CN113259040A - Apparatus, time synchronization method, and computer-readable storage medium - Google Patents
Apparatus, time synchronization method, and computer-readable storage medium Download PDFInfo
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Abstract
The invention discloses a time synchronization method of equipment, the equipment comprises a plurality of isolation modules, each isolation module is connected with a corresponding sensor, and the time synchronization method of the equipment comprises the following steps: acquiring time, and acquiring a first pulse signal and a first serial signal; determining a second serial signal according to the first serial signal and time, and determining a synchronization signal according to the first pulse signal; and synchronously transmitting the target signal corresponding to the isolation module to each isolation module so that the isolation module sends the target signal to the sensor corresponding to the isolation module. The invention also discloses a device and a computer readable storage medium. The invention improves the time synchronization accuracy of each sensor in the device, solves the problem of inconsistent time synchronization of each sensor in the device, solves the problem of insufficient driving current of a time service module in equipment, and solves the problem of electromagnetic incompatibility of the equipment and the sensor of an external device.
Description
Technical Field
The present invention relates to the field of multi-sensor technologies, and in particular, to a device and time synchronization method and a computer-readable storage medium.
Background
At present, in the collaborative field of multiple sensors (e.g., the collaborative field of automatic driving, the collaborative field of vehicle and road, and the security field), time soft synchronization is generally adopted to obtain the timestamp of each sensor of the device, that is, a uniform host provides reference time for each sensor, and each sensor adds timestamp information to the data acquired independently according to the calibrated time, so that the timestamp synchronization of all sensors can be achieved. However, the respective acquisition periods of the sensors are independent from each other, and it cannot be guaranteed that the same information is acquired at the same time. Signals carrying reference time are susceptible to interference, resulting in low accuracy of time synchronization of various sensors in the device.
Disclosure of Invention
The invention mainly aims to provide a device, a time synchronization method and a computer readable storage medium, and aims to solve the problem that the accuracy of time synchronization of each sensor in a device is low.
In order to achieve the above object, the present invention provides a time synchronization method for a device, where the device includes a plurality of isolation modules, each of the isolation modules is connected to a corresponding sensor, and the time synchronization method for the device includes the following steps:
acquiring time, and acquiring a first pulse signal and a first serial signal;
determining a second serial signal according to the first serial signal and the time, and determining to obtain a synchronous signal according to the first pulse signal;
and synchronously transmitting a target signal corresponding to the isolation module to each isolation module so that the isolation module sends the target signal to a sensor corresponding to the isolation module, wherein the target signal is the second serial signal or the synchronous signal.
In an embodiment, the step of determining to obtain the synchronization signal according to the first pulse signal includes:
acquiring a second pulse signal, wherein the frequency of the second pulse signal is the frequency of the equipment triggering each sensor to acquire data;
and determining a synchronous signal according to the first pulse signal and the second pulse signal.
In an embodiment, after the step of synchronously transmitting the target signal corresponding to the isolation module to each isolation module, the method further includes:
and adjusting the level of the target signal to the level required by the sensor, and sending the target signal after the level is adjusted to the sensor based on the isolation module.
In one embodiment, the step of obtaining the time includes:
determining the number of time servers sending the time data after receiving the time data sent by the time servers;
and when the number reaches a preset number, acquiring the time according to the time data.
In an embodiment, before the step of synchronously transmitting the target signal corresponding to the isolation module to each isolation module, the method further includes:
determining a type of the isolation module;
and determining a target signal corresponding to the isolation module in the synchronous signal and the second serial signal according to the type.
In an embodiment, the isolation module includes an optical coupling isolation module and/or an isolation serial port, the device sends the synchronization signal to the optical coupling isolation module, and the device sends the second serial signal to the isolation serial port; the processor of the device is connected with a first optical coupling isolation module and a second optical coupling isolation module, and receives the synchronous signal sent by the first optical coupling isolation module and the second serial signal sent by the second optical coupling isolation module.
To achieve the above object, the present invention also provides an apparatus comprising:
the time service module is used for acquiring time and acquiring a first pulse signal, a second pulse signal and a first serial signal;
the field programmable gate array module is used for determining a second serial signal according to the first serial signal and the time and determining a synchronous signal according to the first pulse signal;
and the plurality of isolation modules are connected with the field programmable gate array module and used for receiving a target signal and synchronously transmitting the target signal corresponding to each isolation module, wherein the target signal is the second serial signal or the synchronous signal.
In an embodiment, the device includes an isolation power supply module, and the isolation power supply module is connected to the time service module, the field programmable gate array module, and each of the isolation modules.
To achieve the above object, the present invention further provides a device, which includes a plurality of isolation modules, each of which is connected to a corresponding sensor, and further includes a memory, a processor, and a time synchronization program stored in the memory and executable on the processor, wherein the time synchronization program, when executed by the processor, implements the steps of the time synchronization method of the device as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium storing a time synchronization program, which when executed by a processor, implements the steps of the time synchronization method of the apparatus as described above.
According to the device, the time synchronization method and the computer readable storage medium provided by the invention, the device acquires time, a pulse signal and a first serial signal, determines a second serial signal according to the time and the first serial signal, determines a synchronization signal according to the first pulse signal, and finally synchronously transmits a target signal corresponding to an isolation module to each isolation module, so that the isolation module sends the second serial signal or the target signal of the synchronization signal to a corresponding sensor. According to the invention, the sensors are connected with the isolation module, and the isolation module isolates the received signals of the sensors from the received signals of other isolation modules, so that the signals received by the sensors cannot interfere with each other, and the accuracy of time synchronization of the sensors in the device is improved.
Drawings
Fig. 1 is a schematic diagram of a hardware configuration of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a time synchronization method of the apparatus of the present invention;
FIG. 3 is a detailed flowchart of step S20 in the second embodiment of the time synchronization method of the present invention;
FIG. 4 is a flow chart of a third embodiment of the time synchronization method of the apparatus of the present invention;
FIG. 5 is a schematic diagram of the apparatus of the present invention;
FIG. 6 is a schematic diagram of the apparatus of the present invention;
FIG. 7 is a simplified flow chart of the time synchronization of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, the time references of various sensors are not uniform, and the data fusion of the sensors is difficult to effectively carry out; and each sensor has independent function and does not form effective complementation; meanwhile, because the gps signal is easily interfered, it is difficult to realize high-precision positioning of the vehicle in any scene.
Before home and abroad, the time reference in the aspect of multi-sensor fusion mostly adopts the system time of a computer as the time reference of each sensor, but the system time obtained by acquiring data by the sensor is transmitted through various interfaces such as a USB (universal serial bus), a network, an FPDlink and the like after exposure imaging of the sensor (such as a camera), ISP (Image Signal Processing), Image compression and the like, and after the data enters a CPU (central Processing unit), the CPU is read and written into a hard disk through a memory, and the like, the system time stamp of a picture is really printed after the operations are finished, so that the obtained time is delayed by hundreds of milliseconds or more, the obtained time is not the time of the imaging moment of the Image, and a real scene cannot be restored.
At present, most of host CPUs also gradually support a PPS and GPRMC combined time service mode, but how to synchronize multiple sensors does not see the existing mature solution, a user may need to build a complex and redundant trigger system to support synchronization, and there are several defects:
(1) selection of time service module, determination of how bad precision is and determination of how bad time service delay error is
(2) The driving source and the driving capability of the multi-sensor triggering I/O signal are insufficient;
(3) compatibility of various trigger levels is difficult to be compatible;
(4) the trigger frequency required by various devices is fixed;
(5) the electromagnetic compatibility of external multiple sensors cannot ensure that the synchronous integrated controller is not influenced;
the defects need to be solved by a high-precision time synchronization integrated controller.
The main solution of the embodiment of the invention is as follows: acquiring time, and acquiring a first pulse signal and a first serial signal; determining a second serial signal according to the first serial signal and the time, and determining a synchronous signal according to the first pulse signal; and synchronously transmitting a target signal corresponding to the isolation module to each isolation module so that the isolation module sends the target signal to a sensor corresponding to the isolation module, wherein the target signal is the second serial signal or the synchronous signal.
According to the invention, the sensors are connected with the isolation module, and the isolation module isolates the received signals of the sensors from the received signals of other isolation modules, so that the signals received by the sensors cannot interfere with each other, and the accuracy of time synchronization of the sensors in the device is improved.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware structure of a device according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention relates to an apparatus. The equipment is including keeping apart the module, keeps apart the module and includes opto-coupler isolation module and keeps apart the serial ports, keeps apart the module and is connected with corresponding sensor, and keeps apart the CPU and the MPU that the module is connected with equipment, and sensor CPU, MPU can be external equipment. That is, the apparatus includes: a processor 101, e.g. a CPU, a communication bus 102, a memory 103, an isolation module 104. Wherein the communication bus 102 is used for enabling connection communication between these components. Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory, which is a kind of computer storage medium, may include a time synchronization program therein.
In the apparatus shown in fig. 1, the processor 101 may be configured to call a time synchronization program stored in the memory 103 and perform the following operations:
acquiring time, and acquiring a first pulse signal and a first serial signal;
determining a second serial signal according to the first serial signal and the time, and determining a synchronous signal according to the first pulse signal;
and synchronously transmitting a target signal corresponding to the isolation module to each isolation module so that the isolation module sends the target signal to a sensor corresponding to the isolation module, wherein the target signal is the second serial signal or the synchronous signal.
In one embodiment, the processor 101 may call a time synchronization program stored in the memory 103, and further perform the following operations:
acquiring a second pulse signal, wherein the frequency of the second pulse signal is the frequency of the equipment triggering each sensor to acquire data;
and determining a synchronous signal according to the first pulse signal and the second pulse signal.
In one embodiment, the processor 101 may call a time synchronization program stored in the memory 103, and further perform the following operations:
and adjusting the level of the target signal to the level required by the sensor, and sending the target signal after the level is adjusted to the sensor based on the isolation module.
In one embodiment, the processor 101 may call a time synchronization program stored in the memory 103, and further perform the following operations:
determining the number of time servers sending the time data after receiving the time data sent by the time servers;
and when the number reaches a preset number, acquiring the time according to the time data.
In one embodiment, the processor 101 may call a time synchronization program stored in the memory 103, and further perform the following operations:
determining a type of the isolation module;
and determining a target signal corresponding to the isolation module in the synchronous signal and the second serial signal according to the type.
In one embodiment, the processor 101 may call a time synchronization program stored in the memory 103, and further perform the following operations:
the isolation module comprises an optical coupling isolation module and an isolation serial port, the equipment sends the synchronous signal to the optical coupling isolation module, and the equipment sends the second serial signal to the isolation serial port.
In one embodiment, the processor 101 may call a time synchronization program stored in the memory 103, and further perform the following operations:
the processor of the device is connected with a first optical coupling isolation module and a second optical coupling isolation module, and receives the synchronous signal sent by the first optical coupling isolation module and the second serial signal sent by the second optical coupling isolation module.
According to the scheme, the device acquires time, a pulse signal and a first serial signal, determines a second serial signal according to the time and the first serial signal, determines a synchronization signal according to the first pulse signal, and synchronously transmits a target signal corresponding to each isolation module, so that the isolation modules send the second serial signal or the target signal of the synchronization signal to corresponding sensors. According to the invention, the sensors are connected with the isolation module, and the isolation module isolates the received signals of the sensors from the received signals of other isolation modules, so that the signals received by the sensors cannot interfere with each other, and the accuracy of time synchronization of the sensors in the device is improved.
Based on the hardware architecture of the above-mentioned device, an embodiment of the time synchronization method of the device of the present invention is proposed.
Referring to fig. 2, fig. 2 is a first embodiment of a time synchronization method of an apparatus according to the present invention, the time synchronization method of the apparatus comprising the steps of:
step S10, acquiring time, and acquiring a first pulse signal and a first serial signal;
in this embodiment, the execution main body is an apparatus. The device comprises a plurality of isolation modules, each isolation module is connected with a corresponding sensor, and the sensors can be sensors of external devices. The isolation module can be an optical coupling isolation module and can also be an isolation serial port. The device may be a time synchronized integrated controller; the device can also be a device which needs each sensor to synchronously acquire data.
The device comprises a time service module, the time service module can be a high-precision time service module, for example, the time service module is an M8T (M8T is a model) time service module, and the time service precision is 20 ns. In addition, the time service module can also generate a first pulse signal and a first serial signal, and the first pulse signal and the first serial signal are synchronous. The first pulse signal may be a PPS signal (pulse per second signal), that is, the frequency of the first pulse signal is 1Hz, and the first pulse signal is generated by a crystal oscillator of the time service module. The first serial signal is used to carry time, and the first serial signal may be a GPRMC (recommended positioning information) signal.
The time service module generates a first pulse signal and a first serial signal in a pair, where the first serial signal does not carry time and the first serial signal delays the first pulse signal for a period of time, for example, the first serial signal delays the first pulse signal by tens of milliseconds.
The time service module can acquire time from an external time server. The time server may be a satellite. Therefore, the equipment can acquire the time, the first pulse signal and the first serial signal from the time service module.
Step S20, determining a second serial signal according to the first serial signal and the time, and determining a synchronization signal according to the first pulse signal;
after obtaining the time, the device needs to carry the time of the first serial signal, that is, the device determines a second serial signal according to the first serial signal and the time, where the second serial signal may be understood as the first serial signal carrying the time.
The device then determines a synchronization signal based on the first pulse signal. Specifically, the first pulse signal is a synchronization signal.
It should be noted that the device is provided with an FPGA (Field Programmable Gate Array) module, and the FPGA module receives the time, the first serial signal, and the first pulse signal sent by the time service module, so as to obtain the synchronization signal and the second serial signal.
Step S30, synchronously transmitting a target signal corresponding to each isolation module, so that the isolation module sends the target signal to a sensor corresponding to the isolation module, where the target signal is the second serial signal or the synchronization signal.
Each isolation module in the device is connected with a corresponding sensor, and the isolation module is connected with the FPGA module. The FPGA module selects one of the synchronization signal and the second serial signal to send to the isolation module, namely the FPGA module sends a target signal corresponding to the isolation module to each isolation module, and the target signal is the synchronization signal or the second serial signal. The isolation module is provided with a type of a receivable signal, for example, if the isolation module a sets the receivable signal as a pulse signal, the FPGA module regards the synchronization signal as a target signal and sends the synchronization signal to the isolation module a; if the isolation module B sets the received signal as a serial signal, the FPGA takes the second serial signal as a target signal and sends the target signal to the isolation module B.
The sensor is connected with the isolation module through an interface. After the isolation module receives the target signal, the isolation module sends the target signal to the sensor. Because the isolation module can isolate electricity, the transmission process of each target signal cannot be interfered with each other. After each sensor receives the corresponding target signal, the time of the sensor can be corrected according to the target signal, and therefore all the sensors can achieve time synchronization.
It should be noted that the time service module and the FPGA module may be regarded as a time synchronization integrated controller, and the time synchronization integrated controller is connected to an external sensor in the device through the isolation module. In addition, the FPGA is used as a core processing chip, the final time service precision is controlled to be about 50ns by low time delay and a high-stability crystal oscillator. Therefore, the time synchronization triggering channel between the host and the external multi-sensor is opened through the isolation module, the instant time uniformity of data acquisition of the multi-sensor is ensured, and the accurate time service of 50ns is ensured. And the GPS can still reach the time service precision of 500ns under the condition of satellite unlocking, such as an underground garage, a viaduct and an urban multi-path environment.
In addition, the time synchronization integrated controller can have multi-scene adaptability and can be applied to the fields of multi-sensor fusion such as vehicle-road cooperation, intelligent traffic and automatic driving.
In the technical scheme provided by this embodiment, the device acquires time, a pulse signal and a first serial signal, determines a second serial signal according to the time and the first serial signal, determines a synchronization signal according to the first pulse signal, and finally synchronously transmits a target signal corresponding to the isolation module to each isolation module, so that the isolation module sends the second serial signal or the target signal, which is the synchronization signal, to a corresponding sensor. According to the invention, the sensors are connected with the isolation module, and the isolation module isolates the received signals of the sensors from the received signals of other isolation modules, so that the signals received by the sensors cannot interfere with each other, and the accuracy of time synchronization of the sensors in the device is improved.
Referring to fig. 3, fig. 3 is a second embodiment of the time synchronization method of the device of the present invention, and based on the first embodiment, the step S20 includes:
step S21, acquiring a second pulse signal, where the frequency of the second pulse signal is a frequency at which the device triggers each sensor to collect data;
step S22, determining a synchronization signal according to the first pulse signal and the second pulse signal.
In this embodiment, the device has a frequency for triggering each sensor to collect data, the frequency is a trigger frequency, and the trigger frequency can be characterized by the frequency of the second pulse signal. Specifically, the time service module or the FPGA may generate a second pulse signal, and the frequency of the second pulse signal is the same as the trigger frequency. For example, if the trigger frequency is 10Hz, the frequency of the second pulse signal is also 10Hz, that is, the second pulse signal outputs 10 pulses within one second. The device also needs to align its own trigger frequency with time.
In this regard, the device acquires the second pulse signal, so as to obtain the first pulse signal and the second pulse signal into the synchronization signal, wherein the synchronization signal includes the first pulse signal and the second pulse signal, and the second pulse signal is time-aligned with the first pulse signal.
The FPGA module may adjust the trigger frequency according to a user's requirement, that is, adjust the frequency of the second pulse signal based on the trigger frequency input by the user on the device. The trigger frequency can also be configured in a frequency doubling mode through the time service module.
The first function of the FPGA module is to multiplex PPS (1Hz) signals and GPRMC signals (serial port signals) transmitted by M8T (a time service module), frequency multiplication of the PPS is carried out in the FPGA to generate second pulse signals 10Hz (or other frequencies) which are synchronous with the first pulse whole second, and the second pulse signals are transmitted to each external sensor through the optical coupling isolation module and the RS232 isolation module; the other function is that the second pulse signal enters the FPGA from the synchronous pulse of the output of the M8T, and the FPGA is not required to carry out frequency multiplication. The function of Fpga is to isolate the link between M8T and the optocoupler, then to extend the PPS and GPRMC signals to multiple outputs, while isolating through the optocoupler, and while improving the driving capability.
In the technical scheme provided by this embodiment, the device acquires the second pulse signal and obtains the synchronization signal according to the first pulse signal and the second pulse signal, so that the time when each sensor acquires data is aligned with the time.
In one embodiment, step S30 includes:
and adjusting the level of the target signal to the level required by the sensor, and sending the target signal after the level is adjusted to the sensor based on the isolation module, wherein the target signal is the second serial signal or the synchronous signal.
In this embodiment, the levels of signals required by different sensors are different, and therefore, it is necessary to adjust the level of the target signal. The level adjustment may be an adjustment configuration by means of jumpers. The isolation module is connected with the sensors in a one-to-one correspondence mode, the equipment determines a target signal according to the isolation module, then determines the level required by the sensors connected with the isolation module through the isolation module, adjusts the level of the target signal to the level required by the sensors, and then sends the target signal after the level adjustment to the sensors connected with the isolation module through the isolation module.
The isolation module of the embodiment is connected with the sensor through a standard interface, and the problem that the trigger levels of different sensors are incompatible can be solved through adjusting the levels.
In one embodiment, step S10 includes:
determining the number of time servers sending the time data after receiving the time data sent by the time servers;
and when the number reaches a preset number, acquiring the time according to the time data.
In this embodiment, the time service module obtains the actual time transmitted by the external time server, and the time is the GPS data. And when receiving the time data sent by the time server, the time service module counts the number of the time servers sending the time data, namely determines the number of the time servers sending the time data in a time period. When the number reaches the preset number, the time can be obtained from the time data. The time data contains time and equipment identification of the time server, and the equipment can obtain the number of different time servers for sending the time data according to the equipment identification.
The preset number is determined by the parameters of the time service module. For example, if the time service module is an M8T time service module, the preset data is 4, that is, if the time service module receives time data sent by 4 different satellites, the time service module acquires time from the received data.
In this embodiment, when receiving time data sent by a time server, a device determines the number of time servers that send the time data, and if the number reaches a preset number, obtains time to trigger time synchronization of each sensor, so that the time of each sensor is accurately synchronized with actual time.
Referring to fig. 4, fig. 4 is a third embodiment of the time synchronization method of the device of the present invention, and based on the first or second embodiment, before the step S30, the method further includes:
step S40, determining the type of the isolation module;
step S50, determining a target signal corresponding to the isolation module in the synchronization signal and the second serial signal according to the type.
In this embodiment, the isolation module includes an optical coupling isolation module and an isolated serial port. The signals received by the optical coupling isolation module are pulse signals, and the signals received by the isolation serial port are serial signals.
In contrast, the device determines the type of the isolation module, so that the template signal corresponding to the isolation module is determined in the synchronous signal and the second serial signal according to the type, that is, if the isolation module is the optical coupling isolation module, the target signal is the synchronous signal, and if the isolation module is the isolation serial port, the target signal is the second pulse signal. It can be appreciated that the isolation module includes an opto-isolator module and an isolated serial port, the device sends the synchronization signal to the opto-isolator module, and the device sends the second serial signal to the isolated serial port. The isolated serial port can be an RS232 module.
In addition, a CPU (processor) in the device is connected to the first optical coupler isolation module and the second optical coupler isolation module, that is, the device needs to send a synchronization signal to the CPU through the first optical coupler isolation module, and send a second serial signal to the CPU through the second optical coupler isolation module, so that the CPU performs time synchronization with the sensor based on the synchronization signal and the second serial signal. Therefore, the CPU does not need to compensate the multi-sensor timestamp, the triggering time is strictly based on the triggering pulse (the second pulse signal after time alignment) generated by the controller, and the problem that the driving source and the driving capability of the triggering I/O signal of the multi-sensor are insufficient can be solved.
It should be noted that some sensors are simple components, and therefore, such sensors are connected with the optical coupling isolation module; other sensing is more complicated components and parts, and serial ports is kept apart in this type of sensor connection, for example, the lidar sensor need carry out data preliminary processing, and the lidar can be regarded as complicated components and parts.
Further, referring to fig. 5, the time service module, the FPGA module, and each isolation module are connected to the isolation power supply module. Also in this embodiment, the time synchronization integrated controller adopts the isolation power module, the RS232 module (isolation module) adopts the isolation chip, the pulse output adopts the optical coupling isolation and the isolation serial port isolation, so that under the outdoor environment of the roadside end, if lightning strike or overcurrent of the high-power sensor occurs, the controller itself cannot be affected by overvoltage, and the time synchronization integrated controller has good reliability.
Referring to fig. 6, the present invention also provides an apparatus, comprising:
the time service module 10 is configured to obtain time and obtain a first pulse signal, a second pulse signal and a first serial signal;
a field programmable gate array module 20, configured to determine a second serial signal according to the first serial signal and the time, and determine a synchronization signal according to the first pulse signal;
a plurality of isolation modules 30 connected to the fpga modules for receiving a target signal and synchronously transmitting the target signal corresponding to the isolation module to each of the isolation modules, wherein the target signal is the second serial signal or the synchronous signal
For the time synchronization of each module in the device to control each sensor, reference is made to the above embodiments, and details are not repeated here. Referring to FIG. 7, in FIG. 7, TTL3.3V is the level of the signal after adjustment, and Camera-1/lidar/imu-1, Camera-2/lidar/imu-2, Camera-3/lidar/imu-3, Camera-4/lidar/imu-4, and Lader are the sensors. The processor includes a CPU and an MPU.
The present invention also provides an apparatus comprising a memory, a processor and a time synchronization program stored in the memory and executable on the processor, the time synchronization program, when executed by the processor, implementing the steps of the time synchronization method of the apparatus as described in the above embodiments.
The present invention also provides a computer-readable storage medium storing a time synchronization program, which when executed by a processor implements the steps of the time synchronization method of the apparatus according to the above embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for time synchronization of a device, the device comprising a plurality of isolated modules, each isolated module being connected to a corresponding sensor, the method comprising the steps of:
acquiring time, and acquiring a first pulse signal and a first serial signal;
determining a second serial signal according to the first serial signal and the time, and determining a synchronous signal according to the first pulse signal;
and synchronously transmitting a target signal corresponding to the isolation module to each isolation module so that the isolation module sends the target signal to a sensor corresponding to the isolation module, wherein the target signal is the second serial signal or the synchronous signal.
2. The time synchronization method of the apparatus of claim 1, wherein the step of determining the synchronization signal according to the first pulse signal comprises:
acquiring a second pulse signal, wherein the frequency of the second pulse signal is the frequency of the equipment triggering each sensor to acquire data;
and determining a synchronous signal according to the first pulse signal and the second pulse.
3. The method for time synchronization of devices according to claim 1, wherein after the step of synchronously transmitting the target signal corresponding to the isolated module to each isolated module, the method further comprises:
and adjusting the level of the target signal to the level required by the sensor, and sending the target signal after the level is adjusted to the sensor based on the isolation module.
4. The time synchronization method of the device according to claim 1, wherein the step of acquiring the time comprises:
determining the number of time servers sending the time data after receiving the time data sent by the time servers;
and when the number reaches a preset number, acquiring the time according to the time data.
5. The method for time synchronization of devices according to claim 1, wherein the step of synchronously transmitting the target signal corresponding to the isolation module to each of the isolation modules is preceded by the steps of:
determining a type of the isolation module;
and determining a target signal corresponding to the isolation module in the synchronous signal and the second serial signal according to the type.
6. The time synchronization method of the device according to claim 1, wherein the isolation module comprises an optical coupling isolation module and/or an isolation serial port, the device sends the synchronization signal to the optical coupling isolation module, and the device sends the second serial signal to the isolation serial port; the processor of the device is connected with a first optical coupling isolation module and a second optical coupling isolation module, and receives the synchronous signal sent by the first optical coupling isolation module and the second serial signal sent by the second optical coupling isolation module.
7. An apparatus, characterized in that the apparatus comprises:
the time service module is used for acquiring time and acquiring a first pulse signal, a second pulse signal and a first serial signal;
the field programmable gate array module is used for determining a second serial signal according to the first serial signal and the time and determining a synchronous signal according to the first pulse signal;
and the plurality of isolation modules are connected with the field programmable gate array module and used for receiving a target signal and synchronously transmitting the target signal corresponding to each isolation module, wherein the target signal is the second serial signal or the synchronous signal.
8. The device of claim 7, wherein the device comprises an isolated power supply module, and the isolated power supply module is connected with the time service module, the field programmable gate array module and each of the isolated modules.
9. An apparatus comprising a plurality of isolated modules, each of which is coupled to a corresponding sensor, the apparatus further comprising a memory, a processor, and a time synchronization program stored in the memory and executable on the processor, the time synchronization program when executed by the processor implementing the steps of the time synchronization method of the apparatus of any one of claims 1-6.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a time synchronization program, which when executed by a processor implements the steps of the time synchronization method of the device according to any one of claims 1-6.
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