A data acquisition method, system, device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a data acquisition method, system, device, electronic equipment and storage medium, which relates to the technical field of computers, the method is applied to a control platform, comprising: sending an exposure control signal to a camera according to a first time period to control the exposure of the camera; sending a phase control signal to a laser radar according to a second time period to control the rotation of a rotating code disc of the laser radar to a preset phase angle, wherein the second time period is a common multiple of the first time period and the time required for the rotating code disc to rotate one round, the preset phase angle is a phase angle that aligns the field of view angle of the laser radar with the field of view angle of the camera, and at least the laser radar and the clock of the control platform are synchronized; obtaining image data collected by the camera and obtaining point cloud data collected by the laser radar. The scheme provided by the embodiments of the present application can facilitate obtaining synchronously collected data.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a data acquisition method, system, device, electronic device, and storage medium. Background Technology

[0002] In autonomous driving scenarios, it is necessary to obtain data collected by multiple sensors for the same scene, fuse the above data, and realize environmental perception of the above scene based on the fused data.

[0003] In related technologies, the aforementioned sensors generally include cameras and lidar. Typically, it is necessary to obtain images captured by the camera and point cloud data captured by the lidar. Data acquired at the same time is searched from the above data and used as data acquired synchronously for the same scene. The above data is then fused to obtain fused data.

[0004] In the above scheme, due to the differences in clock and data acquisition frequency between different sensors, the time for different sensors to collect data for the same scene is not synchronized. This results in different scenarios for different sensors to collect data at the same acquisition time, making it difficult to obtain synchronously acquired data. Summary of the Invention

[0005] The purpose of this application is to provide a data acquisition method, system, device, electronic device, and storage medium to facilitate the acquisition of synchronously acquired data. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a data acquisition method, the method being applied to a control platform, the method comprising:

[0007] Exposure control signals are sent to the camera according to the first time period to control the camera's exposure;

[0008] A phase control signal is sent to the lidar according to a second time period to control the rotating code disk of the lidar to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that makes the field of view of the lidar aligned with the field of view of the camera. At least the lidar is synchronized with the clock of the control platform.

[0009] The image data acquired by the camera and the point cloud data acquired by the lidar are obtained.

[0010] In one embodiment of this application, the method further includes:

[0011] Determine the acquisition time of the obtained image data and the acquisition time of the obtained point cloud data;

[0012] Based on the determined acquisition time, image data and point cloud data acquired at the synchronous acquisition time point are fused together, and environmental perception is performed based on the fused data.

[0013] In one embodiment of this application, determining the acquisition time of the obtained image data includes:

[0014] The time when the exposure control signal is sent to the camera is determined as the acquisition time of the obtained image data; or

[0015] The system receives the image acquisition signal sent by the camera after exposure is complete, and determines the time when the image acquisition signal is received as the acquisition time of the obtained image data.

[0016] In one embodiment of this application, the control platform is kept synchronized with the clock of the sensor to be synchronized in the following manner, wherein the sensor to be synchronized includes: the camera and / or the lidar:

[0017] Simulate the generation of GPS signals and second pulse signals, wherein the GPS signals carry time information;

[0018] The simulated GPS signal and second pulse signal are sent to the sensor to be synchronized to control the sensor to be synchronized to set the time of receiving the second pulse signal as the target time, wherein the target time is the time obtained by setting the time units less than seconds in the time indicated by the time information to 0.

[0019] In one embodiment of this application, the simulated generation of GPS signals and second pulse signals includes:

[0020] GPS signals and second pulse signals are simulated and generated according to a preset synchronization period. The duration of the synchronization period is less than the time difference growth period, which is the time required for the time difference between the sensor to be synchronized and the control platform to grow to a preset time difference threshold after clock synchronization.

[0021] In one embodiment of this application, the method further includes:

[0022] The transmission time of the second pulse signal is obtained, and the reception time of the second pulse signal received by the sensor to be synchronized is obtained;

[0023] Calculate the time difference between the receiving time and the transmitting time, and predict the time required for the time difference between the sensor to be synchronized and the control platform to grow to the time difference threshold after clock synchronization, based on the time difference, and use it as the time difference growth time.

[0024] Determine a synchronization period shorter than the time difference growth period.

[0025] In one embodiment of this application, the time difference threshold is less than or equal to 100 microseconds.

[0026] In one embodiment of this application, the control platform is kept synchronized with the clock of the sensor to be synchronized in the following manner, wherein the sensor to be synchronized includes: the camera and / or the lidar:

[0027] Receives GPS signals and second pulse signals sent by a GPS device, wherein the GPS signals carry time information;

[0028] The time when the second pulse signal is received is set as the target time, wherein the target time is the time obtained by setting the time units less than a second in the time indicated by the time information to 0.

[0029] In one embodiment of this application, sending a phase control signal to the lidar according to a second time period to control the rotating code disk of the lidar to rotate to a preset phase angle includes:

[0030] A second pulse signal carrying a phase control signal is sent to the lidar to control the rotating code disk of the lidar to rotate to a preset phase angle.

[0031] Secondly, embodiments of this application provide a data acquisition system, the system including a control platform, a camera, and a lidar, wherein at least the lidar is synchronized with the clock of the control platform, wherein:

[0032] The control platform is used to send exposure control signals to the camera according to a first time period;

[0033] The camera is used to perform exposure after receiving the exposure control signal;

[0034] The control platform is also used to send phase control signals to the lidar according to a second time period, wherein the second time period is a common multiple of the first time period and the time required for the rotating code disk of the lidar to rotate one revolution;

[0035] The lidar is used to rotate the rotary code disk to a preset phase angle after receiving the phase control signal, wherein the preset phase angle is a phase angle that aligns the field of view of the lidar with the field of view of the camera.

[0036] The control platform is used to obtain image data acquired by the camera and point cloud data acquired by the lidar.

[0037] In one embodiment of this application, when the data acquisition system includes multiple cameras and the field of view of the multiple cameras is uniformly distributed along the field of view of the lidar, the preset phase angle is: a phase angle that aligns the field of view of the lidar with the field of view of any one of the multiple cameras.

[0038] In one embodiment of this application, the first time period is the ratio of the time required for the rotating code disk of the lidar to rotate one revolution to the number of cameras;

[0039] The control platform is used to send exposure control signals to each camera sequentially according to the first time period.

[0040] Thirdly, embodiments of this application provide a data acquisition device, which is disposed on a control platform, and the device includes:

[0041] The first signal transmitting module is used to send an exposure control signal to the camera according to a first time period in order to control the camera exposure;

[0042] The second signal transmission module is used to send a phase control signal to the lidar according to a second time period to control the rotating code disk of the lidar to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that makes the field of view of the lidar aligned with the field of view of the camera. At least the lidar is synchronized with the clock of the control platform.

[0043] An image data acquisition module is used to acquire image data captured by the camera;

[0044] The point cloud data acquisition module is used to acquire the point cloud data collected by the lidar.

[0045] In one embodiment of this application, the apparatus further includes:

[0046] The image acquisition time determination module is used to determine the acquisition time of the obtained image data;

[0047] The point cloud acquisition time determination module is used to determine the acquisition time of the obtained point cloud data;

[0048] The environment perception module is used to fuse image data and point cloud data collected at synchronous acquisition time points according to the determined acquisition time, and to perform environmental perception based on the fused data.

[0049] In one embodiment of this application, the image acquisition time determination module is specifically used for:

[0050] The time when the exposure control signal is sent to the camera is determined as the acquisition time of the obtained image data; or

[0051] The system receives the image acquisition signal sent by the camera after exposure is complete, and determines the time when the image acquisition signal is received as the acquisition time of the obtained image data.

[0052] In one embodiment of this application, the device further includes a first clock synchronization module for maintaining the clock synchronization between the control platform and the sensor to be synchronized, wherein the sensor to be synchronized includes: the camera and / or the lidar;

[0053] The first clock synchronization module includes:

[0054] The signal generation submodule is used to simulate and generate GPS signals and second pulse signals, wherein the GPS signal carries time information;

[0055] The signal transmission submodule is used to send simulated GPS signals and second pulse signals to the sensor to be synchronized, so as to control the sensor to be synchronized to set the time of receiving the second pulse signal as the target time, wherein the target time is the time obtained by setting the time units less than seconds in the time indicated by the time information to 0.

[0056] In one embodiment of this application, the signal generation submodule is specifically used for:

[0057] GPS signals and second pulse signals are simulated and generated according to a preset synchronization period. The duration of the synchronization period is less than the time difference growth period, which is the time required for the time difference between the sensor to be synchronized and the control platform to grow to a preset time difference threshold after clock synchronization.

[0058] In one embodiment of this application, the apparatus further includes a period determination module, configured to:

[0059] The transmission time of the second pulse signal is obtained, and the reception time of the second pulse signal received by the sensor to be synchronized is obtained;

[0060] Calculate the time difference between the receiving time and the transmitting time, and predict the time required for the time difference between the sensor to be synchronized and the control platform to grow to the time difference threshold after clock synchronization, based on the time difference, and use it as the time difference growth time.

[0061] Determine a synchronization period shorter than the time difference growth period.

[0062] In one embodiment of this application, the time difference threshold is less than or equal to 100 microseconds.

[0063] In one embodiment of this application, the device further includes a second clock synchronization module for maintaining the clock synchronization between the control platform and the sensor to be synchronized, wherein the sensor to be synchronized includes: the camera and / or the lidar;

[0064] The second clock synchronization module includes:

[0065] The signal receiving submodule is used to receive GPS signals and second pulse signals sent by the GPS device, wherein the GPS signals carry time information;

[0066] The time setting submodule is used to set the time of receiving the second pulse signal as the target time, wherein the target time is the time obtained by setting the time units less than a second in the time indicated by the time information to 0.

[0067] In one embodiment of this application, the second signal transmitting module is specifically used for:

[0068] A second pulse signal carrying a phase control signal is sent to the lidar to control the rotating code disk of the lidar to rotate to a preset phase angle.

[0069] Fourthly, embodiments of this application provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0070] Memory, used to store computer programs;

[0071] When a processor executes a program stored in memory, it implements any of the steps described in the first aspect.

[0072] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the methods described in the second aspect.

[0073] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the data acquisition methods described above.

[0074] Beneficial effects of the embodiments in this application:

[0075] In the data acquisition scheme provided in this application embodiment, the control platform can send an exposure control signal to the camera according to a first time period to control the camera's exposure; and send a phase control signal to the LiDAR according to a second time period to control the LiDAR's rotating code disk to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that aligns the LiDAR's field of view with the camera's field of view, ensuring that the LiDAR's clock is synchronized with the control platform's clock. Image data acquired by the camera and point cloud data acquired by the LiDAR are obtained. Under the control of the control platform, the LiDAR rotates its code disk to the preset phase angle at least every second time period. Since the LiDAR's field of view is aligned with the camera's field of view at the preset phase angle, the LiDAR and camera can acquire data for the same scene. Because the second time period is a multiple of the first time period, and the camera acquires image data every first time period, the LiDAR and camera can synchronously acquire point cloud data for the same scene at least every second time period, ensuring that the acquired image data and point cloud data contain data synchronously acquired for the same scene. Therefore, it can be seen that the solution provided by the embodiments of this application can facilitate the acquisition of synchronously collected data.

[0076] In addition, in the above scheme, the control platform can control the camera's exposure frequency by adjusting the first time period. Based on this, the control platform can ensure that each image data acquired by the camera is synchronized with the point cloud data acquired by the LiDAR, thereby improving the effect of data synchronization acquisition. Attached Figure Description

[0077] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0078] Figure 1 A flowchart illustrating a data acquisition method provided in an embodiment of this application;

[0079] Figure 2 A schematic diagram of a preset phase angle provided for an embodiment of this application;

[0080] Figure 3 A schematic flowchart of a lidar phase control method provided in an embodiment of this application;

[0081] Figure 4 A flowchart illustrating another data acquisition method provided in an embodiment of this application;

[0082] Figure 5 A flowchart illustrating a clock synchronization method provided in an embodiment of this application;

[0083] Figure 6 This is a schematic diagram illustrating clock synchronization according to a synchronization period, provided as an embodiment of this application.

[0084] Figure 7 This is a schematic diagram illustrating clock synchronization using a control platform as the clock source, provided as an embodiment of this application.

[0085] Figure 8 This is a schematic diagram illustrating clock synchronization using a GPS device as the clock source, provided as an embodiment of this application.

[0086] Figure 9 This is a schematic diagram of the structure of a data acquisition system provided in an embodiment of this application;

[0087] Figure 10 A schematic diagram illustrating the distribution of a camera and a lidar sensor, provided for an embodiment of this application;

[0088] Figure 11 A schematic diagram illustrating another camera and lidar distribution provided for an embodiment of this application;

[0089] Figure 12 A flowchart illustrating another data acquisition method provided in this application embodiment;

[0090] Figure 13 An exposure diagram of a camera and a lidar provided for embodiments of this application;

[0091] Figure 14 A schematic diagram of a signal transmission timing provided in an embodiment of this application;

[0092] Figure 15 This is a schematic diagram of the structure of a data acquisition device provided in an embodiment of this application;

[0093] Figure 16 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0094] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0095] To facilitate the acquisition of synchronously collected data, embodiments of this application provide a data acquisition method, system, device, electronic device, and storage medium, which will be described in detail below.

[0096] This application provides a data acquisition method applied to a control platform, the method comprising:

[0097] Exposure control signals are sent to the camera according to the first time period to control the camera's exposure;

[0098] A phase control signal is sent to the lidar according to the second time period to control the lidar's rotating code disk to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that makes the lidar's field of view aligned with the camera's field of view, and at least synchronizes the lidar's clock with the control platform's clock.

[0099] The system acquires image data from the camera and point cloud data from the lidar.

[0100] Under the control of the control platform, the LiDAR rotates its encoder to a preset phase angle at least every second time interval. Since the LiDAR's field of view aligns with the camera's field of view at the preset phase angle, both the LiDAR and the camera can acquire data from the same scene. Because the second time interval is a multiple of the first time interval, and the camera acquires image data every first time interval, the LiDAR and camera can synchronously acquire point cloud data from the same scene at least every second time interval, ensuring that the acquired image data and point cloud data contain synchronously acquired data from the same scene. Therefore, the solution provided in the above embodiment facilitates the acquisition of synchronously acquired data.

[0101] In addition, in the above scheme, the control platform can control the camera's exposure frequency by adjusting the first time period. Based on this, the control platform can ensure that each image data acquired by the camera is synchronized with the point cloud data acquired by the LiDAR, thereby improving the effect of data synchronization acquisition.

[0102] The data collection methods described above will be explained in detail below.

[0103] See Figure 1 , Figure 1 This is a flowchart illustrating a data acquisition method provided in an embodiment of this application. The method can be applied to a control platform, which may be a computer, server, vehicle central controller, etc. The data acquisition method includes the following steps S101-S103:

[0104] S101 sends an exposure control signal to the camera according to the first time period to control the camera exposure.

[0105] The first time period mentioned above can be 10 milliseconds, 33.33 milliseconds, 50 milliseconds, etc.

[0106] Specifically, the control platform can communicate with the camera and send an exposure control signal to the camera at regular intervals. After receiving the signal, the camera will perform exposure and capture the image.

[0107] For example, assuming the first time period is 33.33 milliseconds, the control platform sends an exposure control signal to the camera every 33.33 milliseconds, and the camera performs an exposure every 33.33 milliseconds, that is, it acquires images at a frame rate of 30Hz.

[0108] S102, a phase control signal is sent to the lidar according to the second time period to control the rotating code disk of the lidar to rotate to a preset phase angle.

[0109] At least the LiDAR clock and the control platform clock are synchronized. That is, the LiDAR clock is synchronized with the control platform clock; however, the camera clock may or may not be synchronized with the control platform clock. This is because, for the LiDAR, the acquisition time of the point cloud data it collects is determined by the LiDAR itself. To facilitate the subsequent fusion of the synchronously acquired point cloud data and image data by the control platform, it is necessary to ensure that the LiDAR clock and the control platform clock are consistent, thereby improving the accuracy of the determined point cloud data acquisition time. For the camera, the acquisition time of the image data it collects can be determined by the camera itself or by the control platform. For example, the control platform can determine the image data acquisition time based on the transmission time of the exposure control signal in step S101, or it can determine the image data acquisition time based on the reception time of the interrupt signal sent by the camera after exposure. Thus, when the image data acquisition time is determined by the control platform, the image data acquisition time is not related to the camera clock. Therefore, the camera clock and the control platform clock can be synchronized or not, and this embodiment does not limit this.

[0110] The second time period is a common multiple of the first time period and the time required for the rotary encoder to complete one rotation. For example, assuming the first time period is 20 milliseconds and the time required for the rotary encoder to complete one rotation is 100 milliseconds, the second time period can be 100 milliseconds, 500 milliseconds, 1 second, 2 seconds, etc.

[0111] The preset phase angle is the phase angle that aligns the field of view of the LiDAR with that of the camera. The aforementioned rotating code disk controls the rotational scanning of the LiDAR. When the LiDAR's rotating code disk rotates to the preset phase angle, the LiDAR's field of view aligns with the camera's field of view. The initial phase angle of the rotating code disk is this preset phase angle.

[0112] See Figure 2 , Figure 2 This is a schematic diagram of a preset phase angle provided in an embodiment of this application. Generally, the field of view of a lidar is 360°, while the field of view of a camera is less than 360°. Figure 2 The "V" in the middle represents a camera. Figure 2 The camera shown has a field of view of 120.0°. In this case, the alignment of the lidar's field of view with the camera's field of view means that the lidar's phase angle is consistent with the starting angle of the camera's field of view when the exposure begins. In other words, the preset phase angle can be understood as the starting angle of the camera's field of view when the exposure begins.

[0113] Specifically, the control platform is connected to the lidar and sends a phase control signal to the lidar every second time interval. After receiving the phase control signal, the lidar can control its rotating code disk to rotate to a preset phase angle, thereby ensuring that the lidar's field of view is aligned with the camera's field of view. Since the second time interval is a multiple of the first time interval, the camera collects image data once every first time interval. Thus, every second time interval, the lidar and the camera can maintain the same field of view and synchronously collect data.

[0114] See Figure 3 , Figure 3 This application provides a flowchart illustrating a lidar phase control method, which is applied to lidar and includes the following steps S301-S303:

[0115] S301 receives phase control signals.

[0116] S302, determine whether the current rotating encoder is at the preset phase angle. If not, proceed to step S303.

[0117] Specifically, the lidar can determine whether the current rotating code disk is aligned with the preset phase angle. If it is, it means that the field of view of the lidar and the field of view of the camera are aligned. In this case, the rotating code disk does not need to be adjusted. The rotating code disk can be kept rotating at the current speed and point cloud data can be collected directly. If it is not, it means that the rotating code disk needs to be adjusted and step S303 needs to be executed.

[0118] S303, Adjust the rotation speed of the rotary encoder to make the rotary encoder rotate to the preset phase angle.

[0119] Specifically, when the current rotating code disk is not aligned with the preset phase angle, the LiDAR can adjust the rotation speed of its rotating code disk. For example, it can reduce the rotation speed of the rotating code disk or increase the rotation speed of the rotating code disk so that the rotating code disk rotates to the preset phase angle.

[0120] In one embodiment of this application, when the control platform sends a phase control signal to the lidar, it can send a second pulse signal carrying the phase control signal to the lidar to control the rotating code disk of the lidar to rotate to a preset phase angle.

[0121] Specifically, the control platform can generate a one-second pulse signal every second. The generated one-second pulse signal carries a phase control signal. The control platform can send the above-mentioned one-second pulse signal to the lidar. The lidar receives the above-mentioned one-second pulse signal, thereby obtaining the phase control signal, and then rotates the rotating code disk to a preset phase angle.

[0122] S103 acquires image data from the camera and point cloud data from the lidar.

[0123] Specifically, after the camera acquires image data, it can send the image data to the control platform, which can then obtain the image data; similarly, after the lidar acquires point cloud data, it can send the point cloud data to the control platform, which can then obtain the point cloud data.

[0124] Under the control of the control platform, the LiDAR rotates its encoder to a preset phase angle at least every second time interval. Since the LiDAR's field of view aligns with the camera's field of view at the preset phase angle, both the LiDAR and the camera can acquire data from the same scene. Because the second time interval is a multiple of the first time interval, and the camera acquires image data every first time interval, the LiDAR and camera can synchronously acquire point cloud data from the same scene at least every second time interval, ensuring that the acquired image data and point cloud data contain synchronously acquired data from the same scene. Therefore, the solution provided in the above embodiment facilitates the acquisition of synchronously acquired data.

[0125] In addition, in the above scheme, the control platform can control the camera's exposure frequency by adjusting the first time period. Based on this, the control platform can ensure that each image data acquired by the camera is synchronized with the point cloud data acquired by the LiDAR, thereby improving the effect of data synchronization acquisition.

[0126] In one embodiment of this application, after obtaining image data and point cloud data, the control platform can use the above data to realize environmental perception, which will be described in detail below.

[0127] See Figure 4 , Figure 4 This is a flowchart illustrating another data acquisition method provided in an embodiment of this application. The method further includes the following steps S104-S105:

[0128] S104, determine the acquisition time of the obtained image data, and determine the acquisition time of the obtained point cloud data.

[0129] Specifically, after obtaining image data from the camera, the acquisition time of that image data can also be determined; and after obtaining point cloud data from the lidar, the acquisition time of that point cloud data from the lidar can also be determined.

[0130] S105: Based on the acquisition time, select the image data and point cloud data acquired at the synchronous acquisition time point and fuse them, and perform environmental perception based on the fused data.

[0131] The aforementioned synchronous acquisition time point refers to the time point at which the LiDAR and camera simultaneously acquire data for the same scene. This can be understood as the time point when the LiDAR and camera's field of view are aligned and data acquisition is performed simultaneously. This synchronous acquisition time point can be determined based on the first time period and the time required for the rotating encoder to complete one revolution. The interval between adjacent synchronous acquisition time points is the least common multiple of the first time period and the time required for the rotating encoder to complete one revolution.

[0132] Specifically, the control platform can determine the acquisition time of each image data and the acquisition time of each point cloud data. Then, based on the acquisition time of the above data, it can determine the image data and point cloud data acquired at the same synchronous acquisition time point. It is considered that the above image data and point cloud data are data acquired synchronously by LiDAR and camera for the same scene. Therefore, the above-determined image data and point cloud data can be fused, and the fused data can be used to analyze the above scene to achieve environmental perception.

[0133] In one embodiment of this application, when determining the acquisition time of the obtained point cloud data, the timestamp of the acquired point cloud data can be obtained as the acquisition time of the point cloud data. Specifically, when the lidar acquires point cloud data, it can mark the point cloud data with a timestamp. Since the lidar is synchronized with the clock of the control platform, the timestamp marked by the lidar for the point cloud data can be directly used as the acquisition time of the point cloud data.

[0134] Correspondingly, in one embodiment of this application, when the clocks of the camera and the control platform are synchronized, the timestamp of the acquired image data can be obtained as the acquisition time of the image data when determining the acquisition time of the acquired image data. Specifically, when the camera acquires image data, it can mark the image data with a timestamp. Since the clocks of the camera and the control platform are synchronized, the timestamp marked by the camera for the image data can be directly used as the acquisition time of the image data.

[0135] In one embodiment of this application, when determining the acquisition time of the obtained image data, an image acquisition signal sent by the camera after exposure is completed can be received, and the time of receiving the image acquisition signal can be used as the acquisition time of the obtained image data.

[0136] Specifically, after receiving the exposure control signal, the camera performs exposure, acquires image data, and sends an image acquisition signal to the control platform after the exposure is completed. This image acquisition signal can be an interrupt signal. The control platform can determine the time when the image acquisition signal is received as the acquisition time of the camera acquiring image data.

[0137] In addition, in one embodiment of this application, the time when the exposure control signal is sent to the camera can be determined as the acquisition time of the obtained image data. Specifically, the control platform can control the camera to perform exposure by sending an exposure control signal to the camera. Therefore, the time when the exposure control signal is sent to the camera can be recorded as the time when the camera starts exposure, and thus as the acquisition time of the image data acquired by the camera.

[0138] This allows the image data acquisition time to be determined based on the control platform's own clock, eliminating the need to synchronize the clocks between the control platform and the camera, thus saving equipment resources.

[0139] The following section details the methods for maintaining clock synchronization between the control platform and other sensors.

[0140] In one scenario, the control platform can be used as a synchronization clock source to synchronize the clocks of other sensors. This allows for clock synchronization between sensors even in environments with weak GPS signals, such as underground parking garages, rural areas, and factories. The method will be described in detail below.

[0141] See Figure 5 , Figure 5This is a flowchart illustrating a clock synchronization method provided in an embodiment of this application. The method is applied to a control platform and can maintain clock synchronization between the control platform and a sensor to be synchronized in the following ways: the sensor to be synchronized includes a camera and / or LiDAR; in addition, the sensor to be synchronized may also include a GPS device, an IMU (Inertial Measurement Unit), etc. The method includes the following steps S501-S502:

[0142] S501 simulates and generates GPS signals and second pulse signals.

[0143] GPS signals carry time information.

[0144] Specifically, the control platform can simulate and generate GPS signals and second pulse signals, and the generated GPS signal carries its current time information.

[0145] S502 sends a simulated GPS signal and a second pulse signal to the sensor to be synchronized, so as to control the sensor to be synchronized to set the time of receiving the second pulse signal as the target time.

[0146] The target time is the time obtained by setting the time units less than a second in the time information to 0.

[0147] Specifically, the control platform can send simulated GPS signals and second pulse signals to the sensor to be synchronized. The sensor receives these second pulse signals and GPS signals. Since the second pulse signal is sent once every second, the time the sensor receives the second pulse signal is a whole second. Therefore, the sensor can obtain the time information carried in the GPS signal, set the units of time less than a second to 0, thus obtaining the target time. It then sets the time of the second pulse signal it receives to this target time, thereby achieving clock synchronization between the sensor and the control platform.

[0148] For example, assuming the time information indicates 14:24:41:310 on January 9, 2020, where the time unit below the second is millisecond, setting the time units below the second to 0 will give the target time 14:24:41 on January 9, 2020. Therefore, the sensor to be synchronized can use the time when it receives the second pulse signal as 14:24:41 on January 9, 2020, to achieve clock synchronization with the control platform.

[0149] In one embodiment of this application, GPS signals and second pulse signals can be simulated and generated according to a preset synchronization period.

[0150] The synchronization period is shorter than the time difference growth period, which is the time required for the time difference between the sensor to be synchronized and the control platform to grow to a preset time difference threshold after clock synchronization. This time difference threshold can be 100 milliseconds, 500 milliseconds, 1 second, etc., and this embodiment does not limit it.

[0151] Specifically, after clock synchronization, the control platform and the sensor to be synchronized can achieve clock synchronization. However, due to the differences in the chip crystal oscillator, temperature, and crystal load capacitance between the sensor to be synchronized and the control platform, there are differences in the frequency of chip vibration between the sensor to be synchronized and the control platform. After a period of time, the clock error between the sensor to be synchronized and the control platform will accumulate and increase.

[0152] To reduce the aforementioned errors, on the one hand, when selecting chips between the synchronization sensor and the control platform, higher precision crystals can be chosen, such as active crystal oscillators or similar crystals.

[0153] On the other hand, the clock between the sensor to be synchronized and the control platform can be calibrated periodically. The control platform can predict the time required for the time difference between the sensor to be synchronized and the control platform to grow to a preset time difference threshold after clock synchronization, and use this as the time difference growth time. Then, a period shorter than the above time difference growth time is determined as the synchronization period. GPS signals and second pulse signals are simulated and generated according to this synchronization period. Thus, the simulated GPS signals and second pulse signals can be used to synchronize the clock of the sensor to be synchronized at every synchronization period, ensuring that the error between the clock of the sensor to be synchronized and the control platform does not exceed the time difference threshold.

[0154] In one embodiment of this application, the aforementioned time difference threshold is less than or equal to 100 microseconds. By selecting a smaller time difference threshold, a higher degree of synchronization between the clock of the sensor to be synchronized and the clock of the control platform can be maintained, thereby improving the effect of synchronous data acquisition between different sensors.

[0155] In one embodiment of this application, to determine the aforementioned synchronization period, the following can be done:

[0156] Obtain the transmission time of the second pulse signal and the reception time of the second pulse signal received by the sensor to be synchronized; calculate the time difference between the reception time and the transmission time, and predict the time required for the time difference between the sensor to be synchronized and the control platform to grow to the time difference threshold after clock synchronization, based on the time difference, as the time difference growth time; determine the synchronization period that is less than the time difference growth time.

[0157] Specifically, the control platform can record the transmission time of the second pulse signal and obtain the reception time of the second pulse signal received by the sensor to be synchronized. Then, it calculates the time difference between the reception time and the transmission time. This time difference can reflect the clock difference between the sensor to be synchronized and the control platform. Based on the time difference, the control platform can predict the time required for the time difference between the sensor to be synchronized and the control platform to grow to the time difference threshold after clock synchronization, and use this as the time difference growth time. Then, it determines the period with a duration less than this parallax growth time as the synchronization period.

[0158] See Figure 6 , Figure 6 A schematic diagram illustrating clock synchronization according to a synchronization period is provided in this application embodiment, as shown below. Figure 6 As shown, due to the differences in the crystal oscillator, temperature, and crystal load capacitance between the sensor to be synchronized and the control platform, there is a difference in the frequency of chip vibration between the sensor to be synchronized and the control platform. After a period of time during the Nth clock synchronization, the clock error between the sensor to be synchronized and the control platform will accumulate and increase. The sensor to be synchronized can be synchronized once every synchronization period. That is, after the Nth clock synchronization, the N+1th clock synchronization is performed after the above period, the N+2th clock synchronization is performed after the N+1th clock synchronization, and so on, to ensure that the clock error between the sensor to be synchronized and the control platform is within the time difference threshold.

[0159] See Figure 7 , Figure 7 This is a schematic diagram illustrating clock synchronization using a control platform as the clock source, provided as an embodiment of this application. Figure 7 As shown, the data acquisition system may include a camera, LiDAR, control platform, GPS, etc. The control platform includes an MCU (Micro Control Unit) module, a SOC (System-on-a-Chip) module, a time module, etc. Point cloud data acquired by the LiDAR, image data acquired by the camera, and GPS data acquired by the GPS can be sent to the SOC module. The SOC module can process the above data. The time module can obtain the GPS time information and the SOC module's time information. Based on the above time information, it determines whether clock synchronization is needed. If the time information sent by the SOC module reflects that the clocks of the control platform, LiDAR, or camera are not synchronized, or if the time information sent by the GPS is unreliable, such as due to GPS signal delay caused by weak GPS signals in scenarios such as underground parking garages or tunnels, the MCU module can simulate and generate GPS signals and second pulse signals, and send the above signals to the LiDAR and camera, thereby using the control platform as the clock source to synchronize the above-mentioned sensors.

[0160] In another scenario, a GPS device can be used as a synchronization clock source to synchronize the clocks of other sensors. Based on the characteristics of GPS atomic clocks, this allows for higher accuracy in clock synchronization between the control platform and each sensor to be synchronized. This method will be described in detail below.

[0161] In one embodiment of this application, the control platform and the sensor to be synchronized can receive GPS signals and second pulse signals sent by the GPS device, and set the time of receiving the second pulse signal as the target time.

[0162] GPS signals carry time information.

[0163] The target time is the time obtained by setting the time units less than a second in the time information to 0.

[0164] Specifically, both the control platform and the sensor to be synchronized can communicate with the GPS device. The GPS device can send GPS signals and second pulse signals to the control platform and the sensor to be synchronized. The control platform and the sensor to be synchronized can obtain the time information carried in the GPS signal and set the time units below the second indicated by the time information to 0, thereby obtaining the target time. Then, the time of the second pulse signal received by themselves is set as the target time, thereby realizing the synchronization of the clocks of the sensor to be synchronized, the control platform and the GPS device. The clock synchronization of the control platform and the sensor to be synchronized is achieved with the help of the GPS device.

[0165] See Figure 8 , Figure 8 This is a schematic diagram illustrating clock synchronization using a GPS device as the clock source, provided as an embodiment of this application. Figure 8 As shown, the data acquisition system may include a camera, LiDAR, control platform, GPS, etc. The control platform includes an MCU module, a SOC module, a time module, etc. Point cloud data acquired by the LiDAR, image data acquired by the camera, and GPS data acquired by the GPS can be sent to the SOC module. The SOC module can process the above data, and the time module can manage the clocks of the MCU module and the SOC module. The GPS device can generate GPS signals and PPS (Pulse Per Second) signals, and send the generated signals to the LiDAR, time module, and camera respectively. The LiDAR, time module, and camera can obtain the time information carried in the GPS signal, set the time units below the second indicated by the time information to 0, thereby obtaining the target time, and then set the time of the received PPS signal to the target time, thereby synchronizing the clocks of the LiDAR, time module, and camera with the clock of the GPS device.

[0166] In the data acquisition scheme provided in the above embodiments, the control platform can send an exposure control signal to the camera according to a first time period to control the camera's exposure; and send a phase control signal to the LiDAR according to a second time period to control the LiDAR's rotating code disk to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that aligns the LiDAR's field of view with the camera's field of view, ensuring that the LiDAR's clock is synchronized with the control platform's clock. Image data acquired by the camera and point cloud data acquired by the LiDAR are obtained. Under the control of the control platform, the LiDAR rotates its code disk to the preset phase angle at least every second time period. Since the LiDAR's field of view is aligned with the camera's field of view at the preset phase angle, the LiDAR and camera can acquire data for the same scene. Because the second time period is a multiple of the first time period, and the camera acquires image data every first time period, the LiDAR and camera can synchronously acquire point cloud data for the same scene at least every second time period, ensuring that the acquired image data and point cloud data contain data synchronously acquired for the same scene. Therefore, it can be seen that the solution provided by the above embodiments can facilitate the acquisition of synchronously collected data.

[0167] Corresponding to the data acquisition method described above, this application also provides a data acquisition system, which will be described in detail below.

[0168] See Figure 9 , Figure 9 This is a schematic diagram of a data acquisition system provided in an embodiment of this application. The system can be a vehicle navigation system, a mobile robot control system, a drone control system, etc. The system includes a control platform 901, a camera 902, and a lidar 903. The lidar 903 is synchronized with the clock of the control platform 901.

[0169] The control platform 901 is used to send exposure control signals to the camera 902 according to the first time period;

[0170] Camera 902 is used to perform exposure after receiving an exposure control signal;

[0171] The control platform 901 is also used to send phase control signals to the lidar 903 according to the second time period, wherein the second time period is a common multiple of the first time period and the time required for the rotating code disk of the lidar 903 to rotate one revolution;

[0172] The lidar 903 is used to rotate the rotary code disk to a preset phase angle after receiving a phase control signal. The preset phase angle is the phase angle that aligns the field of view of the lidar 903 with the field of view of the camera 902.

[0173] The control platform 901 is used to obtain image data collected by the camera 902 and point cloud data collected by the lidar 903.

[0174] Specifically, the control platform in this data acquisition system can execute any of the steps in the above data acquisition method to control the camera and lidar to perform synchronous data acquisition.

[0175] In one embodiment of this application, when the data acquisition system includes multiple cameras and the field of view of the multiple cameras is uniformly distributed along the field of view of the lidar, the preset phase angle is: a phase angle that aligns the field of view of the lidar with the field of view of any one of the multiple cameras.

[0176] Specifically, the data acquisition system may include multiple cameras, which may be evenly distributed around the lidar, so that the field of view of the multiple cameras is evenly distributed around the field of view of the lidar. In this case, the preset phase angle may be: the phase angle that aligns the field of view of the lidar with the field of view of any camera, that is, the preset phase angle of the lidar is aligned with the starting angle of exposure in the field of view of any camera.

[0177] See Figure 10 , Figure 10 This is a schematic diagram of the distribution of cameras and lidar provided in an embodiment of this application. The data acquisition system may include three cameras V and one lidar. The field of view of each camera V is 120.0° and the field of view of the lidar is 360°. The field of view of the three cameras V is evenly distributed along the field of view of the lidar.

[0178] See Figure 11 , Figure 11 This is a schematic diagram of another camera and lidar distribution provided in an embodiment of this application. The data acquisition system may include four cameras V and one lidar. The field of view of each camera V is 120.0° and the field of view of the lidar is 360°. The field of view of the four cameras V is evenly distributed along the field of view of the lidar.

[0179] In one embodiment of this application, the first time period can be the ratio of the time required for the rotating code disk of the lidar to rotate one revolution to the number of cameras;

[0180] The control platform is used to send exposure control signals to each camera sequentially according to the first time period.

[0181] Specifically, in a data acquisition system containing multiple cameras with their field of view uniformly distributed along the field of view of the lidar, the ratio of the time required for the lidar's rotating encoder to complete one revolution to the number of cameras can be used as the first time period. By controlling exposure, the image data acquired by each camera can be synchronized with the point cloud data acquired by the lidar, thus improving the effect of synchronized data acquisition.

[0182] See Figure 12 , Figure 12 This is a flowchart illustrating another data acquisition method provided in an embodiment of this application. The method includes the following steps S1201-S1203:

[0183] S1201 sends exposure control signals to the three cameras at a frequency of 30Hz to control the exposure of the three cameras.

[0184] Specifically, the control platform can send exposure control signals to three cameras at a frequency of 30Hz, and each camera can acquire images at a frame rate of 30Hz.

[0185] S1202 sends a phase control signal to the lidar at a period of 1 second to control the lidar's rotating code disk to rotate to a preset phase angle.

[0186] The preset phase angle is defined as the phase angle that aligns the field of view of the lidar with the field of view of any one of the three cameras. The initial phase angle of the lidar's rotating code disk is this preset phase angle.

[0187] S1203 acquires image data from the camera and point cloud data from the lidar.

[0188] See Figure 13 , Figure 13 This application provides an exposure diagram of a camera and a lidar, where the solid black line represents the camera exposure curve, the bold black dashed line represents the lidar rotation curve, t0 is the initial time, i.e., the start time of camera 1's exposure and the time when the lidar's rotating encoder is at a preset phase angle, t0' is the end time of camera 1's exposure, t1 is the start time of camera 2's exposure, t1' is the end time of camera 2's exposure, and the interval between t1 and t0 is 33.33ms; t2 is the start time of camera 3's exposure, t2' is the end time of camera 3's exposure, and the interval between t2 and t1 is 33.33ms; during t0-t0', camera 1 is exposed and the lidar rotates to 120°, during t1-t1', camera 2 is exposed and the lidar rotates to 240°, and during t2-t2', camera 3 is exposed and the lidar rotates to 360°.

[0189] In the above scheme, since the exposure time of the LiDAR beam point cloud is very short, the camera and LiDAR start exposure simultaneously at times t0, t1, t2, and t3. If a CCD (Charge-coupled Device) camera is used for global exposure at this time, and the exposure frame rate is adjusted to match the LiDAR rotation frame rate, the camera exposure curve can be parallel and coincident with the LiDAR rotation curve. However, if a CMOS (Complementary Metal Oxide Semiconductor) camera is used, the camera exposure rate is inconsistent with the LiDAR's point cloud data acquisition rate, so there is a certain angle between the camera exposure curve and the LiDAR rotation curve.

[0190] See Figure 14 , Figure 14 This is a schematic diagram of a signal transmission timing provided in an embodiment of this application, as shown below. Figure 14 As shown, the control platform sends exposure control signals to cameras 1, 2, and 3 cyclically with a cycle of 33.33 milliseconds, controlling them to acquire images at a frame rate of 30Hz. Simultaneously, the control platform sends phase control signals to the LiDAR cyclically with a cycle of 1000 milliseconds, controlling the LiDAR's rotating code disk to align with the field of view of any one of the three cameras. The parallax between the exposure control and phase control signals sent by the control platform every second is much less than 1 microsecond, which can be considered as the control platform controlling the cameras and LiDAR to synchronously acquire data every second.

[0191] In the data acquisition scheme provided in the above embodiments, the control platform can send an exposure control signal to the camera according to a first time period to control the camera's exposure; and send a phase control signal to the LiDAR according to a second time period to control the LiDAR's rotating code disk to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that aligns the LiDAR's field of view with the camera's field of view, ensuring that the LiDAR's clock is synchronized with the control platform's clock. Image data acquired by the camera and point cloud data acquired by the LiDAR are obtained. Under the control of the control platform, the LiDAR rotates its code disk to the preset phase angle at least every second time period. Since the LiDAR's field of view is aligned with the camera's field of view at the preset phase angle, the LiDAR and camera can acquire data for the same scene. Because the second time period is a multiple of the first time period, and the camera acquires image data every first time period, the LiDAR and camera can synchronously acquire point cloud data for the same scene at least every second time period, ensuring that the acquired image data and point cloud data contain data synchronously acquired for the same scene. Therefore, it can be seen that the solution provided by the above embodiments can facilitate the acquisition of synchronously collected data.

[0192] Corresponding to the above data acquisition method, this application also provides a data acquisition device, which will be described in detail below.

[0193] See Figure 15 , Figure 15 This is a schematic diagram of a data acquisition device provided in an embodiment of this application. The device is mounted on a control platform and includes:

[0194] The first signal transmitting module 1501 is used to send an exposure control signal to the camera according to a first time period in order to control the exposure of the camera;

[0195] The second signal transmitting module 1502 is used to send a phase control signal to the lidar according to a second time period to control the rotating code disk of the lidar to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that makes the field of view of the lidar aligned with the field of view of the camera. At least the lidar is synchronized with the clock of the control platform.

[0196] Image data acquisition module 1503 is used to acquire image data captured by the camera;

[0197] The point cloud data acquisition module 1504 is used to acquire the point cloud data collected by the lidar.

[0198] In one embodiment of this application, the apparatus further includes:

[0199] The image acquisition time determination module is used to determine the acquisition time of the obtained image data;

[0200] The point cloud acquisition time determination module is used to determine the acquisition time of the obtained point cloud data;

[0201] The environment perception module is used to fuse image data and point cloud data collected at synchronous acquisition time points according to the determined acquisition time, and to perform environmental perception based on the fused data.

[0202] In one embodiment of this application, the image acquisition time determination module is specifically used for:

[0203] The time when the exposure control signal is sent to the camera is determined as the acquisition time of the obtained image data; or

[0204] The system receives the image acquisition signal sent by the camera after exposure is complete, and determines the time when the image acquisition signal is received as the acquisition time of the obtained image data.

[0205] In one embodiment of this application, the device further includes a first clock synchronization module for maintaining the clock synchronization between the control platform and the sensor to be synchronized, wherein the sensor to be synchronized includes: the camera and / or the lidar;

[0206] The first clock synchronization module includes:

[0207] The signal generation submodule is used to simulate and generate GPS signals and second pulse signals, wherein the GPS signal carries time information;

[0208] The signal transmission submodule is used to send simulated GPS signals and second pulse signals to the sensor to be synchronized, so as to control the sensor to be synchronized to set the time of receiving the second pulse signal as the target time, wherein the target time is the time obtained by setting the time units less than seconds in the time indicated by the time information to 0.

[0209] In one embodiment of this application, the signal generation submodule is specifically used for:

[0210] GPS signals and second pulse signals are simulated and generated according to a preset synchronization period. The duration of the synchronization period is less than the time difference growth period, which is the time required for the time difference between the sensor to be synchronized and the control platform to grow to a preset time difference threshold after clock synchronization.

[0211] In one embodiment of this application, the apparatus further includes a period determination module, configured to:

[0212] The transmission time of the second pulse signal is obtained, and the reception time of the second pulse signal received by the sensor to be synchronized is obtained;

[0213] Calculate the time difference between the receiving time and the transmitting time, and predict the time required for the time difference between the sensor to be synchronized and the control platform to grow to the time difference threshold after clock synchronization, based on the time difference, and use it as the time difference growth time.

[0214] Determine a synchronization period shorter than the time difference growth period.

[0215] In one embodiment of this application, the time difference threshold is less than or equal to 100 microseconds.

[0216] In one embodiment of this application, the device further includes a second clock synchronization module for maintaining the clock synchronization between the control platform and the sensor to be synchronized, wherein the sensor to be synchronized includes: the camera and / or the lidar;

[0217] The second clock synchronization module includes:

[0218] The signal receiving submodule is used to receive GPS signals and second pulse signals sent by the GPS device, wherein the GPS signals carry time information;

[0219] The time setting submodule is used to set the time of receiving the second pulse signal as the target time, wherein the target time is the time obtained by setting the time units less than a second in the time indicated by the time information to 0.

[0220] In one embodiment of this application, the second signal transmitting module 1502 is specifically used for:

[0221] A second pulse signal carrying a phase control signal is sent to the lidar to control the rotating code disk of the lidar to rotate to a preset phase angle.

[0222] In the data acquisition scheme provided in the above embodiments, the control platform can send an exposure control signal to the camera according to a first time period to control the camera's exposure; and send a phase control signal to the LiDAR according to a second time period to control the LiDAR's rotating code disk to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that aligns the LiDAR's field of view with the camera's field of view, ensuring that the LiDAR's clock is synchronized with the control platform's clock. Image data acquired by the camera and point cloud data acquired by the LiDAR are obtained. Under the control of the control platform, the LiDAR rotates its code disk to the preset phase angle at least every second time period. Since the LiDAR's field of view is aligned with the camera's field of view at the preset phase angle, the LiDAR and camera can acquire data for the same scene. Because the second time period is a multiple of the first time period, and the camera acquires image data every first time period, the LiDAR and camera can synchronously acquire point cloud data for the same scene at least every second time period, ensuring that the acquired image data and point cloud data contain data synchronously acquired for the same scene. Therefore, it can be seen that the solution provided by the above embodiments can facilitate the acquisition of synchronously collected data.

[0223] This application also provides an electronic device, such as... Figure 16 As shown, it includes a processor 1601, a communication interface 1602, a memory 1603, and a communication bus 1604. The processor 1601, communication interface 1602, and memory 1603 communicate with each other via the communication bus 1604.

[0224] Memory 1603 is used to store computer programs;

[0225] The processor 1601 is used to execute the program stored in the memory 1603 to implement the above data acquisition method steps.

[0226] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0227] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0228] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0229] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0230] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described data acquisition methods.

[0231] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the data acquisition methods described above.

[0232] In the data acquisition scheme provided in the above embodiments, the control platform can send an exposure control signal to the camera according to a first time period to control the camera's exposure; and send a phase control signal to the LiDAR according to a second time period to control the LiDAR's rotating code disk to rotate to a preset phase angle. The second time period is a common multiple of the first time period and the time required for the rotating code disk to rotate one revolution. The preset phase angle is the phase angle that aligns the LiDAR's field of view with the camera's field of view, ensuring that the LiDAR's clock is synchronized with the control platform's clock. Image data acquired by the camera and point cloud data acquired by the LiDAR are obtained. Under the control of the control platform, the LiDAR rotates its code disk to the preset phase angle at least every second time period. Since the LiDAR's field of view is aligned with the camera's field of view at the preset phase angle, the LiDAR and camera can acquire data for the same scene. Because the second time period is a multiple of the first time period, and the camera acquires image data every first time period, the LiDAR and camera can synchronously acquire point cloud data for the same scene at least every second time period, ensuring that the acquired image data and point cloud data contain data synchronously acquired for the same scene. Therefore, it can be seen that the solution provided by the above embodiments can facilitate the acquisition of synchronously collected data.

[0233] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0234] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0235] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments, device embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0236] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A data acquisition method, characterized by, The method is applied to a control platform, and the method comprises: sending an exposure control signal to a camera according to a first time period to control exposure of the camera; sending a phase control signal to a laser radar according to a second time period to control rotation of a rotating code disc of the laser radar to a preset phase angle, wherein the second time period is a common multiple of the first time period and a time length required for one rotation of the rotating code disc, and the preset phase angle is a phase angle that aligns a field of view angle of the laser radar with a field of view angle of the camera, and at least the laser radar and a clock of the control platform are synchronized; in a case where the camera is multiple and the field of view angles of the multiple cameras are uniformly distributed along the field of view angle of the laser radar, the preset phase angle is a phase angle that aligns the field of view angle of the laser radar with a field of view angle of any one of the multiple cameras; obtaining image data collected by the camera and obtaining point cloud data collected by the laser radar; wherein the control platform and a to-be-synchronized sensor are kept synchronized by the following manner, wherein the to-be-synchronized sensor comprises the camera and / or the laser radar: analogically generating a GPS signal and a second pulse signal according to a preset synchronization period, wherein a time length of the synchronization period is less than a time difference growth time length, and the time difference growth time length is a time length required for a time difference between the to-be-synchronized sensor and the control platform after clock synchronization to grow to a preset time difference threshold, and the GPS signal carries time information; the process of determining the synchronization period comprises: obtaining a sending time of sending the second pulse signal and obtaining a receiving time of receiving the second pulse signal by the to-be-synchronized sensor; calculating a time difference of the receiving time relative to the sending time, predicting a time length required for the time difference between the to-be-synchronized sensor and the control platform after clock synchronization to grow to the time difference threshold as the time difference growth time length based on the time difference, and determining the synchronization period less than the time difference growth time length; sending the analogized GPS signal and the second pulse signal to the to-be-synchronized sensor to control the to-be-synchronized sensor to set a time of receiving the second pulse signal as a target time, wherein the target time is a time obtained by setting 0 to a time unit of seconds or below in a time indicated by the time information.

2. The method of claim 1, wherein, The method further comprises: determining a collection time of the obtained image data and determining a collection time of the obtained point cloud data; selecting image data and point cloud data collected at a synchronization collection time point to be fused according to the determined collection time, and performing environment perception based on the fused data.

3. The method of claim 2, wherein, The determination of the collection time of the obtained image data comprises: determining a time of sending the exposure control signal to the camera as the collection time of the obtained image data; or receiving an image collection signal sent by the camera after exposure is completed, and determining a time of receiving the image collection signal as the collection time of the obtained image data.

4. The method of claim 1, wherein, The time difference threshold is less than or equal to 100 microseconds.

5. The method of claim 1, wherein, The control platform is kept synchronized with a sensor clock to be synchronized in the following manner, wherein the sensor to be synchronized comprises the camera and / or the laser radar: receiving a GPS signal and a second pulse signal sent by a GPS device, wherein the GPS signal carries time information; setting the time when the second pulse signal is received as a target time, wherein the target time is a time obtained by setting time in seconds or less in the time information to 0.

6. The method according to any one of claims 1-5, characterized in that, The control platform sends a phase control signal to the laser radar according to a second time period to control the rotating code disc of the laser radar to rotate to a preset phase angle, and the method comprises the following steps of: sending a second pulse signal carrying a phase control signal to the laser radar to control the rotating code disc of the laser radar to rotate to a preset phase angle.

7. A data acquisition system characterized by, The system comprises a control platform, a camera, and a laser radar, and at least the laser radar is synchronized with the clock of the control platform, wherein: The control platform is configured to send an exposure control signal to the camera according to a first time period. The camera is configured to perform exposure after receiving the exposure control signal. The control platform is further configured to send a phase control signal to the laser radar according to a second time period, wherein the second time period is a common multiple of the first time period and the time required for the rotating code disc of the laser radar to rotate one round. The laser radar is configured to rotate the rotating code disc to a preset phase angle after receiving the phase control signal, wherein the preset phase angle is a phase angle that aligns the field of view angle of the laser radar with the field of view angle of the camera; in the case that the data acquisition system comprises multiple cameras and the field of view angles of the multiple cameras are uniformly distributed along the field of view angle of the laser radar, the preset phase angle is a phase angle that aligns the field of view angle of the laser radar with the field of view angle of any camera in the multiple cameras. The control platform is configured to obtain image data collected by the camera and obtain point cloud data collected by the laser radar. The control platform is further configured to keep the control platform synchronized with a sensor to be synchronized, wherein the sensor to be synchronized comprises the camera and / or the laser radar, by: generating a GPS signal and a second pulse signal according to a preset synchronization period, wherein a length of the synchronization period is less than a time difference growth length, and the time difference growth length is a length of time required for a time difference between the sensor to be synchronized and the control platform to grow to a preset time difference threshold after clock synchronization, and the GPS signal carries time information; sending the generated GPS signal and second pulse signal to the sensor to be synchronized, so as to control the sensor to be synchronized to set a time at which the second pulse signal is received as a target time, and the target time is a time obtained by setting a time indicated by the time information in a time unit of seconds or less to 0; and determining the synchronization period by: obtaining a sending time at which the second pulse signal is sent, and obtaining a receiving time at which the second pulse signal is received by the sensor to be synchronized; calculating a time difference between the receiving time and the sending time, and predicting a length of time required for the time difference between the sensor to be synchronized and the control platform to grow to the time difference threshold after clock synchronization based on the time difference, as the time difference growth length; and determining the synchronization period as a length of time less than the time difference growth length.

8. The system of claim 7, wherein, The first time period is a ratio of a length of time required for the rotating code disc of the laser radar to rotate one round to the number of the cameras; The control platform is configured to send the exposure control signal to each camera in turn according to the first time period.

9. A data acquisition device, characterized by The device is arranged on a control platform, and the device comprises: A first signal sending module configured to send an exposure control signal to a camera according to a first time period, so as to control the camera to expose; A second signal sending module configured to send a phase control signal to a laser radar according to a second time period, so as to control the rotating code disc of the laser radar to rotate to a preset phase angle, wherein the second time period is a common multiple of the first time period and a length of time required for the rotating code disc to rotate one round, and the preset phase angle is a phase angle at which a field of view angle of the laser radar is aligned with a field of view angle of the camera, and at least a clock of the laser radar is synchronized with a clock of the control platform; in a case where the camera is a plurality of cameras and the field of view angles of the plurality of cameras are uniformly distributed along the field of view angle of the laser radar, the preset phase angle is a phase angle at which the field of view angle of the laser radar is aligned with a field of view angle of any one of the plurality of cameras; An image data obtaining module configured to obtain image data collected by the camera; A point cloud data obtaining module configured to obtain point cloud data collected by the laser radar; The device further comprises a first clock synchronization module configured to keep the control platform synchronized with a sensor to be synchronized, wherein the sensor to be synchronized comprises the camera and / or the laser radar; The first clock synchronization module comprises: The signal generation submodule is configured to simulate generation of a GPS signal and a second pulse signal according to a preset synchronization period, wherein a length of the synchronization period is less than a time difference growth length, and the time difference growth length is a length of time required for a time difference between the to-be-synchronized sensor and the control platform to grow to a preset time difference threshold after clock synchronization, and the GPS signal carries time information; The period determination module is configured to obtain a sending time of sending the second pulse signal and obtain a receiving time of receiving the second pulse signal by the to-be-synchronized sensor, calculate a time difference between the receiving time and the sending time, and predict the length of time required for the time difference between the to-be-synchronized sensor and the control platform to grow to the time difference threshold after clock synchronization as the time difference growth length based on the time difference, and determine the synchronization period as being less than the time difference growth length. The signal sending submodule is configured to send the simulated GPS signal and the second pulse signal to the to-be-synchronized sensor, so as to control the to-be-synchronized sensor to set a time of receiving the second pulse signal as a target time, wherein the target time is a time obtained by setting 0 to a time unit of seconds or less in a time indicated by the time information.

10. The apparatus of claim 9, wherein, The device further comprises: An image acquisition time determination module configured to determine an acquisition time of the obtained image data; A point cloud acquisition time determination module configured to determine an acquisition time of the obtained point cloud data; An environment perception module configured to select image data and point cloud data collected at a synchronization acquisition time point to perform fusion according to the determined acquisition time, and perform environment perception based on the fused data; The image acquisition time determination module is specifically configured to: determine a time of sending an exposure control signal to the camera as the acquisition time of the obtained image data; or receive an image acquisition signal sent by the camera after exposure is completed, and determine a time of receiving the image acquisition signal as the acquisition time of the obtained image data; The time difference threshold is less than or equal to 100 microseconds; The device further comprises a second clock synchronization module configured to keep the control platform and the to-be-synchronized sensor in clock synchronization, wherein the to-be-synchronized sensor comprises the camera and / or the laser radar. The second clock synchronization module comprises: A signal receiving submodule configured to receive a GPS signal and a second pulse signal sent by a GPS device, wherein the GPS signal carries time information; A time setting submodule configured to set a time of receiving the second pulse signal as a target time, wherein the target time is a time obtained by setting 0 to a time unit of seconds or less in a time indicated by the time information; The second signal sending module is specifically configured to: send the second pulse signal carrying the phase control signal to the laser radar, so as to control the rotating code disc of the laser radar to rotate to a preset phase angle.

11. An electronic device, comprising: The device comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is configured to store a computer program. A processor for implementing the method steps of any one of claims 1-6 when the processor executes a program stored on a memory.

12. A computer-readable storage medium, characterized in that, A computer program stored in the computer readable storage medium, the computer program being executed by a processor to implement the method steps of any one of claims 1-6.

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