Signal synchronous sampling method and system, storage medium and application equipment

Abstract

The invention relates to a signal synchronous sampling method and system, a storage medium, an FPGA chip and a sweeping robot, and the method comprises the steps: executing the following steps for pulse signals outputted by a plurality of collection devices: taking one of the pulse signals as a reference pulse signal, and determining the moment of a rising edge of the reference pulse signal; determining a corresponding relation between rising edges of the plurality of pulse signals; taking the moment of one rising edge of the reference pulse signal as a reference moment, and setting the moments of the rising edges of other pulse signals except the reference pulse signal according to the reference moment and the corresponding relation, so as to enable the other pulse signals to be synchronous with the reference pulse signal.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and system for synchronous sampling of signals, a storage medium, an FPGA chip and a sweeping robot. Background technique [0002] With the rapid development of science and technology, people's living standards continue to improve, and smart products are more and more widely accepted and applied by the public. The typical one is the sweeping robot. The sweeping robot is a kind of intelligent cleaning equipment that can automatically clean the ground dust, hair and paper scraps and other substances. [0003] For the existing sweeping robot, there are problems that the signals sampled by different collection devices are not synchronized and the calling time of the operating system is uncertain. For example, because the image data sampled by the image sensor and the data containing acceleration and angular velocity sampled by the inertial measurement unit IMU are not synchr...

AI Technical Summary

Problems solved by technology

[0004] In order to solve, for example, for a sweeping robot, the technical problem of low precision of SLAM caused by the asynchronous sampling signals of different acquisition devices, the present invention provides a method and system for synchronous sampling of signals, a storage medium and a sweeping robot. The pulse signal of one of the acquisition devices is used as the reference pulse signal, and the time of a rising edge of the reference pulse signal is used as the reference time, and the rising edges of other pulse signals are reset according to the corresponding relationship between the reference time and the rising edges of each pulse signal At the moment, the synchronous sampling of different acquisition devices is realized, thereby improving the accuracy of SLAM

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