CN115102651A

CN115102651A - Data processing method

Info

Publication number: CN115102651A
Application number: CN202210482549.3A
Authority: CN
Inventors: 李广; 熊维; 施家栋; 张勇; 常孟芝
Original assignee: Alibaba Damo Institute Hangzhou Technology Co Ltd
Current assignee: Alibaba Damo Institute Hangzhou Technology Co Ltd
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2022-09-23

Abstract

The embodiment of the specification provides a data processing method, which is applied to a synchronous time service unit and comprises the steps of determining time information carried in time synchronization information and triggering a counter to start counting under the condition of receiving the time synchronization information sent by a computing unit; under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, and generating a time message according to the time information and the current count; and synchronously sending the pulse per second signal and the time message to at least two data acquisition units so as to realize the time stamp synchronization of the object data acquired by the at least two data acquisition units.

Description

Data processing method

Technical Field

The embodiment of the specification relates to the technical field of computers, in particular to two data processing methods.

Background

With the current digitalized layout of the live-action in various industries, the three-dimensional image acquisition equipment plays an increasingly important role. In order to establish a three-dimensional image more accurately and more conveniently, a plurality of sensors in the three-dimensional image acquisition equipment comprise a panoramic camera, a multi-line radar, an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) and the like, and the sensors need to align timestamps when acquiring data, so that image matching and establishment of a real three-dimensional image can be realized more easily during subsequent image processing.

In the prior art, an external module is generally used as system synchronization time input, and when system resources are consumed too much, the situation of untimely or inaccurate time synchronization occurs, so that the quality of acquired data is reduced.

Disclosure of Invention

In view of this, the embodiments of the present specification provide two data processing methods. One or more embodiments of the present disclosure also relate to a data processing apparatus, a three-dimensional information acquisition system, an augmented reality AR device or a virtual reality VR device, a computing device, a computer-readable storage medium, and a computer program, so as to solve technical deficiencies in the prior art.

According to a first aspect of embodiments of the present specification, there is provided a data processing method, applied to a synchronous time service unit, the method including:

under the condition of receiving time synchronization information sent by a computing unit, determining the time information carried in the time synchronization information, and triggering a counter to start counting;

under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, and generating a time message according to the time information and the current count;

and synchronously sending the pulse per second signal and the time message to at least two data acquisition units so as to realize the time stamp synchronization of the object data acquired by the at least two data acquisition units.

According to a second aspect of embodiments herein, there is provided a data processing apparatus comprising:

the first trigger module is configured to determine time information carried in the time synchronization information and trigger a counter to start counting under the condition that the time synchronization information sent by the computing unit is received;

the second trigger module is configured to trigger a pulse per second signal under the condition that the current count of the counter is determined to meet a preset time period, and generate a time message according to the time information and the current count;

and the data sending module is configured to synchronously send the pulse per second signal and the time message to at least two data acquisition units so as to realize the time stamp synchronization of the object data acquired by the at least two data acquisition units.

According to a third aspect of the embodiments of the present specification, there is provided a data processing method applied to a data processing system, where the system includes a computing unit, a synchronous time service unit, and a data acquisition unit, where the method includes:

the synchronous time service unit determines the time information carried in the time synchronization information and triggers a counter to start counting under the condition of receiving the time synchronization information sent by the calculation unit; under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, generating a time message according to the time information and the current count, and synchronously sending the pulse per second signal and the time message to at least two data acquisition units;

the data acquisition unit generates a timestamp of the currently acquired object data according to the pulse per second signal and the time message, and sends the object data to the calculation unit;

and the computing unit is used for carrying out data processing on the received object data and uploading the processed object data to a server.

According to a fourth aspect of the embodiments of the present specification, there is provided a three-dimensional information acquisition system, including a computing unit, a synchronous time service unit, and a data acquisition unit, wherein,

the synchronous time service unit is configured to determine time information carried in the time synchronization information and trigger a counter to start counting under the condition that the time synchronization information sent by the calculation unit is received; under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, generating a time message according to the time information and the current count, and synchronously sending the pulse per second signal and the time message to at least two data acquisition units;

the data acquisition unit is configured to generate a timestamp of currently acquired object data according to the pulse per second signal and the time message, and send the object data to the computing unit;

and the computing unit is configured to perform data processing on the received object data and upload the processed object data to a server.

According to a fifth aspect of embodiments herein, there is provided an augmented reality AR device or a virtual reality VR device comprising:

a computing unit, a synchronous time service unit, a data acquisition unit and a display, wherein,

the data acquisition unit is configured to generate a timestamp of currently acquired object data according to the pulse per second signal and the time message, and send the object data to the calculation unit;

the computing unit is configured to perform data processing on the received object data and upload the processed object data to a server;

and the display is configured to display a three-dimensional image which is delivered after the server side models according to the object data.

According to a sixth aspect of embodiments herein, there is provided a computing device comprising:

a memory and a processor;

the memory is used for storing computer-executable instructions, and the processor is used for executing the computer-executable instructions, and the computer-executable instructions realize the steps of the data processing method when being executed by the processor.

According to a seventh aspect of embodiments herein, there is provided a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the above-described data processing method.

According to an eighth aspect of embodiments herein, there is provided a computer program, wherein the computer program, when executed in a computer, causes the computer to perform the steps of the data processing method described above.

One embodiment of the present specification implements a data processing method, which is applied to a synchronous time service unit, and includes determining time information carried in time synchronization information and triggering a counter to start counting when the time synchronization information sent by a computing unit is received; under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, and generating a time message according to the time information and the current count; and synchronously sending the pulse per second signal and the time message to at least two data acquisition units so as to realize the time stamp synchronization of the object data acquired by the at least two data acquisition units.

Specifically, the data processing method carries out unified time service management on all the sensors (at least two data acquisition units) through the synchronous time service unit, solves the problems that an external module is adopted as system synchronous time input, and when system resources are excessively consumed, the time synchronization is not timely or accurate, so that the quality of acquired data is reduced, and greatly improves the reliability of the time synchronization of the sensors.

Drawings

Fig. 1 is a schematic diagram of a specific scenario in which a data processing method provided in an embodiment of the present specification is applied to a central time service unit of an acquisition device;

fig. 2 is a schematic diagram of a PPS signal and an NMEA message in a data processing method according to an embodiment of the present disclosure;

FIG. 3 is a flow chart illustrating a data processing method according to an embodiment of the present disclosure;

FIG. 4 is a flowchart illustrating a data processing method according to an embodiment of the present disclosure;

FIG. 5 is a flow diagram of another data processing method provided by one embodiment of the present description;

FIG. 6 is a block diagram of a data processing system to which a data processing method according to one embodiment of the present description is applied;

FIG. 7 is a flowchart illustrating an interactive service process of a computing platform in a data processing method according to an embodiment of the present disclosure;

fig. 8 is a flowchart illustrating a collection service process of a computing platform in a data processing method according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a power supply unit in a data processing method according to an embodiment of the present specification;

fig. 10 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present specification;

fig. 11 is a schematic structural diagram of a three-dimensional information acquisition system according to an embodiment of the present specification;

fig. 12 is a block diagram of a computing device according to an embodiment of the present disclosure.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. This description may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make and use the present disclosure without departing from the spirit and scope of the present disclosure.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may be termed a second, and, similarly, a second may be termed a first, without departing from the scope of one or more embodiments of the present description. The word "if," as used herein, may be interpreted as "at … …" or "when … …" or "in response to a determination," depending on the context.

First, the noun terms referred to in one or more embodiments of the present specification are explained.

PMOS: an MOS transistor which is an n-type substrate, a p-channel and carries current by the flow of a cavity; weighing completely: a positive channel Metal Oxide Semiconductor.

Panoramic camera: as an input sensor for a 360-degree panoramic image, a two-dimensional panoramic image can be generated, in which the coverage of the Y-axis should be not less than 80% and the coverage of the X-axis should be 100%, that is, 360 degrees.

A computing platform: the system comprises a platform for collecting information of all sensors (such as panoramic cameras, laser radars and the like), and can transmit collected data in a wired or wireless mode, provide interactive service with a mobile phone or a tablet and realize control and monitoring of a collection process.

GNSS: global Navigation Satellite System, this module can be as optional access computing platform, and it can provide Global positioning information in the open air, when inserting, can provide real-time geographical position information for the System, and this position information can produce the relevance with the three-dimensional information that this collection System recorded.

The switch: the local area network device in the acquisition system is connected as an information exchange processing node.

Laser radar: the three-dimensional information sensor provides real-time space three-dimensional data, and the data is transmitted to a computing platform and recorded in a UDP mode through a switch.

An IMU module: the Inertial Measurement Unit is used as an Inertial Measurement Unit to provide high-frequency angular velocity, acceleration, magnetic field and spatial attitude information, wherein the spatial attitude information can be a quaternion expression mode or an Euler angle expression mode.

The central synchronous time service unit: generating high-precision UTC time, completing unified synchronous time service management of all sensor time, updating the sensor time, triggering system time synchronization, collecting IMU module high-frequency data and transmitting the IMU module high-frequency data to a computing platform.

Cloud server: the computing platform can directly transmit the acquired data to the cloud server in a wireless mode, and processes and fuses the sensor data to finally generate the spatial three-dimensional map data.

Mobile phone/tablet: the interactive device is connected with the computing platform in a Bluetooth mode, and can realize state monitoring and flow control of the acquisition device.

USB is Universal Serial Bus.

ETH (Ethernet) wired Ethernet.

SYNC (synchronizing Signal) is a synchronization signal.

Pps (pulse per second): a pulse per second signal.

TTL is transistor transistor logic, and transistor-transistor level RS232 is commonly referred to as RS-232. The RS-232 standard interface (also known as EIA RS-232) is one of the commonly used serial communication interface standards.

UTC time: the world coordinates time.

In order to solve the technical problem that the quality of collected data is reduced due to the fact that time synchronization is not timely or accurate to a certain degree possibly when system resources are consumed too much because the collecting equipment does not usually have an additional central time service unit. An external GNSS module can be used as system synchronous time input, but the situation can be invalid when an indoor GNSS signal is shielded, so that the application scene is limited, and the use complexity is increased. In addition, the data transmission scheme of the current acquisition equipment is a mode of directly disassembling and copying storage media such as a U disk, a mobile hard disk and an SATA hard disk, but because the media are easily lost, the service life is also reduced due to repeated plugging and unplugging.

Based on this, in the present specification, two data processing methods are provided. One or more embodiments of the present specification relate to a data processing apparatus, a three-dimensional information acquisition system, an augmented reality AR device or a virtual reality VR device, a computing device, a computer-readable storage medium, and a computer program, which are described in detail in the following embodiments one by one.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a specific scenario in which a data processing method provided in an embodiment of the present specification is applied to a central time service unit of a collection device.

The acquisition device 100 of fig. 1 comprises a computing platform 102, a central synchronization time service unit 104, a panoramic camera 106, a first lidar 108, a second lidar 110, and an IMU module 112; the computing platform 102 is connected to a central synchronous time service unit 104, and the central synchronous time service unit 104 is connected to the panoramic camera 106, the first laser radar 108, the second laser radar 110, and the IMU module 112, respectively.

In specific implementation, the computing platform 102 sends a time synchronization instruction to the central synchronization time service unit 104, where the time synchronization instruction carries a time reference (such as UTC time) of the acquisition device 100, and when the central synchronization time service unit 104 receives the time synchronization instruction, the central synchronization time service unit records the UTC time, and simultaneously triggers an ms counter (millisecond counter) to start counting, and when the ms counter counts to 1s, the central synchronization time service unit enters PPS interrupt, outputs a PPS signal, and sends a synchronization packet generated according to the UTC time to the panoramic camera 106, the first laser radar 108, the second laser radar 110, and the IMU module 112; the PPS signal is a pulse signal triggered strictly within 1 second, two adjacent rising edges are strictly within 1S, the precision of the PPS signal depends on a crystal oscillator of a hardware time service unit, and the working error generated during specific working is extremely small.

In practical applications, the central synchronization time service unit 104 sends synchronization signals to the sensors (i.e., the panoramic camera 106, the first laser radar 108, the second laser radar 110, and the IMU module 112) differently: that is, the PPS signals and the synchronous messages adopt different channels or interfaces; for example, in fig. 1, the central synchronization time service unit 104 sends the PPS signal and the synchronization packet to the panoramic camera 106 through the TTL, and sends the PPS signal and the synchronization packet to the first laser radar 108, the second laser radar 110, and the IMU module 112 through the RS232 interface.

After receiving the PPS signal and the synchronization message, the panoramic camera 106, the first lidar 108, the second lidar 110, and the IMU module 112 generate a corresponding timestamp for the currently acquired data according to the PPS signal and the synchronization message, thereby achieving time synchronization of the acquired data in the panoramic camera 106, the first lidar 108, the second lidar 110, and the IMU module 112.

Referring to fig. 2, fig. 2 is a schematic diagram illustrating a PPS signal and an NMEA message in a data processing method according to an embodiment of the present disclosure.

As can be seen from fig. 2, the PPS signal in fig. 2 is a pulse signal triggered by 1 second, that is, an interrupt is performed every second, and a PPS signal is sent out; the NMEA data includes time data of the entire second.

Specifically, the example is that the panoramic camera 106 generates a timestamp according to the PPS signal and the synchronization packet sent by the central synchronization time service unit 104.

The panoramic camera 106 receives the PPS signal, and when the PPS signal is received, the rising edge external interruption is generated, and the count below the second bit inside the panoramic camera 106 is cleared; meanwhile, time information is extracted from the received synchronous message (namely NMEA data), and the second bit is directly replaced to generate a timestamp.

For example, the current system time of the panoramic camera 106 is 2022-03-33-14:30:45.546(546 ms); in addition, the PPS signal is received, and the time is changed to 2022-03-33-14:30:45.000 (namely the counting of the second bits is cleared); and then according to the received NMEA data, if the UTC time in the NMEA data is: 2022-04-06-20:05: 10.000; time will be changed directly to 2022-04-06-20:05:10.× (i.e., the generated time stamp), where time is the time since the panoramic camera 106 received the PPS rising edge, and so on.

In practical applications, time synchronization is an operation performed to make clocks of sensors in a system consistent, data generation time of the sensors can be aligned after time synchronization, and a timestamp of the time synchronization reflects the data generation time of the sensors.

Fig. 1 shows a sensor topology structure of the acquisition device in the embodiment of the present specification, and the central synchronization time service unit 104 is responsible for time synchronization operations of all sensors; the PPS signal is shared by multiple sensors.

The data processing method provided by the embodiment of the specification is applied to the central synchronous time service unit of the acquisition equipment, and can ensure the time synchronization of the sensors through the central synchronous time service unit, the data generation time of the sensors can be aligned after the time synchronization, and the timestamp reflects the data generation time of the sensors, so that the time synchronization of the data acquisition of the sensors is ensured, and the quality of the data acquisition of the sensors is improved.

Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a data processing method according to an embodiment of the present specification, where the data processing method is applied to a synchronization time service unit, and specifically includes the following steps.

Step 302: and triggering the counter to start counting when the time synchronization information sent by the calculating unit is received.

The synchronous time service unit may be understood as the central synchronous time service unit 104 in the above embodiments; the computing unit may be understood as the computing platform 102 in the above embodiments; the time synchronization information can be understood as a time synchronization instruction; the counter may be understood as a second counter or a millisecond counter, etc. In practical application, in order to ensure the accuracy of the subsequent pulse per second signal, in the embodiments of the present specification, a millisecond counter is used for performing the counting process, but the counting process is not limited to a more accurate time counting, and the counter may be replaced by a more accurate counter.

Specifically, under the condition of receiving time synchronization information sent by a computing unit, a counter is triggered to start counting; the synchronous time service unit can trigger the millisecond counter to start counting under the condition of receiving the time synchronization instruction sent by the computing unit; at this time, the millisecond counter starts counting milliseconds.

Step 304: and under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, and generating a time message according to the time information and the current count.

The preset time period may be set according to actual application, for example, the preset time period is 1 second, 2 seconds, and the like; in the embodiment of the present specification, since the synchronization time service unit generates a pulse per second signal (e.g., a PPS signal) subsequently to perform the time synchronization process, in the embodiment of the present specification, the preset time period may be set to 1 second. And the time information carried in the time synchronization information may be understood as UTC time information such as 2022-04-06-20:05:10.000 in the above embodiment.

The preset time period is 1 second for example.

Specifically, under the condition that the current count of the counter meets a preset time period, a pulse per second signal is triggered, and a time message is generated according to the time information and the current count; it is understood that in the case where it is determined that the current count of the millisecond counter satisfies 1 second (i.e., reaches 1 second), the second pulse signal is triggered; and meanwhile, generating a time message according to UTC time information carried in the time synchronization information sent by the computing unit and the current count of the millisecond counter. In practical application, after receiving the time information carried in the time synchronization information, the synchronization time service unit adjusts the time synchronization information according to real-time counting of a counter, for example, the time information carried in the received time synchronization information is 2022-04-06-20:05:10.000, a millisecond counter meets a 1 second time period, and under the condition of triggering a pulse per second signal, the synchronization time service unit adds 1 second of time to the time information, namely, the current time information is 2022-04-06-20:05: 11.000; and finally, generating a time message according to the current time information. The specific implementation mode is as follows:

generating a time packet according to the time information and the current count includes:

and adjusting the time information according to the current count to generate current time information, and generating a time message according to the current time information.

Step 306: and synchronously sending the pulse per second signal and the time message to at least two data acquisition units so as to realize the time stamp synchronization of the object data acquired by the at least two data acquisition units.

Specifically, after the pulse per second signal is triggered and the time packet is synchronously generated, the pulse per second signal and the time packet are synchronously sent to the at least two data acquisition units, so as to realize the time stamp synchronization of the object data acquired by the at least two data acquisition units.

Among them, the at least two data acquisition units may be understood as the panoramic camera 106, the first lidar 108, the second lidar 110, the IMU module 112, and the like of the above embodiments, and may further include a GNSS module.

According to the data processing method provided by the embodiment of the specification, the synchronous time service unit is used for carrying out unified time service management on all the sensors (at least two data acquisition units), the problem that the external module is used as system synchronous time input, when system resources are excessively consumed, time synchronization is not timely or accurate, the quality of acquired data is reduced is solved, and the reliability of sensor time synchronization is greatly improved.

The following describes the data processing method further by taking an application of the data processing method provided in the present specification to a synchronous time service unit as an example with reference to fig. 4. Fig. 4 shows a processing procedure flowchart of a data processing method provided in an embodiment of the present specification, which specifically includes the following steps.

Step 402: each sensor is initialized.

Specifically, each sensor is initialized, which can be understood as a synchronous time service unit and the power-on start of each sensor, and then the initialization process is entered.

Step 404: and judging whether the upper computer synchronous information is received, if so, continuing to execute the step 404, and if not, executing the step 406.

The upper computer may be understood as the computing unit or the computing platform of the above embodiments.

Judging whether the synchronization information of the upper computer is received, wherein the judgment can be understood as that whether the time synchronization information sent by the computing unit is received, if so, continuing the judgment, and executing the following steps under the condition that the time synchronization information sent by the computing unit is received.

And the synchronization information also carries UTC time.

Step 406: the UTC time is recorded and the ms counter is triggered to start.

Specifically, after receiving the synchronization information sent by the computing unit, the synchronization time service unit records the UTC time carried in the synchronization information, and triggers the millisecond counter to start counting.

Step 408: the 1S cycle timing begins.

At this point, a 1 second cycle count begins. I.e. the millisecond counter performs tick (mark) once every ms, an interrupt is generated when tick increases to 1s, which is a period of 1s, and the effect is to generate a precise 1s time period.

Step 410: and judging whether the PPS interruption is entered, if so, executing the step 412, and if not, continuing to execute the step 410.

Specifically, according to the 1 second cycle timing, if it is determined that 1 second is reached, the PPS interrupt is determined to be entered, and at this time, step 412 is executed; if the period of 1 second is not met, that is, the period of 1 second is not reached, the PPS interrupt is not entered, and step 408 is continuously executed to wait and determine.

Step 412: outputting a PPS signal and sending a synchronous message; execution continues at step 410.

Specifically, outputting a PPS signal and sending a synchronization message; the method can be understood that the synchronous time service unit outputs PPS signals when the interruption is carried out for 1 second, generates synchronous messages according to the current UTC time, and synchronously sends the PPS signals and the synchronous messages to each sensor; the process continues to step 410 and the next loop is entered.

In specific implementation, the central time service unit (namely, the synchronous time service unit) performs time synchronization in a mode of PPS signals plus time data; the generation of the second signal and the time data is carried out by a central synchronous time service unit, the central time service unit maintains a high-precision clock, and the highest precision of the central time service unit is determined by the precision of a crystal oscillator. The PPS signal is generated and output after the cycle generation technology of the system high-precision counter is interrupted. The central time service unit completes synchronization of sensor data through a serial port protocol and PPS signals, the PPS signals of the sensors share the same output source, and the signals are input into the sensors after necessary level conversion, so that the compatibility and the simultaneity of the signals are ensured.

Referring to fig. 5, fig. 5 shows a flowchart of another data processing method provided in an embodiment of the present disclosure, which is applied to a data processing system including a computing unit, a synchronous time service unit, and a data acquisition unit, where the method specifically includes the following steps.

Step 502: the synchronous time service unit determines the time information carried in the time synchronization information and triggers a counter to start counting under the condition of receiving the time synchronization information sent by the calculation unit; and under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, generating a time message according to the time information and the current count, and synchronously sending the pulse per second signal and the time message to at least two data acquisition units.

Specifically, the specific operation of the synchronization time service unit in this embodiment in this specification is the same as the operation in the foregoing embodiment, and specific details may refer to the processing procedure of the synchronization time service unit in the foregoing embodiment, and are not described herein again.

Step 504: and the data acquisition unit generates a timestamp of the currently acquired object data according to the pulse per second signal and the time message, and sends the object data to the calculation unit.

Specifically, after receiving the PPS signal and the time packet sent by the synchronous time service unit, each data acquisition unit may generate a time stamp of the currently acquired object data according to the PPS signal and the time packet, and respectively send the object data carrying the same time stamp to the calculation unit.

The data acquisition units are different, and the acquired object data are also different; for example, in the case where the data acquisition unit is a panoramic camera, the acquired object data may be understood as two-dimensional image data; under the condition that the data acquisition unit is a laser radar, the acquired object data can be understood as space three-dimensional data; in the case that the data acquisition unit is an IMU module, the acquired object data may be understood as angular velocity, acceleration, magnetic field, spatial attitude information, and the like.

The specific implementation manner of generating the timestamp of the currently acquired object data according to the PPS signal and the time packet is as follows:

the generating a timestamp of the currently acquired object data according to the pulse per second signal and the time packet includes:

the data acquisition unit is used for changing the current system time according to the pulse per second signal to obtain the updating time;

and changing the updating time according to the time message and the receiving time of the received pulse per second signal to generate a timestamp of the currently acquired object data.

For specific implementation, reference may be made to the detailed process of generating the timestamp by taking the panoramic camera as an example in the foregoing embodiment, which is not described herein again.

After each data acquisition unit generates the time stamp of the currently acquired object data according to the PPS signal and the time packet, the time stamp can be assigned to the currently acquired object data, and the object data respectively assigned with the time stamp can be sent to the calculation unit.

Step 506: and the computing unit is used for carrying out data processing on the received object data and uploading the processed object data to a server.

And after receiving the object data with the time stamp sent by each data acquisition unit, the computing unit processes the object data according to a preset rule, for example, places the data of each sensor at a position preset for each sensor, and uploads the processed object data to a server (e.g., a cloud server).

In practical application, after a group of data or a plurality of groups of data are collected by each sensor of the data processing system, the computing unit can be connected with the cloud server in a cloud connection mode, and the computing unit compresses received object data of each sensor and uploads the compressed object data to the cloud server. The method and the system ensure the privacy of the user data, and simultaneously ensure the safety of the data as the data can be kept back up in the cloud server.

In specific implementation, the data acquisition unit comprises an image acquisition module (such as a panoramic camera), a three-dimensional data acquisition module (such as a laser radar) and a pose acquisition module (such as an IMU module), the image acquisition module and the three-dimensional data acquisition module are in communication connection with the computing unit, and the pose acquisition module is connected with the synchronous time service unit; therefore, the object data acquired by the pose acquisition module needs to be sent to the computing unit for processing through the synchronous time service unit, and the image acquisition module and the three-dimensional data acquisition module can be directly communicated with the computing unit and send the acquired object data to the computing unit for processing. The specific implementation mode is as follows:

the data acquisition unit comprises an image acquisition module, a three-dimensional data acquisition module and a pose acquisition module, wherein the image acquisition module and the three-dimensional data acquisition module are in communication connection with the computing unit, and the pose acquisition module is connected with the synchronous time service unit;

correspondingly, the data acquisition unit generates a timestamp of the currently acquired object data according to the pulse per second signal and the time packet, and sends the object data to the calculation unit, including:

the image acquisition module generates a timestamp of the currently acquired image data according to the pulse per second signal and the time message, and sends the image data to the computing unit;

the three-dimensional data acquisition module generates a timestamp of the currently acquired three-dimensional data according to the pulse per second signal and the time message, and sends the three-dimensional data to the computing unit;

the pose acquisition module generates a timestamp of pose data acquired currently according to the pulse per second signal and the time message, transmits the pose data to the synchronous time service unit, and sends the pose data to the calculation unit through the synchronous time service unit.

Specifically, when the data acquisition unit is an image acquisition module, such as a panoramic camera, the image acquisition module generates a timestamp of currently acquired image data according to the PPS signal and the time message, and directly transmits the image data with the timestamp to the calculation unit; under the condition that the data acquisition unit is a three-dimensional data acquisition module, such as a laser radar, the three-dimensional data acquisition module generates a timestamp of the currently acquired three-dimensional data according to the PPS signal and the time message, and directly transmits the three-dimensional data with the timestamp to the calculation unit; under the condition that the data acquisition unit is a pose acquisition module, such as an IMU (inertial measurement Unit) module, the pose acquisition module generates a timestamp of pose data acquired currently according to the PPS (pulse per second) signal and the time message, and transmits the pose data with the timestamp to the calculation unit through the synchronous time service unit; the situation that the IMU module directly sends the pose data to the computing unit, the computing unit needs to perform compatibility processing on the pose data of the IMU module and other processes is avoided, the resource processing amount of the computing unit is reduced, and the data processing efficiency is improved.

The data processing system applied to the data processing method provided by the embodiment of the specification can be understood as a backpack three-dimensional information acquisition system, and the system can realize time synchronization and data acquisition of multiple sensors in the system by combining a computing unit and a central time service unit, so that the data acquisition quality is improved, the three-dimensional space modeling quality and the like manufactured by a subsequent cloud server according to the data of the multiple sensors are improved, and the user experience is improved.

The specific architecture of the data processing system to which the data processing method provided in this specification is applied will be further described below with reference to fig. 6. Fig. 6 is a block diagram of a data processing system to which a data processing method according to an embodiment of the present specification is applied.

The data processing system shown in fig. 6 includes a computing platform, a central synchronization time service unit, a panoramic camera, a laser radar 1, a laser radar 2, an IMU module, and a GNSS.

Fig. 6 includes a communication interface for transmitting data signals between the respective units, and a synchronization interface for transmitting a synchronization signal to each sensor by the central synchronization time service unit. The computing platform is in communication connection with the central synchronous time service unit through a USB interface and is used for sending a few short-time and low-frequency commands to the central synchronous time service unit; and the computing platform is communicated with the central synchronous time service unit through the switch, and the central synchronous time service unit is used for transmitting the data acquired by the IMU module to the computing platform in real time.

The panoramic camera and the GNSS are both in communication connection with the computing platform through USB interfaces, and the laser radar 1 (namely, a first laser radar) and the laser radar 2 (namely, a second laser radar) are both in communication connection with the computing platform through a switch and are used for transmitting acquired object data to the computing platform; the panoramic camera, the laser radar 1 and the laser radar 2 are in communication connection with the central synchronous time service unit through SYNC (including PPS and RS232), and are used for realizing that the central synchronous time service unit sends synchronous signals (PPS signals and data signals) to the panoramic camera, the laser radar 1 and the laser radar 2; the IMU module is connected with the central synchronous time service unit through SYNC communication, and is used for realizing that the central synchronous time service unit transmits a synchronous signal to the IMU module, and when data transmission is carried out, the data is transmitted to the central synchronous time service unit through an RS232 interface and is sent to the computing platform through the central synchronous time service unit.

Meanwhile, the computing platform can also directly transmit the object data acquired by each sensor to the cloud server in a wireless mode, process and fuse the object data, and finally generate the spatial three-dimensional map data.

The computing platform can also be connected with terminal equipment such as a mobile phone/tablet computer and the like, and the terminal equipment such as the mobile phone/tablet computer and the like is used as interaction equipment and is connected with the computing platform in a Bluetooth mode, so that the state (such as the memory state) monitoring and the process control of the acquisition equipment (namely the data processing system) can be realized.

When the data processing system is powered on, the central synchronous time service unit is started, and the computing platform is started. The computing platform starts two service processes, namely an interactive service process and an acquisition service process; the interaction service process has the following functions: the Bluetooth is used for interacting data with the mobile phone end and the tablet end, so that the state information of the data processing system can be transmitted and the control instruction of the app end can be received; the collection service process has the following functions: and collecting and summarizing data of each sensor, and storing the data according to an agreed data format and topology. The specific implementation mode is as follows:

the computing unit comprises an interactive service process and an acquisition service process;

the computing unit is used for processing the first type data interaction request according to the interaction service process under the condition of receiving the first type data interaction request sent by the mobile terminal and returning the processing result to the mobile terminal;

under the condition of receiving a second type data interaction request sent by the mobile terminal, processing the second type data interaction request according to the interaction service process and the acquisition service process, and returning the processing result to the mobile terminal; or alternatively

And under the condition of receiving a starting instruction, triggering the synchronous time service unit and the data acquisition unit to perform data processing according to the acquisition service process.

The mobile terminal can be understood as a mobile phone, a tablet computer and the like.

The first type of data interaction request may be understood as a request unrelated to the acquisition process, that is, a request related to the data processing system, for example, a request for checking the memory size of the data processing system, a request for the current state (for example, activated or not activated) of the data processing system; the second type of data interaction request may be understood as a request related to an acquisition process, i.e. a request related to data acquisition, such as a picture acquisition request, etc.

Specifically, the computing unit processes the request according to the interactive service process and returns the processing result to the mobile terminal when receiving the request which is sent by the mobile terminal and is irrelevant to the acquisition process; the computing unit needs to interact the service process and the acquisition service process under the condition of receiving a request which is sent by the mobile terminal and is related to the acquisition process, so as to realize the processing of the request, and return a processing result to the mobile terminal; and when the computing unit receives the starting instruction, the computing unit triggers the synchronous time service unit and the data acquisition unit to process data according to the acquisition service process.

Referring to fig. 7, fig. 7 is a schematic diagram illustrating an execution of an interactive service process of a computing platform in a data processing method according to an embodiment of the present specification.

In specific implementation, after a data processing system (such as an acquisition device) is powered on, an interactive service process and an acquisition service process of a computing platform are started.

Specifically, the interactive service process is executed, and the execution environment initialization (e.g., bluetooth initialization, memory initialization, instance initialization, etc.), the message queue initialization (e.g., the uplink message queue initialization and the IPC (inter-process communication) message queue initialization in fig. 7) are entered, and then the work thread is started.

The working thread comprises a downlink message receiving thread and an uplink message sending thread; firstly, executing a downlink message receiving thread, waiting for user access (namely waiting for the user to access a computing platform through a mobile phone/tablet computer Bluetooth), judging whether the user has accessed the computing platform through the Bluetooth, if so, circularly receiving the downlink message, and if not, continuing to wait for the user access; and judging whether the received downlink message is a message irrelevant to the acquisition process, if so, directly processing the received downlink message, storing a processing result into an uplink message queue, and if not, storing the downlink message into an IPC message queue. The information unrelated to the acquisition process may be understood as the first type data interaction request in the above embodiment, that is, the information related to the acquisition device, such as the memory size and the current state of the acquisition device. If the received downlink message is determined to be related to the acquisition process, storing the downlink message in an IPC message queue to wait for the acquisition service process to process; and if the received downlink message is determined to be irrelevant to the acquisition process, storing the processing result into the uplink message queue after self-processing.

And secondly, executing an uplink message sending thread, waiting for an uplink message, judging whether the uplink message is a return message or not if the uplink message exists in the uplink message queue, sending the uplink message if the uplink message is the return message, continuously and circularly judging whether the next uplink message is the return message or not, and not carrying out other processing if the uplink message is not the return message. The returned message may be understood as a message that needs to be displayed to the user through the app, and the interactive message between the interactive service process and the collection service process does not need to be returned to the user through the app, that is, is not a returned message.

Referring to fig. 8, fig. 8 is a schematic diagram illustrating an execution of a collection service process of a computing platform in a data processing method according to an embodiment of the present disclosure.

Specifically, an acquisition service process is executed, hardware initialization (for example, initialization of each sensor, and the like) is performed, and then a work thread is started.

The working thread comprises an app interaction thread, a real-time data acquisition thread and a real-time preview thread; firstly, executing an app interaction thread, waiting for an IPC message (namely waiting for the IPC message in the IPC message queue in fig. 7), and performing interaction message processing when the IPC message exists in the IPC message queue, wherein the type of the message is judged during the interaction message processing, and the method mainly comprises the following three categories: (1) start or stop data acquisition: sending a starting or stopping signal to a real-time acquisition thread of a right radar/IMU sensor, and starting or stopping real-time data acquisition; (2) timing image acquisition: acquiring a color image every time triggering is carried out; (3) and others: and after internal processing, returning the result to the uplink message queue so as to transmit the result to the interactive service process. And if the interactive message is processed, entering timing image acquisition, judging whether to start shooting, if so, judging whether the sensor time is synchronous, if so, acquiring a high-definition picture at fixed time, and if not, not performing any processing.

Secondly, executing a real-time data acquisition thread, judging whether to start acquisition under the condition of determining the time synchronization of the sensors, and if so, acquiring laser radar data and IMU data; and the collected data of the radar/IMU is subjected to data processing to generate real-time point cloud and pose (such as a two-dimensional image), the point cloud and the pose data are stored, and meanwhile, the point cloud and the pose data are transmitted back to a real-time preview thread.

And executing the real-time preview thread, judging whether real-time data is returned or not, if so, transmitting the data to the app for display, and if not, not performing any processing.

In practical applications, if the data processing system is a backpack acquisition system, the backpack acquisition system may usually adopt a battery replacement or charging manner when it needs to operate for a long time. For mobile equipment (such as a backpack acquisition system) needing to continuously operate, higher requirements are put on the environmental conditions of a working site by charging, and working time is reduced and labor hour waste is caused by the charging process; for removable equipment with replaceable batteries, if the system is powered down when the batteries are replaced, the results of data loss, restart of the system, increase of deployment work and the like may be caused according to different systems.

Therefore, the data processing system in the embodiment of the present specification further provides a redundant power supply unit supporting battery hot switching, which can complete battery replacement of the backpack acquisition system without power interruption, so that the continuous working time of the backpack acquisition system is prolonged, and external power supply during long-time data uploading can be realized, thereby reducing the power consumption of the battery. The specific implementation mode is as follows:

the data processing system further comprises a power supply unit;

the power supply unit adopts a main power supply module to supply power under the condition that the data processing system is determined to be in the working mode,

and under the condition that the main power supply module meets the battery replacement mode, switching to a standby power supply module from the main power supply module for supplying power.

In practical applications, the power input source of the data processing system at least includes a main power supply module (such as a main power supply battery), a backup power supply module (such as a backup battery), and an adapter (i.e. an external power supply).

The working mode can be understood as a data acquisition module.

Taking a data processing system as an example of a backpack acquisition system, a power supply unit adopts a main power supply battery to supply power to the backpack acquisition system during normal work (normal data acquisition) of the backpack acquisition system, and at the moment, a standby battery and an adapter do not supply power; under the condition that the main power supply battery meets the battery replacement mode, the main power supply battery is switched to a standby battery to supply power to the main power supply battery, and at the moment, the main power supply battery and the adapter do not supply power; therefore, the data processing system is ensured not to be powered down in the normal working mode.

The main power supply module meets the battery replacement mode under two conditions, wherein one condition is that the voltage of the main power supply module is smaller than a preset lowest working voltage threshold value, and the battery replacement mode is met; the other is that the power conversion mode is met under the condition that the main power supply module is removed. The specific implementation mode is as follows:

the switching from the main power supply module to the standby power supply module for supplying power under the condition that the main power supply module is determined to meet the power conversion mode includes:

the power supply unit is used for switching from the main power supply module to the standby power supply module and supplying power by using the standby power supply module under the condition that the voltage of the main power supply module is determined to be less than or equal to a preset voltage threshold value; or alternatively

And the power supply unit is switched from the main power supply module to the standby power supply module under the condition that the main power supply module is determined to be removed, and the standby power supply module is adopted for supplying power.

The preset voltage threshold can be set according to practical applications, for example, the preset voltage threshold is 21 volts.

Still following the above example, taking the preset voltage threshold as 21 volts as an example, the power supply unit switches from the main power supply battery to the backup battery when determining that the voltage of the main power supply battery is less than or equal to 21 volts, and adopts the backup battery to supply power, and at this time, neither the main power supply battery nor the adapter supplies power; or when it is determined that the main power supply battery is removed, the main power supply battery needs to be switched to a standby battery, and the standby battery is used for supplying power, and at this time, the main power supply battery and the adapter do not supply power.

By the mode, under the condition that the main power supply module cannot supply power to the data processing system, the main power supply module can supply power to the data processing system through the standby power supply module, and system damage or data loss caused by sudden power failure of the data processing system is avoided.

And under the condition that the working voltage of the main power supply module is greater than the preset voltage threshold, the power conversion mode can be switched to the working mode, and the main power supply module is continuously adopted for supplying power. The specific implementation mode is as follows:

the said main power supply module of follow switches to and is equipped with power module, after adopting the power supply of being equipped with power module, still includes:

the power supply unit is used for switching from the standby power supply module to a main power supply module under the condition that the voltage of the main power supply module is determined to be greater than the preset voltage threshold value, and the main power supply module is used for supplying power; or alternatively

And the power supply unit is used for switching from the standby power supply module to the main power supply module and supplying power by adopting the main power supply module under the condition that the main power supply module exists and the voltage is greater than the preset voltage threshold value.

Still following the above example, taking an example that the preset voltage threshold is 21 volts, the power supply unit switches from the backup battery to the main power supply battery when it is determined that the voltage of the main power supply battery is greater than 21 volts, and the main power supply battery is used for supplying power, and at this time, neither the backup battery nor the adapter supplies power; or when it is determined that the main power supply battery is installed, the standby battery needs to be switched to the main power supply battery, the main power supply battery is used for supplying power, and at the moment, the standby battery and the adapter do not supply power.

In practical application, the three power supply modes have priority power supply, namely, the adapter, the main power supply battery and the standby battery respectively supply power for three levels, namely high level, medium level and low level.

In the working mode of the data processing system, if the three power supply modes are all applicable (if the mobile external power supply exists, the data processing system can adopt the adapter to be connected with the mobile external power supply for supplying power, and the normal working movement is not influenced), the adapter needs to be selected for supplying power firstly, then the main power supply battery needs to be selected for supplying power, and finally the standby battery needs to be selected for supplying power. The specific implementation mode is as follows:

and the power supply unit adopts an adapter to be externally connected with the movable power supply to supply power under the condition that the data processing system is determined to be in the working mode and the movable external power supply exists.

In specific implementation, under an applicable scene, if the data processing system is in a working mode and a movable external power supply exists, an adapter is adopted to externally connect the movable power supply for supplying power; under the condition that no external power supply exists, the main power supply battery is adopted for supplying power; and if the main power supply battery is removed or the voltage is less than or equal to the preset voltage threshold value, switching to the standby battery for power supply. The specific implementation mode is as follows:

the power supply unit judges whether an external power supply exists or not under the condition that the data processing system is determined to be in a working model or a data uploading mode,

and if so, stopping power supply under the condition that the voltages of the main power supply module and the standby power supply module are both smaller than a preset voltage threshold value.

In specific implementation, the data processing system comprises three power supplies: 1. adapter, 2, main power supply battery, 3, backup battery; the power supply priority of the three paths is respectively from high to low. At any moment, the discharge is performed according to the priority, and the following rules are followed:

when the power supply loop with high priority meets the working voltage range, the power supply with high priority is preferentially used, and other loops do not supply power.

When no power supply loop meets the working voltage range, all the loops do not work.

When the power supply loop with the low priority normally supplies power, the power supply loop with the high priority meets the working condition and the time duration is greater than the preset time t, and then the power supply loop with the high priority is switched to the loop with the high priority.

Data processing system usually can produce a large amount of raw data, when carrying out data export or upload through wired connection or wireless connection's mode, can take a long time, if use battery power supply will consume the battery power, for follow-up charging etc. cause inconvenience. At this time, an external access power supply (namely, adapter power supply) can be adopted for power supply, and the external access power supply has the highest priority on the power supply priority; after the external power supply is connected, the main power supply battery and the standby battery stop discharging. The specific implementation mode is as follows:

and the power supply unit selects an adapter external power supply to supply power under the condition that the data processing system is determined to be in the data uploading mode.

The data uploading mode may be understood as that the data processing system uploads the generated raw data to the cloud server.

In the actual data uploading mode, if no external power supply exists, the main power supply battery and the standby battery can be used for supplying power.

In addition, in order to charge the input power supplies mutually and prolong the service life of the battery, the power supply unit also uses a back-to-back PMOS for power supply.

The data processing method provided by the embodiment of the specification adopts the redundant power supply system with priority input, can prolong the continuous working time of the system, and avoids the complicated initialization operation when the system is restarted every time. And meanwhile, the logic of priority power supply is superior, so that a data processing system (such as a backpack acquisition system) can use an external power supply to supply power when data is exported or uploaded, and the battery loss is reduced. The power supply unit of the power supply device adopts a back-to-back PMOS for power supply, so that mutual charging between input power supplies can be prevented, and the service life of a battery is prolonged.

Referring to fig. 9, fig. 9 is a schematic structural diagram illustrating a power supply unit in a data processing method according to an embodiment of the present disclosure.

Take the data processing system as a backpack acquisition system as an example.

Referring to fig. 9, the backpack collection system has three power input sources, which are respectively used for supplying power to the adapter, the main power supply battery and the standby battery. The backpack acquisition system generally has three power utilization modes, namely a normal working mode, a power conversion mode and a data uploading mode.

And (3) a normal working mode: in the normal working process of the backpack acquisition system, a main battery is adopted for supplying power; at the moment, the adapter is not connected, the backup battery is connected but does not supply power, and the main battery is used as the only power source to supply power to the power load through the power supply hot switch module (namely, the power supply unit).

A battery replacement mode: in the normal working mode of the backpack acquisition system, two conditions can enter a battery replacement working mode. In the first situation, the electric quantity of the main battery is gradually reduced along with the operation of the system, and when the electric quantity of the main battery is reduced to be smaller than the lowest working voltage threshold designed by the power supply hot-cutting module, the switching is triggered, at the moment, the power supply system can be automatically switched to the standby battery for supplying power, and the system can work normally. In the second situation, when the main power supply battery is pulled out manually and directly, the power supply system can be automatically switched to the standby battery for power supply, and the system can work normally.

Both of the above cases can be recovered to the normal operation mode after the battery within the operating voltage range is replaced.

A data uploading mode: backpack collection system usually can produce a large amount of raw data, when carrying out data derivation or uploading through wired connection or wireless connection's mode, can occupy the long time, will consume the battery power if using battery powered, causes inconvenience for follow-up charging etc.. At this time, a mode of supplying power by an external access power supply can be adopted, and the external access power supply has the highest priority on the power supply priority. After the external power supply is connected, the main power supply battery and the standby battery stop discharging.

The power supply mode has the following beneficial effects: the power supply priority input selection can adopt different power supply modes in different modes, so that the battery loss is reduced; the ultra-low delay hot switching is supported, and the continuous working time of the system can be greatly prolonged; the power input is prevented from reverse charging, and a back-to-back PMOS circuit is adopted to protect the battery and prolong the service life of the battery.

Corresponding to the above method embodiment, this specification further provides a data processing apparatus embodiment, and fig. 10 shows a schematic structural diagram of a data processing apparatus provided in an embodiment of this specification. As shown in fig. 10, the apparatus includes:

a first triggering module 1002, configured to, in a case that time synchronization information sent by a computing unit is received, determine time information carried in the time synchronization information, and trigger a counter to start counting;

a second triggering module 1004 configured to trigger a pulse per second signal and generate a time packet according to the time information and the current count, when it is determined that the current count of the counter satisfies a preset time period;

a data sending module 1006, configured to synchronously send the pulse-per-second signal and the time packet to at least two data acquisition units, so as to implement timestamp synchronization of the object data acquired by the at least two data acquisition units.

The data processing device provided by the embodiment of the specification carries out unified time service management on all sensors (at least two data acquisition units) through the synchronous time service unit, solves the problem that the external module is adopted as system synchronous time input, and when system resources are excessively consumed, the time synchronization is not timely or accurate, so that the quality of acquired data is reduced, and greatly improves the reliability of the time synchronization of the sensors.

The above is a schematic configuration of a data processing apparatus of the present embodiment. It should be noted that the technical solution of the data processing apparatus belongs to the same concept as the technical solution of the data processing method, and for details that are not described in detail in the technical solution of the data processing apparatus, reference may be made to the description of the technical solution of the data processing method.

Corresponding to the above method embodiment, the present specification further provides an embodiment of a three-dimensional information acquisition system, and fig. 11 shows a schematic structural diagram of the three-dimensional information acquisition system provided in an embodiment of the present specification. As shown in fig. 11, the system includes:

a computing unit 1102, a synchronous time service unit 1104 and a data acquisition unit 1106, wherein,

the synchronization time service unit 1104 is configured to, in a case that the time synchronization information sent by the calculation unit 1102 is received, determine time information carried in the time synchronization information, and trigger a counter to start counting; under the condition that the current count of the counter meets a preset time period, triggering a pulse per second signal, generating a time message according to the time information and the current count, and synchronously sending the pulse per second signal and the time message to at least two data acquisition units 1106;

the data acquisition unit 1106 is configured to generate a timestamp of currently acquired object data according to the pulse per second signal and the time packet, and send the object data to the calculation unit 1102;

the computing unit 1102 is configured to perform data processing on the received object data, and upload the processed object data to a server.

The three-dimensional information acquisition system provided by the embodiment of the specification can be understood as a backpack three-dimensional information acquisition system, and the system can realize time synchronization and data acquisition of multiple sensors in the system by combining a computing unit and a central time service unit, so that the data acquisition quality is improved, the three-dimensional space modeling quality and the like of a subsequent cloud server manufactured according to the data of the multiple sensors are improved, and the user experience is improved.

The above is a schematic scheme of the three-dimensional information acquisition system of this embodiment. It should be noted that the technical solution of the three-dimensional information acquisition system and the technical solution of the data processing method belong to the same concept, and details of the technical solution of the three-dimensional information acquisition system, which are not described in detail, can be referred to the description of the technical solution of the data processing method.

In addition, this specification also provides an augmented reality AR device or a virtual reality VR device, including:

the synchronous time service unit is configured to trigger a counter to start counting under the condition that time synchronization information sent by the calculation unit is received, trigger a pulse per second signal under the condition that the current counting of the counter meets a preset time period, generate a time message according to the time information carried in the time synchronization information, and synchronously send the pulse per second signal and the time message to at least two data acquisition units;

The three-dimensional image can be understood as a three-dimensional modeling image of any article, such as a three-dimensional house image, generated by the cloud server after modeling according to the target data.

FIG. 12 illustrates a block diagram of a computing device 1200, according to one embodiment of the present description. Components of the computing device 1200 include, but are not limited to, a memory 1210 and a processor 1220. Processor 1220 is coupled to memory 1210 via bus 1230, and database 1250 is used to store data.

The computing device 1200 also includes access devices 1240, the access devices 1240 enabling the computing device 1200 to communicate via one or more networks 1260. Examples of such networks include the Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the internet. The access device 1240 may include one or more of any type of network interface, e.g., a Network Interface Card (NIC), wired or wireless, such as an IEEE802.11 Wireless Local Area Network (WLAN) wireless interface, a worldwide interoperability for microwave access (Wi-MAX) interface, an ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a bluetooth interface, a Near Field Communication (NFC) interface, and so forth.

In one embodiment of the present description, the above-described components of computing device 1200 and other components not shown in FIG. 12 may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device structure shown in FIG. 12 is for purposes of example only and is not limiting as to the scope of the description. Other components may be added or replaced as desired by those skilled in the art.

Computing device 1200 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smartphone), wearable computing device (e.g., smartwatch, smartglasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. Computing device 1200 may also be a mobile or stationary server.

Wherein the processor 1220 is configured to execute computer-executable instructions that, when executed by the processor, implement the steps of the data processing method described above.

The above is an illustrative scheme of a computing device of the present embodiment. It should be noted that the technical solution of the computing device belongs to the same concept as the technical solution of the data processing method, and for details that are not described in detail in the technical solution of the computing device, reference may be made to the description of the technical solution of the data processing method.

An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which when executed by a processor implement the steps of the data processing method described above.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the data processing method, and details of the technical solution of the storage medium, which are not described in detail, can be referred to the description of the technical solution of the data processing method.

An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the data processing method.

The above is a schematic scheme of a computer program of the present embodiment. It should be noted that the technical solution of the computer program and the technical solution of the data processing method belong to the same concept, and details that are not described in detail in the technical solution of the computer program can be referred to the description of the technical solution of the data processing method.

The foregoing description of specific embodiments has been presented for purposes of illustration and description. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The computer instructions comprise computer program code which may be in source code form, object code form, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of combinations of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the embodiments. Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that acts and modules referred to are not necessarily required for an embodiment of the specification.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present specification disclosed above are intended only to aid in the description of the specification. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the teaching of the embodiments of the present disclosure. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the embodiments. The specification is limited only by the claims and their full scope and equivalents.

Claims

1. A data processing method is applied to a synchronous time service unit, and comprises the following steps:

2. A data processing method is applied to a data processing system, the system comprises a computing unit, a synchronous time service unit and a data acquisition unit, wherein the method comprises the following steps:

3. The data processing method according to claim 2, wherein generating a timestamp of the currently acquired object data according to the pulse-per-second signal and the time packet comprises:

4. The data processing method according to claim 2, wherein the data acquisition unit comprises an image acquisition module, a three-dimensional data acquisition module and a pose acquisition module, wherein the image acquisition module and the three-dimensional data acquisition module are in communication connection with the computing unit, and the pose acquisition module is connected with the synchronous time service unit;

5. The data processing method of claim 2, the computing unit comprising an interaction service process and an acquisition service process;

the computing unit is used for processing the first type data interaction request according to the interaction service process under the condition of receiving the first type data interaction request sent by the mobile terminal, and returning the processing result to the mobile terminal;

under the condition of receiving a second type data interaction request sent by the mobile terminal, processing the second type data interaction request according to the interaction service process and the acquisition service process, and returning the processing result to the mobile terminal; or

6. The data processing method of claim 2, the data processing system further comprising a power supply unit;

7. The data processing method of claim 6, wherein the switching from the main power supply module to a standby power supply module for supplying power when it is determined that the main power supply module satisfies the power swapping mode comprises:

the power supply unit is used for switching from the main power supply module to the standby power supply module and supplying power by adopting the standby power supply module under the condition that the voltage of the main power supply module is determined to be less than or equal to a preset voltage threshold value; or alternatively

8. The data processing method according to claim 7, wherein the switching from the main power supply module to the backup power supply module further comprises, after the power supply is performed by the backup power supply module:

the power supply unit is used for switching from the standby power supply module to a main power supply module under the condition that the voltage of the main power supply module is determined to be greater than the preset voltage threshold value, and the main power supply module is used for supplying power; or

And the power supply unit is used for switching the standby power supply module to the main power supply module and supplying power by adopting the main power supply module under the condition that the main power supply module exists and the voltage is greater than the preset voltage threshold value.

9. The data processing method of claim 6, further comprising:

and the power supply unit adopts an adapter to externally connect the movable power supply to supply power under the condition that the data processing system is determined to be in the working mode and the movable external power supply exists.

10. The data processing method of claim 6, further comprising:

11. The data processing method of claim 6, further comprising:

12. A data processing apparatus comprising:

13. A three-dimensional information acquisition system comprises a calculation unit, a synchronous time service unit and a data acquisition unit, wherein,

14. An Augmented Reality (AR) device or a Virtual Reality (VR) device comprising: