CN107743054A - System during a kind of synchronous pair of multisensor - Google Patents
System during a kind of synchronous pair of multisensor Download PDFInfo
- Publication number
- CN107743054A CN107743054A CN201710740451.2A CN201710740451A CN107743054A CN 107743054 A CN107743054 A CN 107743054A CN 201710740451 A CN201710740451 A CN 201710740451A CN 107743054 A CN107743054 A CN 107743054A
- Authority
- CN
- China
- Prior art keywords
- microcontroller
- sensor
- timestamp
- packet
- thread
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Synchronisation In Digital Transmission Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses system during a kind of synchronous pair of multisensor.The system includes：Microcontroller, some sensors and logic computing unit；The microcontroller includes：Some sensor interfaces, communication interface (such as USB) and the crystal oscillator that synchronised clock is provided；The microcontroller is connected by the sensor interface with the sensor, is connected by the communication interface (such as USB) with the logic computing unit；The logic computing unit includes being used to gather the data acquisition thread of the packet of sensor, design synchronized timestamp management thread and memory for receiving timestamp and pulse train number from microcontroller；The timestamp and pulse train number are determined by the synchronised clock.
Description
Technical field
The present invention relates to data acquisition process technical field, more particularly to system during a kind of synchronous pair of multisensor.
Background technology
When multiple and/or multiple sensors carry out data acquisition, the acquisition time of different sensors is respectively by respective
Internal time system is managed, or, by sensor internal time system and micro controller/logic computing unit inside when
Between system in combination management.And deviation often be present in the timing between multiple time systems, therefore, it is necessary to multiple and/or a variety of
The acquisition time of sensor sets time unification.
Synchronous method has the clock system inside by logic computing unit to carry out software synchronization, by micro- at existing pair
Control device inside clock system carry out hardware synchronization, GPS pairs when, NTP pairs when, SNTP pairs when, IEEE 1588 to when etc..
Due to time deviation be present between the timekeeping system of each sensor so that the acquisition time of each sensor is not same
Under time coordinate system, the result of data application is caused deviation occur.For example, when data application is to time sensitive application, application
Precision is relatively low.Moreover, the automatic reclocking of meeting after internal time system work a period of time of sensor, it is impossible to meet for a long time
The requirement of collection.
The mode of software synchronization is influenceed by logic computing unit timeslice, and precision is relatively low.And the internal time of microcontroller
Drift occurs in system after a period of operation, timing deviation is occurred, it is impossible to meets the requirement of collection for a long time.GPS pairs
When mode there is cost high (each node is required for installing GPS device), installation to be restricted and (need outdoor unobstructed), availability
Poor (being influenceed by weather, environment), the shortcomings of application risk (U.S. does not provide safeguard to civilian GPS) be present.At NTP pairs and SNTP
Pair when ratio of precision it is relatively low, IEEE 1588 to when compatibility it is low (each node has been required for the agreements of IEEE 1588).If customize energy
Meet that the sensor/micro controller/logic computing unit cost for the high configuration that collection requires is very high.
Therefore, prior art is also to be developed.
The content of the invention
In view of in place of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide be during a kind of synchronous pair of multisensor
System, it is intended to when solving the problems, such as to realize accurate pair between multisensor in the prior art.
In order to achieve the above object, this invention takes following technical scheme：
System during a kind of synchronous pair of multisensor.Wherein, the system includes：Microcontroller, some sensors, power supply electricity
Source and logic computing unit；The microcontroller includes：Some sensor interfaces, communication interface and provide synchronised clock
Crystal oscillator；The microcontroller is connected by the sensor interface with the sensor, is patrolled by the communication interface with described
Collect computing unit connection；The power supply is used to power to the microcontroller, sensor and logic computing unit；It is described
Logic computing unit include be used for gather sensor packet data acquisition thread, for receive from microcontroller when
Between stamp and the design synchronized timestamp of pulse train number management thread and memory；The timestamp and pulse train number are by institute
Synchronised clock is stated to be determined.
Alternatively, the sensor includes but is not limited to camera, laser radar, encoder and inertance element.
Alternatively, the camera includes fisheye camera, general camera, depth camera and other imaging techniques.
Alternatively, the crystal oscillator is temperature compensating crystal oscillator.
Alternatively, when the data that the packet of the sensor of data acquisition thread collection is camera or laser radar
Bao Shi, the data acquisition thread are additionally operable to obtain the time corresponding with packet to the design synchronized timestamp management thread
Stamp, and synthesize the complete data packet with lock in time and store into the memory.
Alternatively, the data acquisition thread is additionally operable to calculate the packet loss of the packet；When the packet loss is more than
During predetermined threshold value, stopping action (such as sensor resets or reported an error)；When the packet loss is less than or equal to predetermined threshold value, after
Continuous action (such as sensor resets or reported an error).
Alternatively, the microcontroller is additionally operable to the frequency acquisition according to the laser radar, judges whether packet belongs to
In interference signal.
Alternatively, the microcontroller be additionally operable to by the data of inertance element and/or encoder, corresponding timestamp and
Pulse train number is uploaded to the design synchronized timestamp management thread.
Alternatively, before the working sensor, the design synchronized timestamp management thread is additionally operable to the micro-control
Device processed is asked when sending pair；Ask when the microcontroller is according to described pair, returned to the design synchronized timestamp management thread
Return confirmation.
Beneficial effect：System during synchronous pair of multisensor provided by the invention, can make the acquisition time of each sensor
The acquisition time of each sensor is managed by same clock system so that the acquisition time of each sensor uniformly arrive it is same
Under individual time coordinate system.The time synchronizing method of system is hardware synchronization, pair when precision it is high.After the system, sensor
The data precision is higher, and the data application in later stage is more accurate.
Brief description of the drawings
The hardware schematic of system when Fig. 1 is synchronous pair of the multisensor of the specific embodiment of the invention；
The system framework schematic diagram of system when Fig. 2 is synchronous pair of the multisensor of the specific embodiment of the invention.
Embodiment
The system when present invention provides a kind of synchronous pair of multisensor.To make the purpose of the present invention, technical scheme and effect more
Add clear, clear and definite, the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
It is that the acquisition time for instigating each sensor is managed by same clock system at described pair, makes each sensor
Acquisition time can be arrived under coordinate system at the same time so that low skewed manner is unified.
System when Fig. 1 is a kind of synchronous pair of multisensor of the specific embodiment of the invention.As shown in figure 1, the system bag
Include：Microcontroller 110, some sensors and logic computing unit 140.
The microcontroller 110 includes：Some sensor interfaces, communication interface (such as USB) 111 and offer synchronised clock
Crystal oscillator 118.Specifically, the crystal oscillator is temperature compensating crystal oscillator.
The microcontroller 110 is connected by the sensor interface with the sensor, by the communication interface (such as
USB) 111 it is connected with the logic computing unit 140.
Specifically, the sensor can include：Camera, laser radar, encoder and inertance element.Alternatively, institute
It is fisheye camera, general camera, depth camera or other imaging techniques to state camera.
As shown in figure 1, the microcontroller 110 then has corresponding camera synchronizing signal interface 112, laser radar synchronous
Signaling interface 113, inertance element interface 114 and encoder interfaces 115.
In certain embodiments, the microcontroller can further include other suitable functional interfaces, such as count
Word input and output interface 116, other externally sync caps 117.
As shown in Fig. 2 the system framework figure for the embodiment of the present invention.In the present embodiment, the logic computing unit 140
Including：Data acquisition thread 141 for the packet that gathers sensor, for receiving timestamp and arteries and veins from microcontroller
Rush the design synchronized timestamp management thread 142 and memory 143 of sequence number.The logic computing unit 140 specifically can be with
It is any suitable, there is the hardware device of certain logical calculated ability, such as main frame or embedded unit, it is only necessary to
It is able to carry out above-mentioned thread 141 and thread 142.
The timestamp and pulse train number are determined by the synchronised clock.In the present embodiment, using modelled signal
Synchronous processing unit (SSPU) represented in the microcontroller, the clock provided based on the crystal oscillator, for managing and realizing
Functional module during high-precision pair between different sensors.SSPU timestamp be the crystal oscillator clock, the pulse sequence
Row number is the count value of the crystal oscillator.
In certain embodiments, the microcontroller is provided with the different first camera interfaces and second camera of working frequency
Interface.The working frequency of the first camera interface is higher than the second camera interface.
The first camera interface and second camera interface are connected with camera array respectively, and the camera array is included at least
One principal phase machine and some from camera.A camera array is belonged to, is connected to the principal phase machine and slave phase of same camera interface
Machine has identical working frequency.
Individually below by taking each sensor as an example, be specifically described sensor pair when workflow：
Before the working sensor, the design synchronized timestamp management thread is additionally operable to send to the microcontroller
Pair when ask.Asked when the microcontroller is according to described pair, confirmation letter is returned to the design synchronized timestamp management thread
Breath, produces complete system time.
In certain embodiments, the workflow of camera in the system is：Arteries and veins is sent by microcontroller timing first
Punching triggering camera gathered data, while timestamp of the microcontroller using the crystal oscillator clock time as camera, using step-by-step counting as
The sequence number of corresponding timestamp, sequence number and corresponding timestamp are uploaded to the design synchronized timestamp management thread 142.
Camera starts and gathers image, and the packet for generating subsidiary sequence number (has acquisition time and image in packet
Characteristic) after, by packet and it is uploaded to the data acquisition thread 141.
After the design synchronized timestamp management thread 142 receives the sequence number and corresponding timestamp, Ke Yitong
Cross sequence number and judge whether packet loss.If generation packet loss, according to timestamp corresponding to last time sequence number and frequency acquisition to it is current when
Between stab information completion, and packet loss information (sequence number of loss, frequency acquisition, currently lose number) is charged into log daily records.
The data acquisition thread 141 receives the packet of camera and judges data by sequence number subsidiary in packet
Whether packet loss.If generation packet loss, packet loss information (sequence of message number of loss, frequency acquisition, currently lose number) is charged into log
Daily record.
Finally, the data acquisition thread 141 is asked for according to sequence number to the design synchronized timestamp management thread 142
Corresponding timestamp.The design synchronized timestamp management thread 142 asks for corresponding timestamp according to request is asked for, and is returned to it
Return timestamp.Obtained timestamp is combined into a complete data packet by the data acquisition thread 141, and is stored to and is deposited
In reservoir.It is described to store the readable logic computing unit storage medium that implement body be any suitable type, such as flash memory, machine
Tool formula hard disk lamp.
In certain embodiments, the microcontroller can also calculate packet loss.Exceed predetermined threshold value in packet loss, then stop
Only the sensor data acquisition and reset or report an error.If packet loss is allowed access into and gathered next time not less than threshold value.Institute
State data and may apply to time-sensitive application.
In certain embodiments, the workflow of laser radar in the system is：First, the data acquisition thread
141 control laser radars are opened, and laser radar timing transmitting laser simultaneously sends pulse-triggered microcontroller to micro controller, and generation is attached
The packet of tape serial number and packet is directly uploaded to data acquisition thread 141.Wherein, there is hair in the packet
Penetrate time and laser radar data.
The microcontroller receives the pulse that laser radar is sent, the time using the clock time of crystal oscillator as laser radar
Stamp, the sequence number using step-by-step counting as corresponding timestamp, by sequence number and corresponding timestamp be uploaded to it is described design it is synchronous when
Between stamp management thread 142.
The data acquisition thread 141 receives the packet of laser radar and judged by sequence number subsidiary in packet
Data whether packet loss, if packet loss, packet loss information (sequence of message number of loss, frequency acquisition, currently lose number) is charged to
Log daily records.
Finally, the data acquisition thread 141 is asked for according to sequence number to the design synchronized timestamp management thread 142
Corresponding timestamp.The design synchronized timestamp management thread 142 asks for corresponding timestamp according to request is asked for, and is returned to it
Return timestamp.Obtained timestamp is combined into a complete data packet by the data acquisition thread 141, and is stored to and is deposited
In reservoir.It is described to store the readable logic computing unit storage medium that implement body be any suitable type, such as flash memory, machine
Tool formula hard disk etc..
In certain embodiments, the microcontroller can also calculate packet loss.Exceed predetermined threshold value in packet loss, then stop
Only working sensor.If packet loss is allowed access into and gathered next time not less than threshold value.It is quick that the data may apply to the time
Sensing is used.The micro controller can also be by catching trigger signal come recording laser radar timestamp, and is sentenced according to frequency acquisition
Whether disconnected is interference signal.
For the workflow of inertance element in the system：First, the data acquisition thread 141 controls inertia member
Part is opened, and inertance element gathers movable information in real time, and timing sends microcontroller described in pulse-triggered to microcontroller.
The microcontroller receives the pulse that inertance element is sent, the time using the clock time of crystal oscillator as inertance element
Stab, the sequence number using step-by-step counting as corresponding timestamp, read the data of inertance element.Then, by sequence number, corresponding time
Stamp and inertance element data are uploaded to the design synchronized timestamp management thread 142.
After the design synchronized timestamp management thread 142 receives the data of the inertance element, storage is stored to
In device.It is described to store the readable logic computing unit storage medium that implement body be any suitable type, such as flash memory, machinery
Formula hard disk etc..The data may apply to time-sensitive application.
For the workflow of encoder：First, the data acquisition thread 141 controls encoder to open, and encoder is real
When gather movable information.Microcontroller timing reading encoder data, the timestamp using the clock time of crystal oscillator as encoder,
Sequence number using step-by-step counting as corresponding timestamp, sequence number, corresponding timestamp and encoder data are uploaded to described set
Count synchronized timestamp management thread 142.
The design synchronized timestamp management thread 142 receives the encoder data for being integrated with temporal information, by it
Store in memory.It is described to store the readable logic computing unit storage medium that implement body be any suitable type, example
Such as flash memory, mechanical hard disk.The data may apply to time-sensitive application
Certainly, the timestamp of the encoder can be consistent with the timestamp of inertance element, camera or laser radar.Example
Such as, when the encoder timestamp is consistent with the inertance element timestamp, the microcontroller receives what inertance element was sent
Pulse, using the clock time of crystal oscillator as inertance element and the timestamp of encoder, using step-by-step counting as corresponding timestamp
Sequence number, the data of inertance element and encoder are read, by sequence number, corresponding timestamp, inertance element data and encoder number
Thread 142 is managed according to the design synchronized timestamp is uploaded to.
In system provided in an embodiment of the present invention, there is provided the workflow of a variety of different sensors.Specifically can root
According to the requirement of actual conditions, selection uses one or more kinds of groups in camera, inertial navigation, laser radar and encoder
Close.
In summary, system during multisensor pair provided in an embodiment of the present invention, modelled signal synchronous processing unit is passed through
(SSPU) acquisition time of each sensor is managed, the acquisition time of each sensor is carried out pipe in same clock system
Reason, make the acquisition time of each sensor is unified to arrive under coordinate system at the same time.And SSPU pair when the method for synchronization be hard
Part is synchronous, pair when precision it is high.
The data precision finally obtained by multiple sensors is higher, apply it is more accurate in time-sensitive occasion, pair when into
This is relatively low.Different sensor flexibly configurables, forms different combinations, adapts to different usage scenarios.
It is understood that for those of ordinary skills, can be with technique according to the invention scheme and this hair
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect scope.
Claims (9)
1. system during a kind of synchronous pair of multisensor, it is characterised in that including：Microcontroller, some sensors and logic meter
Calculate unit；
The microcontroller includes：Some sensor interfaces, communication interface and the crystal oscillator that synchronised clock is provided；The microcontroller
Device is connected by the sensor interface with the sensor, is connected by the communication interface with the logic computing unit；
The logic computing unit includes being used to gather the data acquisition thread of the packet of sensor, comes from micro-control for receiving
The timestamp of device processed and the design synchronized timestamp management thread and memory of pulse train number；The timestamp and pulse sequence
Row number is determined by the synchronised clock.
2. system according to claim 1, it is characterised in that the sensor include but is not limited to camera, laser radar,
Encoder and inertance element.
3. system according to claim 2, it is characterised in that the camera includes fisheye camera, general camera, depth phase
Machine and other imaging techniques.
4. system according to claim 2, it is characterised in that the crystal oscillator is temperature compensating crystal oscillator.
5. system according to claim 2, it is characterised in that when the data of the sensor of data acquisition thread collection
When wrapping the packet for camera or laser radar, the data acquisition thread is additionally operable to the design synchronized timestamp management
Thread obtains timestamp corresponding with packet, and synthesizes the complete data packet storage with lock in time and arrive the memory
In.
6. system according to claim 5, it is characterised in that the data acquisition thread is additionally operable to calculate the packet
Packet loss；When the packet loss is more than predetermined threshold value, stop collection；When the packet loss is less than or equal to predetermined threshold value
When, continue to gather.
7. system according to claim 6, it is characterised in that the microcontroller is additionally operable to according to the laser radar
Frequency acquisition, judges whether packet belongs to interference signal.
8. system according to claim 2, it is characterised in that the microcontroller is additionally operable to inertance element and/or volume
Data, corresponding timestamp and the pulse train number of code device are uploaded to the design synchronized timestamp management thread.
9. according to any described systems of claim 1-8, it is characterised in that before the working sensor, the design is same
Step timestamp management thread is additionally operable to ask when sending pair to the microcontroller；
Asked when the microcontroller is according to described pair, confirmation is returned to the design synchronized timestamp management thread.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740451.2A CN107743054A (en) | 2017-08-25 | 2017-08-25 | System during a kind of synchronous pair of multisensor |
| CN201810731560.2A CN109104259B (en) | 2017-08-25 | 2018-07-05 | Multi-sensor time synchronization system and method |
| CN201810732148.2A CN108900272B (en) | 2017-08-25 | 2018-07-05 | Sensor data acquisition method and system and packet loss judgment method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740451.2A CN107743054A (en) | 2017-08-25 | 2017-08-25 | System during a kind of synchronous pair of multisensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107743054A true CN107743054A (en) | 2018-02-27 |
Family
ID=61235613
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710740451.2A Pending CN107743054A (en) | 2017-08-25 | 2017-08-25 | System during a kind of synchronous pair of multisensor |
| CN201810732148.2A Active CN108900272B (en) | 2017-08-25 | 2018-07-05 | Sensor data acquisition method and system and packet loss judgment method |
| CN201810731560.2A Active CN109104259B (en) | 2017-08-25 | 2018-07-05 | Multi-sensor time synchronization system and method |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810732148.2A Active CN108900272B (en) | 2017-08-25 | 2018-07-05 | Sensor data acquisition method and system and packet loss judgment method |
| CN201810731560.2A Active CN109104259B (en) | 2017-08-25 | 2018-07-05 | Multi-sensor time synchronization system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN107743054A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108900272A (en) * | 2017-08-25 | 2018-11-27 | 杭州德泽机器人科技有限公司 | Sensor data acquisition method, system and packet loss judgment method |
| CN109239720A (en) * | 2018-10-18 | 2019-01-18 | 清华大学苏州汽车研究院（吴江） | A kind of Intelligent Laser radar installations, system and its data processing method |
| CN109547693A (en) * | 2018-11-29 | 2019-03-29 | 惠州市德赛西威智能交通技术研究院有限公司 | Multi-sensor data synchronization system and image data synchronous method |
| CN109634973A (en) * | 2018-11-12 | 2019-04-16 | 北京航空航天大学 | NC Machining Process collecting method, device and equipment |
| CN109725572A (en) * | 2018-12-25 | 2019-05-07 | 初速度（苏州）科技有限公司 | A kind of multisensor accurate clock synchronization system and method |
| CN110286377A (en) * | 2019-06-19 | 2019-09-27 | 青海大学 | Two-band weather radar observes control method and system |
| CN111682918A (en) * | 2020-06-10 | 2020-09-18 | 杭州海康威视数字技术股份有限公司 | Synchronous control method, device and system of sensor and storage medium |
| CN111837035A (en) * | 2018-03-12 | 2020-10-27 | 盛思锐股份公司 | Sensor module |
| CN111856468A (en) * | 2019-04-16 | 2020-10-30 | 阿里巴巴集团控股有限公司 | Detection method, device, equipment, system and storage medium |
| CN112339768A (en) * | 2019-08-09 | 2021-02-09 | 顺丰科技有限公司 | Vehicle chassis control method, device and storage medium |
| WO2021031604A1 (en) * | 2019-08-21 | 2021-02-25 | 北京理工大学 | Method and device for hardware time synchronization between multi-channel imus and cameras of bionic eye |
| CN113014812A (en) * | 2021-03-01 | 2021-06-22 | 中电海康集团有限公司 | Camera and laser radar time synchronization control system |
| CN113922910A (en) * | 2021-10-09 | 2022-01-11 | 广东汇天航空航天科技有限公司 | Sensor time synchronization processing method, device and system |
| CN114964175A (en) * | 2022-03-30 | 2022-08-30 | 华南理工大学 | Multi-sensor data synchronous acquisition device and acquisition method |
| CN115776366A (en) * | 2022-12-12 | 2023-03-10 | 北京自动化控制设备研究所 | High-precision synchronization method and device for vision multi-sensor |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110892671B (en) * | 2018-12-03 | 2022-07-01 | 深圳市大疆创新科技有限公司 | Aircraft, data processing system and data processing method for aircraft |
| CN111348046B (en) * | 2018-12-24 | 2021-06-15 | 毫末智行科技有限公司 | Target data fusion method, system and machine-readable storage medium |
| CN111600670B (en) * | 2019-02-20 | 2023-04-18 | 阿里巴巴集团控股有限公司 | Inductive data calculation control method and time service device |
| CN110312056B (en) * | 2019-06-10 | 2021-09-14 | 青岛小鸟看看科技有限公司 | Synchronous exposure method and image acquisition equipment |
| CN110329273B (en) * | 2019-06-18 | 2020-12-22 | 浙江大学 | Method and device for synchronizing data acquired by unmanned vehicle |
| US11227194B2 (en) * | 2019-07-16 | 2022-01-18 | Baidu Usa Llc | Sensor synchronization offline lab validation system |
| CN113022488A (en) * | 2019-12-25 | 2021-06-25 | 北京宝沃汽车股份有限公司 | Vehicle and control method and device thereof |
| CN111082897B (en) * | 2019-12-26 | 2021-05-18 | 深圳市瑞立视多媒体科技有限公司 | Method and related equipment for solving synchronous communication packet loss of coding type active optical capturing system |
| CN111309094A (en) * | 2020-02-06 | 2020-06-19 | 上海图趣信息科技有限公司 | Synchronous board card and method for data acquisition of sensor equipment |
| CN113333301B (en) * | 2020-03-03 | 2023-04-21 | 顺丰科技有限公司 | Cross-band control method, system, computer device, and storage medium |
| CN111447259B (en) * | 2020-03-12 | 2023-04-28 | 江西珉轩智能科技有限公司 | Self-adaptive data collaborative collection method and system |
| CN113496545B (en) * | 2020-04-08 | 2022-05-27 | 阿里巴巴集团控股有限公司 | Data processing system, method, sensor, mobile acquisition backpack and equipment |
| CN111641635B (en) * | 2020-05-28 | 2022-05-27 | 北京经纬恒润科技股份有限公司 | Method and device for lossless transmission of CAN data |
| CN111791232B (en) * | 2020-06-03 | 2021-02-05 | 中南民族大学 | Robot chassis control system and method based on time hard synchronization |
| JP7537152B2 (en) | 2020-07-17 | 2024-08-21 | セイコーエプソン株式会社 | Overshoot amount detection method and robot system |
| CN111795702A (en) * | 2020-09-09 | 2020-10-20 | 蓝箭航天空间科技股份有限公司 | Inertial measurement information and starlight measurement information data synchronization method and system |
| CN112787740A (en) * | 2020-12-26 | 2021-05-11 | 武汉光庭信息技术股份有限公司 | Multi-sensor time synchronization device and method |
| CN113428096A (en) * | 2021-08-27 | 2021-09-24 | 武汉元丰汽车电控系统股份有限公司 | Data acquisition card, apparatus and method |
| CN114253211B (en) * | 2021-12-15 | 2024-09-20 | 意欧斯智能科技股份有限公司 | Method for performing interactive verification on PLC and upper computer WCS signals |
| US11822377B2 (en) | 2022-01-11 | 2023-11-21 | Waymo Llc | Timebase synchronization using pulsed signal injection |
| CN114374812B (en) * | 2022-01-20 | 2022-08-19 | 集睿致远(厦门)科技有限公司 | Communication information monitoring equipment, method and system of DP (data processing) interface auxiliary channel |
| CN114614910B (en) * | 2022-03-09 | 2024-05-28 | 江苏斯菲尔电气股份有限公司 | Pulse signal low-power-consumption wireless transmission system and method |
| CN116032412B (en) * | 2023-03-28 | 2023-07-18 | 之江实验室 | Multi-camera cross-platform time synchronization method, device and system and electronic equipment |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100479425C (en) * | 2005-07-12 | 2009-04-15 | 中兴通讯股份有限公司 | Method for protecting VOIP digital signal processing channel |
| US8559319B2 (en) * | 2007-10-19 | 2013-10-15 | Voxer Ip Llc | Method and system for real-time synchronization across a distributed services communication network |
| CN102377801B (en) * | 2010-08-19 | 2014-05-07 | 中国科学院计算技术研究所 | Sensor network for environmental monitoring and data transmission method |
| CN103209224B (en) * | 2013-04-28 | 2016-02-24 | 上海海事大学 | Based on underwater sound sensor network system and the data transmission method thereof of P2P |
| US20150185054A1 (en) * | 2013-12-30 | 2015-07-02 | Motorola Mobility Llc | Methods and Systems for Synchronizing Data Received from Multiple Sensors of a Device |
| CN105426121B (en) * | 2015-10-30 | 2018-01-16 | 山东科技大学 | Boat-carrying multisensor integrated measuring data real-time storage method |
| CN106878326A (en) * | 2017-03-21 | 2017-06-20 | 中国人民解放军信息工程大学 | The guard method of IPv6 neighbor caches and its device based on inverse detection |
| CN107743054A (en) * | 2017-08-25 | 2018-02-27 | 杭州德泽机器人科技有限公司 | System during a kind of synchronous pair of multisensor |
-
2017
- 2017-08-25 CN CN201710740451.2A patent/CN107743054A/en active Pending
-
2018
- 2018-07-05 CN CN201810732148.2A patent/CN108900272B/en active Active
- 2018-07-05 CN CN201810731560.2A patent/CN109104259B/en active Active
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108900272A (en) * | 2017-08-25 | 2018-11-27 | 杭州德泽机器人科技有限公司 | Sensor data acquisition method, system and packet loss judgment method |
| CN111837035B (en) * | 2018-03-12 | 2023-10-20 | 盛思锐股份公司 | sensor module |
| CN111837035A (en) * | 2018-03-12 | 2020-10-27 | 盛思锐股份公司 | Sensor module |
| CN109239720A (en) * | 2018-10-18 | 2019-01-18 | 清华大学苏州汽车研究院（吴江） | A kind of Intelligent Laser radar installations, system and its data processing method |
| CN109634973A (en) * | 2018-11-12 | 2019-04-16 | 北京航空航天大学 | NC Machining Process collecting method, device and equipment |
| CN109547693A (en) * | 2018-11-29 | 2019-03-29 | 惠州市德赛西威智能交通技术研究院有限公司 | Multi-sensor data synchronization system and image data synchronous method |
| WO2020107527A1 (en) * | 2018-11-29 | 2020-06-04 | 惠州市德赛西威智能交通技术研究院有限公司 | Multi-sensor data synchronization system and image data synchronization method |
| CN109725572A (en) * | 2018-12-25 | 2019-05-07 | 初速度（苏州）科技有限公司 | A kind of multisensor accurate clock synchronization system and method |
| CN111856468A (en) * | 2019-04-16 | 2020-10-30 | 阿里巴巴集团控股有限公司 | Detection method, device, equipment, system and storage medium |
| CN110286377A (en) * | 2019-06-19 | 2019-09-27 | 青海大学 | Two-band weather radar observes control method and system |
| CN112339768A (en) * | 2019-08-09 | 2021-02-09 | 顺丰科技有限公司 | Vehicle chassis control method, device and storage medium |
| CN112339768B (en) * | 2019-08-09 | 2021-12-17 | 顺丰科技有限公司 | Vehicle chassis control method, device and storage medium |
| WO2021031604A1 (en) * | 2019-08-21 | 2021-02-25 | 北京理工大学 | Method and device for hardware time synchronization between multi-channel imus and cameras of bionic eye |
| CN111682918B (en) * | 2020-06-10 | 2022-06-10 | 杭州海康威视数字技术股份有限公司 | Synchronous control method, device and system of sensor and storage medium |
| CN111682918A (en) * | 2020-06-10 | 2020-09-18 | 杭州海康威视数字技术股份有限公司 | Synchronous control method, device and system of sensor and storage medium |
| CN113014812A (en) * | 2021-03-01 | 2021-06-22 | 中电海康集团有限公司 | Camera and laser radar time synchronization control system |
| CN113014812B (en) * | 2021-03-01 | 2022-04-15 | 中电海康集团有限公司 | Camera and laser radar time synchronization control system |
| CN113922910A (en) * | 2021-10-09 | 2022-01-11 | 广东汇天航空航天科技有限公司 | Sensor time synchronization processing method, device and system |
| CN113922910B (en) * | 2021-10-09 | 2023-09-19 | 广东汇天航空航天科技有限公司 | Sensor time synchronization processing method, device and system |
| CN114964175A (en) * | 2022-03-30 | 2022-08-30 | 华南理工大学 | Multi-sensor data synchronous acquisition device and acquisition method |
| CN115776366A (en) * | 2022-12-12 | 2023-03-10 | 北京自动化控制设备研究所 | High-precision synchronization method and device for vision multi-sensor |
| CN115776366B (en) * | 2022-12-12 | 2024-03-15 | 北京自动化控制设备研究所 | High-precision synchronization method and device for visual multisensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109104259A (en) | 2018-12-28 |
| CN108900272B (en) | 2021-02-19 |
| CN109104259B (en) | 2021-05-11 |
| CN108900272A (en) | 2018-11-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107743054A (en) | System during a kind of synchronous pair of multisensor | |
| CN105930580B (en) | Time synchronization and data exchange device and method for joint simulation of power system and information communication system | |
| CN101331736B (en) | Using travel-time as means for improving the accuracy of simple network time protocol | |
| US20080031283A1 (en) | Time synchronization for network aware devices | |
| CN108322280B (en) | A kind of distributed computer network (DCN) clock synchronizing relay compensation method | |
| CN103248471B (en) | Clock synchronizing method based on PTP protocol Yu Reflective memory network | |
| CN110493744A (en) | A kind of synchronous data sampling method and system of master-slave radio sensor | |
| CN103067112B (en) | Clock synchronizing method, device and the network equipment | |
| US20090135677A1 (en) | System and method for application layer time synchronization without creating a time discrepancy or gap in time | |
| CN105446917B (en) | The device that the data record and location information of a kind of PPK-RTK obtains | |
| CN106817183A (en) | PTP precision time protocols time service module and implementation method in a kind of electric power time service | |
| CN105262656A (en) | Implementation method for time-triggered communication bus of aeroengine distributed control system | |
| CN107017958B (en) | A kind of method for synchronizing time and corresponding system based on NTP | |
| CN109150351A (en) | A kind of UTC time realization method and system applied to substation | |
| CN107786293A (en) | Method for synchronizing time, clock equipment, from clockwork and clock synchronization system | |
| JP2017536637A (en) | Global clock determination method and structure between systems | |
| CN102298334A (en) | Breakpoint simulation controller and control method for ground simulation system | |
| CN103647614A (en) | Method for reliably improving time synchronization precision based on IEEE1588 protocol | |
| CN103760759A (en) | Automatic forward/reverse direction IRIG-B code decoding method | |
| CN104570824A (en) | Event input module | |
| CN101951300B (en) | Method for realizing accurate time tick of Ethernet | |
| WO2018041108A1 (en) | Method, apparatus, and device for determining clock time of time synchronization packet | |
| CN105242974A (en) | Time acquisition method and device | |
| CN101527608B (en) | IEEE1588 synchronous accuracy test device based on networking LXI measurement and control system | |
| CN106656395B (en) | Based on the improved power grid time synchronized measurement system of self study and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180227 |
|
| WD01 | Invention patent application deemed withdrawn after publication |