CN112769516A - Data synchronous acquisition method and device, electronic equipment and storage medium - Google Patents
Data synchronous acquisition method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN112769516A CN112769516A CN202011553996.0A CN202011553996A CN112769516A CN 112769516 A CN112769516 A CN 112769516A CN 202011553996 A CN202011553996 A CN 202011553996A CN 112769516 A CN112769516 A CN 112769516A
- Authority
- CN
- China
- Prior art keywords
- acquisition
- data
- sensors
- synchronous
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/04—Generating or distributing clock signals or signals derived directly therefrom
- G06F1/12—Synchronisation of different clock signals provided by a plurality of clock generators
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The application relates to the technical field of automatic driving, and provides a data synchronous acquisition method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a data acquisition instruction carrying a synchronous clock signal; sending the data acquisition instruction to a plurality of sensors to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals; and comparing the received acquisition time information in the real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors. The method, the device, the electronic equipment and the storage medium ensure that the transmitted real-time acquired data of each sensor is clock-synchronized, improve the reliability of the real-time acquired data and simultaneously improve the accuracy and convenience of data processing.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for synchronously acquiring data, an electronic device, and a storage medium.
Background
In the field of automatic driving, vehicles are equipped with various sensors to sense and detect complex road environments, such as cameras, millimeter-wave radars, ultrasonic probes, and the like. The data generated by the various sensors is transmitted to the processor through different hardware interfaces.
The existing vehicle-mounted sensor synchronization system generally performs data transmission and clock synchronization through a CAN network. The data acquisition time information is determined by the internal time of each sensor. Since each sensor does not necessarily have a built-in clock system, even if an individual sensor has a built-in clock system, it is difficult to time the clock systems of different sensors relatively accurately. The data frame transmission of each sensor has delay and loss conditions, so that the time synchronization of the data cannot be accurately carried out, and the reliability of the data is poor.
Disclosure of Invention
The application provides a data synchronous acquisition method, a data synchronous acquisition device, electronic equipment and a storage medium, which ensure that real-time acquisition data of each sensor is clock-synchronized, improve the reliability of the real-time acquisition data and simultaneously improve the accuracy and convenience of data processing.
The application provides a data synchronous acquisition method, which comprises the following steps:
determining a data acquisition instruction carrying a synchronous clock signal;
sending the data acquisition instruction to a plurality of sensors to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals;
and comparing the received acquisition time information in the real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors.
According to the data synchronous acquisition method provided by the application, the comparison of the acquisition time information in the received real-time acquisition data sent by the plurality of sensors comprises the following steps:
and if the data are inconsistent, discarding the real-time acquisition data sent by the plurality of sensors.
According to the data synchronous acquisition method provided by the application, the comparison of the acquisition time information in the received real-time acquisition data sent by the plurality of sensors comprises the following steps:
and adding acquisition time information to the real-time acquisition data sent by the plurality of sensors based on the local clock signal.
According to the data synchronous acquisition method provided by the application, the step of sending the data acquisition instruction to a plurality of sensors comprises the following steps:
transmitting the synchronous clock signal to the plurality of sensors based on a preset transmission interval.
According to the data synchronous acquisition method provided by the application, the determining of the data acquisition instruction carrying the synchronous clock signal comprises the following steps:
receiving a clock calibration signal;
calibrating a local clock signal based on the clock calibration signal;
determining the synchronous clock signal based on the calibrated local clock signal.
According to the data synchronous acquisition method provided by the application, the sensor comprises at least one of a camera, a laser radar, a millimeter wave radar, a wheel speed meter and an ultrasonic radar.
The application also provides a synchronous data acquisition device, including:
the instruction determining unit is used for determining a data acquisition instruction carrying a synchronous clock signal;
the acquisition triggering unit is used for sending the data acquisition instruction to a plurality of sensors so as to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals;
and the synchronous comparison unit is used for comparing the received acquisition time information in the real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors.
The application also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any one of the data synchronous acquisition methods.
The present application also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for synchronized data acquisition as described in any of the above.
The application provides a data synchronous acquisition method, a device, an electronic device and a storage medium, a plurality of sensors are triggered to acquire and return data by adopting a data acquisition instruction carrying a synchronous clock signal, acquisition time information in received real-time acquisition data sent by the plurality of sensors is compared, if the acquisition time information is consistent, the real-time acquisition data sent by the plurality of sensors is transmitted, because each sensor acquires data according to the synchronous clock signal, the acquisition time information in the real-time acquisition data is compared, the real-time acquisition data of each transmitted sensor is ensured to be clock-synchronous, time calibration on the data is not needed, the reliability of the real-time acquisition data is improved, and meanwhile, the accuracy and the convenience of data processing are improved.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a data synchronous acquisition method provided in the present application;
FIG. 2 is a schematic flow chart of a clock calibration method provided in the present application;
fig. 3 is a schematic structural diagram of a data synchronous acquisition device provided in the present application;
fig. 4 is a schematic structural diagram of the FPGA-based data synchronous acquisition device provided in the present application;
FIG. 5 is a schematic diagram of clock calibration provided herein;
FIG. 6 is a schematic diagram of a camera synchronization module provided herein;
fig. 7 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic flow chart of a data synchronous acquisition method provided in the present application, and as shown in fig. 1, the method includes:
Specifically, the synchronous clock signal is a clock signal for triggering the plurality of sensors to perform synchronous data acquisition.
The synchronous clock signal may be a calibrated local clock signal. For example, after a local clock is calibrated using a remote clock, a synchronous clock signal is continuously output with reference to the local clock. In the generation process of the synchronous clock signal, the remote clock can always calibrate the local clock, and the accuracy of the synchronous clock signal is ensured.
The remote clock may be a GPS clock and the local clock may be a crystal oscillator built into the device.
The data acquisition instruction is an instruction for triggering each sensor to acquire data.
And step 120, sending the data acquisition instruction to the plurality of sensors to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals.
Specifically, the data acquisition instruction is sent to the plurality of sensors, each sensor is triggered to acquire data at the same time, and the acquired real-time acquired data is returned.
And step 130, comparing the acquisition time information in the received real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent, transmitting the real-time acquisition data sent by the plurality of sensors.
Specifically, the acquisition time information may be determined by a built-in clock source of each sensor, or may be determined by the reception time of the real-time acquisition data sent by each sensor. For example, if the sensor has a built-in clock source, the sensor may calibrate the clock source according to the synchronous clock signal in the data acquisition instruction, and then add acquisition time information to the real-time acquisition data by using the built-in clock source. If the sensor has no built-in clock source, the receiving time of the real-time collected data can be determined as the collecting time information.
And comparing the acquisition time information in the received real-time acquisition data sent by the plurality of sensors, namely, performing cross comparison on the acquisition time information in the real-time acquisition data sent by each sensor. For example, the acquisition time information T1 in the real-time acquisition data transmitted by the sensor a, the acquisition time information T2 in the real-time acquisition data transmitted by the sensor B, and the acquisition time information T3 in the real-time acquisition data transmitted by the sensor C may compare T1, T2, and T3 with each other.
And if the acquisition time information is consistent, transmitting the real-time acquisition data sent by the plurality of sensors to a data processor in a wireless or wired mode, and performing data fusion processing or data analysis processing.
The data synchronous acquisition method provided by the embodiment of the application adopts the data acquisition instruction carrying the synchronous clock signal to trigger the plurality of sensors to acquire and return data, compares the acquisition time information in the received real-time acquisition data sent by the plurality of sensors, and transmits the real-time acquisition data sent by the plurality of sensors if the acquisition time information is consistent.
Based on the above embodiment, step 130 further includes:
and if the data are inconsistent, discarding the real-time acquisition data sent by the plurality of sensors.
Specifically, if the acquisition time information in the real-time acquisition data sent by the plurality of sensors is inconsistent, the real-time acquisition data sent by the plurality of sensors is discarded.
At this time, the data synchronous acquisition method in the above embodiment may be continuously performed based on the set acquisition frequency.
According to the data synchronous acquisition method provided by the embodiment of the application, when the acquisition time information is inconsistent, the transmission of real-time acquisition data sent by a plurality of sensors is abandoned, the data transmission flow and the storage space of a data processor are saved, and the data processing efficiency is improved.
Based on any of the above embodiments, step 130 includes, before:
and adding acquisition time information to the real-time acquisition data sent by the plurality of sensors based on the local clock signal.
Specifically, the local clock signal here is a clock signal sent by a clock source in the device for executing the data synchronous acquisition method in the foregoing embodiment. The clock source can be composed of a positive feedback oscillation circuit composed of a quartz crystal oscillator and a NAND gate, and provides a square wave clock pulse signal with stable frequency and matched level.
Preferably, the local clock signal is used for adding acquisition time information to the real-time acquisition data sent by the plurality of sensors, so that the problem that the real-time acquisition data cannot be acquired synchronously due to errors of internal clock sources of the plurality of sensors can be avoided.
Based on any of the above embodiments, step 120 includes:
the synchronous clock signal is transmitted to the plurality of sensors based on a preset transmission interval.
Specifically, for a sensor which needs a clock signal to drive, a plurality of sensors can be controlled to acquire data by setting a transmission interval of a synchronous clock signal. For example, the sending interval may be set to 1 second, and 1 time of synchronous clock signal is sent to the multiple sensors every 1 second interval, so as to trigger the multiple sensors to complete 1 time of data acquisition and return.
For sensors that do not require a clock signal to drive, the synchronous clock signal can be sent directly.
According to the data synchronous acquisition method provided by the embodiment of the application, the sending intervals are reasonably set, and the sensors can be synchronously controlled to acquire and return data, so that the data acquisition speed and the data acquisition amount can meet the processing speed of a data processor.
Based on any of the above embodiments, fig. 2 is a schematic flowchart of a clock calibration method provided by the present application, as shown in fig. 2, before step 110, the method includes:
102, calibrating a local clock signal based on a clock calibration signal;
In particular, the local clock signal may be calibrated based on an external clock signal. For example, when the GPS signal is stable, the local clock signal may be calibrated using a clock signal provided by a GPS (Global Positioning System) as a clock calibration signal. After calibration is completed, when the GPS signal is lost, the built-in clock source can keep outputting a local clock signal with high precision.
The frequency of time calibration can also be set, so that the clock source built in the device for executing the clock calibration method can always keep an accurate state.
The calibrated local clock signal may be used as the synchronous clock signal.
Based on any of the above embodiments, the clock calibration signal is from a GPS or beidou system.
Specifically, the calibration of the local clock signal can be realized by using the accurate time service provided by the positioning system. The positioning System includes a GPS or a BeiDou Navigation Satellite System (BDS).
Based on any one of the above embodiments, the sensor includes at least one of a camera, a laser radar, a millimeter wave radar, a wheel speed meter, and an ultrasonic radar.
Specifically, in an autopilot scenario, sensors in the in-vehicle sensor system include cameras, lidar, millimeter wave radar, wheel speed, and ultrasonic radar, among others.
The cameras include a front view camera, a surround view camera, and the like. The forward-looking camera may employ a monocular camera for taking a picture of the heading. The panoramic camera can be a combined camera consisting of multiple fisheye lenses and is used for shooting pictures of the surrounding environment of the vehicle.
The laser radar adopts a plurality of laser transmitters and receivers to collect three-dimensional point clouds and can be used for building a three-dimensional map and detecting road obstacles.
The millimeter wave radar can measure not only the target distance, but also parameters such as the relative speed and the azimuth angle of a target object, and is used for assisting a vehicle in avoiding obstacles.
Ultrasonic radar mainly used short distance measures, cooperatees with millimeter wave radar, camera and laser radar, supports high-level driver assistance function jointly.
Wheel speed meters, i.e., wheel speed sensors, are used to detect the speed of the vehicle in real time.
The data synchronous acquisition device provided by the present application is described below, and the data synchronous acquisition device described below and the data synchronous acquisition method described above may be referred to in correspondence with each other.
Based on any of the above embodiments, fig. 3 is a schematic structural diagram of the data synchronous acquisition device provided in the present application, and as shown in fig. 3, the device includes:
an instruction determining unit 310, configured to determine a data acquisition instruction carrying a synchronous clock signal;
the acquisition triggering unit 320 is configured to send a data acquisition instruction to the plurality of sensors to trigger the plurality of sensors to perform data acquisition and return based on the synchronous clock signal;
and the synchronous comparison unit 330 is configured to compare the acquisition time information in the received real-time acquisition data sent by the multiple sensors, and if the acquisition time information is consistent with the acquisition time information, transmit the real-time acquisition data sent by the multiple sensors.
Specifically, the instruction determination unit 310 is configured to determine a data acquisition instruction carrying a synchronous clock signal. The collection triggering unit 320 is configured to send a data collection instruction to the plurality of sensors to trigger the plurality of sensors to perform data collection and return. The synchronous comparison unit 330 is configured to compare the received acquisition time information in the real-time acquisition data sent by the multiple sensors, and if the acquisition time information is consistent, transmit the real-time acquisition data sent by the multiple sensors.
The embodiment of the application provides a synchronous data acquisition device, adopt the data acquisition instruction that carries synchronous clock signal to trigger a plurality of sensors and carry out data acquisition and passback, carry out the comparison to the acquisition time information among the real-time data collection that a plurality of sensors received sent, if acquisition time information is unanimous, then transmit the real-time data collection that a plurality of sensors sent, because each sensor carries out data acquisition according to synchronous clock signal, through comparing the acquisition time information in the real-time data collection, the real-time data collection of each sensor of having guaranteed to transmit is clock synchronization, need not to carry out time calibration to data, the reliability of real-time data collection has been improved, data processing's accuracy and convenience have been improved simultaneously.
Based on any of the above embodiments, the synchronous comparing unit 330 is further configured to:
and if the data are inconsistent, discarding the real-time acquisition data sent by the plurality of sensors.
Based on any embodiment above, the apparatus further comprises:
and the time adding unit is used for adding acquisition time information to the real-time acquisition data sent by the plurality of sensors based on the local clock signal.
Based on any of the above embodiments, the acquisition triggering unit 320 is specifically configured to:
the synchronous clock signal is transmitted to the plurality of sensors based on a preset transmission interval.
Based on any embodiment above, the apparatus further comprises:
and the time calibration unit is used for receiving the clock calibration signal, calibrating the local clock signal based on the clock calibration signal, and determining the synchronous clock signal based on the calibrated local clock signal.
Based on any of the above embodiments, the device is an FPGA.
Specifically, the FPGA (Programmable Gate Array) adopts a Logic Cell Array lca (Logic Cell Array), and includes three sections, i.e., a configurable Logic module clb (configurable Logic block), an input/Output module iob (input Output block), and an Interconnect (Interconnect). A Field Programmable Gate Array (FPGA) is a programmable device that has a different structure than traditional logic circuits and gate arrays (such as PAL, GAL and CPLD devices).
The logic of the FPGA is implemented by loading programming data into the internal static memory cells, the values stored in the memory cells determine the logic function of the logic cells and the way of the connections between the modules or between the modules and the I/O and finally the functions that can be implemented by the FPGA, which allows an unlimited number of programming.
The data synchronous acquisition device provided by the embodiment of the application is used for executing the data synchronous acquisition method, the specific implementation mode of the data synchronous acquisition device is consistent with the method implementation mode, the same beneficial effects can be achieved, and the description is omitted here.
Based on any of the above embodiments, fig. 4 is a schematic structural diagram of the data synchronous acquisition device based on the FPGA provided in the present application, and as shown in fig. 4, the device includes a clock synchronization module, a camera synchronization module, a laser radar synchronization module, a millimeter wave radar synchronization module, a wheel speed instrument synchronization module, and a data transmission module. All the modules are realized based on FPGA.
Compared with the above embodiment, the clock synchronization module is equivalent to the instruction determination unit, the acquisition trigger unit and the time calibration unit, the camera synchronization module, the laser radar synchronization module, the millimeter wave radar synchronization module and the wheel speed instrument synchronization module are equivalent to the time adding unit, and the data sending module is equivalent to the synchronization comparison unit.
Fig. 5 is a schematic diagram of a clock calibration principle provided by the present application, and as shown in fig. 5, when a GPS signal is stable, a GPRMC (recommended positioning information) is sent to a clock synchronization module to calibrate a local clock of an FPGA. And decoding the GPRMC to obtain time information and a GPS state. A clock source built in the clock synchronization module sends PPS (Pulse Per Second), and an FPGA Second Pulse signal is obtained by combining the GPS state. And according to the time information and the FPGA second pulse signal obtained after the GPRMC is decoded, calibrating a clock source built in the clock synchronization module.
After calibration is completed, when the GPS signal is lost, the local clock of the FPGA can keep outputting high-precision time information.
And after the clock synchronization module finishes clock calibration, triggering each sensor synchronization module to work.
Fig. 6 is a schematic diagram of the operation of the camera synchronization module provided in the present application, and as shown in fig. 6, when the camera synchronization module operates, the clock synchronization module receives time information sent according to system setting, and sends a driving signal with a set frequency to the camera, and after the camera receives the driving signal, the camera performs data acquisition, and sends feedback information and acquired image data. The feedback information may be one level information. The camera synchronization module records the real-time information and synchronously stores the real-time information and the image data of the camera.
Laser radar synchronization module during operation sends fixed frequency's drive signal to laser radar, receives the drive signal back when laser radar, can set for frequency data collection according to the system, and laser radar sends the data of gathering to laser radar synchronization module, and laser radar synchronization module records real-time information, keeps real-time information and laser radar's data information in step.
The working principle of the millimeter wave radar synchronization module is similar to that of the laser radar synchronization module.
The synchronous module during operation of wheel speed appearance receives the wheel speed information of wheel speed appearance record, sets for according to the wheel speed appearance product, calculates the fast data of wheel, according to the frequency that the system set for, with real-time information and the fast data synchronization save of wheel.
And the data sending module is used for performing cross comparison on the time information of each synchronization module according to the frequency set by the system, judging whether the synchronization time information of each sensor is consistent, and sending the data information and the time information of each sensor to the data processor if the time information of the data information returned by each sensor is consistent.
The application provides a synchronous collection system of data based on FPGA can guarantee that each sensor data that data processor received must be clock synchronization, has improved follow-up data processing's accuracy and convenience.
Based on any of the above embodiments, fig. 7 is a schematic structural diagram of an electronic device provided in the present application, and as shown in fig. 7, the electronic device may include: a Processor (Processor)710, a communication Interface (Communications Interface)720, a Memory (Memory)730, and a communication Bus (Communications Bus)740, wherein the Processor 710, the communication Interface 720, and the Memory 730 communicate with each other via the communication Bus 740. Processor 710 may call logical commands in memory 730 to perform the following method:
determining a data acquisition instruction carrying a synchronous clock signal; sending a data acquisition instruction to the plurality of sensors to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals; and comparing the acquisition time information in the received real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors.
In addition, the logic commands in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as independent products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including commands for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The processor in the electronic device provided in the embodiment of the present application may call a logic instruction in the memory to implement the data synchronous acquisition method, and the specific implementation manner is consistent with the method implementation manner and may achieve the same beneficial effects, which is not described herein again.
Embodiments of the present application further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, for example, the method includes:
determining a data acquisition instruction carrying a synchronous clock signal; sending a data acquisition instruction to the plurality of sensors to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals; and comparing the acquisition time information in the received real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors.
When the computer program stored on the non-transitory computer-readable storage medium provided in the embodiment of the present application is executed, the data synchronous acquisition method is implemented, and the specific implementation manner is consistent with the method implementation manner and can achieve the same beneficial effects, which is not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (13)
1. A data synchronous acquisition method is characterized by comprising the following steps:
determining a data acquisition instruction carrying a synchronous clock signal;
sending the data acquisition instruction to a plurality of sensors to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals;
and comparing the received acquisition time information in the real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors.
2. The method for synchronously acquiring data according to claim 1, wherein the comparing the acquisition time information in the received real-time acquisition data transmitted by the plurality of sensors comprises:
and if the data are inconsistent, discarding the real-time acquisition data sent by the plurality of sensors.
3. The method for synchronously acquiring data according to claim 1, wherein the comparing the acquisition time information in the received real-time acquisition data transmitted by the plurality of sensors comprises:
and adding acquisition time information to the real-time acquisition data sent by the plurality of sensors based on the local clock signal.
4. The method according to claim 1, wherein the sending the data acquisition command to a plurality of sensors comprises:
transmitting the synchronous clock signal to the plurality of sensors based on a preset transmission interval.
5. The method of claim 1, wherein the determining the data acquisition command carrying the synchronous clock signal comprises:
receiving a clock calibration signal;
calibrating a local clock signal based on the clock calibration signal;
determining the synchronous clock signal based on the calibrated local clock signal.
6. The synchronous data acquisition method according to any one of claims 1 to 5, wherein the sensor comprises at least one of a camera, a laser radar, a millimeter wave radar, a wheel speed meter, and an ultrasonic radar.
7. A data synchronous acquisition device is characterized by comprising:
the instruction determining unit is used for determining a data acquisition instruction carrying a synchronous clock signal;
the acquisition triggering unit is used for sending the data acquisition instruction to a plurality of sensors so as to trigger the plurality of sensors to acquire and transmit back data based on the synchronous clock signals;
and the synchronous comparison unit is used for comparing the received acquisition time information in the real-time acquisition data sent by the plurality of sensors, and if the acquisition time information is consistent with the acquisition time information, transmitting the real-time acquisition data sent by the plurality of sensors.
8. The device according to claim 7, wherein the synchronous comparing unit is further configured to:
and if the data are inconsistent, discarding the real-time acquisition data sent by the plurality of sensors.
9. The synchronous data acquisition device according to claim 7, further comprising:
and the time adding unit is used for adding acquisition time information to the real-time acquisition data sent by the plurality of sensors based on the local clock signal.
10. The device according to claim 7, wherein the acquisition triggering unit is specifically configured to:
transmitting the synchronous clock signal to the plurality of sensors based on a preset transmission interval.
11. The synchronous data acquisition device according to claim 7, further comprising:
and the time calibration unit is used for receiving the clock calibration signal, calibrating the local clock signal based on the clock calibration signal, and determining the synchronous clock signal based on the calibrated local clock signal.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for synchronized data acquisition according to any one of claims 1 to 6 when executing the computer program.
13. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the data synchronization acquisition method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011553996.0A CN112769516A (en) | 2020-12-24 | 2020-12-24 | Data synchronous acquisition method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011553996.0A CN112769516A (en) | 2020-12-24 | 2020-12-24 | Data synchronous acquisition method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112769516A true CN112769516A (en) | 2021-05-07 |
Family
ID=75694144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011553996.0A Pending CN112769516A (en) | 2020-12-24 | 2020-12-24 | Data synchronous acquisition method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112769516A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415560A (en) * | 2021-12-24 | 2022-04-29 | 浙江清华柔性电子技术研究院 | Data synchronous acquisition and processing method and device and storage medium |
| CN114827173A (en) * | 2022-04-20 | 2022-07-29 | 美的集团(上海)有限公司 | Data synchronization system, method, device, equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9537956B1 (en) * | 2015-12-11 | 2017-01-03 | Uber Technologies, Inc. | System for acquiring time-synchronized sensor data |
| CN107613357A (en) * | 2017-09-13 | 2018-01-19 | 广州酷狗计算机科技有限公司 | Sound picture Synchronous fluorimetry method, apparatus and readable storage medium storing program for executing |
| CN108152045A (en) * | 2017-12-13 | 2018-06-12 | 中国汽车工程研究院股份有限公司 | Vehicular data acquisition method, apparatus and system |
| CN109936420A (en) * | 2017-12-15 | 2019-06-25 | 上海蔚来汽车有限公司 | Method and apparatus for the synchronous data acquired by multiple sensors |
| CN209182706U (en) * | 2018-10-17 | 2019-07-30 | 浙江网新技术有限公司 | A kind of vehicle-mounted data synchronous based on Ethernet |
| CN111860604A (en) * | 2020-06-24 | 2020-10-30 | 国汽(北京)智能网联汽车研究院有限公司 | Data fusion method, system and computer storage medium |
| CN111934843A (en) * | 2020-07-31 | 2020-11-13 | 深圳市智绘科技有限公司 | Multi-sensor data synchronous acquisition method for intelligent unmanned system |
-
2020
- 2020-12-24 CN CN202011553996.0A patent/CN112769516A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9537956B1 (en) * | 2015-12-11 | 2017-01-03 | Uber Technologies, Inc. | System for acquiring time-synchronized sensor data |
| CN107613357A (en) * | 2017-09-13 | 2018-01-19 | 广州酷狗计算机科技有限公司 | Sound picture Synchronous fluorimetry method, apparatus and readable storage medium storing program for executing |
| CN108152045A (en) * | 2017-12-13 | 2018-06-12 | 中国汽车工程研究院股份有限公司 | Vehicular data acquisition method, apparatus and system |
| CN109936420A (en) * | 2017-12-15 | 2019-06-25 | 上海蔚来汽车有限公司 | Method and apparatus for the synchronous data acquired by multiple sensors |
| CN209182706U (en) * | 2018-10-17 | 2019-07-30 | 浙江网新技术有限公司 | A kind of vehicle-mounted data synchronous based on Ethernet |
| CN111860604A (en) * | 2020-06-24 | 2020-10-30 | 国汽(北京)智能网联汽车研究院有限公司 | Data fusion method, system and computer storage medium |
| CN111934843A (en) * | 2020-07-31 | 2020-11-13 | 深圳市智绘科技有限公司 | Multi-sensor data synchronous acquisition method for intelligent unmanned system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415560A (en) * | 2021-12-24 | 2022-04-29 | 浙江清华柔性电子技术研究院 | Data synchronous acquisition and processing method and device and storage medium |
| CN114827173A (en) * | 2022-04-20 | 2022-07-29 | 美的集团(上海)有限公司 | Data synchronization system, method, device, equipment and storage medium |
| CN114827173B (en) * | 2022-04-20 | 2023-10-10 | 美的集团(上海)有限公司 | Data synchronization system, method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10198004B2 (en) | Method and apparatus for obtaining range image with UAV, and UAV | |
| JP6835914B2 (en) | Distance measurement method based on laser radar system, distance measurement device based on laser radar system and computer readable storage medium | |
| US10565457B2 (en) | Feature matching and correspondence refinement and 3D submap position refinement system and method for centimeter precision localization using camera-based submap and LiDAR-based global map | |
| CN109211298B (en) | Sensor calibration method and device | |
| CN110687562B (en) | Positioning method and vehicle-mounted device | |
| WO2020199116A1 (en) | Systems and methods for time synchronization | |
| CN110620632B (en) | Time synchronization method and device | |
| WO2020135382A1 (en) | System, method, and apparatus for synchronizing time service of multiple sensors, and electronic device | |
| CN112865902B (en) | Data acquisition and time synchronization method and device, electronic equipment and storage medium | |
| CN112861660B (en) | Laser radar array and camera synchronization device, method, equipment and storage medium | |
| CN107707626B (en) | Data acquisition card, data acquisition system and data acquisition method based on FPGA | |
| CN112769516A (en) | Data synchronous acquisition method and device, electronic equipment and storage medium | |
| CN112929122A (en) | Time synchronization method and device, terminal equipment and computer readable storage medium | |
| US20240151857A1 (en) | Clock Error Prediction Method and Apparatus | |
| CN113129382B (en) | Method and device for determining coordinate conversion parameters | |
| CN111279637A (en) | Information synchronization method, unmanned aerial vehicle, load equipment, system and storage medium | |
| CN113572556A (en) | Time synchronization method, sensor and system | |
| WO2022256976A1 (en) | Method and system for constructing dense point cloud truth value data and electronic device | |
| CN113985431A (en) | Data acquisition method, system, device, electronic equipment and storage medium | |
| CN115437458A (en) | Time service and time keeping method, device, system and mobile tool | |
| CN113839732A (en) | Clock synchronization method, device and equipment | |
| WO2022127337A1 (en) | Master clock device, slave clock device and time synchronization method | |
| CN113296135B (en) | Deformation monitoring method, device and receiver | |
| CN112649815B (en) | Method and device for processing data | |
| CA3200304C (en) | Clock synchronisation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |