CN115396060A - Laser-based synchronous control method and related device - Google Patents
Laser-based synchronous control method and related device Download PDFInfo
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Abstract
The invention relates to a laser-based synchronous control method and a related device, wherein the method comprises the following steps: determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor; if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are asynchronous, setting the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as time service equipment according to the synchronous condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronous condition of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment. The invention provides a laser-based synchronous control method and a related device, and solves the technical problem that two carrying robots in the prior art are not synchronous in control.
Description
Technical Field
The method and the device relate to the field of system cooperative transportation, in particular to a laser-based synchronous control method and a related device.
Background
The intelligent agent is an unmanned airplane for short, is widely applied to civil use besides a large amount of military applications, and mainly comprises forest fire prevention, edge defense smuggling, aerial photography, ground exploration, power grid patrol, pipeline patrol, traffic management, city security and the like. However, in the above applications, most of the applications are mainly single intelligent agent applications, and the problem of insufficient transportation capacity of a single intelligent agent can be solved by using the cooperative hoisting of ropes of a plurality of intelligent agents, so that the research on the intelligent agent has great theoretical significance and practical value. Such research in china is relatively rare, and the kinematics and stability of 2 unmanned helicopter hoisting systems have just been analyzed in the Zhao Zhi of china, and the characteristics of tightly coupled multi-machine systems have been preliminarily discussed.
At present, the collaborative carrying system adopts a piloting-following or formation control mode, and the conditions of network delay and asynchronous control can occur during control, so that two unmanned aerial vehicle carrying cooperation errors can occur.
Disclosure of Invention
In view of the above problems, the present invention provides a laser-based synchronization control method and related apparatus, which solves the technical problem of the prior art that two transfer robots are not synchronized.
In order to realize the purpose, the invention adopts the following technical scheme: the invention discloses a laser-based synchronous control method, which comprises the following steps:
a first laser sensor of the first unmanned aerial vehicle acquires a first distance of a cargo cooperatively transported by the first unmanned aerial vehicle and the second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle acquires a second distance of the cargo,
when the error between the first distance and the second distance is larger than a preset value, the first unmanned aerial vehicle attitude sensor detects a first attitude of the first unmanned aerial vehicle, and the second unmanned aerial vehicle image sensor detects second attitude data of the first unmanned aerial vehicle;
determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor;
if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, setting the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
Preferably, the synchronization condition of the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle is determined according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor; the method comprises the following steps:
detecting a first pose of the first drone at a first timestamp from a pose sensor;
acquiring a second timestamp of the first unmanned aerial vehicle detected by the image sensor to be in the first posture;
and if the difference value of the first timestamp and the second timestamp is larger than a preset value, determining that the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are asynchronous.
Preferably, the determining the synchronization condition of the plurality of sensors in the first drone and the synchronization condition of the plurality of sensors in the second drone includes:
acquiring a third timestamp of a first laser sensor of the first unmanned machine at a first distance from the cargo;
acquiring a fourth timestamp of the first unmanned machine and the cargo detected by the first unmanned machine image sensor, wherein the fourth timestamp is at a first distance;
determining a synchronization condition of the first unmanned sensor according to a difference value of the third timestamp and the fourth timestamp;
acquiring a fifth timestamp of a second laser sensor of a second unmanned aerial vehicle at a second distance from the cargo;
acquiring a sixth timestamp of the second unmanned aerial vehicle detected by the image sensor of the second unmanned aerial vehicle to be at a second distance from the cargo;
and judging the synchronization condition of the sensor of the second unmanned aerial vehicle according to the difference value of the fifth time stamp and the sixth time stamp.
Preferably, the setting, according to the synchronization condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronization condition of the plurality of sensors in the second unmanned aerial vehicle, the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as a time service device, and synchronizing clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with a clock of the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is larger than the preset value, setting the first unmanned aerial vehicle main controller as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the first unmanned aerial vehicle main controller, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
Preferably, the setting, according to the synchronization condition of the plurality of sensors in the first drone and the synchronization condition of the plurality of sensors in the second drone, the first drone main controller or the first drone main controller as a time service device, and synchronizing clocks of all sensors of the first drone and clocks of all sensors of the second drone with a clock of the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting the first unmanned aerial vehicle main controller as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the first unmanned aerial vehicle main controller, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
Preferably, the setting, according to the synchronization condition of the plurality of sensors in the first drone and the synchronization condition of the plurality of sensors in the second drone, the first drone main controller or the first drone main controller as a time service device, and synchronizing clocks of all sensors of the first drone and clocks of all sensors of the second drone with a clock of the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting a main controller of the second unmanned aerial vehicle as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the main controller of the second unmanned aerial vehicle, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
Preferably, the setting, according to the synchronization condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronization condition of the plurality of sensors in the second unmanned aerial vehicle, the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as a time service device, and synchronizing clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with a clock of the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting a main controller of the second unmanned aerial vehicle as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the main controller of the second unmanned aerial vehicle, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
The second purpose of the invention can be achieved by adopting the following technical scheme: the system comprises:
a first processing unit for acquiring a first distance between the first unmanned aerial vehicle and the cargo cooperatively transported by the second unmanned aerial vehicle by a first laser sensor of the first unmanned aerial vehicle, acquiring a second distance between the cargo by a second laser sensor of the second unmanned aerial vehicle,
the first judging unit is used for detecting a first posture of the first unmanned aerial vehicle by the first unmanned aerial vehicle posture sensor and detecting second posture data of the first unmanned aerial vehicle by the second unmanned aerial vehicle image sensor when the error between the first distance and the second distance is larger than a preset value;
the second judgment unit is used for determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor;
and the cooperative control unit is used for setting the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are asynchronous, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
The third purpose of the invention can be achieved by adopting the following technical scheme:
a computer device comprises a processor and a memory for storing a program executable by the processor, and when the processor executes the program stored by the memory, the laser-based synchronous control method and the relevant device are realized.
The fourth purpose of the invention can be achieved by adopting the following technical scheme:
a storage medium stores a program which, when executed by a processor, implements the laser-based synchronization control method and related apparatus described above.
Due to the adoption of the technical scheme, the invention has the following advantages: according to the invention, a first distance of a cargo which is cooperatively carried by a first unmanned aerial vehicle and a second unmanned aerial vehicle is obtained through a first laser sensor of the first unmanned aerial vehicle, and a second distance of the cargo is obtained through a second laser sensor of the second unmanned aerial vehicle; when the error between the first distance and the second distance is larger than a preset value, the first unmanned aerial vehicle attitude sensor detects a first attitude of the first unmanned aerial vehicle, and the second unmanned aerial vehicle image sensor detects second attitude data of the first unmanned aerial vehicle; according to attitude sensor's time stamp with the difference between image sensor's the time stamp synchronization condition of first unmanned aerial vehicle and second unmanned aerial vehicle is confirmed to the difference between image sensor's the time stamp, when judging first unmanned aerial vehicle and second unmanned aerial vehicle's time synchronization problem, can be earlier through the distance of judging both and goods, if both the price difference is great, it is good to explain that unmanned aerial vehicle does not cooperate each other, can judge earlier whether time synchronization between them, then carry out subsequent judgement, provide the basis for unmanned aerial vehicle trouble shooting.
If the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, setting the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment. Can choose for use unmanned aerial vehicle's of inside sensor clock synchronization main control unit as the benchmark, carry out synchronous control with these both all sensors and the control unit, so controlling two unmanned aerial vehicles, can avoid the problem of network delay and asynchronization, provide the basis for subsequent control.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like reference numerals refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart of a laser-based synchronization control method of embodiment 1 of the present invention;
FIG. 2 is another flowchart of the laser-based synchronization control method according to embodiment 1 of the present invention;
FIG. 3 is another flowchart of the laser-based synchronization control method according to embodiment 1 of the present invention;
fig. 4 is a structural diagram of a laser-based synchronous control system according to embodiment 2 of the present invention.
The respective symbols in the drawings are as follows.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example 1:
the invention discloses a laser-based synchronous control method, which comprises the following steps:
step S100, a first laser sensor of a first unmanned aerial vehicle acquires a first distance of a cargo which is cooperatively carried by the first unmanned aerial vehicle and a second unmanned aerial vehicle, and a second laser sensor of the second unmanned aerial vehicle acquires a second distance of the cargo;
in this embodiment, set the distance of goods to first unmanned aerial vehicle and the distance of goods to second unmanned aerial vehicle to equal, at the in-process of first unmanned aerial vehicle and second unmanned aerial vehicle transport goods like this, the difference between first distance and the second distance can judge whether synchronous control, whether break down of first unmanned aerial vehicle and second unmanned aerial vehicle.
Step S200, when the error between the first distance and the second distance is larger than a preset value, the first unmanned aerial vehicle attitude sensor detects the first attitude of the first unmanned aerial vehicle, and the second unmanned aerial vehicle image sensor detects the second attitude data of the first unmanned aerial vehicle;
in this embodiment, the difference between the first distance and the second distance is greater than a certain range, the first unmanned aerial vehicle and the second unmanned aerial vehicle hover, the faults of both the first unmanned aerial vehicle and the second unmanned aerial vehicle need to be detected, thereby avoiding the situation that goods drop, in the past, the first unmanned aerial vehicle and the second unmanned aerial vehicle are detected according to the sensor-based self-detection, but the problem whether the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are synchronous is not considered, if the deviation of the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle is large, the situation that a certain unmanned aerial vehicle deviates from the track can also occur, thereby causing the problem of transportation, but the fault identification and the self-detection of the two unmanned aerial vehicles cannot be detected.
Step S300, determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor;
in this embodiment, when the same gesture or target is detected, the difference between the time stamps of the gesture sensor and the image sensor can determine the synchronization condition of the time stamps of the two drones. For example, if synchronization of two sensor timestamps is involved, it may be compared whether the detected data of the two sensors corresponding to the same gesture or target is the same, and the time in the timestamps of the two sensors are the same, if so, synchronization may be considered, or if the detected data of the two sensors corresponding to the same gesture or target is the same, and the difference between the timestamps of the two sensors does not exceed a threshold preset according to tolerance, synchronization may be considered, otherwise, the two sensor timestamps are considered to be out of synchronization. If the synchronous condition that relates to more than two sensor timestamps, then can be through two liang of modes of comparing, judge whether the timestamp that corresponds is unanimous between the different sensors to obtain the timestamp synchronous condition of each sensor, thereby can further judge whether synchronous control of two unmanned aerial vehicles.
Step S400, if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, setting a main controller of the first unmanned aerial vehicle or a main controller of the first unmanned aerial vehicle as time service equipment according to the synchronous condition of a plurality of sensors in the first unmanned aerial vehicle and the synchronous condition of a plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
Due to the adoption of the technical scheme, the invention has the following advantages: according to the invention, a first distance of goods cooperatively transported by a first unmanned aerial vehicle and a second unmanned aerial vehicle is obtained through a first laser sensor of the first unmanned aerial vehicle, and a second distance of the goods is obtained through a second laser sensor of the second unmanned aerial vehicle; when the error between the first distance and the second distance is larger than a preset value, the first unmanned aerial vehicle attitude sensor detects a first attitude of the first unmanned aerial vehicle, and the second unmanned aerial vehicle image sensor detects second attitude data of the first unmanned aerial vehicle; according to attitude sensor's timestamp with the timestamp synchronization circumstances of first unmanned machine and second unmanned aerial vehicle is confirmed to the difference between image sensor's the timestamp, when judging first unmanned machine and second unmanned aerial vehicle's time synchronization problem, can be earlier through the distance of judging both and goods, if both discrepancy is great, it is good to show that unmanned aerial vehicle does not cooperate each other, can judge earlier whether time synchronization between both, then carry out subsequent judgement, provide the basis for unmanned aerial vehicle troubleshooting.
If the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, setting the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment. Can choose for use unmanned aerial vehicle's of inside sensor clock synchronization main control unit as the benchmark, carry out synchronous control with these both all sensors and the control unit, so controlling two unmanned aerial vehicles, can avoid the problem of network delay and asynchronization, provide the basis for subsequent control.
Preferably, the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle is determined according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor; the method comprises the following steps:
step S310, detecting a first gesture of the first unmanned aerial vehicle at a first time stamp according to the gesture sensor;
step S320, acquiring a second time stamp of the first unmanned aerial vehicle in the first posture detected by the image sensor;
step S330, if the difference value between the first timestamp and the second timestamp is larger than a preset value, the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are determined to be asynchronous.
Preferably, the determining the synchronization condition of the plurality of sensors in the first drone and the synchronization condition of the plurality of sensors in the second drone includes:
step S410, acquiring a third timestamp of a first laser sensor of the first unmanned machine and the cargo, wherein the first laser sensor is located at a first distance; acquiring a fourth timestamp of the first unmanned machine detected by the first unmanned machine image sensor to be at a first distance from the cargo;
step S420, judging the synchronization condition of the first unmanned sensor according to the difference value of the third time stamp and the fourth time stamp;
step S430, acquiring a fifth timestamp of a second laser sensor of a second distance between a second unmanned aerial vehicle and the cargo; acquiring a sixth timestamp of the second unmanned aerial vehicle detected by the image sensor of the second unmanned aerial vehicle to be at a second distance from the cargo;
step S440, determining a synchronization condition of the sensor of the second drone according to a difference between the fifth timestamp and the sixth timestamp.
Preferably, the step 400, according to the synchronization condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronization condition of the plurality of sensors in the second unmanned aerial vehicle, setting the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as a time service device, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clock of the time service device, includes:
step 450A, if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is larger than the preset value, setting a first unmanned aerial vehicle main controller as time service equipment;
step 460B, adjusting time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the master controller of the first unmanned aerial vehicle, so as to synchronize clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with a clock of the time service equipment.
Preferably, the step 400, according to the synchronization condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronization condition of the plurality of sensors in the second unmanned aerial vehicle, setting the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as a time service device, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clock of the time service device, includes:
step 450C, if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting the first unmanned-machine main controller as time service equipment;
and step 450D, adjusting time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the master controller of the first unmanned aerial vehicle, so that clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
Preferably, the step 400, according to the synchronization condition of the plurality of sensors in the first drone and the synchronization condition of the plurality of sensors in the second drone, setting the first drone main controller or the first drone main controller as a time service device, and synchronizing the clocks of all the sensors of the first drone and the clocks of all the sensors of the second drone with the clock of the time service device, includes:
step 450E, if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting a main controller of a second unmanned aerial vehicle as time service equipment;
and step 450F, adjusting time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the main controller of the second unmanned aerial vehicle, so that clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
Preferably, step 400, according to the synchronization condition of the plurality of sensors in the first drone and the synchronization condition of the plurality of sensors in the second drone, setting the first drone main controller or the first drone main controller as a time service device, and synchronizing the clocks of all the sensors of the first drone and the clocks of all the sensors of the second drone with the clock of the time service device, includes:
step 450H, if a difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and a difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting a main controller of a second unmanned aerial vehicle as time service equipment;
and step 450G, adjusting time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the main controller of the second unmanned aerial vehicle, so that clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
Example 2:
the present embodiment provides a laser-based synchronous control system, which includes: the system comprises a first processing unit 501, a first judging unit 502 and a second processing unit, wherein the first processing unit is used for acquiring a first distance between a first unmanned aerial vehicle and a cargo cooperatively transported by a second unmanned aerial vehicle by a first laser sensor of the first unmanned aerial vehicle, the second laser sensor of the second unmanned aerial vehicle acquires a second distance between the cargo, and the first judging unit is used for detecting a first posture of the first unmanned aerial vehicle by a first posture sensor when an error between the first distance and the second distance is larger than a preset value, and detecting second posture data of the first unmanned aerial vehicle by an image sensor of the second unmanned aerial vehicle; a second determining unit 503, configured to determine a timestamp synchronization condition of the first drone and the second drone according to a difference between a timestamp of the attitude sensor and a timestamp of the image sensor; and a cooperative control unit 504, configured to set the first drone main controller or the first drone main controller as a time service device according to a synchronization situation of the plurality of sensors in the first drone and a synchronization situation of the plurality of sensors in the second drone if the timestamps of the first drone and the second drone are asynchronous, and synchronize clocks of all sensors of the first drone and clocks of all sensors of the second drone with a clock of the time service device.
For specific implementation of each module in this embodiment, reference may be made to embodiment 1, which is not described herein again. It should be noted that, the apparatus provided in the foregoing embodiment is only exemplified by the division of the foregoing functional modules, and in practical applications, the foregoing function distribution may be completed by different functional modules as needed, that is, the internal structure is divided into different functional modules to complete all or part of the functions described above.
It will be understood that the terms "first", "second", etc. used in the devices of the above embodiments may be used to describe various elements, but the elements are not limited by these terms. These terms are only used to distinguish one module from another. For example, a first sending module may be referred to as a second sending module, and similarly, a second sending module may be referred to as a first sending module, both the first and second sending modules being sending modules, but not the same, without departing from the scope of the invention.
Example 3:
the embodiment provides a secure channel-free public key authentication searchable encryption computer device with a multi-keyword search function. The laser-based synchronous control method includes that the laser-based synchronous control method includes the steps that a processor, a memory, an input device, a display and a network interface are connected through a system bus, the processor is used for providing calculation and control capabilities, the memory includes a nonvolatile storage medium and an internal memory, the nonvolatile storage medium stores an operating system, a computer program and a database, the internal memory provides an environment for the operating system in the nonvolatile storage medium and the running of the computer program, and when the processor executes the computer program stored in the memory, the laser-based synchronous control method of the embodiment 1 is achieved, and the method includes: a first laser sensor of a first unmanned aerial vehicle acquires a first distance between a first unmanned aerial vehicle and a cargo which is cooperatively transported by a second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle acquires a second distance between the cargo, when an error between the first distance and the second distance is larger than a preset value, a first attitude sensor of the first unmanned aerial vehicle detects a first attitude of the first unmanned aerial vehicle, and an image sensor of the second unmanned aerial vehicle detects second attitude data of the first unmanned aerial vehicle; determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor; if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, setting the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
Example 4:
the present embodiment provides a storage medium, which is a computer-readable storage medium, and stores a computer program, and when the program is executed by a processor and the processor executes the computer program stored in the memory, the method of laser-based synchronization control according to embodiment 1 above is implemented, and the method includes: a first laser sensor of a first unmanned aerial vehicle acquires a first distance between a first unmanned aerial vehicle and a cargo which is cooperatively transported by a second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle acquires a second distance between the cargo, when an error between the first distance and the second distance is larger than a preset value, a first attitude sensor of the first unmanned aerial vehicle detects a first attitude of the first unmanned aerial vehicle, and an image sensor of the second unmanned aerial vehicle detects second attitude data of the first unmanned aerial vehicle; determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor; if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, setting the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
It should be noted that the computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A laser-based synchronization control method, the method comprising:
a first laser sensor of the first unmanned aerial vehicle acquires a first distance of a cargo cooperatively transported by the first unmanned aerial vehicle and the second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle acquires a second distance of the cargo,
when the error between the first distance and the second distance is larger than a preset value, the first unmanned aerial vehicle attitude sensor detects a first attitude of the first unmanned aerial vehicle, and the second unmanned aerial vehicle image sensor detects second attitude data of the first unmanned aerial vehicle;
determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor;
if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are asynchronous, setting the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as time service equipment according to the synchronous condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronous condition of the plurality of sensors in the second unmanned aerial vehicle, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
2. The laser-based synchronization control method of claim 1, wherein the synchronization of the timestamps of the first drone and the second drone is determined according to a difference between the timestamp of the attitude sensor and the timestamp of the image sensor; the method comprises the following steps:
detecting a first pose of the first drone at a first timestamp from the pose sensor;
acquiring a second timestamp of the first unmanned aerial vehicle detected by the image sensor to be in the first posture;
and if the difference value of the first timestamp and the second timestamp is larger than a preset value, determining that the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are asynchronous.
3. The laser-based synchronization control method of claim 2, wherein said determining synchronization status of the plurality of sensors in the first drone and the plurality of sensors in the second drone comprises:
acquiring a third timestamp of a first laser sensor of the first unmanned machine at a first distance from the cargo;
acquiring a fourth timestamp of the first unmanned machine and the cargo detected by the first unmanned machine image sensor, wherein the fourth timestamp is at a first distance;
determining a synchronization condition of the first unmanned sensor according to a difference value of the third timestamp and the fourth timestamp;
acquiring a fifth timestamp of a second laser sensor of a second unmanned aerial vehicle at a second distance from the cargo;
acquiring a sixth timestamp of the second unmanned aerial vehicle detected by the image sensor of the second unmanned aerial vehicle to be at a second distance from the cargo;
and determining synchronization of a sensor of a second drone according to the difference between the fifth timestamp and the sixth timestamp.
4. The laser-based synchronous control method according to claim 3, wherein the setting of the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as the time service device and the synchronizing of the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clock of the time service device according to the synchronizing of the plurality of sensors of the first unmanned aerial vehicle and the synchronizing of the plurality of sensors of the second unmanned aerial vehicle comprises:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is larger than the preset value, setting the first unmanned aerial vehicle main controller as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the first unmanned aerial vehicle main controller, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
5. The laser-based synchronous control method according to claim 4, wherein the setting of the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as the time service device and the synchronizing of the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clock of the time service device according to the synchronizing of the plurality of sensors of the first unmanned aerial vehicle and the synchronizing of the plurality of sensors of the second unmanned aerial vehicle comprises:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting the first unmanned aerial vehicle main controller as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and the time of all the sensors of the second unmanned aerial vehicle according to the first unmanned aerial vehicle main controller, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
6. The laser-based synchronous control method according to claim 4, wherein the setting of the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as the time service device and the synchronizing of the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clock of the time service device according to the synchronizing of the plurality of sensors of the first unmanned aerial vehicle and the synchronizing of the plurality of sensors of the second unmanned aerial vehicle comprises:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting a main controller of the second unmanned aerial vehicle as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the main controller of the second unmanned aerial vehicle, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
7. The laser-based synchronous control method according to claim 4, wherein the setting of the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as a time service device according to the synchronization condition of the plurality of sensors in the first unmanned aerial vehicle and the synchronization condition of the plurality of sensors in the second unmanned aerial vehicle, and the synchronizing of the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clock of the time service device, comprises:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference value between the fifth timestamp and the sixth timestamp is smaller than a preset value, setting a main controller of the second unmanned aerial vehicle as time service equipment, and adjusting the time of all the sensors of the first unmanned aerial vehicle and all the sensors of the second unmanned aerial vehicle according to the main controller of the second unmanned aerial vehicle, so that the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle are synchronized with the clock of the time service equipment.
8. A laser-based synchronous control system, the system comprising:
the first processing unit is used for acquiring a first distance of a cargo which is cooperatively transported by the first unmanned machine and the second unmanned machine by the first laser sensor of the first unmanned machine, acquiring a second distance of the cargo by the second laser sensor of the second unmanned machine,
the first judging unit is used for detecting a first posture of the first unmanned aerial vehicle by the first unmanned aerial vehicle posture sensor and detecting second posture data of the first unmanned aerial vehicle by the second unmanned aerial vehicle image sensor when the error between the first distance and the second distance is larger than a preset value;
the second judgment unit is used for determining the timestamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the timestamp of the attitude sensor and the timestamp of the image sensor;
and the cooperative control unit is used for setting the first unmanned aerial vehicle main controller or the first unmanned aerial vehicle main controller as time service equipment according to the synchronous conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronous conditions of the plurality of sensors in the second unmanned aerial vehicle if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are asynchronous, and synchronizing the clocks of all the sensors of the first unmanned aerial vehicle and the clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
9. A computer device comprising a processor and a memory for storing processor-executable programs, the computer device performing the method of any of claims 1 to 7 when the processor executes the programs stored in the memory.
10. A storage medium storing a program, characterized in that the program, when executed by a processor, performs the method of any one of claims 1 to 7.
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