CN115396060B - Synchronous control method based on laser and related device - Google Patents
Synchronous control method based on laser and related device Download PDFInfo
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Abstract
The invention relates to a synchronous control method based on laser and a related device, wherein the method comprises the following steps: determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor; if the time stamps 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 clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment. The invention provides a synchronous control method based on laser and a related device, which solve the technical problem that two carrying unmanned aerial vehicles are not synchronous in control in the prior art.
Description
Technical Field
The method and the device relate to the field of system cooperative transportation, in particular to a synchronous control method based on laser and a related device.
Background
The intelligent agent is short for unmanned aircraft, is widely applied in civil fields except for a large number of military applications, and mainly comprises forest fire prevention, anti-smuggling of frontier defense, aviation photographing, ground exploration, power grid patrol, pipeline patrol, traffic management, urban security and the like. However, in the application, most of the intelligent agent is mainly applied to a single intelligent agent, and the problem of insufficient transportation capacity of the single intelligent agent can be solved by utilizing the cooperative lifting of a plurality of intelligent agent ropes, so that the intelligent agent has great theoretical significance and practical value in research. Chinese Zhao Zhigang has analyzed the kinematics and stability of 2 unmanned helicopter hoisting systems, and has primarily discussed the characteristics of a tightly coupled multi-machine system.
At present, the collaborative handling system adopts a pilot-following or formation control mode, and network delay and asynchronous control can occur during control, so that the mismatching of two handling unmanned aerial vehicles is caused.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a synchronous control method based on laser and a related device, which solve the technical problem that two carrying unmanned aerial vehicles are not synchronous in control in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the invention discloses a synchronous control method based on laser, which comprises the following steps:
a first laser sensor of the first unmanned aerial vehicle obtains a first distance of goods cooperatively carried by the first unmanned aerial vehicle and a second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle obtains a second distance of the goods,
when the difference value between the first distance and the second distance is larger than a preset value, the gesture sensor of the first unmanned aerial vehicle detects a first gesture of the first unmanned aerial vehicle, and the image sensor of the second unmanned aerial vehicle detects second gesture data of the first unmanned aerial vehicle;
determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor;
if the time stamps 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 clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
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 gesture sensor and the timestamp of the image sensor; comprising the following steps:
detecting a first gesture of the first unmanned aerial vehicle at a first timestamp according to a gesture sensor;
acquiring a second timestamp of the first unmanned aerial vehicle detected by the image sensor to be in a first gesture;
and if the difference value between 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 not synchronous.
Preferably, the determining the synchronization of the plurality of sensors in the first unmanned aerial vehicle and the synchronization of the plurality of sensors in the second unmanned aerial vehicle includes:
acquiring a third timestamp of a first laser sensor of the first unmanned aerial vehicle and the goods at a first distance;
acquiring a fourth timestamp of the first unmanned aerial vehicle, which is detected by an image sensor of the first unmanned aerial vehicle and the goods and is located at a first distance;
determining the synchronization condition of the sensor of the first unmanned aerial vehicle according to the 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 and the goods at a second distance;
acquiring a sixth timestamp of the second unmanned aerial vehicle, which is detected by an image sensor of the second unmanned aerial vehicle and the goods and is located at a second distance;
and judging the synchronous condition of the sensor of the second unmanned aerial vehicle according to the difference value of the fifth timestamp and the sixth timestamp.
Preferably, the setting the master controller of the first unmanned aerial vehicle or the master controller of the first unmanned aerial vehicle as the 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 synchronizing clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with 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 a main controller of the first unmanned aerial vehicle as time service equipment, and adjusting time of all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle according to the main controller of the first unmanned aerial vehicle, so that clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronous with the clocks of the time service equipment.
Preferably, the setting the master controller of the first unmanned aerial vehicle or the master controller of the first unmanned aerial vehicle as the 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 synchronizing clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, the difference value between the fifth timestamp and the sixth timestamp is smaller than the preset value, a main controller of the first unmanned aerial vehicle is set to be time service equipment, all sensors of the first unmanned aerial vehicle and all sensor periods of the second unmanned aerial vehicle are adjusted in time according to the main controller of the first unmanned aerial vehicle, and therefore clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronized with the clocks of the time service equipment.
Preferably, the setting the master controller of the first unmanned aerial vehicle or the master controller of the first unmanned aerial vehicle as the 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 synchronizing clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, the difference value between the fifth timestamp and the sixth timestamp is smaller than the preset value, a main controller of the second unmanned aerial vehicle is set to be time service equipment, all sensors of the first unmanned aerial vehicle and all sensor periods of the second unmanned aerial vehicle are adjusted in time according to the main controller of the second unmanned aerial vehicle, and therefore clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronized with the clocks of the time service equipment.
Preferably, the setting the master controller of the first unmanned aerial vehicle or the master controller of the first unmanned aerial vehicle as the 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 synchronizing clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the time service device includes:
if the difference value between the third timestamp and the fourth timestamp is smaller than a preset value, the difference value between the fifth timestamp and the sixth timestamp is smaller than the preset value, a main controller of the second unmanned aerial vehicle is set to be time service equipment, all sensors of the first unmanned aerial vehicle and all sensor periods of the second unmanned aerial vehicle are adjusted in time according to the main controller of the second unmanned aerial vehicle, and therefore clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronized with the clocks of the time service equipment.
The second object of the invention can be achieved by adopting the following technical scheme: the system comprises:
a first processing unit, configured to obtain a first distance of a cargo cooperatively handled by a first unmanned aerial vehicle and a second unmanned aerial vehicle by using a first laser sensor of the first unmanned aerial vehicle, obtain a second distance of the cargo by using a second laser sensor of the second unmanned aerial vehicle,
the first judging unit is used for detecting a first gesture of the first unmanned aerial vehicle by the gesture sensor of the first unmanned aerial vehicle when the difference value between the first distance and the second distance is larger than a preset value, and detecting second gesture data of the first unmanned aerial vehicle by the image sensor of the second unmanned aerial vehicle;
the second judging unit is used for determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor;
and the cooperative control unit is used for 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 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 if the time stamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous, 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 object of the present invention can be achieved by adopting the following technical scheme:
the computer equipment comprises a processor and a memory for storing a program executable by the processor, wherein the processor realizes the laser-based synchronous control method and the related device when executing the program stored by the memory.
The fourth object of the present invention can be achieved by adopting the following technical scheme:
a storage medium storing a program which, when executed by a processor, implements the above-described laser-based synchronization control method and related apparatus.
Due to the adoption of the technical scheme, the invention has the following advantages: according to the invention, the first distance of the goods cooperatively carried by the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained through the first laser sensor of the first unmanned aerial vehicle, and the second distance of the goods is obtained through the second laser sensor of the second unmanned aerial vehicle; when the difference value between the first distance and the second distance is larger than a preset value, the gesture sensor of the first unmanned aerial vehicle detects a first gesture of the first unmanned aerial vehicle, and the image sensor of the second unmanned aerial vehicle detects second gesture data of the first unmanned aerial vehicle; determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor, when judging the time synchronization problem of the first unmanned aerial vehicle and the second unmanned aerial vehicle, firstly judging the distance between the first unmanned aerial vehicle and goods, if the difference value between the first unmanned aerial vehicle and the second unmanned aerial vehicle is larger, indicating that the unmanned aerial vehicles are not matched with each other, firstly judging whether the first unmanned aerial vehicle and the second unmanned aerial vehicle are time synchronized, then carrying out subsequent judgment, and providing a basis for the unmanned aerial vehicle to troubleshoot.
If the time stamps 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 clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment. The main controller of the unmanned aerial vehicle with synchronous internal sensor clock can be selected as a reference, and all the sensors and the control units of the two unmanned aerial vehicles are synchronously controlled, so that the two unmanned aerial vehicles are controlled, the problems of network delay and asynchronous can be avoided, and a foundation is provided for subsequent control.
Drawings
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 parts are designated with like reference numerals throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a laser-based synchronization control method of embodiment 1 of the present invention;
FIG. 2 is another flow chart of the laser-based synchronization control method of embodiment 1 of the present invention;
FIG. 3 is a further flowchart of a laser-based synchronization control method of embodiment 1 of the present invention;
fig. 4 is a structural diagram of a laser-based synchronization control system of embodiment 2 of the present invention.
The various references 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 present invention are shown in the drawings, it should be understood that the present invention may 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 synchronous control method based on laser, which comprises the following steps:
step S100, a first laser sensor of a first unmanned aerial vehicle acquires a first distance of goods 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 goods;
in this embodiment, set the distance of goods to first unmanned aerial vehicle and the distance of goods to second unmanned aerial vehicle equal, at the in-process of first unmanned aerial vehicle and second unmanned aerial vehicle transport goods like this, whether first unmanned aerial vehicle and second unmanned aerial vehicle synchronous control can be judged to the difference between the first distance and the second distance, whether break down.
Step S200, when the difference value between the first distance and the second distance is larger than a preset value, the gesture sensor of the first unmanned aerial vehicle detects a first gesture of the first unmanned aerial vehicle, and the image sensor of the second unmanned aerial vehicle detects second gesture data of the first unmanned aerial vehicle;
in this embodiment, the difference between first distance and the second distance is greater than certain scope, first unmanned aerial vehicle and second unmanned aerial vehicle hover, need detect the trouble of both first unmanned aerial vehicle and second unmanned aerial vehicle, thereby avoid the goods to appear dropping the condition, detect first unmanned aerial vehicle and second unmanned aerial vehicle in the past all according to the self-checking based on the sensor, but do not consider the problem whether the timestamp of first unmanned aerial vehicle and second unmanned aerial vehicle is synchronous, if the deviation that the timestamp of first unmanned aerial vehicle and second unmanned aerial vehicle appears is great, the condition that certain unmanned aerial vehicle skew track appears can appear equally, thereby lead to the transport to appear the problem, but this is that two unmanned aerial vehicle trouble identification and self-checking are not detected.
Step S300, determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor;
in this embodiment, the synchronization of the timestamps of the two unmanned aerial vehicles can be determined by detecting the same gesture or object, the difference between the gesture sensor and the image sensor timestamps. For example, if synchronization of time stamps of two sensors is involved, it may be compared whether time in time stamps of the two sensors corresponding to detection of the same gesture or object is identical, if so, synchronization may be considered, or if the difference of time stamps of the two sensors corresponding to detection of the same gesture or object is not beyond a threshold preset according to tolerance, synchronization may be considered, otherwise, the two sensor time stamps may be considered to be asynchronous. If the synchronization condition of the time stamps of more than two sensors is involved, whether the corresponding time stamps among different sensors are consistent or not can be judged in a pairwise comparison mode, so that the time stamp synchronization condition of each sensor is obtained, and whether the two unmanned aerial vehicles are synchronously controlled or not can be further judged.
Step S400, if the time stamps 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 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, the first distance of the goods cooperatively carried by the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained through the first laser sensor of the first unmanned aerial vehicle, and the second distance of the goods is obtained through the second laser sensor of the second unmanned aerial vehicle; when the difference value between the first distance and the second distance is larger than a preset value, the gesture sensor of the first unmanned aerial vehicle detects a first gesture of the first unmanned aerial vehicle, and the image sensor of the second unmanned aerial vehicle detects second gesture data of the first unmanned aerial vehicle; determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor, when judging the time synchronization problem of the first unmanned aerial vehicle and the second unmanned aerial vehicle, firstly judging the distance between the first unmanned aerial vehicle and goods, if the difference value between the first unmanned aerial vehicle and the second unmanned aerial vehicle is larger, indicating that the unmanned aerial vehicles are not matched with each other, firstly judging whether the first unmanned aerial vehicle and the second unmanned aerial vehicle are time synchronized, then carrying out subsequent judgment, and providing a basis for the unmanned aerial vehicle to troubleshoot.
If the time stamps 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 clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment. The main controller of the unmanned aerial vehicle with synchronous internal sensor clock can be selected as a reference, and all the sensors and the control units of the two unmanned aerial vehicles are synchronously controlled, so that the two unmanned aerial vehicles are controlled, the problems of network delay and asynchronous can be avoided, and a foundation is provided for subsequent control.
Preferably, 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 gesture sensor and the timestamp of the image sensor; comprising the following steps:
step S310, detecting a first gesture of the first unmanned aerial vehicle at a first timestamp according to a gesture sensor;
step S320, a second timestamp of the first unmanned aerial vehicle in the first gesture detected by the image sensor is obtained;
in step S330, if the difference between the first timestamp and the second timestamp is greater than the preset value, it is determined that the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous.
Preferably, the determining the synchronization of the plurality of sensors in the first unmanned aerial vehicle and the synchronization of the plurality of sensors in the second unmanned aerial vehicle includes:
step S410, a third timestamp of a first laser sensor of the first unmanned aerial vehicle and the goods at a first distance is obtained; acquiring a fourth timestamp of the first unmanned aerial vehicle, which is detected by an image sensor of the first unmanned aerial vehicle and the goods and is located at a first distance;
step S420, determining a synchronization condition of the sensor of the first unmanned aerial vehicle according to the difference value between the third timestamp and the fourth timestamp;
step S430, a fifth timestamp of a second laser sensor of a second unmanned aerial vehicle and the goods at a second distance is obtained; acquiring a sixth timestamp of the second unmanned aerial vehicle, which is detected by an image sensor of the second unmanned aerial vehicle and the goods and is located at a second distance;
step S440, determining the synchronization of the sensor of the second unmanned aerial vehicle according to the difference between the fifth timestamp and the sixth timestamp.
Preferably, in step 400, according to the synchronization conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronization conditions of the plurality of sensors in the second unmanned aerial vehicle, the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle is set as a time service device, and 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 clocks of the time service device, including:
step 450A, if the difference between the third timestamp and the fourth timestamp is smaller than a preset value, and the difference between the fifth timestamp and the sixth timestamp is larger than the preset value, setting the main controller of the first unmanned aerial vehicle as time service equipment;
and 460B, performing time adjustment on all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle according to a main controller of the first unmanned aerial vehicle, so as to synchronize clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with clocks of the time service equipment.
Preferably, in step 400, according to the synchronization conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronization conditions of the plurality of sensors in the second unmanned aerial vehicle, the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle is set as a time service device, and 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 clocks of the time service device, including:
step 450C, if the difference between the third timestamp and the fourth timestamp is smaller than a preset value, setting the main controller of the first unmanned aerial vehicle as time service equipment;
and step 450D, performing time adjustment on all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle according to a main controller of the first unmanned aerial vehicle, so as to synchronize clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
Preferably, in step 400, the setting the master controller of the first unmanned aerial vehicle or the master controller of the first unmanned aerial vehicle as the 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 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 device includes:
step 450E, if the difference between the third timestamp and the fourth timestamp is smaller than a preset value, setting the main controller of the second unmanned aerial vehicle as time service equipment;
and step 450F, performing time adjustment on all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle according to a main controller of the second unmanned aerial vehicle, so as to synchronize clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
Preferably, in step 400, according to the synchronization conditions of the plurality of sensors in the first unmanned aerial vehicle and the synchronization conditions of the plurality of sensors in the second unmanned aerial vehicle, the main controller of the first unmanned aerial vehicle or the main controller of the first unmanned aerial vehicle is set as a time service device, and 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 clocks of the time service device, including:
step 450H, if the difference between the third timestamp and the fourth timestamp is smaller than a preset value, setting the main controller of the second unmanned aerial vehicle as time service equipment;
and step 450G, performing time adjustment on all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle according to a main controller of the second unmanned aerial vehicle, so as to synchronize clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
Example 2:
the embodiment provides a laser-based synchronous control system, which comprises: the first processing unit 501 is configured to obtain a first distance of a cargo cooperatively carried by a first unmanned aerial vehicle and a second unmanned aerial vehicle by using a first laser sensor of the first unmanned aerial vehicle, obtain a second distance of the cargo by using a second laser sensor of the second unmanned aerial vehicle, and when a difference value between the first distance and the second distance is greater than a preset value, detect a first gesture of the first unmanned aerial vehicle by using a gesture sensor of the first unmanned aerial vehicle, and detect second gesture data of the first unmanned aerial vehicle by using an image sensor of the second unmanned aerial vehicle; a second determining unit 503, configured to determine a timestamp synchronization situation of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to a difference between a timestamp of the gesture sensor and a timestamp of the image sensor; and the cooperative control unit 504 is configured to set 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 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 if the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronized, and 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 the clocks of the time service equipment.
The specific implementation of each module in this embodiment may be referred to embodiment 1, and will not be described in detail herein. 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 application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure is divided into different functional modules, so as to perform 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 these elements are not limited by these terms. These terms are only used to distinguish one module from another. For example, a first transmit module may be referred to as a second transmit module, and similarly, a second transmit module may be referred to as a first transmit module, both of which are transmit modules, but which are not the same transmit module, 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. A processor, a memory, an input device, a display and a network interface connected by a system bus, where the processor is configured to provide computing 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 and the computer program in the nonvolatile storage medium, and when the processor executes the computer program stored in the memory, the processor implements a laser-based synchronous control method of the foregoing embodiment 1, where the method includes: a first laser sensor of a first unmanned aerial vehicle acquires a first distance of goods cooperatively carried by the first unmanned aerial vehicle and a second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle acquires a second distance of the goods, and when a difference value between the first distance and the second distance is larger than a preset value, an 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 time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor; if the time stamps 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 clocks of all the sensors of the first unmanned aerial vehicle and 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 storing a computer program, and when the program is executed by a processor, the processor executes the computer program stored in the memory, to implement the laser-based synchronization control method of the above embodiment 1, and the method includes: a first laser sensor of a first unmanned aerial vehicle acquires a first distance of goods cooperatively carried by the first unmanned aerial vehicle and a second unmanned aerial vehicle, a second laser sensor of the second unmanned aerial vehicle acquires a second distance of the goods, and when a difference value between the first distance and the second distance is larger than a preset value, an 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 time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor; if the time stamps 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 clocks of all the sensors of the first unmanned aerial vehicle and clocks of all the sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
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. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for laser-based synchronous control, the method comprising:
a first laser sensor of a first unmanned aerial vehicle obtains a first distance between goods cooperatively carried by the first unmanned aerial vehicle and a second unmanned aerial vehicle and the first unmanned aerial vehicle, and a second laser sensor of the second unmanned aerial vehicle obtains a second distance between the goods and the second unmanned aerial vehicle;
when the difference value between the first distance and the second distance is larger than a first preset value, the gesture sensor of the first unmanned aerial vehicle detects a first gesture of the first unmanned aerial vehicle, and the image sensor of the second unmanned aerial vehicle detects second gesture data of the first unmanned aerial vehicle;
determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor; when the difference between the first distance and the second distance is larger than a first preset value, the first unmanned aerial vehicle and the second unmanned aerial vehicle hover; detecting a first gesture of the first unmanned aerial vehicle at a first timestamp according to a gesture sensor; acquiring a second timestamp of the first unmanned aerial vehicle detected by the image sensor to be in a first gesture; if the difference value between the first timestamp and the second timestamp is larger than a second preset value, determining that the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous;
the method comprises the steps that when time stamps of a first unmanned aerial vehicle and a second unmanned aerial vehicle are not synchronous, when a plurality of sensors in the first unmanned aerial vehicle are synchronous, a main controller of the first unmanned aerial vehicle is set to be time service equipment when a plurality of sensors in the second unmanned aerial vehicle are not synchronous; the method comprises the steps that when a plurality of sensors in a first unmanned aerial vehicle are synchronous and a plurality of sensors in a second unmanned aerial vehicle are synchronous, a main controller of the first unmanned aerial vehicle or a main controller of the second unmanned aerial vehicle is set to be time service equipment; and synchronizing clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
2. The laser-based synchronization control method according to claim 1, wherein the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle is determined according to a difference between the time stamp of the gesture sensor and the time stamp of the image sensor; comprising the following steps:
detecting a first gesture of the first unmanned aerial vehicle at a first timestamp according to a gesture sensor;
acquiring a second timestamp of the first unmanned aerial vehicle detected by the image sensor to be in a first gesture;
and if the difference value between the first timestamp and the second timestamp is larger than a second preset value, the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous.
3. The laser-based synchronization control method according to claim 2, further comprising: the method comprises the steps of judging the synchronous condition of a plurality of sensors in a first unmanned aerial vehicle and the synchronous condition of a plurality of sensors in a second unmanned aerial vehicle, and specifically comprises the following steps:
acquiring a third timestamp of a first laser sensor of the first unmanned aerial vehicle and the goods at a first distance;
acquiring a fourth timestamp of the first unmanned aerial vehicle, which is detected by an image sensor of the first unmanned aerial vehicle and the goods and is located at a first distance;
determining the synchronization condition of the sensor of the first unmanned aerial vehicle according to the 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 and the goods at a second distance;
acquiring a sixth timestamp of the second unmanned aerial vehicle, which is detected by an image sensor of the second unmanned aerial vehicle and the goods and is located at a second distance;
and judging the synchronous condition of the sensor of the second unmanned aerial vehicle according to the difference value of the fifth timestamp and the sixth timestamp.
4. A method of laser-based synchronization control according to claim 3, comprising:
if the difference value between the third timestamp and the fourth timestamp is smaller than a second preset value, and the difference value between the fifth timestamp and the sixth timestamp is larger than the second preset value, setting a main controller of the first unmanned aerial vehicle as time service equipment, and adjusting time of all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle according to the main controller of the first unmanned aerial vehicle, so that clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronous with clocks of the time service equipment.
5. The laser-based synchronization control method according to claim 4, comprising:
if the difference value between the third timestamp and the fourth timestamp is smaller than a second preset value, the difference value between the fifth timestamp and the sixth timestamp is smaller than the second preset value, a main controller of the first unmanned aerial vehicle is set to be time service equipment, all sensors of the first unmanned aerial vehicle and all sensors of the second unmanned aerial vehicle are subjected to time adjustment according to the main controller of the first unmanned aerial vehicle, and therefore clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronized with the clocks of the time service equipment.
6. The laser-based synchronization control method according to claim 4, comprising:
if the difference value between the third timestamp and the fourth timestamp is smaller than a second preset value, the difference value between the fifth timestamp and the sixth timestamp is smaller than the second preset value, a main controller of the second unmanned aerial vehicle is set to be time service equipment, and all sensors of the first unmanned aerial vehicle and all sensor periods of the second unmanned aerial vehicle are adjusted in time according to the main controller of the second unmanned aerial vehicle, so that clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle are synchronized with clocks of the time service equipment.
7. A laser-based synchronization control system, the system comprising:
the first processing unit is used for acquiring a first distance of cargoes cooperatively carried by the first unmanned aerial vehicle and the second unmanned aerial vehicle by the first laser sensor of the first unmanned aerial vehicle, and acquiring a second distance of the second unmanned aerial vehicle by the second laser sensor of the second unmanned aerial vehicle;
the first judging unit is used for detecting a first gesture of the first unmanned aerial vehicle by the gesture sensor of the first unmanned aerial vehicle when the difference value between the first distance and the second distance is larger than a first preset value, and detecting second gesture data of the first unmanned aerial vehicle by the image sensor of the second unmanned aerial vehicle;
the second judging unit is used for determining the time stamp synchronization condition of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the difference value between the time stamp of the gesture sensor and the time stamp of the image sensor; when the difference between the first distance and the second distance is larger than a first preset value, the first unmanned aerial vehicle and the second unmanned aerial vehicle hover; detecting a first gesture of the first unmanned aerial vehicle at a first timestamp according to a gesture sensor; acquiring a second timestamp of the first unmanned aerial vehicle detected by the image sensor to be in a first gesture; if the difference value between the first timestamp and the second timestamp is larger than a second preset value, determining that the timestamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle are not synchronous;
the cooperative control unit is used for enabling the time stamps of the first unmanned aerial vehicle and the second unmanned aerial vehicle to be out of synchronization, and setting a main controller of the first unmanned aerial vehicle as time service equipment when a plurality of sensors in the first unmanned aerial vehicle are out of synchronization and a plurality of sensors in the second unmanned aerial vehicle are out of synchronization; the method comprises the steps that when a plurality of sensors in a first unmanned aerial vehicle are synchronous and a plurality of sensors in a second unmanned aerial vehicle are synchronous, a main controller of the first unmanned aerial vehicle or a main controller of the second unmanned aerial vehicle is set to be time service equipment; and synchronizing clocks of all sensors of the first unmanned aerial vehicle and clocks of all sensors of the second unmanned aerial vehicle with the clocks of the time service equipment.
8. A computer device comprising a processor and a memory for storing a program executable by the processor, the computer device performing the method of any one of claims 1 to 6 when the processor executes the program stored in the memory.
9. A storage medium storing a program, wherein the program, when executed by a processor, performs the method of any one of claims 1 to 6.
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