CN110535550A - Clock synchronous method, apparatus, equipment and storage medium - Google Patents
Clock synchronous method, apparatus, equipment and storage medium Download PDFInfo
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- CN110535550A CN110535550A CN201910754424.XA CN201910754424A CN110535550A CN 110535550 A CN110535550 A CN 110535550A CN 201910754424 A CN201910754424 A CN 201910754424A CN 110535550 A CN110535550 A CN 110535550A
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- 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
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- 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
- H04J3/0667—Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays
Abstract
In accordance with an embodiment of the present disclosure, a kind of method, apparatus, equipment and storage medium that clock is synchronous is provided.This method comprises: receiving corresponding first synchronization signal from multiple sensor devices at the first sensor device；It is non-reference clock equipment in response to the first sensor device, determines that the second sensor device, the second sensor device are less than scheduled threshold value at a distance from the first sensor device from multiple sensor devices；And based on from received first synchronization signal of the second sensor device, the clock system of the first sensor device is adjusted with synchronous with the second sensor device.Based on such mode, it can efficiently realize that the clock between multiple sensor devices is synchronous.
Description
Technical field
Embodiment of the disclosure relates generally to the communications field, and more particularly, to the synchronous method, apparatus of clock,
Equipment and computer readable storage medium.
Background technique
Nowadays various types of sensor devices have become a part important in human lives.For example, camera, laser thunder
It reaches, the sensors such as millimetre-wave radar are widely used in intelligent transportation field to provide the ability of perception ambient enviroment.
In the sensor device network being made of multiple sensor devices, in different sensors equipment include crystal oscillator may
It has differences and may may be deposited between the clock signal in different sensor devices by the influence of varying environment, therefore
It is deviating, to cause bringing error when to merging from the data of different sensor devices.
Summary of the invention
According to an example embodiment of the present disclosure, a kind of scheme that clock is synchronous is provided.
In the first aspect of the disclosure, a kind of method that clock is synchronous is provided.This method comprises: being set in the first sensing
Standby place receives corresponding first synchronization signal from multiple sensor devices；It is non-reference clock equipment in response to the first sensor device,
Determine that the second sensor device, the second sensor device are less than scheduled threshold at a distance from the first sensor device from multiple sensor devices
Value；And based on from received first synchronization signal of the second sensor device, adjusting the clock system of the first sensor device with the
Two sensor devices are synchronous.
In the second aspect of the disclosure, a kind of device synchronous for clock is provided.The device includes: reception mould
Block is configured as at the first sensor device receiving corresponding first synchronization signal from multiple sensor devices；Determining module is matched
Being set in response to the first sensor device is non-reference clock equipment, determining second sensor device from multiple sensor devices, second
Sensor device is less than scheduled threshold value at a distance from the first sensor device；And adjustment module, it is configured as being based on from the second sense
Received first synchronization signal of measurement equipment adjusts the clock system of the first sensor device with synchronous with the second sensor device.
In the third aspect of the disclosure, a kind of equipment, including one or more processors are provided；And storage dress
It sets, for storing one or more programs, when one or more programs are executed by one or more processors, so that one or more
The method that a processor realizes the first aspect according to the disclosure.
In the fourth aspect of the disclosure, a kind of computer readable storage medium is provided, is stored thereon with computer journey
Sequence realizes the method for the first aspect according to the disclosure when program is executed by processor.
It should be appreciated that content described in Summary be not intended to limit embodiment of the disclosure key or
Important feature, it is also non-for limiting the scope of the present disclosure.The other feature of the disclosure will become easy reason by description below
Solution.
Detailed description of the invention
It refers to the following detailed description in conjunction with the accompanying drawings, the above and other feature, advantage and aspect of each embodiment of the disclosure
It will be apparent.In the accompanying drawings, the same or similar attached drawing mark indicates the same or similar element, in which:
Multiple embodiments that Fig. 1 shows the disclosure can be in the schematic diagram for the example context wherein realized；
Fig. 2 shows the flow charts of the synchronous process of clock according to an embodiment of the present disclosure；
Fig. 3 shows the flow chart of the process of the second sensor device of determination according to an embodiment of the present disclosure；
Fig. 4 shows the flow chart of the process of adjustment clock system according to an embodiment of the present disclosure；
Fig. 5 shows the schematic block diagram of the device synchronous for clock according to an embodiment of the present disclosure；And
Fig. 6 shows the block diagram that can implement the calculating equipment of multiple embodiments of the disclosure.
Specific embodiment
Embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the certain of the disclosure in attached drawing
Embodiment, it should be understood that, the disclosure can be realized by various forms, and should not be construed as being limited to this
In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the disclosure.It should be understood that
It is that being given for example only property of the accompanying drawings and embodiments effect of the disclosure is not intended to limit the protection scope of the disclosure.
In the description of embodiment of the disclosure, term " includes " and its similar term should be understood as that opening includes,
I.e. " including but not limited to ".Term "based" should be understood as " being based at least partially on ".Term " one embodiment " or " reality
Apply example " it should be understood as " at least one embodiment ".Term " first ", " second " etc. may refer to different or identical right
As.Hereafter it is also possible that other specific and implicit definition.
As discussed above, there may be offsets for the clock system between different sensor devices.When some traditional
Clock synchronization scheme can use NTP (Network Time Protocol) Service of Timing to realize that the clock between different sensor devices is synchronous.
However, such Clock Synchronization Technology is often based on the propagation that Ethernet synchronizes signal, such delay for example may
To the rank of 20ms, this is often difficult in certain scenes (for example, intelligent transportation scene) more demanding for clock accuracy
With receiving.
In accordance with an embodiment of the present disclosure, a kind of scheme synchronous for clock is proposed.In this scenario, in the first sensing
Corresponding first synchronization signal is received from multiple sensor devices at equipment；It is that non-reference clock is set in response to the first sensor device
It is standby, determine that the second sensor device, the second sensor device are less than predetermined at a distance from the first sensor device from multiple sensor devices
Threshold value；And based on from received first synchronization signal of the second sensor device, adjust the clock system of the first sensor device with
It is synchronous with the second sensor device.By making each sensor device preferentially realize that clock is synchronous with neighbouring sensor device, according to
The scheme of embodiment of the disclosure can quickly and accurately realize the synchronization between multiple sensor devices.
Hereinafter reference will be made to the drawings to specifically describe embodiment of the disclosure.Fig. 1 shows multiple embodiment energy of the disclosure
Enough schematic diagrames in the example context 100 wherein realized.
Multiple embodiments that Fig. 1 shows the disclosure can be in the schematic diagram for the example context 100 wherein realized.Example ring
Border 100 has been shown as example the situation that clock is synchronous between multiple sensor devices with intelligent transportation.In the example context 100
Diagrammatically illustrate some typical objects, including road 102, one or more sensor device 110-1,110-2,110-3 and
110-4 and vehicle 105.It should be appreciated that the facility and object shown in these are only examples, and according to the actual situation, different traffic
There is the object being likely to occur in environment will change.The scope of the present disclosure is not limited in this respect.
In the example of fig. 1, vehicle 105 just travels on road 102.Vehicle 105, which can be, can carry people and/or object
And by the mobile any kind of vehicle of the dynamical systems such as engine, including but not limited to car, truck, bus, electronic
Vehicle, motorcycle, caravan, train etc..One or more vehicles 105 in environment 100 can be with certain automatic Pilot energy
The vehicle of power, such vehicle are also referred to as automatic driving vehicle.Certainly, another in environment 100 or some vehicles 105
It can also be the vehicle without automatic Pilot ability.
In some embodiments, sensor device 110 can be the roadside device independently of vehicle 105 in environment 100, be used for
The situation of environment 100 is monitored, to obtain perception information relevant to environment 100.In some embodiments, 110 (example of sensor device
Such as, sensor device 110-1 and 110-3) top of road 102 can be disposed in.In some embodiments, sensor device 110
(for example, sensor device 110-2 and 110-4) can also be disposed in the two sides of road 102.In some embodiments, sensing is set
Standby 110 are also possible to the sensing device being mounted on vehicle 105.In embodiment of the disclosure, sensor device 110 for example can be with
Including at least one of the following: imaging sensor, laser radar and millimetre-wave radar etc..
In the driving procedure of vehicle 105, vehicle 105 can receive for example above road sensor device (for example,
Sensor device 110-1 and 110-3) and both sides of the road sensor device (for example, sensor device 110-2 and 110-4) data,
Received data is merged, to realize the more accurate perception of vehicle 105 or positioning.Such technology also referred to as counts
According to fusion.During data fusion, it is desirable that the data clock system having the same from different sensor devices.However,
As described above, there may be a degree of offsets between the clock system of different sensor devices, and then will cause
Data fusion generates certain error, and then influences the perception or decision process of vehicle.
In accordance with an embodiment of the present disclosure, with sensor device 110-1, sensor device 110-2, sensor device 110-3 and sensing
Equipment 110-4 as an example, sensor device 110 can according to received synchronization signal realize multiple sensor devices 110
Clock is synchronous.
Below with reference to Fig. 2 to Fig. 4 description process synchronous according to the clock of the embodiment of the present disclosure.Fig. 2 shows bases
The flow chart of the synchronous process 200 of clock between the sensor device of the embodiment of the present disclosure.For the convenience of description, below with reference to figure
1 describes process 200.
As shown in Fig. 2, 202, sensor device 110-1 (for the convenience of description, referred to as the first sensor device) is from multiple senses
Measurement equipment receives corresponding first synchronization signal.For example, as shown in Fig. 2, the first sensor device 110-2 can for example be set from sensing
Standby 110-1, sensor device 110-3 and sensor device 110-4 receive corresponding first synchronization signal.
In some embodiments, multiple sensor devices are (for example, sensor device 110-1, sensor device 110-3 and sensing are set
Standby 110-4) it can use any wireless communication technique appropriate to send the first synchronization signal to the first sensor device 110-2.
For example, the point-to-point connection between the first sensor device 110-2 and multiple sensor devices can be constructed, to realize the first synchronous letter
Number point-to-point transmission.In some embodiments, multiple sensor devices (for example, sensor device 110-2, sensor device 110-3 and
Sensor device 110-4) can also periodically peripherad other sensor devices be broadcast periodically the first synchronization signal, without
Construct the point-to-point connection of the first sensor device 110-2 and the second sensor device 110-2.
In some embodiments, multiple sensor devices may include ultra wide band (UWB) communication equipment being coupled, and will
First synchronization signal of required transmission is modulated to UWB pulse signal, to be sent to the first sensor device 110-2.It is logical in view of UWB
The spectrum width of letter is larger, which can be presented as the other burst pulse of delicate or even nanosecond, thus energy in time domain
Enough improve the accuracy that clock is synchronous between sensor device.
In some embodiments, it is synchronous at least to indicate that the first sensor device 110-2 receives previous second for the first synchronization signal
First time of reception of signal is (for the convenience of description, be denoted as tr1), multiple sensor devices send previous synchronization signal first and send
Moment is (for the convenience of description, be denoted as ts1) and the first sensor device 110-2 send the second synchronization signal the second sending instant (for
Facilitate description, is denoted as ts2).Wherein the first sending instant ts1It is to be recorded by multiple sensor devices in multiple sensor devices
Clock system in send the first synchronization signal at the time of, the first time of reception tr1With the second sending instant ts2It is by the first sense
At the time of in the clock system in the first sensor device 110-2 of measurement equipment 110-2 record.
Determine whether the first sensor device 110-2 is non-reference clock equipment in 204, first sensor device 110-2, wherein
Non-referenced clockwork refers to the needs sensor device synchronous with the reference clock equipment progress clock in sensor device.For example,
In the example of fig. 1, sensor device 110-1 can be set to reference clock equipment.In response to determining the first sensing 204
110-2 is non-reference clock equipment, and method 200 may proceed to 206, wherein the first sensor device is true from multiple sensor devices
Fixed second sensor device, wherein the second sensor device is less than scheduled threshold value at a distance from the first sensor device 110-2.
In some embodiments, multiple sensor devices 110 can be installed fixedly, therefore the distance between it
Know in advance.It in this case, such as can be the specified another sensing that will be synchronized to always of each sensor device 110
Equipment.For example, in the example of fig. 1, the sensing synchronized therewith can be set for the first sensor device 110-2 is specified in advance
It is standby to be and first sensor device 110-1 distance the second sensor device 110-1 of minimum.
In some embodiments, the mark of multiple sensor devices 110 is also based on to determine the first sensor device 110-2
The second sensor device 110-1 that part will synchronize therewith.206 detailed process is described below with reference to Fig. 3, Fig. 3 is shown
According to the flow chart of the process of determination the second sensor device of the embodiment of the present disclosure.
As shown in figure 3, first sensor device 110-2 can determine multiple sensings from corresponding first synchronization signal 302
The mark (for the convenience of description, referred to as second identifier) of equipment, wherein identifying the spatial distribution at least indicating multiple sensor devices.
In some embodiments, as described above, the first synchronization signal can indicate to send the mark of the sensor device of the signal.
For example, in the example of fig. 1, different sensor device marks can be arranged for multiple sensor devices 110, so that device identification
Close on the propinquity that can embody sensor device spatial distribution.For example, can be set respectively for sensor device 110-1 to 110-4
Corresponding mark (ID1, ID2, ID3 and ID4) is set, wherein the distance between sensor device corresponding to two adjacent marks is small
In scheduled threshold value.It should be appreciated that mark can be identified using the mode appropriate such as number, character string, it is enumerated above
The specific example of mark is not intended to be limiting the scope of the present disclosure.
304, first sensor device 110-2 can based on second identifier and the first sensor device 110-1 mark (in order to
Facilitate description, referred to as first identifier), the second sensor device is selected from multiple sensor devices.In some embodiments, the first sense
Measurement equipment 110-2 can safeguard an identification list, synchronize wherein having recorded the first sensor device 110-2 and receiving from it to first
The mark of the sensor device of signal.For example, the first sensor device 110-2 can safeguard identification list { ID1, ID3 and ID4 }.In
In some embodiments, the first sensor device 110-2 can for example be less than first identifier ID2 and and first identifier from identification list
The difference of ID2 is less than the mark of predetermined threshold.In some instances, difference can be marked by calculating the difference for the value that two identify
Know, for example, the difference between different numerical value.In another example, difference can also indicate ASCII corresponding to two character strings
Difference.In other examples, difference can also indicate the difference of the length of two character strings.It should be appreciated that can be using suitable
When mode identify the difference between two marks, as long as mark is arranged according to certain sequence, and corresponding to adjacent mark
The distance between sensor device be less than scheduled threshold value.For example, in the example of fig. 1, the first sensor device 110-2 can be from
Determine that the second sensor device is sensor device 110-1 corresponding to mark ID1 in multiple sensor devices.
In some embodiments, in order to guarantee that the available time of synchronization signal, the first sensor device 110-2 can be tieed up only
The mark for receiving from it the sensor device to the first synchronization signal in shield predetermined amount of time (for example, 1 minute), so that from second
Second time of reception that sensor device receives the first synchronization signal is later than the scheduled threshold value moment.For example, in the example of fig. 1,
First sensor device 110-2 is, for example, before 5 minutes, this from the time that sensor device 110-4 receives the first synchronization signal
In the case of, the first sensor device 110-2 can only maintain identification list { ID1, ID3 }, and in response to not set from sensing in 1 minute
Standby 110-4 receives new synchronization signal and removes corresponding mark ID4 from identification list.
With continued reference to Fig. 2, it is based in 208, first sensor device 110-2 from the second sensor device 110-1 received first
Synchronization signal adjusts the clock system of the first sensor device 110-2 with synchronous with the second sensor device 110-1.In some implementations
In example, the first sensor device 110-2 can be based on the signal sending instant information for including in the first synchronization signal to realize first
The clock of sensor device 110-2 and the second sensor device 110-1 are synchronous.208 detailed process, Fig. 4 are described below with reference to Fig. 4
Show the flow chart of the process of the clock system of the first sensor device of adjustment.
As shown in figure 4, first sensor device 110-2 can be sent out from first the first sensor device of synchronous signal obtaining 402
When the first sending instant of previous second synchronization signal, the second sensor device being sent to receive the first reception of previous second synchronization signal
Carve the second sending instant that the first synchronization signal is sent with the second sensor device.As described above, the first synchronization signal is extremely
Oligodactyly shows that the first sensor device 110-2 receives first time of reception of previous second synchronization signal from the second sensor device 110-1
tr1, the second sensor device 110-1 send previous the first sending instant of synchronization signal ts1The is sent with the first sensor device 110-2
Second sending instant t of two synchronization signalss2。
The first sending instant, first time of reception, the second sending instant can be based in 404, first sensor device 110-2
Second time of reception of first synchronization signal is received with the first sensor device, adjusts the clock system of the first sensor device.
Specifically, the first sensor device 110-2 can be based on the first sending instant ts1, the first time of reception tr1, second hair
Send moment ts2With the second time of reception tr2To determine the clock difference of the first sensor device 110-2 and the second sensor device 110-1.
Specifically, it is contemplated that the call duration time between the first sensor device 110-2 and the second sensor device 110-1 was fixed, therefore the
The clock difference Δ t of one sensor device 110-2 and the second sensor device 110-1 can be determined that Δ t=(ts1+tr2–tr1–ts2)/
2。
Further, the first sensor device 110-2 can adjust the clock system of the first sensor device 110-2 according to clock difference
System is with synchronous with the second sensor device 110-2.For example, the clock of the first sensor device 110-2 can be adjusted with clock difference Δ
t。
Based on such mode, the clock system of the first sensor device 110-2 can be adjusted with the second sensor device
110-1 is synchronous.In some embodiments, the first sensor device 110-2 can also be broadcast periodically the second synchronization signal, so that
Obtain the synchronization that multiple sensor devices at least execute clock system based on the second synchronization signal.Specifically, multiple sensings are set
Other sensor devices in standby, can be determined with the process similar fashion with reference to described in the first sensor device 110-1 and its
The synchronous sensor device of clock is carried out, for example, sensor device 110-3 can be synchronous with sensor device 110-2 progress clock, and is felt
It is synchronous that measurement equipment 110-4 can carry out clock with sensor device 110-3.Therefore, after several periods, multiple senses may be implemented
The clock for the sensing system that measurement equipment is constituted is synchronous.
In some embodiments, first synchronization signal that the multiple sensor device is broadcast periodically is received.
In some embodiments, when using periodic broadcast to realize in the synchronous situation of the clock of multiple sensor devices,
Multiple sensor devices can carry out broadcast synchronization signal with identical broadcast cycle.For example, the broadcast cycle example of each sensor device
It such as can be set to 1 second.In addition, as described above, time difference between the clock system of two sensor devices can be with
It is confirmed as Δ t=(ts1+tr2–tr1–ts2)/2, therefore work as ts1With tr2Time interval it is longer be, due to sensor device when
Error caused by master slave system may be bigger.Therefore, in order to reduce due to clock system bring error, embodiment of the disclosure is also
At the time of adjustable each sensor device broadcast synchronization signal, so that being done as quickly as possible in the first sensor device 110-2
And the second round trip message between sensor device 110-1.
In some embodiments, the example for continuing Fig. 1, in response to completing the clock system of the first sensor device 110-2 of adjustment
System, the first sensor device 110-2 of adjustment send the first sending instant of next second synchronization signal, so that: when the first transmission
It carves and is later than expected receive by the expection time of reception of the second sensor device 110-1 next first synchronization signal sent；And
The time difference of first sending instant and the expected time of reception are less than scheduled threshold value.In some embodiments, in order to determine expection
The time of reception, the first sensor device 110-2 can determine that the first sensor device receives the first synchronization signal from the second sensor device
Second time of reception；And when based on the broadcast cycle of second time of reception and predetermined second synchronization signal determining expected receive
It carves.
For example, being carried out in the synchronous situation of clock by ultra-wideband communications, when two sensor devices while broadcast synchronization
When signal, due to Electromagnetic Interference, signal can not may be received each other, therefore, can make the wide of different sensor devices
Sowing time, which carves, at least differs a minimum time unit (for example, 1 millisecond).For example, the first sensor device 110-2 can recorde from
It is the 1st millisecond in a cycle at the time of two sensor device 110-1 receive the first synchronization signal, and the first sensor device
The time of original the second synchronization signal of periodic broadcast of 110-2 is the 10th millisecond in a cycle.In this example, the first sense
Adjustable the first sending instant for broadcasting the second synchronization signal next time of measurement equipment 110-2, so that in next cycle
The 2nd millisecond of the second synchronization signal of broadcast, to broadcast the conflict of multiple synchronization signals, but also energy in synchronization not only avoiding
Time needed for enough shortening the round trip message for the sensor device that two need clock synchronization, to improve the accurate of clock synchronization
Rate.
In addition, the adjustment of broadcast time can also be executed for other sensor devices in multiple sensor devices, to make
Multiple sensor devices broadcast moments can be on-demand and adjacent distribution, and then improve the sense being made of multiple sensor devices
The synchronous accuracy rate of the overall time of examining system.
Fig. 5 shows the schematic block diagram of the device 500 synchronous for clock according to the embodiment of the present disclosure.Device 500
It can be included in the first sensor device 110-2 of Fig. 1 or be implemented as the first sensor device 110-2.As shown in figure 5,
Device 500 includes receiving module, is configured as at the first sensor device synchronous from multiple sensor devices reception corresponding first
Signal.Device 500 further includes determining module 504, and being configured to respond to the first sensor device is non-reference clock equipment, from more
Determine that the second sensor device, the second sensor device are less than scheduled threshold value at a distance from the first sensor device in a sensor device.
In addition, device 500 further includes adjustment module 506, it is configured as adjusting based on from received first synchronization signal of the second sensor device
The clock system of whole first sensor device is with synchronous with the second sensor device.
In some embodiments, receiving module 502 includes: the first synchronous signal receiver module, is configured as receiving multiple
The first synchronization signal that sensor device is broadcast periodically.
In some embodiments, device 500 further include:
Broadcast module is configured as being broadcast periodically the second synchronization signal by the first sensor device, so that multiple senses
Measurement equipment at least executes the synchronization of clock system based on the second synchronization signal.
In some embodiments, wherein broadcast module includes: sending instant adjustment module, is configured to respond to complete to adjust
The clock system of whole first sensor device, the first sensor device of adjustment send the first sending instant of next second synchronization signal,
So that:
First sending instant is later than the expection of expected next first synchronization signal for receiving and being sent by the second sensor device
The time of reception；And the time difference of the first sending instant and the expected time of reception are less than scheduled threshold value.
In some embodiments, device 500 further include: the second time of reception determining module is configured to determine that the first sense
Measurement equipment receives second time of reception of the first synchronization signal from the second sensor device；And expected time of reception determining module,
It is configured as determining the expected time of reception based on the broadcast cycle of second time of reception and predetermined second synchronization signal.
In some embodiments, determining module 504 includes: mark determining module, is configured as synchronous from corresponding first
Signal determines that the mark of multiple sensor devices, mark at least indicate the spatial distribution of multiple sensor devices；And selecting module, quilt
It is configured to the first identifier of second identifier and the first sensor device, the second sensor device is selected from multiple sensor devices.
In some embodiments, wherein being later than from second time of reception that the second sensor device receives the first synchronization signal pre-
The fixed threshold value moment.
In some embodiments, it wherein adjustment module 506 includes: acquisition module, is configured as obtaining from the first synchronization signal
The first sensor device is taken to send the first sending instant of previous second synchronization signal, the second sensor device receives previous second and synchronizes
First time of reception of signal and the second sensor device send the second sending instant of the first synchronization signal；And clock adjusts mould
Block is configured as receiving first together based on the first sending instant, first time of reception, the second sending instant and the first sensor device
Second time of reception of signal is walked, the clock system of the first sensor device is adjusted.
In some embodiments, adjustment module 506 includes: clock difference determining module, when being configured as sending based on first
Quarter, first time of reception, the second sending instant and second time of reception, determine the first sensor device and the second sensor device when
Clock deviation；And synchronization module, the clock system that the first sensor device is adjusted according to clock difference is configured as to sense with second
Equipment is synchronous.
Fig. 6 shows the schematic block diagram that can be used to implement the example apparatus 600 of embodiment of the disclosure.Equipment 600
It can be used to implement the sensor device 110 of Fig. 1.As shown, equipment 600 includes central processing unit (CPU) 601, it can be with
Random access is loaded into according to the computer program instructions being stored in read-only memory (ROM) 602 or from storage unit 608
Computer program instructions in memory (RAM) 603, to execute various movements appropriate and processing.In RAM 603, may be used also
Storage equipment 600 operates required various programs and data.CPU 601, ROM 602 and RAM 603 pass through bus 604 each other
It is connected.Input/output (I/O) interface 605 is also connected to bus 604.
Multiple components in equipment 600 are connected to I/O interface 605, comprising: input unit 606, such as keyboard, mouse etc.；
Output unit 607, such as various types of displays, loudspeaker etc.；Storage unit 608, such as disk, CD etc.；And it is logical
Believe unit 609, such as network interface card, modem, wireless communication transceiver etc..Communication unit 609 allows equipment 600 by such as
The computer network of internet and/or various telecommunication networks exchange information/data with other equipment.
Processing unit 601 executes each method as described above and processing, such as process 200.For example, in some implementations
In example, process 200 can be implemented as computer software programs, be tangibly embodied in machine readable media, such as storage list
Member 608.In some embodiments, some or all of of computer program can be via ROM 602 and/or communication unit 609
And it is loaded into and/or is installed in equipment 600.It, can be with when computer program loads to RAM 603 and when being executed by CPU 601
Execute the one or more steps of procedures described above 200.Alternatively, in other embodiments, CPU 601 can pass through it
His any mode (for example, by means of firmware) appropriate and be configured as implementation procedure 200.
Function described herein can be executed at least partly by one or more hardware logic components.Example
Such as, without limitation, the hardware logic component for the exemplary type that can be used includes: field programmable gate array (FPGA), dedicated
Integrated circuit (ASIC), Application Specific Standard Product (ASSP), the system (SOC) of system on chip, load programmable logic device
(CPLD) etc..
For implement disclosed method program code can using any combination of one or more programming languages come
It writes.These program codes can be supplied to the place of general purpose computer, special purpose computer or other programmable data processing units
Device or controller are managed, so that program code makes defined in flowchart and or block diagram when by processor or controller execution
Function/operation is carried out.Program code can be executed completely on machine, partly be executed on machine, as stand alone software
Is executed on machine and partly execute or executed on remote machine or server completely on the remote machine to packet portion.
In the context of the disclosure, machine readable media can be tangible medium, may include or is stored for
The program that instruction execution system, device or equipment are used or is used in combination with instruction execution system, device or equipment.Machine can
Reading medium can be machine-readable signal medium or machine-readable storage medium.Machine readable media can include but is not limited to electricity
Son, magnetic, optical, electromagnetism, infrared or semiconductor system, device or equipment or above content any conjunction
Suitable combination.The more specific example of machine readable storage medium will include the electrical connection of line based on one or more, portable meter
Calculation machine disk, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM
Or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage facilities or
Any appropriate combination of above content.
Although this should be understood as requiring operating in this way with shown in addition, depicting each operation using certain order
Certain order out executes in sequential order, or requires the operation of all diagrams that should be performed to obtain desired result.
Under certain environment, multitask and parallel processing be may be advantageous.Similarly, although containing several tools in being discussed above
Body realizes details, but these are not construed as the limitation to the scope of the present disclosure.In the context of individual embodiment
Described in certain features can also realize in combination in single realize.On the contrary, in the described in the text up and down individually realized
Various features can also realize individually or in any suitable subcombination in multiple realizations.
Although having used specific to this theme of the language description of structure feature and/or method logical action, answer
When understanding that theme defined in the appended claims is not necessarily limited to special characteristic described above or movement.On on the contrary,
Special characteristic described in face and movement are only to realize the exemplary forms of claims.
Claims (20)
1. a kind of method synchronous for clock, comprising:
Corresponding first synchronization signal is received from multiple sensor devices at the first sensor device；
It is non-reference clock equipment in response to first sensor device, determines that the second sensing is set from the multiple sensor device
Standby, second sensor device is less than scheduled threshold value at a distance from first sensor device；And
Based on from received first synchronization signal of second sensor device, adjust the clock system of first sensor device with
It is synchronous with second sensor device.
2. according to the method described in claim 1, wherein including: from the first synchronization signal of multiple sensor devices reception
Receive first synchronization signal that the multiple sensor device is broadcast periodically.
3. according to the method described in claim 1, further include:
Second synchronization signal is broadcast periodically by first sensor device, so that the multiple sensor device is at least based on
Second synchronization signal executes the synchronization of clock system.
4. according to the method described in claim 3, wherein broadcasting second synchronization signal and including:
In response to completing the clock system of adjustment first sensor device, it is next to adjust the first sensor device transmission
First sending instant of the second synchronization signal, so that:
First sending instant is later than expected next first synchronization signal for receiving and being sent by second sensor device
It is expected that the time of reception；And
The time difference of first sending instant and the expected time of reception are less than scheduled threshold value.
5. according to the method described in claim 4, further include:
Determine that first sensor device receives second time of reception of first synchronization signal from second sensor device；
And
The expected time of reception is determined based on second time of reception and the broadcast cycle for making a reservation for second synchronization signal.
6. according to the method described in claim 1, wherein determining that the second sensor device includes: from the multiple sensor device
Determine that the second identifier of the multiple sensor device, the mark at least indicate institute from corresponding first synchronization signal
State the spatial distribution of multiple sensor devices；And
First identifier based on the second identifier and the first sensor device, selects described second from the multiple sensor device
Sensor device.
7. according to the method described in claim 1, wherein receiving the of first synchronization signal from second sensor device
Two times of reception were later than the scheduled threshold value moment.
8. according to the method described in claim 1, the clock system for wherein adjusting first sensor device includes:
From the first sensor device described in first synchronous signal obtaining send previous second synchronization signal the first sending instant,
Second sensor device receives first time of reception of previous second synchronization signal and second sensor device is sent
Second sending instant of first synchronization signal；And
Based on first sending instant, first time of reception, second sending instant and first sensor device
Second time of reception of first synchronization signal is received, the clock system of first sensor device is adjusted.
9. according to the method described in claim 8, the clock system for wherein adjusting first sensor device includes:
Based on first sending instant, first time of reception, second sending instant and second time of reception,
Determine the clock difference of first sensor device Yu second sensor device；And
The clock system of first sensor device is adjusted according to the clock difference with same with second sensor device
Step.
10. a kind of device synchronous for clock, comprising:
Receiving module is configured as at the first sensor device receiving corresponding first synchronization signal from multiple sensor devices；
Determining module, being configured to respond to first sensor device is non-reference clock equipment, is set from the multiple sensing
Standby middle the second sensor device of determination, second sensor device are less than scheduled threshold value at a distance from first sensor device；
And
Module is adjusted, is configured as adjusting first sense based on from received first synchronization signal of second sensor device
The clock system of measurement equipment is with synchronous with second sensor device.
11. device according to claim 10, wherein the receiving module includes:
First synchronous signal receiver module is configured as receiving the multiple sensor device is broadcast periodically described first together
Walk signal.
12. device according to claim 10, further includes:
Broadcast module is configured as being broadcast periodically the second synchronization signal by first sensor device, so that described more
A sensor device at least executes the synchronization of clock system based on second synchronization signal.
13. device according to claim 12, wherein the broadcast module includes:
Sending instant adjusts module, is configured to respond to the clock system for completing to adjust first sensor device, adjusts
Whole first sensor device sends the first sending instant of next second synchronization signal, so that:
First sending instant is later than expected next first synchronization signal for receiving and being sent by second sensor device
It is expected that the time of reception；And
The time difference of first sending instant and the expected time of reception are less than scheduled threshold value.
14. device according to claim 13, further includes:
Second time of reception determining module is configured to determine that first sensor device receives institute from second sensor device
State second time of reception of the first synchronization signal；And
It is expected that time of reception determining module, is configured as based on second time of reception and makes a reservation for second synchronization signal
Broadcast cycle determines the expected time of reception.
15. device according to claim 9, wherein the determining module includes:
Determining module is identified, is configured as determining the mark of the multiple sensor device from corresponding first synchronization signal,
It is described to identify the spatial distribution at least indicating the multiple sensor device；And
Selecting module is configured as the first identifier based on the second identifier and the first sensor device, from the multiple sensing
Second sensor device is selected in equipment.
16. device according to claim 9, wherein receiving the of first synchronization signal from second sensor device
Two times of reception were later than the scheduled threshold value moment.
17. device according to claim 9, wherein the adjustment module includes:
Module is obtained, is configured as sending the previous second synchronous letter from the first sensor device described in first synchronous signal obtaining
Number the first sending instant, second sensor device receive first time of reception of previous second synchronization signal and described
Second sensor device sends the second sending instant of first synchronization signal；And
Clock adjusting module, when being configured as sending based on first sending instant, first time of reception, described second
Second time of reception for receiving first synchronization signal with first sensor device is carved, first sensor device is adjusted
The clock system.
18. device according to claim 17, wherein the adjustment module includes:
Clock difference determining module is configured as sending based on first sending instant, first time of reception, described second
Moment and second time of reception, determine the clock difference of first sensor device Yu second sensor device；And
Synchronization module, be configured as the clock system that first sensor device is adjusted according to the clock difference with institute
It is synchronous to state the second sensor device.
19. a kind of electronic equipment, the electronic equipment include:
One or more processors；And
Memory, for storing one or more programs, when one or more of programs are by one or more of processors
When execution, so that the electronic equipment realizes method according to any one of claim 1 to 9.
20. a kind of computer readable storage medium is stored thereon with computer program, realization when described program is executed by processor
Method according to any one of claim 1 to 9.
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