CN108900272A - Sensor data acquisition method, system and packet loss judgment method - Google Patents
Sensor data acquisition method, system and packet loss judgment method Download PDFInfo
- Publication number
- CN108900272A CN108900272A CN201810732148.2A CN201810732148A CN108900272A CN 108900272 A CN108900272 A CN 108900272A CN 201810732148 A CN201810732148 A CN 201810732148A CN 108900272 A CN108900272 A CN 108900272A
- Authority
- CN
- China
- Prior art keywords
- sensor
- data
- sspu
- sequence
- processing unit
- 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.)
- Granted
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 sensor data acquisition method, system and packet loss judgment methods, this method includes signal synchronous processing unit SSPU, several sensors and logic computing unit, sensor generates primary data and its sequence of message number when issuing or receiving trigger pulse；Signal synchronous processing unit SSPU the pulse for receiving or issuing sensor acquisition data simultaneously, read system time and generate timestamp and its pulse train number；Specific steps：1) primary data and its sequence of message number of sensor are read；2) timestamp and its pulse train number of signal synchronous processing unit SSPU are obtained；3) sequence of message number and pulse train number are subjected to one-to-one correspondence matching, the primary data and time stamp data of successful match combine generation sensor data packet.This programme is matched by setting sequence of message number and pulse train number, and packet loss judges when increasing sensor primary data and timestamp matching, improves the data precision of sensor.
Description
Technical field
The present invention relates to data acquisition process technical field more particularly to a kind of sensor data acquisition method, system and
Packet loss judgment method.
Background technique
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, alternatively, internal time system and microcontroller/logic computing unit inside by sensor
Time system portfolio management.And often there is deviation in the timing between multiple time systems, therefore, it is necessary to multiple and/or more
The acquisition time of kind sensor sets time unification.
Clock synchronization is that the acquisition time of each sensor is instigated to be managed by the same clock system, makes the acquisition of each sensor
Time can uniformly be arrived under coordinate system at the same time with low skewed manner.Existing clock synchronization synchronous method, which has, passes through logic calculation
Clock system inside unit carries out software synchronization, carries out hardware synchronization, GPS pairs by the clock system of microcontroller
When, NTP clock synchronization, SNTP clock synchronization, 1588 clock synchronization of IEEE etc..
Since there are time deviations 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 lower.Moreover, the internal time system of sensor after a period of work can automatic reclocking, be not able to satisfy for a long time
The requirement of acquisition.
The mode of software synchronization is influenced by logic computing unit timeslice, and precision is lower.GPS clock synchronization mode has at high cost
(each node requires installation GPS device), installation are restricted and (need outdoor unobstructed), poor availability is (by weather, environment shadow
Ring), the disadvantages of there are application risk (U.S. do not provide safeguard civilian GPS).NTP clock synchronization and SNTP clock synchronization precision are relatively low,
1588 clock synchronization compatibility of IEEE is low (each node has required 1588 agreement of IEEE).If customization is able to satisfy the height that acquisition requires
Sensor/microcontroller/logic computing unit cost of configuration is very high.
The patent document of Publication No. CN105940390A discloses one kind by with application processor and coprocessor
The method that executes of equipment, the application processor is configured as based on operating system, and the coprocessor is matched
It is set to from multiple sensors of the equipment and receives data, the method includes：Determine the multiple sensing by the equipment
The interruption that given sensor in device generates, wherein described to interrupt the data for indicating that the given sensor has for output；
By the timestamp for the interruption that coprocessor offer is generated by the given sensor, described in the timestamp instruction
Given sensor has the time of the data for output；It is received and is used from the given sensor by the coprocessor
In the data of output；By the timestamp of the interruption generated by the given sensor and come from the given biography
The received data of sensor is associated；It, will be from described based on the timestamp of the data provided by the coprocessor
Multiple received data of sensor are associated with into data structure together；And based on the data by the coprocessor
The timestamp, the data structure is successively provided to the application processor.But due to from sensor to collaboration
The data transmission of processor will consume some times, and in this process there is also certain packet loss risk, assist in the program
With processor by data by sensor collection when timestamp be not added with the data packet received resolution be directly associated, because lacking
Packet loss judgement identification, data packet can be associated with matching error with timestamp, sensor caused to acquire data fault.In addition, this has
The not temperature compensated processing of the equipment of application processor list and coprocessor, easily drifts about after a period of operation, makes to count
When there is deviation, be not able to satisfy for a long time acquisition requirement.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of sensor data acquisition sides
Method, system and packet loss judgment method, it is intended to improve the data precision of sensor acquisition.
In order to achieve the above object, this invention takes following technical schemes：
A kind of sensor data acquisition method, including signal synchronous processing unit SSPU, several sensors and logic meter
Unit is calculated, sensor generates primary data and its sequence of message number when issuing or receiving trigger pulse；Signal synchronization process list
First SSPU the pulse for receiving or issuing sensor acquisition data simultaneously, read system time and generate timestamp and its pulse train
Number；It further include following specific steps：
1) primary data and its sequence of message number of sensor are read；
2) timestamp and its pulse train number of signal synchronous processing unit SSPU are obtained；
3) sequence of message number and pulse train number are subjected to one-to-one correspondence matching, the primary data and timestamp of successful match
Data combine generation sensor data packet.
Preferably, 3) step 1) by logic computing unit to being completed.
Preferably, the logic computing unit records packet loss information in real time, packet loss is calculated, if packet loss is more than pre-
If threshold value, then movement is taken；If packet loss is less than threshold value, continue to execute.
Preferably, including ultimate sequence number, signal synchronous processing unit SSPU upload in the sensor data packet
Timestamp and the data that upload of sensor, ultimate sequence number can be pulse train number or sequence of message number.
Preferably, the logic computing unit includes for acquiring the data acquisition line journey of sensing data, for connecing
By the timestamp from signal synchronous processing unit SSPU and the synchronized timestamp of pulse train number management thread and memory.
Preferably, the signal synchronous processing unit SSPU includes the crystal oscillator of microcontroller and offer synchronised clock,
Signal synchronous processing unit SSPU is connect by sensor interface with the sensor, and signal synchronous processing unit SSPU passes through logical
Communication interface is connect with the logic computing unit, and sensor is connect by communication interface with computer.
Preferably, microcontroller using crystal oscillator as clock source, generates the system time of signal synchronous processing unit SSPU.
A kind of sensor data acquisition system, using a kind of sensor data acquisition method as described above.
A kind of sensor data acquisition packet loss judgment method, including signal synchronous processing unit SSPU, several sensors with
And logic computing unit, signal synchronous processing unit SSPU include microcontroller and provide the crystal oscillator of synchronised clock, signal is same
Step processing unit SSPU is connect by sensor interface with the sensor, and signal synchronous processing unit SSPU passes through communication interface
It is connect with the logic computing unit, sensor is connect by communication interface with computer；Sensor is issuing or is receiving triggering
When pulse, primary data and its sequence of message number are generated；Signal synchronous processing unit SSPU is receiving or is issuing sensor acquisition
The pulse of data simultaneously, reads system time and generates timestamp and its pulse train number；It further include following specific steps：
1) logic computing unit reads the primary data and its sequence of message number of sensor；And according to sequence of message information
Judge whether packet loss information if packet loss is charged to log log by packet loss for the initial data stream of only sensor；
2) logic computing unit obtains the timestamp and its pulse train number of signal synchronous processing unit SSPU；And according to arteries and veins
Rush sequence number information judge time stamp data stream whether packet loss, if packet loss, according to the corresponding timestamp of last time pulse train number
Data and the current time stamp data information of frequency acquisition completion, and packet loss information is charged into log log；
3) sequence of message number and pulse train number are carried out one-to-one correspondence matching by logic computing unit, successful match it is initial
Data and time stamp data combine generation sensor data packet；When it fails to match with pulse train number for sequence of message number
When, then wait next matching.
Preferably, the packet loss information includes the sequence number lost, frequency acquisition and currently loses number.
Scheme provided by the invention is managed the acquisition time of sensor by signal synchronous processing unit SSPU, from
And arrive the acquisition time of each sensor uniformly under coordinate system at the same time, the time synchronizing method of system is hardware synchronization,
Clock synchronization precision is high.Also, it is matched by setting sequence of message number and pulse train number, increases the primary data of sensor
Packet loss judgement when being associated with timestamp matching, substantially increases the data precision of sensor, the data application in later period is more
Accurately, apply the precision in time-sensitive application higher and at low cost.Multi-modal sensor flexibly configurable, forms different groups
It closes, the data of any sensor combination are synchronous in realization system.
Detailed description of the invention
Fig. 1 is the hardware schematic of the synchronous time synchronization system of multisensor of the specific embodiment of the invention；
Fig. 2 is the system framework schematic diagram of the synchronous time synchronization system of multisensor of the specific embodiment of the invention；
Fig. 3 is the signal of the specific embodiment of the invention and the transmission schematic diagram of data；
Fig. 4 is the workflow schematic diagram of the laser radar of the specific embodiment of the invention；
Fig. 5 is the workflow schematic diagram of the camera of the specific embodiment of the invention；
Fig. 6 is the data and the matched flow chart of timestamp of the specific embodiment of the invention.
Specific embodiment
The present invention provides a kind of multisensor synchronization time synchronization system.To make the purpose of the present invention, technical solution and effect more
Add clear, clear, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
The clock synchronization is that the acquisition time of each sensor is instigated to be managed by the same clock system, makes each sensor
Acquisition time can uniformly be arrived under coordinate system at the same time with low skewed manner.
Fig. 1, Fig. 2 are a kind of synchronous time synchronization system of multisensor of the specific embodiment of the invention.As shown in Figure 1 and Figure 2, institute
The system of stating includes：Signal synchronous processing unit SSPU (Signal Synchronization Process Unit), several sensings
Device and logic computing unit 140.
Signal synchronous processing unit SSPU includes：Microcontroller 110, several sensor interfaces, communication interface (such as USB)
111 and provide synchronised clock crystal oscillator 118.Specifically, the crystal oscillator is temperature compensating crystal oscillator.
As shown in figure 3, signal synchronous processing unit SSPU is connect by the sensor interface with the sensor, pass through
The communication interface (such as USB) 111 connect with the logic computing unit 140.Sensor is connected by communication interface and computer
It connects.
Sensor mainly includes plate grade sensor, band GPS interface type sensor and independent sensor three types：
(1) plate grade sensor：Sensors with auxiliary electrode data throughout is small, and data-interface is generally serial ports, I2C, SPI, CAN
Deng can be handled i.e. SSPU by microcontroller and can receive and sensing data and add timestamp information.Such as：Inertia member
Part, encoder.
(2) band GPS interface sensor：The GPS signal interface (such as 3D laser radar) of sensors with auxiliary electrode outfit standard, can lead to
It is unified with external time system to achieve the purpose that cross reception external time Information revision temporal system.Such as：3D laser
Radar.
(3) independent sensor：Sensors with auxiliary electrode general data handling capacity is larger, and the processor of microcontroller rank can not
Its data is handled, need to directly be uploaded to logic computing unit, timestamp can be triggered by SSPU by signal or signal capture
Mode is added and uploads.Such as：Industrial camera, 2D laser radar, thermal infrared imager.
Specifically, the sensor may include：Camera, 2D laser radar, 3D laser radar, encoder, infrared thermal imagery
One or more of instrument and inertance element etc..Optionally, the camera is fisheye camera, general camera, depth camera, work
Industry camera or other imaging techniques.Correspondingly, the sensor interface in signal synchronous processing unit SSPU includes：Encoder
Interface, inertance element interface；3D laser radar interface；Visible Light Camera interface, 2D laser radar interface, thermal infrared imager connect
Mouthful；GPS interface；USB turns serial ports.
In the present embodiment, as shown in Figure 1, in signal synchronous processing unit SSPU, the microcontroller 110 is then connected with pair
Camera synchronization signal interface 112, laser radar synchronization signal interface 113, inertance element interface 114 and the encoder interfaces answered
115。
In some embodiments, the microcontroller can also further be connected with other suitable functional interfaces, such as
Digital input-output interface 116, other externally sync caps 117.
As shown in Fig. 2, being the system framework figure of the embodiment of the present invention.In the present embodiment, the logic computing unit 140
Including：For acquiring the data acquisition line journey 141 of the data packet of sensor, for receiving from signal synchronous processing unit SSPU
Timestamp and pulse train number synchronized timestamp management thread 142 and memory 143.The logic computing unit 140
It is any suitable specifically to can be, the hardware device with certain logic calculation ability, such as main frame or embedded single
Member, it is only necessary to be able to carry out above-mentioned thread 141 and thread 142.
The timestamp and pulse train number are determined by the microcontroller.In the present embodiment, synchronous using signal
Processing unit SSPU is indicated, for managing and realizing high-precision between different sensors based on the clock that the crystal oscillator provides
Spend the functional module of clock synchronization.The timestamp of SSPU is the clock of the crystal oscillator, and the pulse train number is the sensor-triggered
Signal-count.
In some embodiments, the microcontroller of signal synchronous processing unit SSPU is connected with different first of working frequency
Camera interface and second camera 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 connect with camera array respectively, and the camera array includes at least
One main phase machine and several from camera.A camera array is belonged to, is connected to the main phase machine of the same camera interface and from phase
Machine working frequency having the same.
The synchronous time synchronization method of the multisensor of above system, including signal synchronous processing unit SSPU, several sensors with
And logic computing unit 140, signal synchronous processing unit SSPU include the crystal oscillator of microcontroller 110 and offer synchronised clock
118, signal synchronous processing unit SSPU are connect by sensor interface with the sensor, and signal synchronous processing unit SSPU is logical
It crosses communication interface to connect with the logic computing unit 140, sensor is connect by communication interface with computer, the sensor
It is one of plate grade sensor, band GPS interface sensor or independent sensor or a variety of；Include the following steps：
1) microcontroller is generated the system time of signal synchronous processing unit SSPU, is with this using crystal oscillator as clock source
The time unite as fiducial time；
2) before sensor starts data acquisition, the time of signal synchronous processing unit SSPU and logic computing unit is carried out pair
Table obtains the corresponding relationship of signal synchronous processing unit SSPU system time and computer unit clock；
3) data acquisition verifying；
When the sensor is plate grade sensor, following step is executed：Real-time data collection after plate grade sensor is opened,
And timing issues pulse signal to signal synchronous processing unit SSPU；Signal synchronous processing unit meets SSPU and receives pulse signal
Afterwards, it generates pulse train number and reads system clock and generate the timestamp of plate grade sensor, while reading the number of plate grade sensor
According to；Associated to form plate grade sensor data packet real-time by the data of reading and timestamp by subsequent signal synchronous processing unit SSPU
It is uploaded to logic computing unit；Logic computing unit judges that plate grade senses according to the pulse train number in plate grade sensor data packet
Device data flow whether packet loss.If packet loss, by packet loss information (such as the sequence number lost, frequency acquisition, current loss number etc.)
Charge to log log.
When the sensor is band GPS interface sensor, following step is executed：First is that signal synchronous processing unit
SSPU records the system time at the moment in the whole moment second output pulse signal of system time；Appoint second is that completing signal triggering
After business, signal synchronous processing unit SSPU sends system time information to band GPS interface sensor (such as 3D laser radar), i.e.,
The system time of system time with GPS interface sensor (such as 3D laser radar) and signal synchronous processing unit SSPU carry out
Synchronization, with have in GPS interface sensor (such as 3D laser radar) output data signal synchronous processing unit SSPU when
Between stab information.
When the sensor is independent sensor, following step is executed：Every time when triggering independent sensor, logic
Computing unit reads the primary data of independent sensor and its primary data of sequence of message number formation independent sensor；?
Trigger independent sensor acquisition data while, signal synchronous processing unit SSPU read system time generate timestamp and its
Pulse train number；Subsequent signal synchronous processing unit SSPU uploads the timestamp and its pulse train number to logic computing unit；
Logic computing unit according to the sequence of message information of independent sensor judge independent sensor data flow whether packet loss,
If packet loss, packet loss information (such as the sequence number lost, frequency acquisition currently loses number) is charged into log log；Logic calculation
Unit by pulse train information judge time stamp data stream whether packet loss, it is right according to last time pulse train number if packet loss
The current time stamp data information of the time stamp data and frequency acquisition completion answered, and by packet loss information (as lose sequence number,
Frequency acquisition currently loses number) charge to log log.Logic computing unit records packet loss information in real time, calculates packet loss.Such as
Fruit packet loss is more than preset threshold, then takes movement (such as sensor resets or reports an error)；If packet loss is less than threshold value, continue
It executes.Sequence of message number and pulse train number are carried out one-to-one correspondence matching by logic computing unit, and the self of successful match passes
Sensor primary data and time stamp data, which are fused together, generates independent sensor data packet.It include most in the data packet
The data that the timestamp and independent sensor that whole sequence number, signal synchronous processing unit SSPU are uploaded upload.Ultimate sequence number
It can be pulse train number or sequence of message number, preferably sequence of message number.When sequence of message number and pulse train number matching lose
When losing, the data and its sequence of message number that independent sensor uploads then are waited and being matched next time.
Individually below by taking each sensor as an example, it is specifically described the clock synchronization workflow of sensor：
Before the working sensor, the synchronized timestamp management thread is also used to signal synchronous processing unit SSPU
Issue clock synchronization request.Signal synchronous processing unit SSPU is requested according to the clock synchronization, is returned to synchronized timestamp management thread
Confirmation message is returned, complete system time is generated.
In some embodiments, as shown in figure 5, the workflow of camera in the system is：It is synchronized first by signal
Processing unit SSPU timing issues pulse-triggered camera and acquires data, when synchronous signal synchronous processing unit SSPU is by crystal oscillator clock
Between timestamp as camera, using step-by-step counting as the pulse train number of corresponding timestamp, by the timestamp and its corresponding
Pulse train number is uploaded to the synchronized timestamp management thread 142.
Camera starts and acquires image, generate subsidiary sequence of message number data packet (have in data packet acquisition time and
Image feature data) after, by data packet and it is uploaded to the data acquisition line journey 141.
It, can be with after synchronized timestamp management thread 142 receives the timestamp and its corresponding pulse train number
Judge whether packet loss by the pulse train number of timestamp.If packet loss occurs, according to the corresponding timestamp of last time pulse train number
With frequency acquisition to current time stamp information completion, and (pulse train number of loss, frequency acquisition are currently lost by packet loss information
Lose number) charge to log log.
The data acquisition line journey 141 receives the data packet of camera and by sequence of message number judgement subsidiary in data packet
Data whether packet loss.If packet loss occurs, packet loss information (sequence of message number of loss, frequency acquisition currently lose number) is remembered
Enter log log.
Finally, the data acquisition line journey 141 is asked for according to sequence of message number to synchronized timestamp management thread 142
Corresponding timestamp.The synchronized timestamp management thread 142 asks for corresponding timestamp, according to request is asked for, returns to it
Timestamp.Obtained timestamp and data packet group are synthesized a complete data packet by the data acquisition line journey 141, and are deposited
It stores up in memory.The storage implement body can be the readable logic computing unit storage medium of any suitable type, such as
Flash memory, mechanical hard disk etc..
In some embodiments, packet loss can also be calculated.It is more than preset threshold in packet loss, then stops the sensor
Data acquire and reset or report an error.If packet loss is less than threshold value, allows access into and acquire next time.The data can answer
Use time-sensitive application.
In some embodiments, as shown in figure 4, the workflow of laser radar in the system is：Firstly, the number
It controls laser radar according to collecting thread 141 to open, laser radar timing transmitting laser is simultaneously sent out to signal synchronous processing unit SSPU
Pulse triggering signal synchronous processing unit SSPU out, laser radar generate the data packet of subsidiary sequence of message number and by data packets
Directly it is uploaded to data acquisition line journey 141.Wherein, there is launch time and laser radar data in the data packet.
The signal synchronous processing unit SSPU receives the pulse that laser radar issues, using the clock time of crystal oscillator as sharp
The timestamp of optical radar, using step-by-step counting as the pulse train number of corresponding timestamp, by pulse train number and corresponding timestamp
It is uploaded to the synchronized timestamp management thread 142.
The data acquisition line journey 141 receives the data packet of laser radar and by sequence of message number subsidiary in data packet
Judge data whether packet loss, if packet loss, by packet loss information (sequence of message number of loss, frequency acquisition currently lose number)
Charge to log log.
Finally, the data acquisition line journey 141 is asked for according to sequence of message number to synchronized timestamp management thread 142
Corresponding timestamp.The synchronized timestamp management thread 142 asks for corresponding timestamp, according to request is asked for, returns to it
Timestamp.Obtained timestamp and data packet group are synthesized a complete data packet by the data acquisition line journey 141, and are deposited
It stores up in memory.The storage implement body can be the readable logic computing unit storage medium of any suitable type, such as
Flash memory, mechanical hard disk etc..
In some embodiments, packet loss can also be calculated.It is more than preset threshold, then stop sensor work in packet loss
Make.If packet loss is less than threshold value, allows access into and acquire next time.The data can be applied to time-sensitive application.
In further embodiments, signal synchronous processing unit SSPU can also be by capturing trigger signal come recording laser
Radar timestamp, and interference signal is judged whether it is according to frequency acquisition.
For the workflow of inertance element in the system：Firstly, the data acquisition line journey 141 controls inertia member
Part is opened, and inertance element acquires motion information in real time, and timing is sent described in pulse-triggered to signal synchronous processing unit SSPU
Signal synchronous processing unit SSPU.
The signal synchronous processing unit SSPU receives the pulse that inertance element issues, using the micro controller system time as
The timestamp of inertance element reads the data of inertance element using step-by-step counting as the pulse train number of corresponding timestamp.So
Afterwards, the pulse train number, corresponding timestamp and inertance element data are uploaded to the synchronized timestamp and manage thread 142.
After the synchronized timestamp management thread 142 receives the data of the inertance element, it is stored in memory.
The storage implement body can be the readable logic computing unit storage medium of any suitable type, such as flash memory, mechanical hard
Disk etc..The data can be applied to time-sensitive application.
For the workflow of encoder：It is opened firstly, the data acquisition line journey 141 controls encoder, encoder is real
When acquire motion information.Encoder data is read in microcontroller timing, using the micro controller system time as the time of encoder
Stamp, using step-by-step counting as the pulse train number of corresponding timestamp, by the pulse train number, corresponding timestamp and encoder data
It is uploaded to the synchronized timestamp management thread 142.
The synchronized timestamp management thread 142 receives the encoder data for being integrated with temporal information, is stored
Into memory.The storage implement body can be the readable logic computing unit storage medium of any suitable type, such as dodge
It deposits, mechanical hard disk etc..The data can be applied 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 signal synchronous processing unit SSPU receives used
Property the pulse that issues of element, using the clock time of crystal oscillator as the timestamp of inertance element and encoder, using step-by-step counting as
The sequence number of corresponding timestamp, reads the data of inertance element and encoder, by sequence number, corresponding timestamp, inertance element number
The synchronized timestamp management thread 142 is uploaded to according to encoder data.
As shown in fig. 6, at the sensor data acquisition method (or packet loss judgment method) of above system, including signal synchronization
Reason cell S SPU, several sensors and logic computing unit, signal synchronous processing unit SSPU include microcontroller and mention
For the crystal oscillator of synchronised clock, signal synchronous processing unit SSPU is connect by sensor interface with the sensor, and signal is synchronous
Processing unit SSPU is connect by communication interface with the logic computing unit, and sensor is connected by communication interface and computer
It connects；Sensor generates primary data and its sequence of message number when issuing or receiving trigger pulse；Signal synchronous processing unit
SSPU reads system time and generates timestamp and its pulse train while receiving or issuing sensor acquisition data pulse
Number；It further include following specific steps：
1) logic computing unit reads the primary data and its sequence of message number of sensor；And according to sequence of message information
Judge sensor data flow whether packet loss, if packet loss, by packet loss information, (such as the sequence number lost, frequency acquisition currently loses
Lose number) charge to log log；
2) logic computing unit obtains the timestamp and its pulse train number of signal synchronous processing unit SSPU；And according to arteries and veins
Rush sequence number information judge time stamp data stream whether packet loss, if packet loss, according to the corresponding timestamp of last time pulse train number
Data and the current time stamp data information of frequency acquisition completion, and by packet loss information (such as the sequence number lost, frequency acquisition,
It is current to lose number) charge to log log.
3) sequence of message number and pulse train number are carried out one-to-one correspondence matching by logic computing unit, successful match it is initial
Data and time stamp data combine generation sensor data packet；When it fails to match with pulse train number for sequence of message number
When, then wait next matching.
In the present embodiment, logic computing unit records packet loss information in real time, calculates packet loss.If packet loss is more than default
Threshold value then takes movement (such as sensor resets or reports an error)；If packet loss is less than threshold value, continue to execute.
It include the timestamp of ultimate sequence number, signal synchronous processing unit SSPU upload in the sensor data packet
The data uploaded with independent sensor.Ultimate sequence number can be pulse train number or sequence of message number, preferably message sequence
Row number.
In the present embodiment, every frame primary data format that sensor uploads is：
| Sequence of message number | Data |
The sequence of message number of the sequence of message number of present frame and previous frame is in be incremented by relationship, is divided into 1.
Signal synchronous processing unit SSPU upload every frame data format be：
| Pulse train number | Timestamp |
The pulse train number of the pulse train number of present frame and previous frame is in be incremented by relationship, is divided into 1.
In this implementation, packet loss deterministic process includes loss of data judgement, the judgement of timestamp loss and matching process.
When loss of data judges, it is divided into 1 between the sequence of message number in sensor primary data, if it find that present frame
Sequence of message number is greater than 1 than previous frame, then is judged as packet loss, and packet loss number is that sequence of message difference subtracts 1.If packet loss will be lost
Package informatin (sequence of message number of loss, frequency acquisition currently lose number) charges to log log, as diagnosis basis.
When timestamp loss judges, it is divided into 1 between the pulse train number in timestamp information, if it find that the arteries and veins of present frame
It rushes sequence number and is greater than 1 than previous frame, be then judged as packet loss, packet loss number is that sequence of message difference subtracts 1.And by packet loss information
(pulse train number of loss, currently lose number) charges to log log, as follow-up diagnosis foundation.
Matching process：The data acquisition line journey of logic computing unit obtains the data and corresponding report that sensor uploads first
Literary sequence number, right backward signal synchronous processing unit SSPU timestamp management thread ask for timestamp information, pass through sequence of message
Number and the one-to-one relationship of pulse train number carry out matching combination.Final group is combined into complete data packet, and data format is：
| Timestamp | Sequence of message number | Data |
Sequence of message number is the sequence number of every frame after combination, and successful match adds a processing.
Processing that it fails to match：In matching process, pulse that the sequence of message number in sensing data is got with current cable
When sequence number can not correspond, then terminate the matching process enter waiting match next time.
Multi-sensor data collection method about above system is further described below：
One, there is GPS mode
The acquisition of 1.GPS data
SSPU obtains GPS clock information and as the time system benchmark of SSPU itself by serial communication, and according to GPS
Clock information carries out error compensation to the crystal oscillator of SSPU itself.And the position that equipment can be obtained by GPS as needed is believed
Breath.
Two, without GPS mode
SSPU carries out timing as benchmark using temporal system.
1, GPS data acquires
SSPU obtains GPS clock information and as the time system benchmark of SSPU itself by serial communication, and according to GPS
Clock information carries out error compensation to the crystal oscillator of SSPU itself, and environment is without GPS signal where equipment, when SSPU uses itself
Between system carry out timing.
And the location information of equipment can be obtained by GPS as needed.
2, Visible Light Camera acquires
The end PC (logic computing unit) carries out data acquisition to Visible Light Camera, and timestamp carries out unified pipe by SSPU
Reason, SSPU module is by pulse signal triggering camera and using the triggering moment as the timestamp of the picture frame, while to pulse
Signal carries out counting and as data sequence number, and timestamp, data sequence number are finally uploaded to PC together.
Once the end PC (logic computing unit) receives the timestamp information of picture frame, obtains scheme to Visible Light Camera at once
As data, and timestamp information and image data are merged into a frame partial data.
3, thermal image analysis instrument acquires
The end PC (logic computing unit) carries out data acquisition to thermal image analysis instrument, and timestamp carries out unified pipe by SSPU
Reason, SSPU module is by pulse signal triggering thermal image analysis instrument and using the triggering moment as the timestamp of the picture frame, together
When to pulse signal carry out count and as data sequence number, timestamp, data sequence number are finally uploaded to PC together.
Once the end PC (logic computing unit) receives the timestamp information of picture frame, obtained at once to thermal image analysis instrument
Image data, and timestamp information and image data are merged into a frame partial data.
4,2D laser radar acquires
The end PC (logic computing unit) carries out data acquisition to radar, and timestamp is managed collectively by SSPU, SSPU
Module will flutter at the time of catching radar pulse signal along side as the timestamp of radar, while using step-by-step counting as data sequence
Number, and timestamp, data sequence number are uploaded to PC together.
The end PC (logic computing unit) reads laser radar and uploads data simultaneously, and a data are added before every frame data
Mark of the sequence number as data, and the end PC (logic computing unit) according to the sequence in the sequence number and data in timestamp
Number timestamp and data are corresponded, is finally merged into the complete data of a frame.
5,3D laser radar acquires
The own system time by serial communication is transferred to 3D laser radar according to unix format and in whole number of seconds by SSPU
When export 1 frequency be 1Hz pulse signal to laser radar, i.e. the clock of laser radar has carried out synchronous with SSPU.Laser
SSPU timestamp information is had in radar output data.
6, IMU is acquired
IMU data, timestamp are read out and are managed by SSPU, and complete data are uploaded to the end PC (logic calculation
Unit).
7, encoder acquires
Two-way encoder data, timestamp are read out and are managed by SSPU, and complete data are uploaded to the end PC and (are patrolled
Collect computing unit).
In system and or method provided in an embodiment of the present invention, the workflow of a variety of different sensors is provided.Tool
Body can requirement according to the actual situation, selection uses in the various sensors such as camera, inertial navigation, laser radar and encoder
One or more kinds of combinations.
In conclusion multisensor time synchronization system provided in an embodiment of the present invention, passes through signal synchronous processing unit SSPU
The acquisition time for managing each sensor enables the acquisition time of each sensor to be managed in the same clock system, enables each
The acquisition time of a sensor is uniformly arrived under coordinate system at the same time with low skewed manner.And the clock synchronization method of synchronization of SSPU
For hardware synchronization, and temperature compensation supplement process is carried out to crystal oscillator, clock synchronization precision is high.
The data precision finally obtained by multiple sensors is higher, apply it is more accurate in time-sensitive occasion, clock synchronization at
This is lower.Different sensor flexibly configurables, forms different combinations, adapts to different usage scenarios.
It, can according to the technique and scheme of the present invention and this hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
It should be appreciated that arrangement as described herein is merely for example purpose.Therefore, it will be appreciated by persons skilled in the art that its
He arranges and other element (for example, machine, interface, function, sequence and group of function etc.) can be used as substitution to use,
And as expected result can be completely omitted some elements.In addition, many in described element is functional entity,
The functional entity may be implemented as it is any suitable combination or position in discrete or distributed component, or with other groups
Part combines, or can combine the other structures component for being described as absolute construction.
Although various aspects and embodiment have been disclosed herein, other aspect and embodiment are for art technology
Personnel will be apparent.Various aspects disclosed herein and embodiment for illustrative purpose and are not intended to and are limited
System, wherein indicating the whole for the equivalent that real range and such claim are enjoyed by the appended claims
Range.It is also understood that term as used herein and is not intended to and is limited only for describing specific embodiment.
Claims (10)
1. a kind of sensor data acquisition method, including signal synchronous processing unit SSPU, several sensors and logic calculation
Unit, sensor generate primary data and its sequence of message number when issuing or receiving trigger pulse；Signal synchronous processing unit
SSPU the pulse for receiving or issuing sensor acquisition data simultaneously, read system time and generate timestamp and its pulse train
Number；It further include following specific steps：
1) primary data and its sequence of message number of sensor are read；
2) timestamp and its pulse train number of signal synchronous processing unit SSPU are obtained；
3) sequence of message number and pulse train number are subjected to one-to-one correspondence matching, the primary data and time stamp data of successful match
Combine generation sensor data packet.
2. a kind of sensor data acquisition method according to claim 1, which is characterized in that the step 1) is to 3) by patrolling
Computing unit is collected to complete.
3. a kind of sensor data acquisition method according to claim 1, which is characterized in that the logic computing unit is real
Shi Jilu packet loss information calculates packet loss, if packet loss is more than preset threshold, takes movement；If packet loss is less than
Threshold value continues to execute.
4. a kind of sensor data acquisition method according to claim 1, which is characterized in that in the sensor data packet
It include the data of ultimate sequence number, the timestamp that signal synchronous processing unit SSPU is uploaded and sensor upload, ultimate sequence
Number it can be pulse train number or sequence of message number.
5. a kind of sensor data acquisition method according to claim 1, which is characterized in that the logic computing unit packet
Include the data acquisition line journey for acquiring sensing data, for receive timestamp from signal synchronous processing unit SSPU and
The synchronized timestamp management thread and memory of pulse train number.
6. a kind of sensor data acquisition method according to claim 1, which is characterized in that the signal synchronization process list
First SSPU include microcontroller and provide synchronised clock crystal oscillator, signal synchronous processing unit SSPU by sensor interface with
The sensor connection, signal synchronous processing unit SSPU are connect by communication interface with the logic computing unit, sensor
It is connect by communication interface with computer.
7. a kind of sensor data acquisition method according to claim 6, which is characterized in that microcontroller using crystal oscillator as
Clock source generates the system time of signal synchronous processing unit SSPU.
8. a kind of sensor data acquisition system, which is characterized in that using one kind as described in any one of claims 1 to 7
Sensor data acquisition method.
9. a kind of sensor data acquisition packet loss judgment method, which is characterized in that including signal synchronous processing unit SSPU, several
Sensor and logic computing unit, signal synchronous processing unit SSPU include the crystalline substance of microcontroller and offer synchronised clock
Vibration, signal synchronous processing unit SSPU are connect by sensor interface with the sensor, and signal synchronous processing unit SSPU is logical
It crosses communication interface to connect with the logic computing unit, sensor is connect by communication interface with computer；Sensor is issuing
Or when receiving trigger pulse, primary data and its sequence of message number are generated；Signal synchronous processing unit SSPU is being received or is being issued
Sensor acquires the pulse of data simultaneously, reads system time and generates timestamp and its pulse train number；It further include following specific
Step：
1) logic computing unit reads the primary data and its sequence of message number of sensor；And judged according to sequence of message information
Whether packet loss information if packet loss is charged to log log to the initial data stream of only sensor by packet loss；
2) logic computing unit obtains the timestamp and its pulse train number of signal synchronous processing unit SSPU；And according to pulse sequence
Row information judge time stamp data stream whether packet loss, if packet loss, according to the corresponding time stamp data of last time pulse train number
The time stamp data information current with frequency acquisition completion, and packet loss information is charged into log log；
3) sequence of message number and pulse train number are carried out one-to-one correspondence matching, the primary data of successful match by logic computing unit
Generation sensor data packet is combined with time stamp data；When it fails to match for sequence of message number and pulse train number, then
Wait matching next time.
10. a kind of sensor data acquisition packet loss judgment method according to claim 9, which is characterized in that the packet loss
Information includes the sequence number lost, frequency acquisition and currently loses number.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017107404512 | 2017-08-25 | ||
| CN201710740451.2A CN107743054A (en) | 2017-08-25 | 2017-08-25 | System during a kind of synchronous pair of multisensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108900272A true CN108900272A (en) | 2018-11-27 |
| CN108900272B CN108900272B (en) | 2021-02-19 |
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 Before (1)
| 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 |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110892671A (en) * | 2018-12-03 | 2020-03-17 | 深圳市大疆创新科技有限公司 | Aircraft, data processing system and data processing method for aircraft |
| CN111348046A (en) * | 2018-12-24 | 2020-06-30 | 长城汽车股份有限公司 | Target data fusion method, system and machine-readable storage medium |
| CN111447259A (en) * | 2020-03-12 | 2020-07-24 | 江西珉轩智能科技有限公司 | Self-adaptive data collaborative acquisition method and 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 |
| CN111791232A (en) * | 2020-06-03 | 2020-10-20 | 中南民族大学 | Robot chassis control system and method based on time hard synchronization |
| CN113037434A (en) * | 2019-12-26 | 2021-06-25 | 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 |
| 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 |
| CN114253211A (en) * | 2021-12-15 | 2022-03-29 | 意欧斯智能科技股份有限公司 | Method for mutual verification of PLC and upper computer WCS signals |
| CN114614910A (en) * | 2022-03-09 | 2022-06-10 | 江苏斯菲尔电气股份有限公司 | Pulse signal low-power-consumption wireless transmission system and method |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| EP3540428A1 (en) * | 2018-03-12 | 2019-09-18 | Sensirion AG | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN110286377B (en) * | 2019-06-19 | 2021-09-03 | 青海大学 | Dual-band weather radar observation control method and system |
| US11227194B2 (en) * | 2019-07-16 | 2022-01-18 | Baidu Usa Llc | Sensor synchronization offline lab validation system |
| CN112339768B (en) * | 2019-08-09 | 2021-12-17 | 顺丰科技有限公司 | Vehicle chassis control method, device and storage medium |
| CN110567453B (en) * | 2019-08-21 | 2021-05-25 | 北京理工大学 | Bionic eye multi-channel IMU and camera hardware time synchronization method and device |
| 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 |
| 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 |
| 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 |
| 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 |
| JP2022019093A (en) * | 2020-07-17 | 2022-01-27 | セイコーエプソン株式会社 | Overshoot amount detection method and robot 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 |
| 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 |
| 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 |
| 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 |
| CN114964175B (en) * | 2022-03-30 | 2023-05-23 | 华南理工大学 | Multi-sensor data synchronous acquisition device and acquisition method |
| 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1897561A (en) * | 2005-07-12 | 2007-01-17 | 中兴通讯股份有限公司 | Method for protecting VOIP digital signal processing channel |
| US20150185054A1 (en) * | 2013-12-30 | 2015-07-02 | Motorola Mobility Llc | Methods and Systems for Synchronizing Data Received from Multiple Sensors of a Device |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105426121B (en) * | 2015-10-30 | 2018-01-16 | 山东科技大学 | Boat-carrying multisensor integrated measuring data real-time storage method |
-
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
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1897561A (en) * | 2005-07-12 | 2007-01-17 | 中兴通讯股份有限公司 | Method for protecting VOIP digital signal processing channel |
| US20150185054A1 (en) * | 2013-12-30 | 2015-07-02 | Motorola Mobility Llc | Methods and Systems for Synchronizing Data Received from Multiple Sensors of a Device |
| 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 |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110892671A (en) * | 2018-12-03 | 2020-03-17 | 深圳市大疆创新科技有限公司 | Aircraft, data processing system and data processing method for aircraft |
| 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 |
| CN111348046A (en) * | 2018-12-24 | 2020-06-30 | 长城汽车股份有限公司 | Target data fusion method, system and machine-readable storage medium |
| 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 |
| CN113037434B (en) * | 2019-12-26 | 2022-04-15 | 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 |
| CN113037434A (en) * | 2019-12-26 | 2021-06-25 | 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 |
| CN111447259A (en) * | 2020-03-12 | 2020-07-24 | 江西珉轩智能科技有限公司 | Self-adaptive data collaborative acquisition method and system |
| 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 |
| CN111791232A (en) * | 2020-06-03 | 2020-10-20 | 中南民族大学 | Robot chassis control system and method based on time hard synchronization |
| 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 |
| CN113916216A (en) * | 2020-09-09 | 2022-01-11 | 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 |
| 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 |
| CN114253211A (en) * | 2021-12-15 | 2022-03-29 | 意欧斯智能科技股份有限公司 | Method for mutual verification of PLC and upper computer WCS signals |
| CN114614910A (en) * | 2022-03-09 | 2022-06-10 | 江苏斯菲尔电气股份有限公司 | Pulse signal low-power-consumption wireless transmission system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108900272B (en) | 2021-02-19 |
| CN109104259A (en) | 2018-12-28 |
| CN107743054A (en) | 2018-02-27 |
| CN109104259B (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108900272A (en) | Sensor data acquisition method, system and packet loss judgment method | |
| CN109922260B (en) | Data synchronization method and synchronization device for image sensor and inertial sensor | |
| WO2021031604A1 (en) | Method and device for hardware time synchronization between multi-channel imus and cameras of bionic eye | |
| CN105940390B9 (en) | Method and system for synchronizing data received from multiple sensors of a device | |
| CN105930580B (en) | Time synchronization and data exchange device and method for joint simulation of power system and information communication system | |
| CN113496545B (en) | Data processing system, method, sensor, mobile acquisition backpack and equipment | |
| CN112383675B (en) | Time synchronization method and device and terminal equipment | |
| KR20140049361A (en) | Multiple sensor system, and apparatus and method for three dimensional world modeling using the same | |
| WO2018228352A1 (en) | Synchronous exposure method and apparatus and terminal device | |
| JPWO2008129593A1 (en) | COMMUNICATION SYSTEM, MANAGEMENT DEVICE, COMMUNICATION DEVICE, AND COMPUTER PROGRAM | |
| Tessier et al. | A real-time, multi-sensor architecture for fusion of delayed observations: application to vehicle localization | |
| WO2023093054A1 (en) | Data processing method, apparatus, and system, device, and storage medium | |
| KR20210087495A (en) | Sensor data processing methods, devices, electronic devices and systems | |
| CN107948515A (en) | A kind of camera synchronous method and device, binocular camera | |
| CN112606000B (en) | Method for automatically calibrating robot sensor parameters, calibration room, equipment and computer medium | |
| CN106210689A (en) | A kind of picture synchronization collection system and method | |
| CN112822480A (en) | VR system and positioning tracking method thereof | |
| CN111405139B (en) | Time synchronization method, system, visual mileage system and storage medium | |
| CN110855902A (en) | High-precision multipath aerial survey camera exposure time synchronization device and method based on FPGA | |
| CN111556226A (en) | Camera system | |
| CN108282631A (en) | Integrated space camera automatization test system | |
| CN109602345A (en) | A kind of vision sweeping robot and its barrier-avoiding method | |
| WO2023165569A1 (en) | Multi-sensor simultaneous positioning method and apparatus, system, and storage medium | |
| CN110234029A (en) | The play handling method and device of multi-sensor data | |
| CN115729743A (en) | Sensing system test data recharging device and method and readable storage medium |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220622 Address after: Room 107-f, building 25, No. 1399, liangmu Road, Cangqian street, Yuhang District, Hangzhou, Zhejiang 311121 Patentee after: Smiles (Hangzhou) Technology Co.,Ltd. Address before: Room b1-605-2, 198 Qidi Road, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang 311200 Patentee before: HANGZHOU DEZE ROBOT TECHNOLOGY Co.,Ltd. |