predetermined position to stop when the temperature of the predetermined position of the moving carrier is not monitored to be within the eighth predetermined range; the eighth monitoring unit is further configured to reconfigure the register of the internal switch when the register value of the internal switch is monitored not to satisfy the second preset condition; the ninth monitoring unit is further configured to reconnect the bus when the data transmission abnormality of the bus and/or the disconnection of the bus is monitored; the tenth monitoring unit is further configured to restart the programmable logic unit when it is monitored that the programmable logic unit cannot control the mobile carrier to operate normally and cannot recover itself, that is, when it is monitored that the temperature of the predetermined location of the mobile carrier is not compliant, it is monitored that the operating state of the internal switch is not compliant, and it is monitored that the operating state of the programmable logic unit of the mobile carrier is not normal, a corresponding recovery measure is taken to ensure normal operation of the mobile carrier operating system.
In an embodiment of the present application, the apparatus further includes a recovery unit and a first checking unit, where the recovery unit is configured to recover the predetermined device to a normal operating state without affecting normal operation of the mobile carrier when the operation of the predetermined device of the mobile carrier is monitored to be abnormal; the first checking unit is used for checking the predetermined equipment under the condition that the predetermined equipment cannot be restored to a normal working state, namely, under the condition that the abnormal working of the predetermined equipment of the mobile carrier is monitored, corresponding self-restoration measures are taken under the condition that the normal working of the whole mobile carrier is not influenced as much as possible, and under the condition that the self-restoration is unsuccessful, the predetermined equipment is correspondingly checked, so that the efficient and normal working of the mobile carrier operation system is ensured.
In another embodiment of the present application, the apparatus further includes an obtaining unit and a second checking unit, where the obtaining unit is configured to obtain abnormal data and self-recovery data of a predetermined device of the mobile carrier when the abnormal operation of the predetermined device is monitored; the second checking unit is used for checking the predetermined device according to the abnormal data and the self-recovery data, namely acquiring related abnormal data and self-recovery data and uploading the related abnormal data and self-recovery data to the server so as to analyze the offline data subsequently, thereby ensuring the efficient and normal operation of the mobile carrier operating system.
According to the embodiment of the application, the operation data of each device of the mobile carrier is displayed to the user in the form of the webpage, and under the condition that the mobile carrier is an unmanned vehicle, generally speaking, the transfer device is installed on the roof of the vehicle, so that the user cannot see the state of the mobile carrier in real time in the automatic driving process, all data are presented to the user in the form of the webpage, the user can conveniently check the data, and the efficient and normal operation of the mobile carrier operation system is ensured.
The monitoring device of the mobile carrier comprises a processor and a memory, the first monitoring unit, the second monitoring unit, the third monitoring unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the efficient and normal work of the mobile carrier operation system is ensured by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium, on which a program is stored, where the program, when executed by a processor, implements the above monitoring method for a mobile carrier.
The embodiment of the invention provides a processor, which is used for running a program, wherein the monitoring method of the mobile carrier is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, monitoring the total power supply condition and the total power consumption condition of the transfer equipment;
step S102, monitoring the power supply condition and the power consumption condition of each sensor;
step S103, monitoring a network state of the transit device, where the network state includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, monitoring the total power supply condition and the total power consumption condition of the transfer equipment;
step S102, monitoring the power supply condition and the power consumption condition of each sensor;
step S103, monitoring a network state of the transit device, where the network state includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) According to the monitoring method of the mobile carrier, the power supply condition and the power consumption condition of each sensor are monitored through monitoring the power supply condition and the power consumption condition of the total power supply of the transfer equipment, the network state of the transfer equipment is monitored, and the monitoring of the state of the mobile carrier is realized through monitoring the equipment, so that the problem that whether the method for monitoring the normal work of the mobile carrier is lacked in the prior art is solved.
2) The monitoring device of the mobile carrier comprises a first monitoring unit, a second monitoring unit, a third monitoring unit and a monitoring unit, wherein the first monitoring unit monitors the power supply condition and the power consumption condition of a main power supply of the transfer equipment, the second monitoring unit monitors the power supply condition and the power consumption condition of each sensor, the third monitoring unit monitors the network state of the transfer equipment, and the monitoring unit monitors the network state of the transfer equipment, so that the monitoring device of the state of the mobile carrier is realized, and the problem that whether the mobile carrier normally works or not is lack of a method for monitoring the state of the mobile carrier in the prior art is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (13)
1. A method for monitoring a mobile carrier, wherein the mobile carrier includes a relay device and a plurality of sensors in communication with the relay device, the relay device is configured to relay data of the plurality of sensors on the mobile carrier, and the relay device is further configured to provide a network port for the mobile carrier, the method comprising:
monitoring the power supply condition and the power consumption condition of a total power supply of the transfer equipment;
monitoring the power supply condition and the power consumption condition of each sensor;
monitoring a network state of the transfer device, wherein the network state includes at least one of the following: whether the network is connected or not, whether the network is delayed or not, the type of the network signal and the strength of the network signal;
monitoring a satellite navigation state of the transfer equipment, wherein the satellite navigation state comprises positioning information and time service information of the transfer equipment;
monitoring the satellite navigation state of the transfer device, including:
and under the condition that the positioning information and/or the time service information of the transfer equipment are/is monitored to be absent, checking an antenna of a corresponding module of the mobile carrier, wherein the corresponding module comprises a satellite navigation module and a programmable logic unit.
2. The monitoring method according to claim 1,
monitoring the total power supply condition and the total power consumption condition of the transfer equipment, including:
under the condition that the voltage of a total power supply is monitored not to be within a first preset range, the current of the total power supply is monitored not to be within a second preset range and/or the power consumption of the total power supply is monitored not to be within a third preset range, whether a power supply conversion module of the transfer equipment works normally or not is checked, and whether the configuration of a processing unit needing program configuration is successful or not is checked;
monitoring the power supply condition and the power consumption condition of each sensor, including:
checking whether the circuit connection of the sensor is normal and the configuration state is successful under the condition that the voltage of the power supply of the sensor is monitored not to be in a fourth preset range, the current of the power supply of the sensor is monitored not to be in a fifth preset range and/or the power consumption of the power supply of the sensor is monitored not to be in a sixth preset range;
monitoring the network state of the transfer device, including:
and under the condition that the network connection failure of the transfer equipment, the network delay is too large, the type of the network signal does not belong to the preset type and/or the strength of the network signal is not in a seventh preset range, adjusting the parameters of the network of the transfer equipment or restarting the network.
3. The monitoring method of claim 1, wherein the mobile carrier further comprises a lidar and an inertial measurement unit, the monitoring method further comprising:
monitoring the working state of the laser radar, wherein the working state of the laser radar comprises the time synchronization state of the laser radar and the hardware connection state of the laser radar;
and monitoring the working state of the inertia measurement unit, wherein the working state of the inertia measurement unit comprises whether the output signal of the inertia measurement unit meets a first preset condition.
4. The monitoring method according to claim 3,
monitoring the operating state of the lidar, including:
restarting the laser radar under the condition that the time synchronization of the laser radar is not successful;
checking a corresponding connector under the condition that the hardware of the laser radar is not connected;
monitoring the operating state of the inertial measurement unit, including:
restarting the inertia measurement unit under the condition that the output signal of the inertia measurement unit is monitored not to meet the first preset condition;
checking the inertial measurement unit if the output signal of the inertial measurement unit still does not satisfy the first preset condition after the inertial measurement unit is restarted.
5. The monitoring method of claim 1, further comprising:
monitoring whether a temperature of a predetermined location of the moving carrier, the predetermined location including a motor, is within an eighth predetermined range;
monitoring the working state of an internal switch of the mobile carrier, wherein the working state of the internal switch comprises whether the register value of the internal switch meets a second preset condition;
monitoring the working state of a bus of the mobile carrier, wherein the working state of the bus comprises the transmission state of data of the bus and the connection state of the bus;
and monitoring the running state of a programmable logic unit of the mobile carrier, wherein the running state of the programmable logic unit comprises whether the programmable logic unit controls the mobile carrier to work normally.
6. The monitoring method according to claim 5,
monitoring whether the temperature of the predetermined location of the moving carrier is within an eighth predetermined range, comprising:
in the case that the temperature of the preset position of the moving carrier is monitored not to be in the eighth preset range, controlling the preset position to stop;
monitoring an operating state of an internal switch of the mobile carrier, comprising:
under the condition that the register value of the internal switch is monitored not to meet the second preset condition, reconfiguring the register of the internal switch;
monitoring the working state of the bus of the mobile carrier, comprising:
reconnecting the bus under the condition that the data transmission abnormality of the bus and/or the disconnection of the bus are monitored;
monitoring an operational state of a programmable logic unit of the mobile carrier, comprising:
and restarting the programmable logic unit under the condition that the programmable logic unit cannot control the mobile carrier to normally work and cannot automatically recover.
7. The monitoring method of claim 1, further comprising:
under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, under the condition that the normal work of the mobile carrier is not influenced, the preset equipment is recovered to be in a normal working state;
and checking the predetermined equipment under the condition that the predetermined equipment cannot be recovered to a normal working state.
8. The monitoring method of claim 7, further comprising:
under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, acquiring abnormal data and self-recovery data of the preset equipment;
and checking the predetermined equipment according to the abnormal data and the self-recovery data.
9. The monitoring method according to any one of claims 1 to 8, wherein the operation data of each device of the mobile carrier is displayed to a user in the form of a webpage.
10. A monitoring apparatus for a mobile carrier, wherein the mobile carrier includes a relay device and a plurality of sensors in communication with the relay device, the relay device is configured to relay data of the plurality of sensors on the mobile carrier, the relay device is further configured to provide a network port for the mobile carrier, and the monitoring apparatus includes:
the first monitoring unit is used for monitoring the total power supply condition and the total power consumption condition of the transfer equipment;
the second monitoring unit is used for monitoring the power supply condition and the power consumption condition of each sensor;
a third monitoring unit, configured to monitor a network state of the relay device, where the network state includes at least one of: whether the network is connected or not, whether the network is delayed or not, the type of the network signal and the strength of the network signal;
the fourth monitoring unit is used for monitoring a satellite navigation state of the transfer equipment, wherein the satellite navigation state comprises positioning information and time service information of the transfer equipment;
the fourth monitoring unit is further configured to check an antenna of a corresponding module of the mobile carrier when the positioning information and/or the time service information of the transfer device is/are monitored to be missing, where the corresponding module includes a satellite navigation module and a programmable logic unit.
11. A storage medium characterized by comprising a stored program, wherein the program executes the monitoring method of any one of claims 1 to 9.
12. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the monitoring method according to any one of claims 1 to 9 when running.
13. A mobile carrier, comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the monitoring method of any of claims 1-9.
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