WO2020168924A1 - Sensing data calculation control method and time-transfer apparatus - Google Patents

Abstract

Disclosed are a sensing data calculation control method and a time-transfer apparatus. The time-transfer apparatus comprises: a clock unit, a processor and a sensor adaptation unit, wherein the sensor adaptation unit comprises a data bus; the clock unit is used for providing a clock signal for the processor; the processor is used for generating a time synchronization signal according to the current time of a system, and sending, by means of the data bus, the time synchronization signal to a device, to be subjected to time transfer, connected to the sensor adaptation unit; the data bus is used for providing a data transmission connection for the processor and the device, to be subjected to time transfer, connected to the sensor adaptation unit; and the sensor adaptation unit is used for being connected to the device to be subjected to time transfer. By means of the apparatus, continuous, stable and reliable time transfer can be provided locally for a sensor node of a system, so as to meet requirements for the frequent occurrence and high real-time performance of time-transfer tasks in a multi-node system, thereby improving the validity of calculated data and the accuracy of a calculation result.

Description

Induction data calculation control method and timing device

This application claims the priority of the Chinese patent application with the application number 201910126605.8 and the invention title "Induction data calculation control method and timing device" filed on February 20, 2019, the entire content of which is incorporated into this application by reference.

Technical field

The present invention relates to the technical field of automatic control data processing, in particular to an induction data calculation control method, a timing device and an automatic driving induction control system.

Background technique

In task systems with high real-time requirements, timing services in a specific way are usually required to meet the requirements of each node for accurate, stable and reliable time parameters, so that all nodes in the system can synchronize and coordinate their actions at a specific point in time. Complete the specified tasks within time-related requirements such as time limit. For example, in application fields such as robots and autonomous driving, in the actual application process, a large number of sensors and processors are required to coordinate to realize environmental perception and positioning. In the process of requiring multiple sensors to complete a task, each sensor The time stamp information of the sensor has a great influence on the calculation result. Good time synchronization can ensure that the sensor information has the correct time stamp to obtain the correct calculation result based on the sensor information. If the time amount of the sensing data is inaccurate, it may cause A lot of invalid data collection and calculations affect the practical application of the system, and even more serious consequences may even get wrong calculation results, which greatly reduces the availability and safety of the system.

In the prior art, the traditional time service method is difficult to meet the characteristic requirements in some application environments. For example, in robots, automatic driving and other systems that use multiple sensors, the timing tasks occur frequently, especially in the application strategy that prioritizes safety, and even requires checking the time of all sensor data. In addition, due to the high real-time requirements of these systems for sensing and calculation, it is determined that the timing device needs to work in a very efficient state. For example, in the field of automatic driving, the automatic driving system needs to respond quickly to road conditions to adjust the movement of the vehicle. , And this process requires multiple sensors to synchronize and coordinate actions. If the sensor sensing data has accurate time stamps, it is very helpful for the automatic driving system to make accurate judgments on changing road conditions. For the high frequency and real-time requirements of the timing process, some traditional timing methods such as network timing are difficult to meet. For systems that are often on the move, such as automatic driving, the long-distance timing method is often affected by signal strength, and it is also difficult to meet the real-time timing requirements.

In summary, the problem that needs to be solved by those skilled in the art is to provide a timing device that meets the high incidence and real-time requirements of multi-sensor application systems for timing, improves the synchronization and coordination capabilities of each sensor node, and improves the performance of data sensing calculation results. accuracy.

Summary of the invention

The present invention provides a sensing data calculation control method, a timing device, and an automatic driving sensing control system, wherein the timing device can locally provide continuous, stable and reliable timing for the sensor nodes of the system to meet the high frequency of timing tasks in a multi-node system And high real-time requirements have improved the validity of calculation data and the accuracy of calculation results.

The present invention provides the following solutions:

A timing device, including:

A clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit includes a data bus;

Wherein, the clock unit is used to provide a clock signal for the processor;

The processor is configured to generate a time synchronization signal according to the current time of the system, and send the time synchronization signal to a timing device connected to the sensor adapting unit through the data bus;

The data bus is used to provide a data transmission connection for the processor and the timing device connected to the sensor adaptation unit;

The sensor adaptation unit is used to connect to the equipment to be timed.

An automatic driving induction control system, including:

The first timing unit, the driving environment sensor node, and the driving environment sensing data calculation unit;

Wherein, the first timing unit is configured to provide timing for the driving environment sensor node;

The driving environment sensor node is used to determine the device local time of the driving environment sensor node according to the timing of the first timing unit; and, used to perceive environmental objects and generate environmental perception data; the environmental perception data includes performing a perception action Timestamp information;

The driving environment sensing data calculation unit is configured to receive the environment perception data generated by the driving environment sensor node, determine the validity of the environment perception data according to the time stamp information in the environment perception data, and determine the validity of the environment perception data. After the data is valid, the environment perception data is used for calculation.

A robot induction control system, including:

The second timing unit, the environment sensing sensor node, and the environment data calculation unit;

Wherein, the second timing unit is configured to provide timing for the environmental sensing sensor node;

The environment-aware sensor node is configured to determine the device local time of the environment-aware sensor node according to the timing of the second timing unit; and, to perceive environmental objects and generate environment-aware data; the environment-aware data includes performing a perception action Timestamp information;

The environment data calculation unit is configured to receive the environment perception data generated by the environment perception sensor node, determine the validity of the environment perception data according to the time stamp information in the environment perception data, and determine the validity of the environment perception data Then use the environmental perception data for calculation.

A method for calculating and controlling induction data includes:

Timing of sensor node devices in the local system;

Receiving environment perception data obtained by a sensor node device perceiving an environment object; the environment perception data includes time stamp information for performing a perception action;

Determining the time validity of the time stamp information in the environment perception data;

After it is determined that the time stamp information is valid, the environment perception data is used for calculation.

According to the specific embodiments provided in this application, this application discloses the following technical effects:

Through this application, a local timing device applied in a multi-sensor node system can be realized, which overcomes the shortcomings of limited resources in existing timing methods that cannot meet large-scale applications. The timing device can be continuously operated as a module unit in the system. Continuous time service for related equipment. Compared with the existing technology, it can also meet the high frequency and high real-time requirements of time service tasks in multi-node system data acquisition and processing tasks. At the same time, it also has fast time service, high success rate, and simple deployment. , No need to configure, strong adaptability, low cost and wide application range.

Further, the timing device may include multiple sensor adaptation units to access multiple sensor node devices that require timing, and the timing of multiple sensor node devices can be performed through the same timing device, which can ensure the accuracy of each sensor node device clock And synchronization, thereby ensuring the validity of the calculation results. Furthermore, the device can be equipped with many different types of sensor adaptation units, which overcomes the problem that the sensor interface can only be selected in a single type caused by the single interface required in the traditional timing mode, and makes the application design of the multi-node system in the application process The sensor interface type can be selected more freely, thereby improving the flexibility of the system.

Further, the timing device can judge whether the clock state of the sensor node device is abnormal according to the clock feedback signal of the sensor node device, and can make the system react quickly when judging that the clock state of the sensor node device is abnormal, ensuring the system components and the entire system Effectiveness. In the process of application, the device can provide accurate and reliable timing services for each sensor node device, so that each sensor node device can be based on reliable and synchronized clock information when collecting data, which improves the effectiveness of the system's calculation of data and the calculation result The accuracy of this ensures the reliability of the entire system and improves the safety performance of the system.

In the automatic driving induction control system disclosed in the embodiment of the present application, the first timing unit may provide timing for the driving environment sensor node. The driving environment sensor node can determine the device local time of the driving environment sensor node according to the timing of the timing unit, and use the calibrated device local time when generating environment perception data for environment perception, that is, the driving environment sensor node is used to perceive the environment and generate environment perception Data, where the environment perception data includes time stamp information for performing the perception action. The driving environment sensing data calculation unit also determines the validity of the environment perception data according to the time stamp information in the environment perception data before performing calculations based on the environment perception data obtained by the sensor node, and uses the environment after determining that the environment perception data is valid Perception data is calculated. The timing unit guarantees the clock consistency of the sensor nodes, and during calculation, checking the time stamp information in each environmental perception data to determine the validity of the environmental perception data ensures that the data obtained by the sensor is generated under a specific time requirement , To ensure the real-time data and the effectiveness of the system to respond to the surrounding environment. When performing the fusion calculation of multi-sensor environmental perception data, whether the synchronization of the actions of each sensor node meets the requirements can affect whether the final calculation result is correct, thereby affecting the judgment of the environment state of the entire automatic driving system. The automatic driving induction control system provided in the second embodiment of the present application can also check the time characteristics of the environmental perception data of each sensor when performing the fusion processing of multi-sensor node data, which can ensure that each data source, that is, the environmental perception obtained by each sensor The data is obtained by synchronized actions, thus ensuring and improving the accuracy of the fusion calculation results, and improving the accuracy of the automatic driving system's perception of the environment, and the correct perception of the environment is very important for improving the safety of the automatic driving system .

Of course, implementing any product of this application does not necessarily need to achieve all the advantages described above at the same time.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

FIG. 1 is a schematic diagram of a timing device provided in Embodiment 1 of the present application;

2 is a schematic diagram of providing data signals and interrupt signals in the first embodiment of the present application;

FIG. 3 is a schematic diagram of an automatic driving induction control system provided by Embodiment 2 of the present application;

FIG. 4 is a schematic diagram of a robot induction control system provided by Embodiment 3 of the present application;

Fig. 5 is a flow chart of the induction data calculation control method provided by the fourth embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the protection scope of the present invention.

Systems in the fields of autonomous driving and robotics usually involve multiple sensor node devices, and each node device cooperates in real time. It needs to be accurately and reliably synchronized to complete a series of time-sensitive tasks, such as more than two types of tasks. The sensor equipment obtains the data synchronously to perform the fusion calculation to obtain the correct calculation result. Such tasks require that each sensor node equipment has a synchronized and accurate clock, and the clock of the sensor node can be obtained through the timing service. In multi-sensor node systems such as autonomous driving or robots, the proportion of such processing tasks is quite high, which makes it particularly important to implement accurate and reliable timing services for nodes. Some of the prior art timing methods, such as the network timing method with high delay and limited resources, cannot meet the high frequency and high real-time requirements of multi-node systems for timing tasks, while the wireless remote timing method is more susceptible to signal strength Impact, limited resources and high cost, it is difficult to meet the demand for timing services under the conditions of large-scale application of multi-sensor node systems. The embodiment of the present application provides a timing device, which is a local device. The timing device can be directly connected to a timing device through a bus. The timing device may include some or some sensor node devices of the system. For ease of description or understanding, the timing device and the sensor node device (sometimes also referred to as the node device) in the following text may refer to the same device, and may be interchanged or used in common. The data bus can be used to realize the connection and data transmission between the timing device and the sensor node equipment, which overcomes the defects that the existing timing is easily affected by other application conditions, such as network conditions, location, etc., through the network or wireless methods. Timing The device can actively send time synchronization signals to the waiting equipment connected to the system through the data bus. It has the characteristics of fast timing, high accuracy and stable operation, which improves the real-time response of the timing tasks of each sensor node, easy to install and maintain, and low cost , Very suitable and easy to apply in popular systems.

Example one

Refer to FIG. 1, which is a schematic diagram of a timing device provided by Embodiment 1 of the present invention. As shown in FIG. 1, the timing device 100 may include: a clock unit 110, a processor 120, and a sensor adaptation unit 130; 130 may include a data bus 1301; the clock unit 110 is used to provide a clock signal for the processor 120; the processor 120 is used to generate a time synchronization signal according to the current time of the system, and send the time synchronization signal to the sensor connected to the sensor through the bus 1301 The timing device of the adaptation unit 130; the data bus 1301 is used to provide a data transmission connection between the processor 120 and the timing device connected to the sensor adaptation unit 130; the sensor adaptation unit 130 is used to connect the timing device. During specific work, the clock unit 110 is used to provide an accurate clock signal for the processor 120 to ensure the accuracy of the system time. The processor can read the current time of the system and generate a time synchronization signal according to the current time of the system. The processor 120 can The time synchronization signal is sent to the time-serving device connected to the sensor adapting unit 130 through the data bus 1301, which plays a role of connection and data transmission, so that the time-serving device corrects its system time according to the time synchronization signal.

In a multi-sensor node system, first, the equipment to be timed can include multiple sensor nodes that need to be timed. This means that for a multi-sensor node system, the timing task is relatively heavy, especially for safety considerations. The timing tasks in the system will be required to run continuously, and traditional timing methods are difficult to meet the requirements; secondly, for the sensor devices used by different sensor device nodes, due to the difference in the design of the product interface by the provider, and the practical application For reasons such as technical index requirements, different types of sensor equipment, even the same type of sensor equipment, often use different types of interfaces. When considering the use of timing services to obtain accurate time to complete some time-sensitive tasks, it is difficult for existing timing methods to provide a product that can be universally used for multiple sensor interfaces, and a single timing interface form, such as the Ethernet timing protocol The specified interface cannot be adopted. In addition to insufficient resources and high time-consuming, there is also a more obvious shortcoming that limits the selection of sensor equipment. The direct consequence may be the inability to use some high-quality components to build more competitive Even in some cases, some technical indicators are difficult to achieve and the calculation cannot be completed, and some functions of the system cannot be realized accordingly. A preferred solution of the timing device provided in the first embodiment of the present application just solves these problems.

In a preferred solution, the timing device may include two or more sensor adaptation units. For example, in the timing device shown in FIG. 1, in addition to the "sensor adaptation unit 1", there may also be "Sensor adaptation unit 2", ... up to "sensor adaptation unit N", where N is a natural number. The timing device may include two or more sensor adaptation units, which can well solve the problem of continuous operation of timing tasks caused by multiple sensor device nodes, and meet the requirement of frequent timing of multiple sensor device nodes. In addition, each sensor adapter unit can have the same or different types of adapter interfaces, and the adapter interface matches the interface of the corresponding timing device. When the device interface used by each transmission device node in the system is a different type of interface, When a timing operation is required, the timing device can match the sensor equipment to be connected through different types of adaptation interfaces, and transmit a time synchronization signal through the bus therein, so as to realize the timing operation of the sensor equipment node to be timed. When the sensor adaptation units respectively include different types of adaptation interfaces, each sensor adaptation unit may also include different types of data buses at the same time, and the data bus type in each sensor adaptation unit has a corresponding relationship with the type of the adaptation interface For example, the data bus 1301 can include USB, UART, I2C, SPI, CAN and other types of digital buses. Correspondingly, the sensor adapter unit can provide a corresponding type of adapter interface to interface with the connected sensor node device type and technology The indicators match. In practical applications, multiple sensor adaptation units and processors can also be connected using a common bus.

When the timing device specifically implements timing to a certain device node, the processor 120 can send the time synchronization signal to the timing device connected to the sensor adaptation unit through the data bus. The timing device can be based on the arrival time of the time synchronization signal. And the correct time included in the time synchronization signal, determine the clock correction parameter of the device to be timed, and then correct the clock of the sensor node device according to the determined clock correction parameter. In another implementation manner, in order to enable the time-serving device to process the time synchronization task in time when receiving the time synchronization signal, an interrupt trigger method may be adopted. The processor 120 may include an interrupt signal in the time synchronization signal sent to the to-be-timed device connected to the sensor adapting unit 130. Specifically, the processor 120 may include the first interrupt signal and the time synchronization signal generated and sent in the time synchronization signal. Synchronous data signal, where the first interrupt signal is sent to the time-serving device to enable the time-serving device to generate interrupt processing, the synchronization data signal may include the current time of the system, and the time-serving device can generate interrupt processing according to the first interrupt signal and then according to the synchronization data The current system time in the signal is calibrated to the local time of the equipment to be timed. The processor 120 may synchronously send out the first interrupt signal and the synchronization data signal, so that the device to be timed can synchronize to capture and process the first interrupt signal and the synchronization data signal. The sensor adaptation unit 130 may include an interrupt output 1303, and the first interrupt signal may be sent to the connected timing device through the interrupt output 1303 of the sensor adaptation unit.

In the embodiment in which the time synchronization signal includes the first interrupt signal and the synchronization data signal, the timing device may send a synchronization data signal to the connected timing equipment through the data bus, and the synchronization data signal includes the current system time of the timing module

At the same time, the first interrupt signal is sent through the interrupt output, and the device to be timed receives the first interrupt signal, and the device local time of the device to be timed can be determined according to the arrival time of the first interrupt signal

By comparing the received system current time

And the local time of the device when the first interrupt signal arrives

Determine the clock correction parameters of the equipment to be timed so that the equipment to be timed can make corrections based on the clock correction parameters compared with the local time of the equipment to be timed.

The processor 120 may periodically send a time synchronization signal to the timing device connected to the sensor adaptation unit 130 at a preset frequency, such as 1 Hz, so that the timing device can continuously obtain time corrections and ensure the accuracy of the sensor node device clock , And further obtain the data with the correct time stamp based on the accurate clock, so as to supply the data to the relevant calculation unit for effective calculation.

The timing device provided in the first embodiment of the present application can also receive the clock feedback signal of the sensor node device, and judge the clock state of the sensor node device according to the clock feedback signal of the sensor node device. In this implementation manner, the processor 120 may also be used to receive a clock feedback signal of the device to be timed connected to the sensor adaptation unit, and determine the clock state of the device to be timed according to the received clock feedback signal. Further, the processor 120 can also feed back the clock status of the sensor node device to the host. The host can be an upper computer, which can process various data obtained by the lower computer and control the operation of the lower computer. The host receives the sensor After the clock state of the node device, it can react according to the different clock state of the sensor node device. For example, when the clock state of the sensor node device is found to be outside the allowable error range, the node device is forced to time, or record and generate Reports on the node equipment, etc.

Specifically, when receiving the clock feedback signal of the sensor node device, the processor 120 may receive the clock feedback signal of the device to be timed connected to the sensor adaptation unit. The clock feedback signal may include the current time of the device of the sensor node device. The arrival time of the clock feedback signal obtains the offset of the current time of the device, and determines whether the clock state of the sensor node device is normal according to the offset. In another implementation, it can also be implemented based on interrupts. In this implementation, the clock feedback signal can include a second interrupt signal and a feedback data signal. The second interrupt signal can cause the processor to enter interrupt processing. The sensor adaptation unit 130 may include an interrupt input 1302, and the second interrupt signal may be sent to the processor 120 through the interrupt input 1302 of the sensor adaptation unit.

In the embodiment in which the clock feedback signal of the sensor node device includes the second interrupt signal and the feedback data signal, the timing device can receive the feedback data signal sent by the timing device through the data bus, and the feedback data signal includes the current time of the sensor node device.

At the same time, the second interrupt signal is received through the interrupt input. After the processor receives the second interrupt signal, it can determine the system local time of the timing module according to the arrival time of the second interrupt signal

By comparing the current time of the received device

And the system local time when the second interrupt signal arrives

Determine the clock status of the sensor node device. When it is determined that the clock state of the device to be timed is abnormal, the processor 120 may be used to generate clock state data of the device to be timed, and send the clock state data to the upper computer. For example, when comparing the current time of the device

And the system local time when the second interrupt signal arrives

After the difference between the two is greater than the preset threshold, it can be judged that the clock status of the sensor node device is abnormal.

The timing device 100 may also include a power supply 140 for adjusting the external voltage to the voltage required by internal components to supply power to the internal electrical components. In addition, the timing device 100 may also include a battery 150 for providing backup power when the external power supply stops. At times, backup power is provided to save critical data. The battery can also be used to keep the clock running. The clock unit can use a voltage-controlled crystal oscillator, a constant temperature crystal oscillator, and a temperature-compensated crystal oscillator with strong interference resistance to provide pulse signals. The data bus can use USB, Ethernet, UART, RS232, RSR485, CAN, I2C, SPI and other types of buses. Data bus and interrupt input and interrupt output can be isolated and protected by optocoupler or electromagnetic isolation chip to avoid interference between different signals sent at the same time. The processor can use ARM, DSP, FPGA and other types of chips. The first interrupt signal (interrupt output), synchronous data signal; and the second interrupt signal (interrupt input), the timing relationship of the feedback data signal is shown in FIG. 2. Use the interrupt output to control the local time of the device that generates the sensor node to compare the current time of the system sent through the data bus. The process of obtaining the correction parameters is very time-sensitive, and can generally be completed within one to several clock cycles to make the clock correction accuracy Reaching the microsecond level, greatly improving the accuracy of timing results. In addition, the interrupt input is used to control the system local time of the timing device to compare the current time of the device sent to the sensor node device through the data bus. The determined interpolation can accurately reflect the current clock state of the sensor node device.

The timing device 100 may also include an external timing receiving module. The external timing receiving module is used to realize the connection with other external timing systems or similar timing devices to receive timing from other external timing systems such as GPS, Beidou, etc., or other similar timing devices. Time service. The timing module can communicate with the host through RS232, Ethernet, USB, WIFI, Bluetooth and other connection methods to exchange data and instructions with the host. A multi-node system can use one or more timing devices to achieve more interface expansion capabilities and improve the robustness of the system.

The above provides a detailed introduction to the timing device provided in the first embodiment of the present application. Through this device, a local timing device applied in a multi-sensor node system can be realized, which overcomes the limited resources in the existing timing methods that cannot meet large-scale applications. The timing device can be used as a module unit in the system to continuously operate and provide continuous timing for related equipment. Compared with the prior art, it can also meet the high frequency and high real-time timing task of multi-node system data acquisition and processing tasks. It also has the characteristics of rapid time service, high success rate, simple deployment, no configuration, strong adaptability, low cost and wide application range. Further, the timing device may include multiple sensor adaptation units to access multiple sensor node devices that require timing, and the timing of multiple sensor node devices can be performed through the same timing device, which can ensure the accuracy of each sensor node device clock And synchronization, thereby ensuring the validity of the calculation results. Furthermore, the device can be equipped with many different types of sensor adaptation units, which overcomes the problem that the sensor interface can only be selected in a single type caused by the single interface required in the traditional timing mode, and makes the application design of the multi-node system in the application process The sensor interface type can be selected more freely, thereby improving the flexibility of the system. Further, the timing device can judge whether the clock state of the sensor node device is abnormal according to the clock feedback signal of the sensor node device, and can make the system react quickly when judging that the clock state of the sensor node device is abnormal, ensuring the system components and the entire system Effectiveness. In the process of application, the device can provide accurate and reliable timing services for each sensor node device, so that each sensor node device can be based on reliable and synchronized clock information when collecting data, which improves the effectiveness of the system's calculation of data and the calculation result The accuracy of this ensures the reliability of the entire system and improves the safety performance of the system.

Example two

The second embodiment of the application provides an automatic driving induction control system, which is applied to the field of automatic driving induction control. Please refer to FIG. 3, which is a schematic diagram of the automatic driving induction control system provided in the second embodiment of the application, as shown in FIG. 3 The automatic driving sensing control system 300 may include a first timing unit 310, a driving environment sensor node 320, and a driving environment sensing data calculation unit 330; wherein the first timing unit 310 may be used to provide timing for the driving environment sensor node. The driving environment sensor node 320 can determine the device local time of the driving environment sensor node according to the timing of the first timing unit, and use the calibrated device local time when performing environment perception to generate environment perception data, that is, the driving environment sensor node is used to sense the environment And generate environment perception data, where the environment perception data may include time stamp information for performing the perception action. The driving environment sensing data calculation unit 330 receives the environment perception data obtained by the driving environment sensor node, determines the validity of the environment perception data according to the time stamp information in the environment perception data, and uses the environment perception data for calculation after determining that the environment perception data is valid .

Under normal circumstances, there are multiple driving environment sensor node devices in an automatic driving system. An environment recognition task requires multiple sensors to coordinate and synchronize to obtain environmental data. This requires a coordinated clock between multiple sensors. The timing unit needs to grant synchronized clock data to these sensors. In this embodiment, the automatic driving sensing control system 300 includes at least two driving environment sensor nodes that need to perform timing operations, and the timing unit is connected to each driving environment sensor node. It is also used to provide timing for each driving environment sensor node; the driving environment sensing data calculation unit 330 receives the environment perception data of each driving environment sensor node, and determines the validity of each environment perception data according to the time stamp information in each environment perception data. After confirming that each environmental perception data is valid, use each environmental perception data for fusion calculation, thereby obtaining the fusion calculation result of the multi-sensor environmental perception data, and obtain high-accuracy environmental perception through the multi-sensor fusion calculation result.

The first timing unit may use the timing device in the first embodiment. For example, the first timing unit may include: a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit may include a data bus; where the clock unit is used for The processor provides a clock signal. The processor can be used to generate a time synchronization signal according to the current time of the system, and send the time synchronization signal to the sensor node connected to the sensor adaptation unit through the data bus; the data bus can be used to connect the processor to the sensor node. The sensor nodes of the sensor adaptation unit provide data transmission connections, and the sensor adaptation unit can be used to connect the sensor nodes. The sensors connected through the sensor adapter unit can include any of the following types of sensors: lidar, monocular camera, binocular camera, satellite navigation module, inertial measurement unit IMU, millimeter wave radar, wheel speedometer, etc. and other internal clocks Sensor type.

The automatic driving induction control system provided in the second embodiment of the present application is described in detail above. In the automatic driving induction control system, the first timing unit can provide timing for sensor nodes. The driving environment sensor node can determine the device local time of the sensor node according to the timing of the first timing unit, and use the calibrated device local time when generating environment perception data for environment perception, that is, the driving environment sensor node is used to perceive the environment and generate environment perception Data, where the environment perception data includes time stamp information for performing the perception action. The driving environment sensing data calculation unit also determines the validity of the environment perception data based on the time stamp information in the environment perception data before performing calculations based on the environment perception data obtained by the sensor node, and uses the environment perception data after determining that the environment perception data is valid Calculation. The timing unit ensures the clock consistency of the sensor nodes of the driving environment. During calculation, the time stamp information in each environment perception data is checked to determine the validity of the environment perception data, which ensures that the data obtained by the sensor is under the specific time requirement. The generated data ensures the real-time nature of the data and the effectiveness of the system's response to the surrounding environment. When performing the fusion calculation of multi-sensor environmental perception data, whether the synchronization of the actions of each sensor node meets the requirements can affect whether the final calculation result is correct, thereby affecting the judgment of the environment state of the entire automatic driving system. The automatic driving induction control system provided in the second embodiment of the present application can also check the time characteristics of the environmental perception data of each sensor when performing the fusion processing of multi-sensor node data, which can ensure that each data source, that is, the environmental perception obtained by each sensor The data is obtained by synchronized actions, thus ensuring and improving the accuracy of the fusion calculation results, and improving the accuracy of the automatic driving system's perception of the environment, and the correct perception of the environment is very important for improving the safety of the automatic driving system . In addition, since the first timing unit in the automatic driving induction control system can include the timing device in the first embodiment, it also has some or all of the technical effects of the timing device in the first embodiment.

Example three

The third embodiment of the application provides a robot induction control system, which is applied to the field of robot induction control. Please refer to FIG. 4, which is a schematic diagram of the robot induction control system provided in the third embodiment of the application. As shown in FIG. 4, the robot The sensing control system 400 may include a second timing unit 410, an environmental sensing sensor node 420, and an environmental data calculation unit 430; wherein the second timing unit 410 may be used to provide timing for the environmental sensing sensor node 420. The environment-aware sensor node 420 can determine the device local time of the node according to the timing of the second timing unit, and use the calibrated device local time when generating environment-aware data for environment awareness, that is, the environment-aware sensor node 420 is used to sense the environment and generate Environment perception data, where the environment perception data may include time stamp information for performing a perception action. The environment data calculation unit 430 receives the environment perception data obtained by the environment perception sensor node, determines the validity of the environment perception data according to the timestamp information in the environment perception data, and uses the environment perception data for calculation after determining that the environment perception data is valid.

There are usually multiple environment-aware sensor node devices in the robot perception system. An environment recognition task often requires more than two sensors to coordinate and synchronize to obtain environmental data. This requires a coordinated clock between multiple sensors to get multiple fusions. The sensor data is the correct result of the calculation, and for the second timing unit, it is necessary to grant synchronized clock data to the sensors of the robot sensing system. In this embodiment, the robot sensing control system 400 includes at least two timing operations. Environmental sensing sensor node, the timing unit is connected to each environmental sensing sensor node, and is used to provide timing for each environmental sensing sensor node; the environmental data calculation unit 430 receives the environmental sensing data of each environmental sensing sensor node, according to the time in each environmental sensing data The stamp information determines the validity of each environmental perception data, and uses each environmental perception data to perform fusion calculation after confirming that each environmental perception data is valid, so as to obtain the fusion calculation result of the multi-sensor environmental perception data, through the multi-sensor fusion calculation result, Perform high-accuracy perception of environmental objects.

The second timing unit may use the timing device in the first embodiment. For example, the second timing unit may include: a clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit may include a data bus; where the clock unit is used for The processor provides a clock signal. The processor can be used to generate a time synchronization signal according to the current time of the system, and send the time synchronization signal to the sensor node connected to the sensor adaptation unit through the data bus; the data bus can be used to connect the processor to the sensor node. The sensor nodes of the sensor adaptation unit provide data transmission connections, and the sensor adaptation unit can be used to connect the sensor nodes. The sensors connected through the sensor adapter unit can include any of the following types of sensors: lidar, monocular camera, binocular camera, satellite navigation module, inertial measurement unit IMU, millimeter wave radar, wheel speedometer, etc. and other internal clocks Sensor type.

The robot induction control system provided in the third embodiment of the present application has been introduced in detail above. In this system, the second timing unit can be included to provide timing for the environmental sensing sensor node. The environment-aware sensor node can determine the device local time of the node according to the timing of the second timing unit, and use the calibrated device local time when performing environment awareness to generate environment-aware data, that is, the environment-aware sensor node is used to perceive the environment and generate environment-aware data , Where the environment perception data includes time stamp information for performing the perception action. The environmental data calculation unit can also determine the validity of the environmental sensing data based on the time stamp information in the environmental sensing data before performing calculations based on the environmental sensing data obtained by the sensor node, and use the environmental sensing data to perform the calculation after determining that the environmental sensing data is valid. Calculation. The second timing unit ensures the clock consistency of the environment-aware sensor nodes, and during calculation, checking the time stamp information in each environment-aware data to determine the validity of the environment-aware data ensures that the data obtained by the sensor is required at a specific time This ensures the real-time performance of the data and the effectiveness of the system’s response to the surrounding environment. When performing the fusion calculation of multi-sensor environment perception data, whether the synchronization of the actions of each sensor node meets the requirements can affect whether the final calculation result is correct, and thus affect the judgment of the environment state of the entire robot system. The robot induction control system provided in the third embodiment of the present application can also check the time characteristics of the environmental perception data of each sensor when performing the fusion processing of multi-sensor node data, and can ensure that each data source, that is, the environmental perception data obtained by each sensor It is obtained by synchronized actions, thereby ensuring and improving the accuracy of the fusion calculation results, and also improving the accuracy of the robot system's perception of the environment, and the correct perception of the environment is of great significance for improving the operating efficiency of the robot system. In addition, since the second time service unit in the robot induction control system can include the time service device in the first embodiment, it also has some or all of the technical effects of the time service device in the first embodiment.

Example four

The fourth embodiment of the present application provides a sensing data calculation control method. The sensing data calculation control method can be applied to a multi-sensor automation system, especially using multiple sensor node devices and performing sensing data processing of multiple sensor node devices. In an automated system for fusion calculation for environmental object sensing, the accuracy of the fusion calculation result is ensured by ensuring the clock consistency of the multiple sensors participating in the environmental object sensing, thereby improving the reliability of the entire system. As shown in Figure 5, the method may include the following steps:

S510: Perform timing on sensor node devices in the local system;

Time service is performed on the sensor node devices in the local system, so that each sensor node device in the system has a uniform and accurate clock. In order to further improve the clock accuracy of each sensor node device in the system, and avoid the shortcomings of high delay or limited resources in the existing time service method, the time service unit in the local system can be used to time the sensor node equipment in the local system, for example, locally The timing device provided in Example 1 is built into the system, and the timing device installed locally can be used to time the sensor node equipment inside the local system, so that the sensor node equipment inside the local system can obtain a more timely and reliable timing source .

In one embodiment, the timing unit in the local system may have at least two different types of interface units, respectively connect to different sensor node devices with corresponding interface types, and perform timing on different sensor node devices connected to the interface unit, In order to improve the adaptability of the time service unit, the time service unit in the local system can be applied to sensor node devices of different interface types, and it is also convenient for the sensor selection of the system design. The sensor node equipment is connected with the time service unit in the local system through a data bus. The sensor node device and the timing unit in the local system can also be connected with an interrupt signal line to time the sensor node device in the local system. The timing unit can send the current time of the system through the data bus and at the same time through the interrupt signal line. Interrupt signal, the sensor node device determines the device local time of the device to be timed according to the arrival time of the interrupt signal, and receives the current system time through the data bus, and determines the clock correction parameters of the device to be timed by comparing the current time of the system and the local time of the device. The clock correction parameter corrects the local time of the device. Of course, through the data bus and interrupt signal line, the sensor node device can also send the device time to the system so that the system can judge the clock state of the sensor device node. The content of this process can refer to the content of the corresponding part in the first embodiment, which will not be repeated here.

The operation of timing the sensor node device can be performed immediately after the system is powered on or the sensor node device is powered on. The sensor node device waits for the timing after power-on, and enters the standby or working state after the timing is completed to obtain the correct device local time of the sensor node device. Or, in order to further determine whether the clock status of the sensor node device is normal, the sensor node device waits for the time service after powering up, and after the time service is completed, the device local time can be fed back to the upper system, which is based on the local time of the device and the system time of the received signal Determine whether the clock status of the sensor node device is normal, and send a message or instruction to the sensor node device after it is determined to be normal. The sensor node device enters the standby or working state after receiving the signal from the upper system to determine that the clock condition of the sensor node device meets the requirements , Where, the clock working condition of the sensor node device includes the clock information of the sensor node device.

S520: Receive environment perception data obtained by the sensor node device perceiving an environment object; the environment perception data includes time stamp information for performing a perception action;

During the operation of the sensor node device, it perceives environmental objects and generates environmental perception data. The generated environmental perception data can be sent to the system computing unit for calculation. When generating environmental perception data, it can be based on the device locality of the sensor node device. Time, time stamp information is added to the environment perception data, that is, the environment perception data includes the time stamp information for performing the perception action.

S530: Determine the time validity of the time stamp information in the environment perception data;

S540: After determining that the time stamp information is valid, perform calculation using the environment perception data.

System related units, such as computing units, can determine the time validity of the time stamp information in the environment perception data after receiving the environment perception data obtained by the sensor node device perceiving the environment object, and use environment perception after determining that the time stamp information is valid Data is calculated. Specifically, when determining the time validity of the time stamp information in the environment perception data, one implementation may be to compare the time stamp information of the environment perception data with the time when the environment perception data is received, and determine the environment perception data according to the comparison result The time validity of the time stamp information in. In some systems, when performing fusion calculations on the sensing data of multiple sensors, the time synchronization of the environmental perception data of multiple sensors in certain application scenarios is far more important than the correctness of time. In such application scenarios, only It is necessary to ensure the time synchronization of the sensing data of multiple sensors before the calculation. In this embodiment, the environment perception data obtained by receiving the sensor node device perceiving the environmental object may be obtained by receiving multiple sensor node devices perceiving the environmental object. Multiple pieces of environment perception data, when determining the time validity of the time stamp information in the environment perception data, you can compare the time stamp information of each piece of environment perception data, and determine the time of the time stamp information in each piece of environment perception data according to the comparison result Effectiveness. When the system includes multiple sensor node devices, the environment perception data of several sensor nodes can be fused and calculated, for example, the system's radar and camera and other sensor node devices can be fused and calculated.

If the time stamp information in the environmental awareness data is determined to be valid, the time stamp status in the environmental awareness data of one or more sensor node devices is abnormal, which means that the corresponding sensor node device or device management unit is abnormal. At the time, it can be judged whether the corresponding sensor node device has clock abnormality according to the time stamp information of the environmental perception data. If it exists, the corresponding sensor node device will be compulsorily timed, or the sensor node device's clock abnormal state can be prompted by information , And/or generate corresponding status records and other measures.

The above gives a detailed introduction to the sensing data calculation control method provided in the fourth embodiment of the present application. Through this method, the sensor node device in the local system can be timed; the environment perception data obtained by the sensor node device perceiving the environmental object can be received, wherein, The environment perception data may include time stamp information for performing the perception action. When performing calculation, the time validity of the time stamp information in the environment perception data may be determined first; after the time stamp information is determined to be valid, the environment perception data is used for calculation. The sensing data calculation control method can be applied to a multi-sensor automation system, especially in an automation system that uses multiple sensor node devices and performs fusion calculation of the sensing data of the multi-sensor node devices for environmental object sensing, by ensuring participation The clock consistency of multiple sensors sensed by environmental objects ensures the accuracy of the fusion calculation results, thereby improving the reliability of the entire system.

From the description of the foregoing implementation manners, it can be understood that those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as ROM/RAM, magnetic disk , CD-ROM, etc., including several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in each embodiment or some parts of the embodiment of this application.

The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment. The system and system embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, namely It can be located in one place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.

The timing device, the automatic driving induction control system, the robot induction control system, and the induction data calculation control method provided in the application are described in detail above. This article uses specific examples to illustrate the principles and implementation of the application. The description of the embodiments is only used to help understand the method and core idea of the application; meanwhile, for those of ordinary skill in the art, according to the idea of the application, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation on this application.

Claims (27)

1. A timing device, characterized by comprising:

   A clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit includes a data bus;

   Wherein, the clock unit is used to provide a clock signal for the processor;

   The processor is configured to generate a time synchronization signal according to the current time of the system, and send the time synchronization signal to a timing device connected to the sensor adapting unit through the data bus;

   The data bus is used to provide a data transmission connection for the processor and the timing device connected to the sensor adaptation unit;

   The sensor adaptation unit is used to connect to the equipment to be timed.
2. The device according to claim 1, wherein the timing device comprises two or more sensor adaptation units.
3. The apparatus according to claim 2, wherein each of the sensor adaptation units respectively includes different types of adaptation interfaces, and the adaptation interfaces are matched with the interfaces of the corresponding equipment to be timed.
4. The device according to claim 3, wherein each of the sensor adaptation units includes different types of data buses, and the type of the data bus in each sensor adaptation unit has a corresponding relationship with the type of the adaptation interface.
5. The apparatus according to claim 1, wherein the processor is configured to generate a time synchronization signal, wherein the time synchronization signal includes a first interrupt signal and a synchronization data signal.
6. The timing device according to claim 5, wherein the processor synchronously sends out the first interrupt signal and the synchronization data signal.
7. The apparatus according to claim 5 or 6, wherein the synchronization data signal includes the current time of the system; after the time synchronization signal is received by the time-serving device, it is determined according to the arrival time of the first interrupt signal The device local time of the device to be timed is determined by comparing the current time of the system and the device local time to determine the clock correction parameter of the device to be timed.
8. The device according to claim 5 or 6, wherein the processor periodically sends a time synchronization signal at a preset frequency.
9. The apparatus according to any one of claims 1 to 6, wherein the processor is further configured to receive a clock feedback signal of a device to be timed connected to the sensor adaptation unit, and according to the clock feedback signal Determine the clock status of the device to be timed.
10. The device according to claim 9, wherein the clock feedback signal comprises a second interrupt signal and a feedback data signal.
11. The apparatus according to claim 10, wherein the feedback data signal includes the current time of the device to be timed, and the processor is configured to generate the system local time according to the arrival time of the second interrupt signal, and by comparing the The current time of the device and the local time of the system determine the clock state of the device to be timed.
12. The apparatus according to claim 11, wherein the processor is further configured to, when it is determined that the clock status of the equipment to be timed is abnormal, generate clock status data of the equipment to be timed, and to compare the clock status The data is sent to the host computer.
13. An automatic driving induction control system, characterized in that it comprises:

    The first timing unit, the driving environment sensor node, and the driving environment sensing data calculation unit;

    Wherein, the first timing unit is configured to provide timing for the driving environment sensor node;

    The driving environment sensor node is used to determine the device local time of the driving environment sensor node according to the timing of the first timing unit; and, used to perceive environmental objects and generate environmental perception data; the environmental perception data includes performing a perception action Timestamp information;

    The driving environment sensing data calculation unit is configured to receive the environment perception data generated by the driving environment sensor node, determine the validity of the environment perception data according to the time stamp information in the environment perception data, and determine the validity of the environment perception data. After the data is valid, the environment perception data is used for calculation.
14. The system according to claim 13, wherein the automatic driving induction control system includes at least two of the driving environment sensor nodes, and the first timing unit is connected to each of the driving environment sensor nodes and is used for Each of the driving environment sensor nodes provides timing;

    The driving environment sensing data calculation unit is configured to receive the environmental sensing data generated by each sensor node, determine the validity of each environmental sensing data according to the time stamp information in each environmental sensing data, and determine the effectiveness of each environmental sensing After the data is valid, each of the environmental perception data is used for fusion calculation.
15. The system according to claim 13 or 14, wherein the first timing unit comprises:

    A clock unit, a processor, and a sensor adaptation unit; the sensor adaptation unit includes a data bus;

    Wherein, the clock unit is used to provide a clock signal for the processor;

    The processor is configured to generate a time synchronization signal according to the current time of the system, and send the time synchronization signal to a sensor node connected to the sensor adaptation unit through the data bus;

    The data bus is used to provide a data transmission connection for the processor and the sensor node connected to the sensor adaptation unit;

    The sensor adaptation unit is used to connect sensor nodes.
16. A robot induction control system is characterized in that it comprises:

    The second timing unit, the environment sensing sensor node, and the environment data calculation unit;

    Wherein, the second timing unit is configured to provide timing for the environmental sensing sensor node;

    The environment-aware sensor node is configured to determine the device local time of the environment-aware sensor node according to the timing of the second timing unit; and, to perceive environmental objects and generate environment-aware data; the environment-aware data includes performing a perception action Timestamp information;

    The environment data calculation unit is configured to receive the environment perception data generated by the environment perception sensor node, determine the validity of the environment perception data according to the time stamp information in the environment perception data, and determine the validity of the environment perception data Then use the environmental perception data for calculation.
17. A method for calculating and controlling induction data, which is characterized in that it comprises:

    Timing of sensor node devices in the local system;

    Receiving environment perception data obtained by a sensor node device perceiving an environment object; the environment perception data includes time stamp information for performing a perception action;

    Determining the time validity of the time stamp information in the environment perception data;

    After it is determined that the time stamp information is valid, the environment perception data is used for calculation.
18. The method according to claim 17, wherein the timing of the sensor node device in the local system comprises:

    The sensor node equipment in the local system is timed through the time service unit in the local system.
19. The method according to claim 18, characterized in that, the timing of the sensor node device in the local system through the timing unit in the local system comprises:

    The timing unit has at least two different types of interface units, respectively connects different sensor node devices with corresponding interface types, and performs timing on different sensor node devices connected to the interface unit.
20. The method according to claim 18 or 19, wherein the sensor node device is connected to a timing unit in the local system through a data bus.
21. The method according to claim 20, wherein an interrupt signal line is also connected between the sensor node device and the timing unit in the local system; and the timing of the sensor node device in the local system comprises :

    The timing unit sends the current system time through the data bus and at the same time sends an interrupt signal through the interrupt signal line. The sensor node device determines the device local time of the device to be timed according to the arrival time of the interrupt signal, and passes all The data bus receives the current system time, determines the clock correction parameter of the device to be timed by comparing the system current time and the device local time, and corrects the device local time according to the clock correction parameter.
22. The method according to claim 17, further comprising:

    The sensor node device waits for the time service after being powered on, and enters the standby or working state after the time service is completed to obtain the correct device local time of the sensor node device.
23. The method according to claim 17, further comprising:

    The sensor node device waits for time service after power-on, feeds back the local time of the device to the upper system after the time service is completed, and enters after receiving a signal that the upper system determines that the clock working condition of the sensor node device meets the requirements Standby or working status.
24. The method according to claim 17, wherein the determining the time validity of the time stamp information in the environmental perception data comprises:

    The time stamp information of the environment perception data is compared with the time when the environment perception data is received, and the time validity of the time stamp information in the environment perception data is determined according to the comparison result.
25. The method according to claim 17, wherein the receiving environment perception data obtained by the sensor node device perceiving an environment object comprises:

    Receive multiple pieces of environmental perception data obtained by multiple sensor node devices perceiving environmental objects;

    The determining the time validity of the time stamp information in the environment perception data includes:

    The time stamp information of each piece of environmental perception data is compared, and the time validity of the time stamp information in each piece of environmental perception data is determined according to the comparison result.
26. The method according to claim 17, further comprising:

    According to the time stamp information of the environmental perception data, it is determined whether the corresponding sensor node device has a clock abnormality, and if there is, the corresponding sensor node device is forced to time service.
27. The method according to claim 17 or 26, further comprising:

    Provide information prompts for the abnormal state of the clock of the sensor node equipment, and/or generate corresponding state records.

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