CN111600670A - Inductive data calculation control method and time service device - Google Patents
Inductive data calculation control method and time service device Download PDFInfo
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Abstract
The application discloses a sensing data calculation control method and a time service device, wherein the time service device comprises: a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit comprises a data bus; the clock unit is used for providing a clock signal for the processor; the processor is used for generating a time synchronization signal according to the current time of the system and sending the time synchronization signal to the to-be-timed equipment connected to the sensor adapting unit through the data bus; the data bus is used for providing data transmission connection for the processor and the to-be-timed equipment connected to the sensor adapting unit; the sensor adaptation unit is used for connecting the device to be timed. By the device, continuous, stable and reliable time service can be provided for the sensor nodes of the system locally, the requirements of high transmission and high real-time performance of time service tasks in a multi-node system are met, and the effectiveness of calculation data and the accuracy of calculation results are improved.
Description
Technical Field
The invention relates to the technical field of automatic control data processing, in particular to a sensing data calculation control method, a time service device and an automatic driving sensing control system.
Background
In a task system with a high real-time requirement, time service realized in a specific mode is usually needed to meet the requirements of each node on accurate, stable and reliable time parameters, so that each node of the system can synchronously coordinate to act, and a specified task is completed within time-related requirements such as a specific time point, a time limit and the like. For example, in the application fields of robots, automatic driving and the like, in the practical application process, a large number of sensors and a processor are required to coordinate to realize environment sensing and positioning, in the process of needing multiple sensors to cooperate to complete a certain task, the timestamp information of each sensor has a great influence on the calculation result, good time synchronization can ensure that the sensor information has a correct timestamp to obtain a correct calculation result according to the sensor information, and if the time amount of sensing data is inaccurate, a lot of invalid data acquisition and calculation can be caused to influence the practical application of a system, and even wrong calculation results can be obtained with more serious consequences, so that the usability and safety of the system are greatly reduced.
In the prior art, the traditional time service mode is difficult to meet the characteristic requirements under some application environments. In a system using multiple sensors, such as a robot or an autonomous driving system, the frequency of time service tasks is high, and in an application policy with priority to safety, it is required to check the time of all sensor data. In addition, because the real-time requirements of the systems on sensing and calculation are high, the time service device is determined to work in a very high-efficiency state, for example, in the field of automatic driving, the automatic driving system needs to quickly respond to road conditions to adjust the motion state of a vehicle, the process needs synchronous coordination of a plurality of sensors, and if the sensing data of the sensors are provided with accurate timestamps, the automatic driving system can be very favorable for accurately judging variable road conditions. For the high-speed and real-time requirements of the time service process, some traditional time service modes such as network time service are difficult to meet. For a system which is similar to automatic driving and is often in motion, a remote time service mode is often influenced by signal strength, and the requirement of time service real-time performance is difficult to meet.
In summary, the problem to be solved by those skilled in the art is to provide a time service device, which meets the requirements of a multi-sensor application system on high time service performance and real-time performance, improves the synchronous coordination capability of each sensor node, and improves the accuracy of a data induction calculation result.
Disclosure of Invention
The invention provides a sensing data calculation control method, a time service device and an automatic driving sensing control system, wherein the time service device can provide continuous, stable and reliable time service for sensor nodes of the system locally, the requirements of high transmission and high real-time performance of time service tasks in a multi-node system are met, and the effectiveness of calculation data and the accuracy of calculation results are improved.
The invention provides the following scheme:
a time service device, comprising:
a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit comprises a data bus;
the clock unit is used for providing a clock signal for the processor;
the processor is used for generating a time synchronization signal according to the current time of the system and sending the time synchronization signal to the to-be-timed equipment connected to the sensor adapting unit through the data bus;
the data bus is used for providing data transmission connection for the processor and the to-be-timed equipment connected to the sensor adapting unit;
the sensor adaptation unit is used for connecting the device to be timed.
An automatic driving sensing control system comprising:
the system comprises a first time service unit, a driving environment sensor node and a driving environment sensing data calculation unit;
the first time service unit is used for providing time service for the driving environment sensor node;
the driving environment sensor node is used for determining the equipment local time of the driving environment sensor node according to the time service of the first time service unit; and for perceiving the environmental object and generating environmental perception data; the context awareness data comprises timestamp information for performing an awareness action;
the driving environment sensing data calculation unit is used for receiving the environment sensing data generated by the driving environment sensor node, determining the validity of the environment sensing data according to the timestamp information in the environment sensing data, and calculating by using the environment sensing data after determining that the environment sensing data is valid.
A robotic induction control system comprising:
the environment sensing sensor node comprises a second time service unit, an environment sensing sensor node and an environment data calculation unit;
the second time service unit is used for providing time service for the environment sensing sensor node;
the environment sensing sensor node is used for determining the equipment local time of the environment sensing sensor node according to the time service of the second time service unit; and for perceiving the environmental object and generating environmental perception data; the context awareness data comprises timestamp information for performing an awareness action;
the environment data calculation unit is used for receiving the environment sensing data generated by the environment sensing sensor node, determining the validity of the environment sensing data according to the timestamp information in the environment sensing data, and calculating by using the environment sensing data after determining that the environment sensing data is valid.
A method of inductive data computation control, comprising:
time service is carried out on sensor node equipment in a local system;
receiving environment sensing data obtained by sensing an environment object by sensor node equipment; the context awareness data comprises timestamp information for performing an awareness action;
determining a time validity of the timestamp information in the context awareness data;
performing a calculation using the context awareness data after determining that the timestamp information is valid.
According to the specific embodiments provided herein, the present application discloses the following technical effects:
through the application, the local time service device applied to the multi-sensor node system can be realized, the defect that resources are limited in the existing time service mode and cannot meet large-scale application is overcome, the time service device can be used as a module unit in the system to continuously operate, continuous time service is carried out on related equipment, compared with the prior art, the requirements of high promptness and high real-time performance of time service tasks in multi-node system data acquisition and processing tasks can be met, and the local time service device also has the characteristics of rapid time service, high success rate, simplicity in deployment, no need of configuration, strong adaptability, low cost and wide application range.
Furthermore, the time service device can comprise a plurality of sensor adaptation units to access a plurality of sensor node devices needing time service, the time service of the multi-sensor node devices can be carried out through the same time service device, the accuracy and the synchronism of clocks of the sensor node devices can be guaranteed, and the effectiveness of calculation results is further guaranteed. Furthermore, the device can be provided with a plurality of sensor adapting units of different types, the problem that the sensor interface can only be selected singly due to the single interface required in the traditional time service mode is solved, the type of the sensor interface can be selected more freely in the application design and application process of the multi-node system, and the flexibility of the system is improved.
Furthermore, the time service device can judge whether the clock state of the sensor node equipment is abnormal or not according to the clock feedback signal of the sensor node equipment, and can enable the system to quickly react when the clock state of the sensor node equipment is judged to be abnormal, so that the effectiveness of system components and the whole system is ensured. In the application process, the device can provide accurate and reliable time service for each sensor node device, so that each sensor node device can be based on reliable and synchronous clock information when collecting data, the validity of system calculation data and the accuracy of calculation results are improved, the reliability of the whole system is ensured, and the safety performance of the system is improved.
In the automatic driving induction control system disclosed in the embodiment of the application, the first time service unit can provide time service for the driving environment sensor node. The driving environment sensor node can determine the device local time of the driving environment sensor node according to the time service of the time service unit, and the calibrated device local time is used when environment sensing is carried out to generate environment sensing data, namely the driving environment sensor node is used for sensing the environment and generating the environment sensing data, wherein the environment sensing data comprises timestamp information for executing sensing actions. And the driving environment sensing data calculation unit determines the validity of the environment sensing data according to the timestamp information in the environment sensing data before calculating according to the environment sensing data obtained by the sensor node, and calculates by using the environment sensing data after determining that the environment sensing data is valid. The time service unit ensures the clock consistency of the sensor nodes, and when in calculation, the time stamp information in each environment perception data is checked to determine the validity of the environment perception data, so that the data obtained by the sensor is generated under the specific time requirement, and the real-time performance of the data and the validity of the system reacting to the surrounding environment are ensured. When the fusion calculation of the environmental perception data of the multiple sensors is carried out, whether the action synchronism of each sensor node meets the requirement can influence whether the final calculation result is correct, so that the judgment of the whole automatic driving system on the environmental state is influenced. The automatic driving induction control system provided by the embodiment of the application can check the time characteristics of the environment sensing data of each sensor when the multi-sensor node data are fused, and can ensure that each data source, namely, the environment sensing data obtained by each sensor are obtained by synchronous action, so that the correctness of a fusion calculation result is ensured and improved, the accuracy of the automatic driving system for sensing the environment is improved, and the correct sensing of the environment has very important significance for improving the safety of the automatic driving system.
Of course, it is not necessary for any product to achieve all of the above-described advantages at the same time for the practice of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a time service device according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a data signal and an interrupt signal according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an automatic driving sensing control system according to a second embodiment of the present application;
fig. 4 is a schematic view of a robot sensing control system provided in the third embodiment of the present application;
fig. 5 is a flowchart of a sensing data calculation control method according to the fourth embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Systems in the fields of automatic driving, robots and the like generally relate to a plurality of sensor node devices, each node device cooperates in real time, a series of time-sensitive tasks can be completed only under the condition of accurate and reliable synchronous time, for example, data can be synchronously acquired through more than two sensor devices, fusion calculation can be performed to obtain a correct calculation result, such tasks require that each sensor node device has a synchronous and accurate clock, and the clock of a sensor node can be obtained through time service. In a multi-sensor node system like an automatic driving system or a robot, the occupation ratio of the processing tasks is high, so that the accurate and reliable time service of the nodes is particularly important. In some time service modes in the prior art, if a network time service mode is high in delay and limited in resources, the requirements of a multi-node system on high promptness and high real-time performance of time service tasks cannot be met, and a wireless remote time service mode is easily influenced by signal strength, limited in resources and high in cost, so that the requirements of the multi-sensor node system on time service under large-scale application conditions are difficult to meet. The embodiment of the application provides a time service device, which is a local device, and the time service device may be directly connected to a device to be time-serviced in a bus manner, and the device to be time-serviced may include some sensor node device or some sensor node devices of a system. The time service device can actively send time synchronization signals to the to-be-serviced equipment of the access system through the data bus, has the characteristics of high time service speed, high precision and stable operation, improves the response real-time performance of time service tasks of various sensor nodes, is easy to install and maintain, has low cost, and is very suitable for and easy to apply in a popular system.
Example one
Referring to fig. 1, which is a schematic diagram of a time service device according to an embodiment of the present invention, as shown in fig. 1, the time service device 100 may include: a clock unit 110, a processor 120, and a sensor adaptation unit 130; a data bus 1301 may be included in the sensor adaptation unit 130; the clock unit 110 is configured to provide a clock signal to the processor 120; the processor 120 is configured to generate a time synchronization signal according to the current system time, and send the time synchronization signal to a device to be timed, connected to the sensor adaptation unit 130, through the bus 1301; the data bus 1301 is used for providing data transmission connection for the processor 120 and the to-be-timed equipment connected to the sensor adapting unit 130; and the sensor adapting unit 130 is used for connecting the to-be-timed equipment. During specific work, the clock unit 110 is configured to provide an accurate clock signal for the processor 120 to ensure accuracy of system time, the processor may read current system time and generate a time synchronization signal according to the current system time, and the processor 120 may send the time synchronization signal to a device to be timed connected to the sensor adapting unit 130 through the data bus 1301 which plays a role in connection and data transmission, so that the device to be timed corrects its system time according to the time synchronization signal.
In a multi-sensor node system, firstly, a device to be timed can comprise a plurality of sensor nodes which need timing, which means that for the multi-sensor node system, a timing task is relatively heavy, especially for safety, the timing task in the system is often required to continuously run, and the traditional timing mode is difficult to meet the requirement; secondly, for the sensor devices used by different sensor device nodes, due to the design difference of the providers to the product interfaces and the technical index requirements in practical application, different types of sensor devices, even the same type of sensor devices, often use different types of interfaces. When considering that time service is used to obtain accurate time to complete some time-sensitive tasks, the existing time service mode is difficult to provide a product which can be universally used for various sensor interfaces, but a single time service interface form, such as an interface specified by an ethernet time service protocol, cannot be adopted due to the defects of insufficient resources and high time consumption, and the obvious defect is that the selection of sensor equipment is limited, and the direct result can be that some high-quality components cannot be used to build a more competitive system, even under some conditions, some technical indexes are difficult to achieve, so that the calculation cannot be completed, and the corresponding functions of part of the system cannot be realized. The preferred scheme of the time service device provided by the embodiment of the application solves the problems just well.
In a preferred embodiment, the timing device may comprise two or more sensor adapter units, for example, in the timing device shown in fig. 1, in addition to "sensor adapter unit 1", there may be "sensor adapter units 2", … … up to "sensor adapter unit N", where N is a natural number. The time service device can comprise two or more than two sensor adaptation units, the problem of continuous operation of time service tasks brought by multiple sensor equipment nodes can be well solved, and the requirement of frequent time service of the multiple sensor equipment nodes is met. In addition, each sensor adaptation unit can be provided with adaptation interfaces of the same or different types, the adaptation interfaces are matched with the interfaces of corresponding to-be-timed equipment, when the equipment interfaces used by each transmission equipment node in the system are different types of interfaces, the time service device can be matched with the to-be-accessed sensor equipment through the adaptation interfaces of the different types when time service operation is needed, and time synchronization signals are transmitted through buses in the time service device, so that the time service operation of the to-be-timed sensor equipment node is realized. When the sensor adapter units respectively include different types of adapter interfaces, each sensor adapter unit may also include different types of data buses, and the type of the data bus in each sensor adapter unit has a corresponding relationship with the type of the adapter interface, for example, the data bus 1301 may include USB, UART, I2C, SPI, CAN, and other types of digital buses, and accordingly, the sensor adapter units may provide corresponding types of adapter interfaces so as to match the types of the interfaces of the accessed sensor node devices and the technical indexes. In practical applications, a plurality of sensor adaptation units and a processor can also be connected by using a shared bus.
When the time service device specifically realizes time service to a certain device node, the processor 120 may send the time synchronization signal to a device to be time-serviced connected to the sensor adaptation unit through a data bus, and the device to be time-serviced may determine a clock correction parameter of the device to be time-serviced according to the arrival time of the time synchronization signal and the correct time included in the time synchronization signal, and then correct the clock of the sensor node device according to the determined clock correction parameter. In another embodiment, in order to enable the device to be timed to process the time synchronization task in time when receiving the time synchronization signal, an interrupt triggering mode may be adopted. The processor 120 may include an interrupt signal in a time synchronization signal sent to a device to be timed connected to the sensor adapting unit 130, specifically, the processor 120 may include a first interrupt signal and a synchronization data signal in the generated and sent time synchronization signal, where the first interrupt signal is sent to the device to be timed, so that the device to be timed generates an interrupt process, the synchronization data signal may include a current system time, and after the device to be timed generates an interrupt process according to the first interrupt signal, the local time of the device to be timed is calibrated according to the current system time in the synchronization data signal. The processor 120 may send out the first interrupt signal and the synchronous data signal synchronously, so that the device to be timed synchronizes the first interrupt signal and the synchronous data signal to capture and process. The sensor adapter unit 130 may include an interrupt output 1303, and the first interrupt signal may be sent to the accessed device to be timed through the interrupt output 1303 of the sensor adapter unit.
Under the embodiment that the time synchronization signal comprises a first interrupt signal and a synchronization data signal, the time service device can send the synchronization data signal to the accessed to-be-serviced device through the data bus, and the synchronization data signal comprises the current system time of the time service module
Meanwhile, a first interrupt signal is sent through the interrupt output, the device to be timed receives the first interrupt signal, and the local time of the device to be timed can be determined according to the arrival time of the first interrupt signal
By comparing the received current time of the system
And the local time of the device when the first interrupt signal arrives
And determining a clock correction parameter of the device to be timed so that the device to be timed compares the local time of the device to be timed according to the clock correction parameter to correct.
The processor 120 may periodically send a time synchronization signal to the device to be timed connected to the sensor adapter unit 130 at a preset frequency, for example, 1Hz, so that the device to be timed can continuously obtain time correction, ensure the accuracy of the clock of the sensor node device, and further obtain data with a correct time stamp based on the accurate clock to supply the data to the relevant computing unit for effective computation.
The time service device provided in the first embodiment of the present application may further receive a clock feedback signal of the sensor node device, and determine a clock state of the sensor node device according to the clock feedback signal of the sensor node device. In this embodiment, the processor 120 may be further configured to receive a clock feedback signal of the device to be timed connected to the sensor adapter unit, and determine a clock state of the device to be timed according to the received clock feedback signal. Further, the processor 120 may also feed back the clock status of the sensor node device to the host, where the host may be an upper computer, and may be responsible for processing various data obtained by the lower computer and controlling the operation of the lower computer, and the host may react according to different clock statuses of the sensor node device after receiving the clock status of the sensor node device, for example, when finding that the clock status of the sensor node device is out of an allowable error range, force the node device to time, or record and generate a report about the node device, and the like.
Specifically, when receiving a clock feedback signal of the sensor node device, the processor 120 may receive a clock feedback signal of a device to be timed connected to the sensor adaptation unit, where the clock feedback signal may include a current device time of the sensor node device, and the processor may obtain an offset of the current device time according to an arrival time of the clock feedback signal, and determine whether a clock state of the sensor node device is normal according to the offset. In another implementation, the interrupt-based implementation is also possible, in which the clock feedback signal may include a second interrupt signal and a feedback data signal, the second interrupt signal may cause the processor to enter an interrupt process, the sensor adaptation unit 130 may include an interrupt input 1302, and the second interrupt signal may be sent to the processor 120 through the interrupt input 1302 of the sensor adaptation unit.
The clock feedback signal of the sensor node equipment comprises a second interrupt signal and feedbackIn the implementation mode of the data signal, the time service device can receive a feedback data signal sent by the equipment to be time-serviced through the data bus, and the feedback data signal comprises the current equipment time of the sensor node equipment
Meanwhile, a second interrupt signal is received through the interrupt input, and after the processor receives the second interrupt signal, the system local time of the time service module can be determined according to the arrival time of the second interrupt signal
By comparing the received current time of the device
And system local time of arrival of the second interrupt signal
The clock status of the sensor node device is determined. When determining that the clock state of the device to be timed is abnormal, the processor 120 may be configured to generate clock state data of the device to be timed, and send the clock state data to the upper computer. For example when comparing the current time of the device
And system local time of arrival of the second interrupt signal
And after the difference value of the two is greater than a preset threshold value, the clock state abnormity of the sensor node equipment can be judged.
The time service device 100 may further include a power supply 140 for regulating an external voltage to a voltage required by internal components to supply power to the internal electrical components, and the time service device 100 may further include a battery 150 for providing a backup power supply to maintain critical data when the external power supply is stopped. The battery may also be used for run-time maintenance of the clock. The clock unit can provide pulse signals by using a voltage-controlled crystal oscillator, a constant-temperature crystal oscillator, a temperature compensation crystal oscillator and the like with stronger anti-interference performance. The data bus may use USB, ethernet, UART, RS232, RSR485, CAN, I2C, SPI, etc. type of bus. The data bus, the interrupt input and the interrupt output can be isolated and protected by using an optical coupler or an electromagnetic isolation chip, so that the interference between different signals sent out simultaneously is avoided. The processor can use ARM, DSP, FPGA and other types of chips. A first interrupt signal (interrupt output), a synchronous data signal; and a second interrupt signal (interrupt input), the timing relationship of the feedback data signal is shown in fig. 2. The interrupt output is used for controlling the local time of equipment generating the sensor node so as to compare the current time of the system sent through the data bus, the timeliness of the process of obtaining the correction parameter is very high, the process can be generally completed within one to a plurality of clock cycles, the clock correction precision reaches microsecond level, and the accuracy of the time service result is greatly improved. In addition, the interrupt input is used to control the system local time of the time service device to be generated, so that the determined interpolation value can accurately reflect the current clock state of the sensor node device compared with the current time of the device sent to the sensor node device through the data bus.
The time service device 100 may further include an external time service receiving module, and the external time service receiving module is connected to other external time service systems or similar time service devices to receive time services from other external time service systems such as GPS, compass, and the like or other similar time service devices. The time service module can communicate with the host through RS232, Ethernet, USB, WIFI, Bluetooth and other connection modes to exchange data, instructions and the like with the host. One multi-node system can adopt one or more time service devices to realize more interface expansion capacity and improve the robust characteristic of the system.
The time service device provided by the first embodiment of the present application is introduced in detail above, and by the device, a local time service device applied to a multi-sensor node system can be implemented, and a defect that resources are limited in an existing time service mode and cannot meet large-scale application is overcome. Furthermore, the time service device can comprise a plurality of sensor adaptation units to access a plurality of sensor node devices needing time service, the time service of the multi-sensor node devices can be carried out through the same time service device, the accuracy and the synchronism of clocks of the sensor node devices can be guaranteed, and the effectiveness of calculation results is further guaranteed. Furthermore, the device can be provided with a plurality of sensor adapting units of different types, the problem that the sensor interface can only be selected singly due to the single interface required in the traditional time service mode is solved, the type of the sensor interface can be selected more freely in the application design and application process of the multi-node system, and the flexibility of the system is improved. Furthermore, the time service device can judge whether the clock state of the sensor node equipment is abnormal or not according to the clock feedback signal of the sensor node equipment, and can enable the system to quickly react when the clock state of the sensor node equipment is judged to be abnormal, so that the effectiveness of system components and the whole system is ensured. In the application process, the device can provide accurate and reliable time service for each sensor node device, so that each sensor node device can be based on reliable and synchronous clock information when collecting data, the validity of system calculation data and the accuracy of calculation results are improved, the reliability of the whole system is ensured, and the safety performance of the system is improved.
Example two
Referring to fig. 3, a schematic diagram of the automatic driving sensing control system provided in the second embodiment of the present invention is shown, and as shown in fig. 3, the automatic driving sensing control system 300 may include a first time service unit 310, a driving environment sensor node 320, and a driving environment sensing data calculating unit 330; the first time service unit 310 can be used for providing time service for the driving environment sensor node. The driving environment sensor node 320 may determine a device local time of the driving environment sensor node according to the time service of the first time service unit, and use the calibrated device local time when performing environment sensing to generate environment sensing data, that is, the driving environment sensor node is used to sense the environment and generate the environment sensing data, where the environment sensing data may include timestamp information for performing a sensing action. The driving environment sensing data calculating unit 330 receives the environment sensing data obtained by the driving environment sensor node, determines the validity of the environment sensing data according to the timestamp information in the environment sensing data, and calculates using the environment sensing data after determining that the environment sensing data is valid.
In general, a plurality of driving environment sensor node devices exist in an automatic driving system, a plurality of sensors are required to coordinate and synchronously acquire environment data for one environment recognition task, which requires coordinated clocks among the plurality of sensors, and a first time service unit is required to grant synchronous clock data for the sensors, in this embodiment, the automatic driving induction control system 300 includes at least two driving environment sensor nodes which need time service operation, and the time service unit is connected with each driving environment sensor node and is used for providing time service for each driving environment sensor node; the driving environment sensing data calculation unit 330 receives the environment sensing data of each driving environment sensor node, determines the validity of each environment sensing data according to the timestamp information in each environment sensing data, and performs fusion calculation using each environment sensing data after determining that each environment sensing data is valid, thereby obtaining a fusion calculation result of the environment sensing data of the multiple sensors, and obtaining high-accuracy environment sensing through the fusion calculation result of the multiple sensors.
The first time service unit may adopt the time service device in the first embodiment, for example, the first time service unit may include: a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit may comprise a data bus; the processor can be used for generating a time synchronization signal according to the current time of the system and sending the time synchronization signal to a sensor node connected to the sensor adaptation unit through a data bus; the data bus may be used to provide a data transmission connection for the processor with the sensor nodes connected to the sensor adaptation unit, and the sensor adaptation unit may be used to connect the sensor nodes. The sensors connected by the sensor adaptation unit may comprise any of the following types of sensors: laser radar, monocular camera, binocular camera, satellite navigation module, inertial measurement unit IMU, millimeter wave radar, wheel speed meter and other inside sensor types that contain the clock.
In the above description, the automatic driving sensing control system according to the second embodiment of the present application is described in detail, and the automatic driving sensing control system includes the first time service unit and is capable of providing time service for the sensor node. The driving environment sensor node may determine device local time of the sensor node according to the time service of the first time service unit, and use the calibrated device local time when performing environment sensing to generate environment sensing data, that is, the driving environment sensor node is used to sense an environment and generate the environment sensing data, where the environment sensing data includes timestamp information for performing a sensing action. And the driving environment sensing data calculation unit determines the validity of the environment sensing data according to the timestamp information in the environment sensing data before calculating according to the environment sensing data obtained by the sensor node, and calculates by using the environment sensing data after determining that the environment sensing data is valid. The time service unit ensures the clock consistency of the driving environment sensor nodes, and during calculation, the time stamp information in each environment sensing data is checked to determine the validity of the environment sensing data, so that the data obtained by the sensor is generated under the specific time requirement, and the real-time performance of the data and the validity of the system reacting to the surrounding environment are ensured. When the fusion calculation of the environmental perception data of the multiple sensors is carried out, whether the action synchronism of each sensor node meets the requirement can influence whether the final calculation result is correct, so that the judgment of the whole automatic driving system on the environmental state is influenced. The automatic driving induction control system provided by the embodiment of the application can check the time characteristics of the environment sensing data of each sensor when the multi-sensor node data are fused, and can ensure that each data source, namely, the environment sensing data obtained by each sensor are obtained by synchronous action, so that the correctness of a fusion calculation result is ensured and improved, the accuracy of the automatic driving system for sensing the environment is improved, and the correct sensing of the environment has very important significance for improving the safety of the automatic driving system. In addition, the first time service unit in the automatic driving induction control system can comprise the time service device in the first embodiment, so that the automatic driving induction control system has partial or all technical effects of the time service device in the first embodiment.
EXAMPLE III
Referring to fig. 4, a schematic diagram of the robot induction control system provided in the third embodiment of the present application is shown, as shown in fig. 4, the robot induction control system 400 may include a second time service unit 410, an environmental sensing sensor node 420, and an environmental data calculation unit 430; the second time service unit 410 may be configured to provide time service for the environmental sensor node 420. The environmental awareness sensor node 420 may determine a device local time of the node according to the time service of the second time service unit, and use the calibrated device local time when performing environmental awareness to generate environmental awareness data, that is, the environmental awareness sensor node 420 is configured to sense an environment and generate the environmental awareness data, where the environmental awareness data may include timestamp information for performing a sensing action. The environment data calculation unit 430 receives the environment sensing data obtained by the environment sensing sensor node, determines validity of the environment sensing data according to timestamp information in the environment sensing data, and calculates using the environment sensing data after determining that the environment sensing data is valid.
In this embodiment, the robot sensing control system 400 includes at least two environment sensing sensor nodes that need timing operation, and the timing unit is connected to each environment sensing sensor node and is used for providing timing for each environment sensing sensor node; the environment data calculation unit 430 receives the environment sensing data of each environment sensing sensor node, determines the validity of each environment sensing data according to the timestamp information in each environment sensing data, and performs fusion calculation using each environment sensing data after determining that each environment sensing data is valid, thereby obtaining a fusion calculation result of the environment sensing data of the multiple sensors, and performs high-accuracy environment object sensing through the fusion calculation result of the multiple sensors.
The second time service unit may adopt the time service device in the first embodiment, for example, the second time service unit may include: a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit may comprise a data bus; the processor can be used for generating a time synchronization signal according to the current time of the system and sending the time synchronization signal to a sensor node connected to the sensor adaptation unit through a data bus; the data bus may be used to provide a data transmission connection for the processor with the sensor nodes connected to the sensor adaptation unit, and the sensor adaptation unit may be used to connect the sensor nodes. The sensors connected by the sensor adaptation unit may comprise any of the following types of sensors: laser radar, monocular camera, binocular camera, satellite navigation module, inertial measurement unit IMU, millimeter wave radar, wheel speed meter and other inside sensor types that contain the clock.
In the robot sensing control system provided by the third embodiment of the present application, the second time service unit is included in the system, so as to provide time service for the environmental sensing sensor node. The environment sensing sensor node may determine device local time of the node according to the time service of the second time service unit, and use the calibrated device local time when performing environment sensing to generate environment sensing data, that is, the environment sensing sensor node is used to sense an environment and generate environment sensing data, where the environment sensing data includes timestamp information for performing a sensing action. The environment data calculation unit can determine the validity of the environment sensing data according to the timestamp information in the environment sensing data before calculating according to the environment sensing data obtained by the sensor nodes, and calculates by using the environment sensing data after determining that the environment sensing data is valid. The second time service unit ensures the clock consistency of the environment sensing sensor nodes, and during calculation, the time stamp information in each environment sensing data is checked to determine the validity of the environment sensing data, so that the data obtained by the sensor is generated under the specific time requirement, and the real-time performance of the data and the validity of the system reacting to the surrounding environment are ensured. When the fusion calculation of the environmental perception data of the multiple sensors is carried out, whether the action synchronism of each sensor node meets the requirement can influence whether the final calculation result is correct, so that the judgment of the whole robot system on the environmental state is influenced. The robot induction control system provided by the third embodiment of the application can check the time characteristics of the environmental perception data of each sensor when the multi-sensor node data are fused, and can ensure that each data source, namely the environmental perception data obtained by each sensor are obtained by synchronous action, thereby ensuring and improving the correctness of a fusion calculation result, improving the accuracy of the robot system for perception of the environment, and having very important significance for improving the operation efficiency of the robot system for correct perception of the environment. In addition, the robot sensing control system according to the present invention may include the time service device according to the first embodiment, and thus, the second time service unit has some or all of the technical effects of the time service device according to the first embodiment.
Example four
The fourth embodiment of the application provides a sensing data calculation control method, which can be applied to an automatic system with multiple sensors, in particular to an automatic system which uses multiple sensor node devices and performs fusion calculation on sensing data of the multiple sensor node devices to perform sensing of an environmental object, and ensures the accuracy of a fusion calculation result by ensuring the clock consistency of the multiple sensors participating in sensing of the environmental object, thereby improving the reliability of the whole system. As shown in fig. 5, the method may include the steps of:
s510: time service is carried out on sensor node equipment in a local system;
and time service is carried out on the sensor node equipment in the local system, so that all the sensor node equipment in the system have a uniform and accurate clock. In order to further improve the clock accuracy of each sensor node device in the system and avoid the defects of high delay or limited resources of the existing time service mode, the time service unit in the local system can be used for time service of the sensor node device in the local system, for example, the time service device provided by the first embodiment is embedded in the local system, and the sensor node device in the local system is subjected to time service through the time service device installed locally, so that a more timely and reliable time service source is obtained for the sensor node device in the local system.
In one embodiment, the time service unit in the local system may have at least two different types of interface units, which are respectively connected to different sensor node devices having corresponding interface types, and provide time service for the different sensor node devices connected to the interface units, so as to improve adaptability of the time service unit, so that the time service unit in the local system may be suitable for sensor node devices having different interface types, and sensor model selection for system design is facilitated. The sensor node equipment is connected with a time service unit in a local system through a data bus. An interrupt signal line can be connected between the sensor node equipment and a time service unit in the local system to time service the sensor node equipment in the local system, the time service unit can send the current time of the system through a data bus and send an interrupt signal through the interrupt signal line at the same time, the sensor node equipment determines the equipment local time of the equipment to be time-serviced according to the arrival time of the interrupt signal, receives the current time of the system through the data bus, determines a clock correction parameter of the equipment to be time-serviced by comparing the current time of the system and the equipment local time, and corrects the equipment local time according to the clock correction parameter. Of course, the sensor node device may also send the device time to the system through the data bus and the interrupt signal line, so that the system can judge the clock state of the sensor node device. The content of the process can refer to the content of the corresponding part in the first embodiment, and is not described herein again.
The operation of time service for the sensor node equipment can be performed immediately after the system is powered on and started or after the sensor node equipment is powered on. The sensor node equipment waits for time service after being powered on, and enters a standby or working state after the time service is finished to obtain correct equipment local time of the sensor node equipment. Or, in order to further determine whether the clock state of the sensor node device is normal, the sensor node device waits for time service after being powered on, and can feed back the local time of the device to the upper system after the time service is completed, the upper system determines whether the clock state of the sensor node device is normal according to the local time of the device and the system time of receiving signals, and sends a message or an instruction to the sensor node device after determining that the clock state of the sensor node device is normal, and the sensor node device enters a standby state or a working state after receiving a signal that the upper system determines that the clock working condition of the sensor node device meets the requirement, wherein the clock working condition of the sensor node device comprises clock information of the sensor node device.
S520: receiving environment sensing data obtained by sensing an environment object by sensor node equipment; the context awareness data comprises timestamp information for performing an awareness action;
the sensor node equipment senses an environment object in the operation process to generate environment sensing data, the generated environment sensing data can be sent to the system computing unit to be computed, and when the environment sensing data are generated, timestamp information can be added into the environment sensing data according to the local equipment time of the sensor node equipment, namely the environment sensing data comprise timestamp information for executing sensing actions.
S530: determining a time validity of the timestamp information in the context awareness data;
s540: performing a calculation using the context awareness data after determining that the timestamp information is valid.
The system-related unit, for example, the calculation unit, may determine time validity of timestamp information in the environment sensing data after receiving the environment sensing data obtained by sensing the environment object by the sensor node device, and perform calculation using the environment sensing data after determining that the timestamp information is valid. Specifically, when determining the time validity of the timestamp information in the environmental awareness data, one implementation may be to compare the timestamp information of the environmental awareness data with the time when the environmental awareness data is received, and determine the time validity of the timestamp information in the environmental awareness data according to a comparison result. In some systems, when fusion calculation is performed on sensing data of multiple sensors, time synchronization of the sensing data of the multiple sensors in some application scenarios is far more important than time accuracy, and in such application scenarios, only time synchronization of the sensing data of the multiple sensors needs to be guaranteed before calculation. When the system includes a plurality of sensor node devices, the fusion calculation may be performed on the environment sensing data of several sensor nodes, for example, the fusion calculation may be performed on the environment sensing data of the sensor node devices such as radars and cameras of the system.
If the time validity of the timestamp information in the environmental perception data is determined, the timestamp state in the environmental perception data of one or more sensor node devices is abnormal, the corresponding sensor node device or the device management unit is abnormal, at this time, whether the corresponding sensor node device has clock abnormality or not can be judged according to the timestamp information of the environmental perception data, if yes, the corresponding sensor node device is forcibly timed, measures such as information prompt of the clock abnormality state of the sensor node device and/or generation of corresponding state records can be taken.
The sensing data calculation control method provided by the fourth embodiment of the application is described in detail above, and by the method, time can be provided for sensor node equipment in a local system; receiving environment perception data obtained by sensing an environment object by sensor node equipment, wherein the environment perception data can comprise timestamp information for executing a sensing action, and the time validity of the timestamp information in the environment perception data can be firstly determined during calculation; after determining that the timestamp information is valid, a calculation is performed using the context awareness data. The method for calculating and controlling the induction data can be applied to an automatic system of a plurality of sensors, particularly to an automatic system which uses a plurality of sensor node devices and carries out fusion calculation on the induction data of the plurality of sensor node devices to carry out induction of an environmental object.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The time service device, the automatic driving induction control system, the robot induction control system and the induction data calculation control method provided by the application are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the application, and the description of the above embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific embodiments and the application range may be changed. In view of the above, the description should not be taken as limiting the application.
Claims (27)
1. A time service device, comprising:
a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit comprises a data bus;
the clock unit is used for providing a clock signal for the processor;
the processor is used for generating a time synchronization signal according to the current time of the system and sending the time synchronization signal to the to-be-timed equipment connected to the sensor adapting unit through the data bus;
the data bus is used for providing data transmission connection for the processor and the to-be-timed equipment connected to the sensor adapting unit;
the sensor adaptation unit is used for connecting the device to be timed.
2. The device of claim 1, wherein the time service device comprises two or more of the sensor adapter units.
3. The apparatus of claim 2, wherein each sensor adapter unit comprises different types of adapter interfaces, and the adapter interfaces are matched with interfaces of corresponding devices to be timed.
4. The apparatus of claim 3, wherein each of the sensor adapter units comprises different types of data buses, and the type of the data bus in each of the sensor adapter units has a corresponding relationship with the type of the adapter interface.
5. The apparatus of claim 1, wherein the processor is configured to generate a time synchronization signal, wherein the time synchronization signal comprises a first interrupt signal and a synchronization data signal.
6. The time service device of claim 5, wherein the processor synchronously issues the first interrupt signal and the synchronous data signal.
7. The apparatus according to claim 5 or 6, wherein the synchronization data signal comprises a system current time; after the device to be timed receives the time synchronization signal, determining the local time of the device to be timed according to the arrival time of the first interrupt signal, and determining the clock correction parameter of the device to be timed by comparing the current time of the system with the local time of the device.
8. The apparatus of claim 5 or 6, wherein the processor periodically transmits the time synchronization signal at a preset frequency.
9. The device according to any one of claims 1 to 6, wherein the processor is further configured to receive a clock feedback signal of the device to be timed connected to the sensor adapting unit, and determine a clock state of the device to be timed according to the clock feedback signal.
10. The apparatus of claim 9, wherein the clock feedback signal comprises a second interrupt signal and a feedback data signal.
11. The apparatus according to claim 10, wherein the feedback data signal includes a device current time of the device to be timed, and the processor is configured to generate a system local time according to an arrival time of the second interrupt signal, and determine a clock state of the device to be timed by comparing the device current time with the system local time.
12. The apparatus according to claim 11, wherein the processor is further configured to generate clock status data of the device to be timed and send the clock status data to the upper computer when it is determined that the clock status of the device to be timed is abnormal.
13. An automatic driving induction control system, comprising:
the system comprises a first time service unit, a driving environment sensor node and a driving environment sensing data calculation unit;
the first time service unit is used for providing time service for the driving environment sensor node;
the driving environment sensor node is used for determining the equipment local time of the driving environment sensor node according to the time service of the first time service unit; and for perceiving the environmental object and generating environmental perception data; the context awareness data comprises timestamp information for performing an awareness action;
the driving environment sensing data calculation unit is used for receiving the environment sensing data generated by the driving environment sensor node, determining the validity of the environment sensing data according to the timestamp information in the environment sensing data, and calculating by using the environment sensing data after determining that the environment sensing data is valid.
14. The system of claim 13, wherein the automatic driving induction control system at least comprises two driving environment sensor nodes, and the first time service unit is connected with each driving environment sensor node and used for providing time service for each driving environment sensor node;
the driving environment sensing data calculation unit is used for receiving environment sensing data generated by each sensor node, determining the validity of each environment sensing data according to the timestamp information in each environment sensing data, and performing fusion calculation by using each environment sensing data after determining that each environment sensing data is valid.
15. The system according to claim 13 or 14, characterized in that the first time service unit comprises:
a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit comprises a data bus;
the clock unit is used for providing a clock signal for the processor;
the processor is used for generating a time synchronization signal according to the current time of the system and sending the time synchronization signal to a sensor node connected to the sensor adaptation unit through the data bus;
the data bus is used for providing data transmission connection for the processor and the sensor nodes connected to the sensor adapting unit;
and the sensor adaptation unit is used for connecting the sensor nodes.
16. A robotic induction control system, comprising:
the environment sensing sensor node comprises a second time service unit, an environment sensing sensor node and an environment data calculation unit;
the second time service unit is used for providing time service for the environment sensing sensor node;
the environment sensing sensor node is used for determining the equipment local time of the environment sensing sensor node according to the time service of the second time service unit; and for perceiving the environmental object and generating environmental perception data; the context awareness data comprises timestamp information for performing an awareness action;
the environment data calculation unit is used for receiving the environment sensing data generated by the environment sensing sensor node, determining the validity of the environment sensing data according to the timestamp information in the environment sensing data, and calculating by using the environment sensing data after determining that the environment sensing data is valid.
17. A method for inductive data computation control, comprising:
time service is carried out on sensor node equipment in a local system;
receiving environment sensing data obtained by sensing an environment object by sensor node equipment; the context awareness data comprises timestamp information for performing an awareness action;
determining a time validity of the timestamp information in the context awareness data;
performing a calculation using the context awareness data after determining that the timestamp information is valid.
18. The method of claim 17, wherein said timing sensor node devices within the local system comprises:
and time service is carried out on the sensor node equipment in the local system through a time service unit in the local system.
19. The method of claim 18, wherein the time service to the sensor node device in the local system by the time service unit in the local system comprises:
the time service unit is provided with at least two different types of interface units, is respectively connected with different sensor node devices with corresponding interface types, and is used for carrying out time service on the different sensor node devices connected to the interface units.
20. The method of claim 18 or 19, wherein the sensor node device is connected to a time service unit in the local system via a data bus.
21. The method according to claim 20, characterized in that an interrupt signal line is further connected between the sensor node equipment and a time service unit in the local system; the time service of the sensor node equipment in the local system comprises the following steps:
the time service unit sends the current time of the system through the data bus, and sends an interrupt signal through the interrupt signal line, the sensor node equipment determines the local time of the equipment to be time-service according to the arrival time of the interrupt signal, receives the current time of the system through the data bus, determines the clock correction parameter of the equipment to be time-service by comparing the current time of the system and the local time of the equipment, and corrects the local time of the equipment according to the clock correction parameter.
22. The method of claim 17, further comprising:
the sensor node equipment waits for time service after being powered on, and enters a standby or working state after the time service is finished to obtain correct equipment local time of the sensor node equipment.
23. The method of claim 17, further comprising:
the sensor node equipment waits for time service after being powered on, feeds back the local time of the equipment to an upper system after the time service is finished, and enters a standby or working state after receiving a signal which is used by the upper system to judge that the clock working condition of the sensor node equipment meets the requirement.
24. The method of claim 17, wherein the determining the time validity of the timestamp information in the context awareness data comprises:
comparing the timestamp information of the environmental perception data with the time of receiving the environmental perception data, and determining the time validity of the timestamp information in the environmental perception data according to the comparison result.
25. The method of claim 17, wherein receiving environment perception data obtained by a sensor node device perceiving an environmental object comprises:
receiving multiple pieces of environment perception data obtained by a plurality of sensor node devices perceiving environment objects;
the determining the temporal validity of the timestamp information in the context-aware data comprises:
and comparing the timestamp information of each piece of environmental perception data, and determining the time validity of the timestamp information in each piece of environmental perception data according to the comparison result.
26. The method of claim 17, further comprising:
and judging whether the corresponding sensor node equipment has clock abnormity according to the timestamp information of the environmental perception data, and if so, carrying out forced time service on the corresponding sensor node equipment.
27. The method of claim 17 or 26, further comprising:
and carrying out information prompt on the clock abnormal state of the sensor node equipment and/or generating a corresponding state record.
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| CN112564883A (en) * | 2020-12-03 | 2021-03-26 | 苏州挚途科技有限公司 | Time synchronization apparatus, method and automatic driving system |
| CN112564883B (en) * | 2020-12-03 | 2022-08-02 | 苏州挚途科技有限公司 | Time synchronization apparatus, method and automatic driving system |
| CN112672415A (en) * | 2020-12-25 | 2021-04-16 | 之江实验室 | Multi-sensor time synchronization method, device, system, electronic device and medium |
| CN112672415B (en) * | 2020-12-25 | 2022-04-26 | 之江实验室 | Multi-sensor time synchronization method, device, system, electronic device and medium |
| CN113674451A (en) * | 2021-10-19 | 2021-11-19 | 北京智能车联产业创新中心有限公司 | Method and device for testing perception delay performance of automatic driving vehicle |
| CN116772869A (en) * | 2023-03-28 | 2023-09-19 | 苏州天准科技股份有限公司 | Data processing method and device and electronic equipment |
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| WO2020168924A1 (en) | 2020-08-27 |
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