WO2020037628A1

WO2020037628A1 - Data acquisition system, transmission and conversion circuit, and mobile platform

Info

Publication number: WO2020037628A1
Application number: PCT/CN2018/102037
Authority: WO
Inventors: 尹圣宝; 肖�琳; 谢骞
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-23
Filing date: 2018-08-23
Publication date: 2020-02-27
Also published as: CN110720206B; CN110720206A

Abstract

A data acquisition system, a transmission and conversion circuit, and a mobile platform. The data acquisition system comprises: a sensor (101), a transmission and conversion circuit (102), and a processor (103), wherein the sensor (101) is configured to acquire sensing data, and transmit the sensing data to the transmission and conversion circuit (102); the transmission and conversion circuit (102) is configured to convert the sensing data to target data according to a target transmission protocol, and transmit the target data obtained by conversion to the processor (103) by means of N channel output interfaces according to a split transmission policy (103); the processor (103) is configured to fuse the data received from the N channel output interfaces according to a fusion policy to obtain image data. By using the data acquisition system, compatibility requirements of different interfaces can be satisfied, and data transmission efficiency can further be ensured according to a preset distribution policy.

Description

Data acquisition system, transmission conversion circuit and mobile platform

Technical field

The present invention relates to the field of electronic technology, and in particular, to a data acquisition system, a transmission conversion circuit, and a mobile platform.

Background technique

A sensor is a detection device used to collect sensing data of a measured object. Based on different detection needs, the sensor may include: an image sensor for collecting images, a motion sensor for sensing motion data such as acceleration, angular acceleration, etc. , Temperature sensor used to sense the ambient temperature, etc. A mobile platform equipped with these sensors can sense the external environment and its own movement, thereby ensuring the safety and accuracy of the movement of the mobile platform. For example, the drones that are emerging nowadays are equipped with image sensors and motion sensors. Therefore, the distance measurement, positioning, and flight attitude correction during the drone flight are completed to ensure the safe flight of the drone and perform accurately. Geological inspection, inspection and other tasks.

In order to meet the data collection and transmission requirements of mobile platforms, the transmission protocols for these sensors are also constantly updated and developed. For example, the image sensor includes the MIPI (Mobile Industry Processor Interface) interface, LVDS (Low Voltage Differential Signaling (Low Voltage Differential Signaling) interface, SLEC (scalable low voltage signal embedded clock) interface, and other interfaces use different transmission protocols to transmit the sensed data. How to use mobile platforms Receiving the sensing data of different sensors correctly has become a hot issue in research.

Summary of the Invention

Embodiments of the present invention provide a data acquisition system, a transmission conversion circuit, and a mobile platform, which can correctly receive the sensing data of different sensors.

In one aspect, an embodiment of the present invention provides a data acquisition system, including: a sensor, a transmission conversion circuit, and a processor; wherein:

The sensor is configured to collect sensing data and transmit the sensing data to the transmission conversion circuit;

The transmission conversion circuit is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the converted target data to the processor through an N-channel output interface according to a split transmission strategy;

The processor is configured to perform fusion processing on each channel of data received from the N-channel output interface according to a fusion strategy to obtain image data;

The fusion strategy matches the split transmission strategy, and N is a positive integer.

In another aspect, an embodiment of the present invention provides a sensor data transmission conversion circuit, including: a first interface, a second interface, and a signal converter; the signal converter is respectively connected to the first interface and the second interface. The interfaces are connected; of which:

The first interface is an interface capable of being connected to a sensor, and the first interface is configured to receive the sensing data collected by the sensor and transmit the sensing data to the signal converter;

The signal converter is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the target data to the second interface;

The second interface is configured to output the target data.

In still another aspect, an embodiment of the present invention further provides a mobile platform, where the mobile platform includes: a power device, a sensor, a transmission conversion circuit, and a processor; wherein:

The transmission conversion circuit is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the converted target data to the processor through an N-channel output interface according to a split transmission strategy, where , N is a positive integer;

The processor is configured to perform fusion processing on each channel of data received from the N-channel output interface according to a fusion strategy to obtain image data, wherein the fusion strategy matches the branch transmission strategy;

The image data is used for visual positioning processing, and the power device is controlled according to a result of the visual positioning processing.

The embodiment of the present invention defines a scheme capable of receiving data collected by sensors of different interface types, and performing data conversion and distribution, which can not only transmit data between different interfaces, meet the compatibility requirements of different interfaces, but also follow a preset distribution strategy. Data transmission efficiency can also be guaranteed, and the timeliness and accuracy of data transmission can be guaranteed to a certain extent, and there will be no data loss or link congestion during forwarding.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. For those of ordinary skill in the art, other embodiments may be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic structural diagram of a data acquisition system according to an embodiment of the present invention;

2 is a schematic structural diagram of a data conversion circuit according to an embodiment of the present invention;

3 is a schematic diagram of distribution and fusion of data transmitted through an interface channel according to an embodiment of the present invention;

4 is a schematic diagram of another structure of a data conversion circuit according to an embodiment of the present invention;

5 is a schematic diagram of a target data distribution interface channel and fusion for time-sharing transmission;

6 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart of a data collection method according to an embodiment of the present invention.

detailed description

In order to correctly receive the sensing data transmitted by the sensors based on different transmission protocols, a transmission conversion circuit is designed in the embodiment of the present invention. For the sensor data transmitted by using interfaces corresponding to different transmission protocols, the transmission conversion circuit can perform protocol conversion on the sensing data according to the required target transmission protocol, and convert the sensing data into data under the target transmission protocol. Then output through the output interface to ensure that the receiving end can correctly receive the sensing data and perform subsequent processing.

FIG. 1 is a schematic structural diagram of a data acquisition system according to an embodiment of the present invention. The data acquisition system includes a sensor 101, a transmission conversion circuit 102, and a processor AP103. On the one hand, the sensing data can be obtained through the sensor 101, such as the image obtained by the image sensor, and on the other hand, the processor 103 can be used to obtain the image data corresponding to the sensing data under the target transmission protocol for subsequent sensor data. deal with.

The sensor 101 is mainly used for collecting sensing data and transmitting the sensing data to the transmission conversion circuit 102. The sensor 101 may be, for example, a camera with an LVDS interface, or a camera with a SLEC interface. These sensors 101 capture environmental images or images of certain targets, and transmit the captured image sensing data through the LVDS interface or the SLEC interface. These image sensing data mainly include data of each pixel, and a complete image data is obtained by processing a large number of pixels. Of course, there are other interface image sensors, such as cameras with MIPI interface. These image sensors can capture images with resolutions in the hundreds of millions, at 720P, 1080P or even higher. The sensor 101 may also be other types of sensors, such as a radar sensor with an LVDS interface and the like.

The transmission conversion circuit 102 is used as middleware for data transmission between the sensor 101 and the processor 103. On the one hand, it includes an input interface matching the interface used by the sensor 101, and on the other hand, it also includes an interface used by the processor 103. Matching output interface. In the embodiment of the present invention, the transmission protocols of the input interfaces (such as the LVDS interface and the SLEC interface in FIG. 1) and the output interfaces (such as the MIPI interface in FIG. 1) in the transmission conversion circuit 102 are different. At the same time, the transmission conversion circuit 102 converts the input sensing data into target data according to a target transmission protocol, and transmits the converted target data to the processor 103 through an output interface according to a shunt transmission strategy. The purpose of compatibility with various image sensors 101 is achieved. It can be understood that FIG. 1 is only a schematic diagram. In other embodiments, the input interface may be a MIPI interface and a SLEC interface, and the output interface may be an LVDS interface, or there may be interfaces supporting other transmission protocols. This application Not limited. In the embodiment of the present invention, for example, a 4lane (ie, 4-channel) MIPI interface may be used.

The input interface may be an M-channel input interface (a first interface), and the output interface may be an N-channel output interface (a second interface). The transmission conversion circuit 102 may select part or all of the channels from the N-channel output interface to output the corresponding converted target data based on the transmission rate of the M-channel input interface. At the same time, the port 102 of the transmission conversion circuit may distribute the pixel data included in the converted target data to the channel selected from the N-channel output interface for transmission according to the specified allocation method.

The main role of the AP is to receive the target data from the data conversion circuit, and based on the fusion method corresponding to the specified distribution method, to merge and merge the data received from some or all of the N-channel output interfaces to obtain the final result. Available image data. In one embodiment, the image data obtained by the AP may be directly transmitted to a communication interface connected to the AP, and the image data may be encoded and transmitted to one or more other terminals through the communication interface. In an embodiment, the AP may also send the processed image data to other image processing units, so that these image processing units perform processing such as visual ranging and positioning on the image data. For example, for a drone, the AP may The obtained image data is sent to the flight controller of the drone, and the flight controller performs visual ranging and positioning processing in order to control the more stable flight of the drone.

In one embodiment, the data acquisition system may further include a storage device, and the processor 103 stores the image data obtained after the fusion processing in the storage device, and may extract the image from the storage device when needed. Data can be sent to communication interfaces, flight controllers, etc. The storage device includes a double-rate DDR synchronous dynamic random access memory to ensure high-speed writing of image data. Based on DDR, it can be basically applied to image data of any resolution and ensure that the image data is stored correctly. The storage device may further include other volatile memories (for example, random-access memory (RAM); the storage device may also include non-volatile memory (non-volatile memory), For example, a flash memory, a solid state drive (SSD), etc .; the storage device may further include a combination of the above types of memories.

The transmission conversion circuit 102 described above may be a central processing unit (CPU). The transmission conversion circuit 102 may further include a hardware chip. The above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), or the like.

Please refer to FIG. 2 again, which is a schematic diagram of a specific structure of the foregoing data conversion circuit. The data conversion circuit includes a signal converter 203, two first interfaces 201, and a second interface 202. The transmission protocol corresponding to each first interface 201 is different from the transmission protocol corresponding to the second interface 202. Of course, in other embodiments, there may also be a first interface 201 having the same transmission protocol as the second interface 202. In the embodiment of the present invention, the first interface 201 is an interface capable of being connected to a sensor, and the first interface 201 is configured to receive sensing data collected by the sensor and transmit the sensing data to the signal converter. 203; the signal converter 203 is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the target data to the second interface 202; the second interface 202 is configured to output the The target data, for example, is output to the AP mentioned above.

The transmission conversion circuit converts the sensing data received by the first interface 201 into target data suitable for transmission on the second interface 202 through the signal converter 203. The main function of the transmission conversion circuit is that when the transmission protocols corresponding to the first interface 201 and the second interface 202 are different, the sensing data received from the first interface 201 can be converted to obtain the data that can be transmitted through the second interface. 202 The target data transmitted. The transmission conversion circuit may include a plurality of first interfaces 201 of different transmission protocols (or the same transmission protocol) at the same time, and include a second interface 202. As shown in FIG. 1, the first interface 201 included in the transmission conversion circuit is an LVDS interface that can support the LVDS transmission protocol and a SLEC interface that supports the SLEC transmission protocol, and the second interface 202 can include the MIPI of the MIPI transmission protocol. interface.

After the transmission conversion circuit receives the sensing data through the first interface 201, the signal converter 203 therein converts the sensing data into target data according to a target transmission protocol, and converts the converted data according to a shunt transmission strategy. The target data is transmitted to the processor through the second interface 202 of the N channel. The target transmission protocol refers to a transmission protocol supported by the second interface 202. That is, it is a target transmission protocol preset in the transmission conversion circuit according to the transmission protocol corresponding to the second interface 202. For example, if the second interface 202 is a MIPI interface, the preset target transmission protocol is the MIPI protocol. Taking the sensing data received from the first interface 201 as image sensing data as an example, the signal converter 203 in the transmission conversion circuit may firstly convert each of the image sensing data according to the transmission protocol corresponding to the first interface 201. The pixel data is parsed, and the parsed data is packaged according to the target transmission protocol corresponding to the second interface 202 to obtain the target data. After performing other related transmission processing, the data is output to the processor AP through the second interface 202.

Further, in addition to the need to convert the sensing data into the target data according to the target transmission protocol, in the embodiment of the present invention, it is also considered that the interfaces of different transmission types have different numbers of channels and transmission rates. The transmission protocol and transmission rate corresponding to one interface 201 and the transmission protocol and transmission rate corresponding to the second interface 202 configure a split transmission strategy. After the transmission conversion circuit converts the sensing data into target data according to a target transmission protocol, the converted target data can be transmitted to the processor through the second interface 202 according to a split transmission strategy. At the same time, the AP side will set the fusion strategy corresponding to the split transmission strategy in order to correctly receive the complete target data from the second interface 202, and perform fusion processing on each channel of data received from the N-channel output interface according to the fusion strategy. Image data.

The classified transmission strategy is used to instruct selecting a target channel from the second interface 202 and performing pixel transmission allocation for the selected target channel. In one embodiment, the split transmission strategy includes a channel selection rule; the transmission conversion circuit is configured to select a target channel from the second interface 202 according to the channel selection rule; wherein the channel selection rule includes: a selected target channel The transmission rate is greater than or equal to the transmission rate of the first interface 201. That is, when the first interface 201 and the second interface 202 are set in the transmission conversion circuit, the interface that can output data at a rate greater than or equal to the rate at which the first interface 201 inputs data can be selected as the second interface 202. This can ensure the timely output of input data without causing blockage or data loss. In this way, when the transmission conversion circuit performs data transmission, some or all channels can be selected from the second interface 202 to transmit the converted target data, so as to ensure that the data collected by the sensor can be finally transmitted to the AP in a timely manner.

In other embodiments, a cache may also be set, and the converted target data is stored in the cache queue, and the data in the cache queue is transmitted based on the first-in-first-out method to satisfy the integrity of the target data transmission. It is conducive to transmitting sensing data in some scenarios where the timeliness of data transmission is not high. The buffer can be set in the transmission conversion circuit and connected to the signal converter 203 of the transmission conversion circuit. On the one hand, the signal converter 203 stores the converted target data in the buffer, on the other hand, the signal converter 203 The target data is extracted from the cache through the second way and output through the second interface 202.

In one embodiment, the classified transmission strategy may further include a pixel allocation rule, and the pixel allocation rule is mainly used to allocate a transmission channel for the pixel data in the converted target data. The arrangement order of each pixel on the image is fixed, and the pixel allocation rules can be set according to the arrangement order of pixels on the image. The transmission conversion circuit is configured to allocate each pixel data included in the target data to a target channel selected from the second interface 202 for transmission according to the allocation manner indicated by the pixel allocation rule. Depending on the number of channels selected from the second interface 202, different allocation rules can be set. For example, when only one channel is selected for the transmission of target data, each pixel may be sequentially transmitted through the one channel according to the arrangement order of each pixel on the image. If two channels are selected as the target channels, the pixel data of the pixels in the singular order can be transmitted through the first target channel, and the pixel data of the pixels in the even order can be transmitted through the second Target channel transmission.

Corresponding to the pixel allocation rule, a pixel fusion strategy is set on the AP. The pixel combination rule included in the fusion strategy is set according to the pixel point allocation rule, and the processor is configured to, according to the pixel point combination rule, pixels received from a corresponding target channel of the second interface 202 The points are sequentially combined to obtain image data. In other words, the pixel combination rule is the opposite of the pixel allocation rule. For example, the pixel data of the singular pixel is transmitted through the first target channel, and the pixel data of the even pixel is passed through the first Two target channels are transmitted, then in the process of AP measurement combination, singular pixel data is extracted from the data stream transmitted from the first target channel, and double pixel data is extracted from the data stream transmitted from the second target channel. , And then combine them in order to get image data. It can be understood that, for a manner of extracting single pixel data from a path in the second interface 202 such as a MIPI interface, reference may be made to the prior art.

In other embodiments, it is not necessary to set a split transmission strategy and a fusion strategy. The transmission conversion circuit directly uses the converted target data as new sensor sensing data, and transmits these new sensors on the MIPI interface according to the MIPI protocol transmission method The sensing data is sufficient. The AP receives these new sensing data from the MIPI interface according to the MIPI protocol to obtain image data. There is no need to select a path and assign pixel data.

Based on Figure 1, Figure 2 and Figure 3 for illustration, the data acquisition system includes a first image sensor with a LVDS interface and a second image sensor with a SLEC interface. Corresponding to the image sensor, the transmission conversion circuit includes the LVDS interface and SLEC interface two first interfaces 201. The second interface 202 of the transmission conversion circuit is a MIPI interface. After the image sensing data of the first image sensor is transmitted to the signal converter 203 via the LVDS interface, the signal converter 203 parses each pixel data from the image sensing data based on the LVDS protocol, and then encapsulates it according to the MIPI format to obtain the MIPI protocol. Includes target data for each pixel data. The transmission rate of the LVDS interface is 800m / s * 16 (16 channels), and the transmission rate of the MIPI interface is 2.5g / s * 4. In this example, the LVDS interface inputs 4.5g of data in a unit time, and then directly selects two channels in the MIPI interface to transmit the converted target data based on the instruction of the split transmission strategy. And based on the instruction of the split transmission strategy, as shown in FIG. 3, even pixel data is transmitted on the first channel such as MIPI1, and odd pixel data is transmitted on the second channel such as MIPI2. After receiving the data transmitted by the MIPI interface, the AP fuses the double pixel data received from the first channel and the single pixel data received from the second channel based on the fusion strategy matching the split transmission strategy. , To obtain the image data as shown in Figure 3. It can be understood that the embodiments of the present invention are merely examples. In other examples, the amount of data input by the LVDS interface in a unit time may be more or less. Two channels or more channels of the MIPI interface may be selected for transmission. data.

The embodiment of the present invention defines a scheme capable of receiving data collected by sensors of different interface types, and performing data conversion and distribution, which can not only transmit data between different interfaces, but also meet the compatibility requirements of different interfaces. It can also ensure data transmission efficiency, and ensure the timeliness and accuracy of data transmission when needed, and there will be no data loss or link congestion during forwarding.

Please refer to FIG. 4 again, which is another schematic structural diagram of a data conversion circuit according to an embodiment of the present invention. The data conversion circuit in the embodiment of the present invention includes two first interfaces 401 (for example, LVDS interface and SLEC interface respectively) and a second interface 402 (for example, MIPI interface). The data conversion circuit includes a first The signal converter 403 and the second signal converter 404, the first signal converter 403 is connected to the LVDS interface, the second signal converter 404 is connected to the SLEC, and the data conversion circuit further includes a switch control circuit 405.

Different from the embodiment described in FIG. 2, a switch control mode is added in the embodiment of the present invention to ensure that when two first interfaces 401 are inputting sensing data, the first signal converter 403 and After the second signal converter 404 obtains the respective target data, the converted target data can be transmitted in a time-sharing manner through a switch circuit. The switch control circuit 405 is used to transmit target data output by different signal converters in different periods.

In the processor part, corresponding to the time-sharing transmission method of the data conversion circuit, the target data received at different times are respectively fused, and finally the image data corresponding to the sensing data received through the first interface 401 are obtained. And image data corresponding to the sensing data received through the second interface 402. The processor can store the final image data in different folders. This data conversion circuit is mainly aimed at data transmission that does not require high timeliness of image transmission. For the purpose of the first signal converter 403 and the second signal converter 404, reference may be made to the description of related content in the foregoing embodiment. As shown in FIG. 5, it is a schematic diagram of allocating interface channels for target data for time-sharing transmission and fusing image data.

When the data conversion circuit distributes the target data converted from the sensing data of the first interface 401 and the target data converted from the sensing data of the second interface 402, it can use different split transmission strategies, that is, use Different sums can also use the same classification transmission strategy.

In addition, since the amount of input data may be large when two sensors are connected at the same time, in the structure shown in FIG. 4, a buffer may also be added, and the first signal converter 403 and / or the second signal converter 404 may convert The obtained target data is cached in the cache, and the target data is output through the second interface 402 according to the time-sharing rule and the corresponding classification transmission policy based on the first-in, first-out principle.

In other embodiments, it is also considered to perform space transmission for the number of channels of the second interface. In the split transmission strategy, the N channels of the second interface are divided to obtain multiple groups of channels. In one embodiment, The first interface includes at least two, corresponding to the number of the first interfaces, and at least two groups of channels are divided in the split transmission strategy. For example, for the MIPI interface, MIPI1 and MIPI2 are used as the first set of channels corresponding to the first first interface, and the signal converter passes the first target data converted from the sensing data received from the first first interface and passes through the first Group channel output. With MIPI3 and MIPI4 as the second group of channels corresponding to the second first interface, the signal converter outputs the target data converted from the sensing data received from the second first interface through the second group of channels. When the AP performs the fusion processing, it only needs to fuse the target data received from MIPI1 and MIPI2 to obtain an image data; the target data received from MIPI3 and MIPI4 are fused to obtain another image data.

Please refer to FIG. 6 again, which is a schematic structural diagram of a mobile platform according to an embodiment of the present invention. FIG. 6 mainly illustrates a case where the mobile platform is a drone. In other embodiments, the mobile platform may also be a mobile robot, a car that requires image sensor assistance (such as a driverless car), or some other mobile device that requires an image sensor. In the embodiment of the present invention, the mobile platform includes a power unit, a sensor, a transmission conversion circuit, and a processor. Of course, the mobile platform may also include other components, such as a power supply, a communication interface for communicating with external devices such as a remote controller or a user terminal, and so on.

As shown in FIG. 6, the power unit 601 may include an electronic speed governor. In general, the power unit may also include a motor and a propeller. The power unit 601 formed based on these components can better ensure that the UAV performs receiving. Control flight and perform various flight missions.

The sensor 602 is configured to collect sensing data and transmit the sensing data to the transmission conversion circuit 603. The sensor 602 may be used to collect mobile data during the operation of a mobile platform, and may include a mobile environment. Environmental sensing data. The sensor 602 may include one or more sensors. In the embodiment of the present invention, an interface used by the sensor 602 is different from an N-channel output interface of the transmission conversion circuit 603.

The transmission conversion circuit 603 is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the converted target data to the processor 604 through an N-channel output interface according to a split transmission strategy. , Where N is a positive integer.

The processor 604 is configured to perform fusion processing on each channel of data received from the N-channel output interface according to a fusion strategy to obtain image data, where the fusion strategy matches the branch transmission strategy.

The image image data obtained by the processor 604 is used for visual positioning processing, and the power device 601 is controlled according to the result of the visual positioning processing, so as to facilitate auxiliary control of the drone flight and ensure flight safety.

In one embodiment, for the image data obtained by the processor 604, as shown in FIG. 6, the mobile platform may further include: a mobile controller 605, and the mobile controller 605 and the power device 601 are respectively The processor 604 is connected; the movement controller 605 is configured to obtain image data obtained by the processor 604, perform visual positioning processing on the image data, and control the power according to a result of the visual positioning processing. Device 601. In other embodiments, the processor 604 itself may be used as a module for controlling the power device 601. The processor 604 is configured to perform visual positioning processing on the image data, and according to a result of the visual positioning processing, Control the power unit 601.

In the embodiment of the present invention, the transmission conversion circuit 603 includes: a first interface, a second interface, and a signal converter; the signal converter is connected to the first interface and the second interface, respectively. For the relative position structure and specific implementation of the first interface, the second interface, and the signal converter, reference may be made to the description of related content in the foregoing embodiment.

In one embodiment, the split transmission strategy includes a channel selection rule; the signal converter is configured to select a target channel from the second interface according to the channel selection rule; wherein the channel selection rule includes: The transmission rate is greater than or equal to the transmission rate of the first interface.

In one embodiment, the split transmission strategy includes a pixel allocation rule; and the signal converter is configured to allocate each pixel data included in the target data to the pixel data according to the allocation manner indicated by the pixel allocation rule. Transmission from the target channel selected by the second interface. Correspondingly, the pixel combination rule included in the fusion strategy is set according to the pixel allocation rule; the processor 604 is configured to receive from the corresponding target channel of the second interface according to the pixel combination rule The obtained pixel points are sequentially combined to obtain image data.

In the embodiment of the present invention, a mobile platform such as a drone can mount different types of image sensors 602 as required. The mobile platform does not need to use a fixed sensor 602 interface that supports only one transmission protocol, which improves the interface compatibility of the mobile platform. Ability, according to a preset distribution strategy, data transmission efficiency can also be guaranteed, and the timeliness and accuracy of data transmission can be guaranteed when needed, and there will be no data loss or link congestion during forwarding.

Please refer to FIG. 7 again, which is a schematic flowchart of a data collection method according to an embodiment of the present invention. The method according to the embodiment of the present invention may be executed by a processor, which is connected to a sensor through a first interface for Receive the sensor data and connect to other image processing equipment through the second interface, and send the target data processed by the received sensing data to other image processing equipment, so that other image processing equipment can obtain the image data. The transmission protocol corresponding to the first interface is different from the transmission protocol used by the second interface. In the embodiment of the present invention, the processor may call an application program instruction stored in a storage device to execute the data acquisition method, and the data acquisition method includes the following steps.

S701: Receive the sensing data sent by the sensor through the first interface; the sensor may be an image sensor based on transmission protocols such as the LVDS transmission protocol and the SLEC transmission protocol, and the sensor may sense the sensed data through the first interface supporting the response protocol The data is sent to the processor.

S702: convert the sensing data into target data according to a target transmission protocol, and output the converted target data through a second interface according to a split transmission strategy; wherein the second interface is an N-channel output interface, The split transmission strategy includes a channel selection rule; and outputting the converted target data according to the split transmission policy through a second interface includes: selecting a target channel from the second interface according to the channel selection rule; wherein, the channel selection The rules include: the transmission rate of the selected target channel is greater than or equal to the transmission rate of the first interface. In addition, the split transmission strategy includes a pixel allocation rule; and outputting the converted target data according to the split transmission strategy through a second interface further includes: an allocation manner indicated by the pixel allocation rule, and The data of each pixel included in the data is distributed to the target channel selected from the second interface for transmission.

The embodiment of the present invention defines a scheme capable of receiving data collected by sensors of different interface types, and performing data conversion and distribution, which can not only transmit data between different interfaces, meet the compatibility requirements of different interfaces, but also follow a preset distribution strategy. It can also ensure data transmission efficiency, and ensure the timeliness and accuracy of data transmission when needed, and there will be no data loss or link congestion during forwarding.

The above disclosure is only part of the embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A data acquisition system, comprising: a sensor, a transmission conversion circuit, and a processor; wherein:

The sensor is configured to collect sensing data and transmit the sensing data to the transmission conversion circuit;

The transmission conversion circuit is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the converted target data to the processor through an N-channel output interface according to a split transmission strategy;

The processor is configured to perform fusion processing on each channel of data received from the N-channel output interface according to a fusion strategy to obtain image data;

The fusion strategy matches the split transmission strategy, and N is a positive integer.
The data acquisition system according to claim 1, wherein the transmission conversion circuit comprises a field programmable logic gate array (FPGA).
The data acquisition system of claim 1, wherein the transmission conversion circuit comprises a signal converter, at least one first interface, and a second interface;

The at least one first interface is communicatively connected to the sensor;

The second interface is the N-channel output interface.
The data acquisition system according to claim 3, wherein the split transmission strategy includes a channel selection rule;

The signal converter is configured to select a target channel from the second interface according to a channel selection rule;

The channel selection rule includes: a selected target channel has a transmission rate that is greater than or equal to a transmission rate of the first interface.
The data acquisition system according to claim 3, wherein the split transmission strategy includes a pixel allocation rule;

The signal converter is configured to allocate each pixel data included in the target data to a target channel selected from the second interface for transmission according to the allocation manner indicated by the pixel allocation rule.
The data collection system according to claim 5, wherein the pixel combination rule included in the fusion strategy is set according to the pixel allocation rule;

The processor is configured to sequentially combine pixel data received from corresponding target channels of the second interface according to the pixel combination rule to obtain image data.
The data acquisition system according to claim 3, wherein the transmission protocol corresponding to the at least one first interface and the transmission protocol corresponding to the second interface are different.
The data acquisition system according to claim 3, wherein the second interface is a mobile industry processor interface MIPI.
The data acquisition system according to claim 3, wherein the first interface is a low-voltage differential signal LVDS interface; or the first interface is a SLEC interface.
The data acquisition system according to any one of claims 1-9, wherein:

The transmission conversion circuit selects n target channels from the N-channel output interface to transmit the target data according to the instruction of the shunt transmission strategy and according to the transmission rate of the sensing data, where n is less than or equal to N.
The data acquisition system according to any one of claims 1-9, further comprising a storage device, wherein the processor stores image data obtained after the fusion processing in the storage device.
The data acquisition system according to claim 11, wherein the storage device comprises a double-rate DDR synchronous dynamic random access memory.
A sensor data transmission conversion circuit, comprising: a first interface, a second interface, and a signal converter; the signal converter is respectively connected to the first interface and the second interface; wherein:

The first interface is an interface capable of being connected to a sensor, and the first interface is configured to receive the sensing data collected by the sensor and transmit the sensing data to the signal converter;

The signal converter is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the target data to the second interface;

The second interface is configured to output the target data.
The transmission conversion circuit according to claim 13, wherein the second interface is an N-channel output interface.
The transmission conversion circuit according to claim 13, wherein the signal converter comprises a field programmable logic gate array (FPGA).
The transmission conversion circuit according to claim 13, wherein the transmission protocol corresponding to the at least one first interface and the transmission protocol corresponding to the second interface are different.
The transmission conversion circuit according to claim 13, wherein the second interface is a mobile industry processor interface MIPI.
The transmission conversion circuit according to claim 13, wherein the first interface is a low-voltage differential signal LVDS interface; or the first interface is a SLEC interface.
The transmission conversion circuit according to claim 13, wherein the split transmission strategy includes a channel selection rule;

The signal converter is configured to select a target channel from the second interface according to a channel selection rule;

The channel selection rule includes: a selected target channel has a transmission rate that is greater than or equal to a transmission rate of the first interface.
The transmission conversion circuit according to claim 13, wherein the split transmission strategy includes a pixel allocation rule;

The signal converter is configured to allocate each pixel data included in the target data to a target channel selected from the second interface for transmission according to the allocation manner indicated by the pixel allocation rule.
The transmission conversion circuit according to claim 14, wherein:

The signal converter is in accordance with an instruction of a preset split transmission strategy and selects n target channels from the N-channel output interface to transmit the target data according to the transmission rate of the sensing data, where n is less than or equal to N.
A mobile platform is characterized in that the mobile platform includes: a power unit, a sensor, a transmission conversion circuit, and a processor; wherein:

The sensor is configured to collect sensing data and transmit the sensing data to the transmission conversion circuit;

The transmission conversion circuit is configured to convert the sensing data into target data according to a target transmission protocol, and transmit the converted target data to the processor through an N-channel output interface according to a split transmission strategy, where , N is a positive integer;

The processor is configured to perform fusion processing on each channel of data received from the N-channel output interface according to a fusion strategy to obtain image data, wherein the fusion strategy matches the branch transmission strategy;

The image data is used for visual positioning processing, and the power device is controlled according to a result of the visual positioning processing.
The mobile platform of claim 22, further comprising: a mobile controller, the mobile controller being connected to the power unit and the processor, respectively;

The movement controller is configured to acquire image data obtained by the processor, perform visual positioning processing on the image data, and control the power device according to a result of the visual positioning processing.
The mobile platform according to claim 22, wherein the processor is configured to perform visual positioning processing on the image data, and control the power device according to a result of the visual positioning processing.
The mobile platform according to claim 22, wherein the mobile platform is a drone.
The mobile platform according to any one of claims 22 to 25, wherein the transmission conversion circuit comprises: a first interface, a second interface, and a signal converter; the signal converter is respectively connected to the first interface The second interface is connected, and the second interface is an N-channel output interface.
The mobile platform of claim 26, wherein the split transmission strategy includes a channel selection rule;

The signal converter is configured to select a target channel from the second interface according to a channel selection rule;

The channel selection rule includes: a selected target channel has a transmission rate that is greater than or equal to a transmission rate of the first interface.
The mobile platform of claim 26, wherein the split transmission strategy includes a pixel allocation rule;

The signal converter is configured to allocate each pixel data included in the target data to a target channel selected from the second interface for transmission according to the allocation manner indicated by the pixel allocation rule.
The mobile platform of claim 28, wherein the pixel combination rule included in the fusion strategy is set according to the pixel allocation rule;

The processor is configured to sequentially combine pixel data received from corresponding target channels of the second interface according to the pixel combination rule to obtain image data.