Time synchronization method, device and system

A time-synchronized and asynchronous technology, applied in time-division multiplexing systems, electrical components, multiplexing communications, etc., to solve the problems of difficulty in popularizing smart devices and high usage costs

Active Publication Date: 2018-11-30
BEIJING KUANGSHI ROBOTICS TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the object of the present invention is to provide a time synchronization method, device and system to improve the technical problems that the existing time synchronization method has high cost and is difficult to popularize and apply to smart devices such as mobile robots.

Method used

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  • Time synchronization method, device and system

Examples

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Embodiment 1

[0034] First, refer to figure 1 An example electronic device 100 for implementing the time synchronization method, device and system of the embodiments of the present invention will be described.

[0035] Such as figure 1 Shown is a schematic structural diagram of an electronic device, the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106 and an output device 108, these components are connected via a bus system 112 and / or other forms interconnected by a connecting mechanism (not shown). It should be noted that figure 1 The components and structure of the electronic device 100 shown are only exemplary, not limiting, and the electronic device may also have other components and structures as required.

[0036] The processor 102 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA), and the processor 102 can b...

Embodiment 2

[0043] refer to figure 2 A flow chart of a time synchronization method is shown, the method is executed by a controller, and the controller is connected with at least one synchronization sensor. A synchronous sensor is a sensor that needs to be synchronized with the controller. The delay time of this type of sensor is usually not fixed, so it is necessary to adopt a time synchronization method to keep this type of sensor and the controller in time synchronization, such as figure 2 As shown, it specifically includes the following steps:

[0044] Step S202, sending the non-real-time second pulse to the synchronous sensor, and recording the sending time stamp corresponding to the non-real-time second pulse; wherein, the time difference between two adjacent sending time stamps is an indeterminate value.

[0045] For the simplicity of description, the non-real-time second pulse can be referred to as NRTP (Not Real Time Pulse) below. The pulse sent by the controller to the synchr...

Embodiment 3

[0067] refer to Figure 4 A flow chart of a time synchronization method is shown, the method is executed by a synchronous sensor, the synchronous sensor is a sensor that needs to be synchronized with the controller, the synchronous sensor is connected to the controller, and the method includes:

[0068] Step S402, receiving the non-real-time pulse second sent by the controller, and using the local time of the synchronous sensor to record the arrival time stamp corresponding to the non-real-time pulse second. Since the pulses sent by the controller are not real-time pulses, the time interval between two adjacent pulses is not fixed, and the time interval between two adjacent non-real-time second pulses received by the synchronous sensor is not a fixed value.

[0069] Step S404, receiving the time information sent by the controller; wherein, the time information includes the sending time stamp of the non-real-time pulse second. Since the time information sent by the controller ...

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Abstract

The invention provides a time synchronization method, device and system, and relates to the technical field of the time synchronization. The method executed by the controller comprises the following steps: sending non-instantaneous second pulse to a synchronization sensor, and recording the sending timestamp corresponding to the sending of the non-instantaneous second pulse, wherein the time difference of two adjacent sending timestamps is not a fixed value; sending the time information to the synchronization sensor after sending the non-instantaneous second pulse according to the preset delayduration, thereby enabling the synchronization sensor to calibrate the local time of the synchronization sensor based on the time information, wherein the time information comprises the sending timestamp. Through the time synchronization method provided by the invention, the synchronization sensor and the controller can achieve the time synchronization, and the required software and hardware costis low, and the method can be popularized and applied to the mobile robot and like intelligent equipment.

Description

technical field [0001] The present invention relates to the technical field of time synchronization, in particular to a time synchronization method, device and system. Background technique [0002] In order to operate reliably, most existing smart devices require internal interrelated devices to maintain time synchronization. Taking the smart device as a mobile robot as an example, during the walking process of the mobile robot, its motion controller needs to continuously collect the output results of each sensor, and based on the output results of the sensors, determine the control instructions sent to the actuator movement, so as to achieve reliable movement. If the time of the motion controller and the sensor is not synchronized, it will be difficult for the motion controller to accurately control the movement of the actuator according to the output of the sensor. For example, for a mobile robot with a running speed of 1 m / s, a time error of 100ms can result in 0.1 The p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04J3/06
CPCH04J3/0661H04J3/0667
Inventor 彭广平
Owner BEIJING KUANGSHI ROBOTICS TECH CO LTD
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