A method, apparatus, engineering equipment, and medium for acquiring sensor data.

Abstract

This application discloses a method, apparatus, engineering equipment, and medium for acquiring sensor data, applicable to the field of autonomous driving technology for engineering equipment. In this method, sensors connect to a virtual bus via corresponding interfaces to send collected sensor data to the virtual bus. Then, the required target sensor data is determined, and a corresponding data tagging field is set based on the target sensor data. Finally, the corresponding target sensor data is retrieved from the virtual bus using the data tagging field. In other words, by setting the data tagging field according to the required sensor data and then retrieving the required sensor data from the virtual bus, the interface in this application does not require program development. All sensors directly connect to the initial interface and transmit data to the virtual bus. This reduces the difficulty and workload of developing sensor connection interfaces during the development process, enabling various types of sensors to be quickly applied to autonomous driving in engineering equipment.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology for engineering equipment, and in particular to a method, apparatus, engineering equipment, and medium for acquiring sensor data. Background Technology

[0002] In the process of autonomous driving, engineering equipment generally involves the acquisition of data from many types of sensors, such as lidar, cameras, millimeter-wave radar, Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), tilt sensors, encoders, etc. However, the communication methods of each sensor are different. During the development process, it is necessary to use Controller Area Network (CAN) interface, RS232 interface, RS485 interface, Local Area Network (LAN) interface, Input / Output (IO) interface, etc. The sensors send the collected data to the controller through these interfaces.

[0003] However, in order for the controller to receive the data collected by the sensor, the R&D personnel need to customize the communication interface and communication protocol of the sensor before using the sensor to collect data. This requires a lot of development work, is difficult, and will also limit the types of sensors that can be used in the R&D.

[0004] Therefore, how to reduce the development workload of interfacing engineering equipment with sensors is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, engineering equipment, and medium for acquiring sensor data, so as to reduce the development workload of interfacing engineering equipment with sensors.

[0006] To address the aforementioned technical problems, this application provides a method for acquiring sensor data. The sensor connects to a virtual bus via a corresponding interface to send the acquired sensor data to the virtual bus. The method includes:

[0007] Determine the required target sensor data;

[0008] Set the corresponding data tagging field based on the target sensor data;

[0009] The corresponding target sensor data is obtained in the virtual bus using the data tag field.

[0010] Preferably, the connection device providing the connection interface with the sensor includes: a CPU board, a comprehensive board, a serial port board, and a CAN board.

[0011] Preferably, the method is applied to autonomous driving engineering equipment; the sensor includes at least one of the following: a combined inertial navigation system, a wheel speed sensor, a tilt sensor, an angle sensor, a current sensor, a pressure transmitter, a temperature sensor, and a tire pressure sensor.

[0012] Preferably, after obtaining the corresponding target sensor data in the virtual bus using the data tag field, the method further includes:

[0013] The target sensor data is stored in a database server.

[0014] Preferably, the database includes structured databases and NoSQL databases;

[0015] The structured database is used to store structured data, and the nosql database is used to store video data, point cloud data, obstacle information, and runway condition data.

[0016] Preferably, the computer motherboard of the engineering equipment is provided with a spare interface for the connecting device.

[0017] To address the aforementioned technical problems, this application also provides an engineering equipment in which sensors are connected to a virtual bus via corresponding interfaces to transmit collected sensor data to the virtual bus. The controller of the engineering equipment is used to determine the required target sensor data, set a corresponding data tag field based on the target sensor data, and then use the data tag field to obtain the corresponding target sensor data from the virtual bus.

[0018] To address the aforementioned technical problems, this application also provides a sensor data acquisition device, wherein the sensor is connected to a virtual bus via a corresponding interface to transmit the collected sensor data to the virtual bus, and the device includes:

[0019] The determination module is used to determine the required target sensor data;

[0020] The setting module is used to set the corresponding data tag field according to the target sensor data;

[0021] The acquisition module is used to acquire the corresponding target sensor data in the virtual bus using the data tag field.

[0022] To address the aforementioned technical problems, this application also provides a sensor data acquisition device, comprising: a memory for storing a computer program;

[0023] A processor is used to implement the steps of the above-described method for acquiring sensor data when executing a computer program.

[0024] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described sensor data acquisition method.

[0025] This application provides a method for acquiring sensor data. A sensor connects to a virtual bus via a corresponding interface to send the collected sensor data to the virtual bus. Then, the required target sensor data is determined, and a corresponding data tagging field is set based on the target sensor data. Finally, the target sensor data is retrieved from the virtual bus using the data tagging field. In other words, by setting the data tagging field according to the required sensor data and then retrieving the required sensor data from the virtual bus, the interface in this application does not require program development. All sensors directly connect to the initial interface and transmit data to the virtual bus. This reduces the difficulty and workload of developing sensor connection interfaces, enabling various types of sensors to be quickly applied to autonomous driving in engineering equipment.

[0026] This application also provides a sensor data acquisition device, engineering equipment, and computer-readable storage medium, which correspond to the above-described method and therefore have the same beneficial effects as the above-described method. Attached Figure Description

[0027] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A flowchart illustrating a method for acquiring sensor data provided in an embodiment of this application;

[0029] Figure 2 A schematic diagram of the communication architecture of a sensor data acquisition system for engineering equipment provided in this application embodiment;

[0030] Figure 3 This is a schematic diagram of a data acquisition communication architecture provided in an embodiment of this application;

[0031] Figure 4 A structural diagram of the sensor data acquisition device provided in the embodiments of this application;

[0032] Figure 5 This is a structural diagram of a sensor data acquisition device provided in another embodiment of this application. Detailed Implementation

[0033] 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 of ordinary skill in the art without creative effort are within the protection scope of this application.

[0034] The core of this application is to provide a method, device, engineering equipment, and medium for acquiring sensor data, so as to reduce the development workload of interfacing engineering equipment with sensors.

[0035] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] In the current approach, because the sensors need to communicate directly with the controller, customized program development is required for the communication interfaces and protocols of different sensors. The purpose of this application is primarily to address the challenges and workload associated with developing sensor connection interfaces during the development of engineering equipment, as well as to overcome the limitations in sensor selection during research and development. In the embodiments of this application, the sensors connect to a virtual bus via corresponding interfaces to send the collected sensor data to the virtual bus. Figure 1 A flowchart illustrating a method for acquiring sensor data provided in an embodiment of this application; as shown Figure 1 As shown, the method includes the following steps:

[0037] S10: Determine the required target sensor data.

[0038] S11: Set the corresponding data tag field based on the target sensor data.

[0039] S12: Use the data tag field to obtain the corresponding target sensor data in the virtual bus.

[0040] As mentioned above, each sensor connects to the virtual bus via a corresponding interface to send its collected sensor data. This means the virtual bus contains data from all sensors; only the required sensor data needs to be acquired. In practical applications, the type of target sensor data is not limited. The target sensor data is defined based on the actual sensor data needed by the engineering equipment, such as data type, sampling rate, time interval, and sampling accuracy. After determining the required target sensor data, corresponding data marker fields can be set. These fields can be configured based on data type, sampling rate, time interval, sampling accuracy, etc. Generally, a data acquisition strategy is set according to requirements, and then the data marker fields are set based on that strategy. After setting the required data marker fields based on the target sensor data, the corresponding sensor data can be located on the virtual bus and acquired.

[0041] For example, a specific implementation method is provided here. Figure 2 This application provides a schematic diagram of the communication architecture of a sensor data acquisition system for engineering equipment; as shown in the embodiments of this application. Figure 2 As shown, the main components of the completed technical solution include a data acquisition and management module based on a data communication architecture, an environmental data acquisition module, an equipment body data acquisition module, and a database server, all of which are mounted on an industrial-grade data acquisition computer.

[0042] First, let's introduce the communication architecture used for data acquisition in this example. In this example, the data acquisition communication architecture uses a distributed process communication scheme called a "virtual switch" for data acquisition. A switch can essentially be viewed as a low-level network communication engine, encapsulating the specific implementation of topic-based network communication. Logically, the virtual switch consists of multiple virtual buses. Each virtual bus can be a wireless data link, Ethernet, CAN bus, etc., and each bus connects to several software modules. These modules can be distributed across different computers, and each computer can run multiple software modules simultaneously. Figure 3 This application provides a schematic diagram of a data acquisition communication architecture for its embodiments; as shown below. Figure 3As shown, data acquisition on the virtual bus is achieved through data acquisition probes. Each probe consists of a probe head and a needle body. The probe head is essentially a data marker field. Once the data to be acquired is set within the data marker field, the probe collects the required sensor data on the virtual bus. After acquiring the corresponding target sensor data, the acquisition results can be published to the data acquisition management system via the needle body. Data acquisition probes are categorized into general-purpose and specialized types. General-purpose probes can be converted into specialized probes through parameter configuration of the data acquisition strategy, enabling rapid addition of sensor data acquisition. In practical applications, multiple systems may exist. The data acquisition management module processes the acquired data and publishes the acquisition results to other systems via the virtual bus. Each system then retrieves the data acquisition results it needs from the virtual bus. The data acquisition computer also subscribes to messages published by other systems via the virtual bus and stores them online. After the acquisition task is completed, the data is uniformly exported offline to the backend database server. Simultaneously, the data acquisition management module also transmits and stores the acquired data online to the remote monitoring and control terminal.

[0043] The data acquisition management module includes functions such as data acquisition strategy configuration, data display strategy configuration, strategy distribution, data query, data storage, and data mining. Each sensor has a default acquisition configuration, and the data acquisition strategy can be dynamically modified as needed based on the default configuration, including: sensor combination (acquisition channel), sampling time interval, sampling rate, sampling accuracy, and data labeling. It also provides a human-machine interface, allowing operators to manually start or stop data acquisition and supports adding experimental data labels online / offline.

[0044] The environmental data acquisition module collects raw and processed data from the environmental perception system during the experiment. This includes the work scene recorded by high-definition / high-speed cameras, point cloud information recorded by LiDAR, millimeter-wave / ultrasonic radar detection information, and processed obstacle information, road surface information, and the actual vehicle movement path. The upper-level environmental perception software of the intelligent control computer contains a data acquisition module and a data fusion module. The data acquisition module directly receives millimeter-wave radar data, LiDAR data, camera data, and integrated navigation data forwarded by the vehicle area network switch. This data undergoes simple labeling and shaping before being sent to the data fusion module. After processing and analysis by the data fusion module, it outputs high-level semantic information. One channel of high-definition / high-speed camera video data can be directly sent to the remote monitoring and control terminal (experimental test system) via the image transmission link for video display in the situation display plugin. The acquisition strategy in the data acquisition plugin can be configured to display specific video channels. The shaped data processed by the data acquisition module is still very large and not suitable for real-time transmission to the backend storage. It can be temporarily stored in the intelligent control computer for offline import into the database after the experiment. The data fusion module processes data with high-level semantic information, such as obstacle information, road surface information, and the actual movement path of the test platform, which can be transmitted in real time to the remote monitoring and control terminal (experimental testing system) and displayed in the situation display plugin. This part of the real-time transmitted data is also stored in the background database in real time, while data that is not transmitted in real time is temporarily stored in the intelligent control computer and then exported offline to the database after the experiment.

[0045] The equipment's main data acquisition module is used to collect the vehicle's own state information and processed data during the experiment, including driving speed, longitudinal speed, lateral speed, sideslip angle, sideslip distance, longitudinal speed of each wheel, rotation angle of each axle, sideslip angle of each tire, yaw rate, etc., as well as battery charge, hydraulic system pressure, brake temperature, tire pressure, etc. The minimum sampling rate is 1K, which can be configured as needed through the acquisition strategy. The information to be acquired is obtained directly from the following sensors or through data fusion processing, and the specific relationships are shown in Table 1.

[0046] Table 1. Correspondence between information required for the main body of large-scale engineering machinery and data sources

[0047] Required information Data source Engineering equipment position Combined Inertial Navigation driving speed Combined Inertial Navigation Longitudinal velocity Combined Inertial Navigation Lateral velocity Combined Inertial Navigation Side slip angle Combined Inertial Navigation Lateral offset Combined Inertial Navigation wheel longitudinal speed Wheel speed sensor + combined inertial navigation virtual axis rotation angle Tilt sensor + combined inertial navigation Tire slip angle Angle sensor + combined inertial navigation yaw rate Combined Inertial Navigation Vehicle battery power Current sensor Hydraulic system pressure pressure transmitter Brake temperature Temperature sensor Tire pressure Tire pressure sensor

[0048] The database server storage hardware can utilize a disk array, providing redundancy, fault tolerance, and encryption capabilities, while remaining transparent to the upper-layer database management system. Different types of collected data are stored in the database server. All data is categorized into structured data and NoSQL data, corresponding to structured and NoSQL databases respectively. The structured database stores structured data, while the NoSQL database stores unstructured data such as video data, point cloud data, obstacle information, and runway conditions. The databases include: a test environment database, an engineering machinery equipment database, and a test piece database. Each database is further divided into online and offline databases. The online database stores data stored wirelessly during the test, while the offline database stores data exported from the data acquisition computer after the test.

[0049] The main steps of this example are as follows: 1. Develop a configuration file and issue sensor data acquisition tasks. 2. The data management module receives the acquisition tasks and develops a sensor data acquisition strategy. 3. Based on the data acquisition strategy, generate corresponding data acquisition probes and acquire sensor data on the virtual bus. 4. Return the acquired sensor data to the data management module. 5. The data management module stores the sensor data in the database server. It should be noted that the above modules or steps can be implemented with simple modifications to general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using device-executable program code, which can then be stored in a storage device for execution by the computing device. In some cases, the steps shown or described can be executed in a different order, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any specific hardware and software combination, and various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

[0050] This application provides a method for acquiring sensor data. A sensor connects to a virtual bus via a corresponding interface to send the collected sensor data to the virtual bus. Then, the required target sensor data is determined, and a corresponding data tagging field is set based on the target sensor data. Finally, the target sensor data is retrieved from the virtual bus using the data tagging field. In other words, by setting the data tagging field according to the required sensor data and then retrieving the required sensor data from the virtual bus, the interface in this application embodiment does not require program development. All sensors directly connect to the initial interface and transmit data to the virtual bus. This reduces the development difficulty and workload of the sensor connection interface during the development process, enabling various types of sensors to be quickly applied to autonomous driving in engineering equipment.

[0051] The method provided in this application is generally applied to autonomous driving engineering equipment, such as excavators capable of autonomous driving. In practical applications, the required sensors include at least one of the following: a combined inertial navigation system, wheel speed sensor, tilt sensor, angle sensor, current sensor, pressure transmitter, temperature sensor, and tire pressure sensor. It should be noted that the sensors mentioned above are merely one solution provided in the embodiments of this application; actual applications are not limited to the above sensors and can be adjusted according to different application scenarios.

[0052] After acquiring the corresponding target sensor data in the virtual bus using the data tagging field, the target sensor data can be stored in a database server. As mentioned in the above embodiments, the database server storage hardware can be a disk array, which has redundancy, fault tolerance, and encryption capabilities, and is transparent to the upper-layer database management system. In this embodiment, the database includes a structured database and a NoSQL database; the structured database is used to store structured data, and the NoSQL database is used to store unstructured data such as video data, point cloud data, obstacle information, and runway conditions. The database includes: a test environment database, an engineering machinery equipment database, and a test piece database, etc. Each database is further divided into an online database and an offline database. The online database is used to store data stored online via a wireless link during the test, and the offline database is used to store data exported by the data acquisition computer after the test.

[0053] This application describes the hardware configuration of the computer during actual data acquisition. Since the sensors used to collect the vehicle's physical state and the status of its operating devices acquire signals including analog signals, digital output (DO) signals, serial port data, and CAN data, a data acquisition computer is required to collect this data. This computer includes: a Central Processing Unit (CPU) board, an integrated board, a serial port board, and a CAN board. In the initial design, the computer motherboard of the engineering equipment can be equipped with spare interfaces for connecting devices, specifically designed with a 1:1 ratio of active to spare interfaces. Even if a large number of new sensors are added later, a corresponding board can be directly inserted into the computer motherboard. In addition, the CPU board can also have power management functions, equipped with a battery and voltage regulator. When a power abnormality is detected, such as a power outage, overvoltage, or overcurrent, it can switch to battery power. The storage medium is a 1TB solid-state drive, which has high reliability and is not prone to mechanical failure. The grounding method must be complete and reliable, properly addressing the isolation issues of the three grounds (power ground, signal ground, and enclosure ground). The data acquisition system should undergo specialized electromagnetic compatibility design and testing, employing shielded cables and aerospace-grade connectors to improve anti-interference performance and reliability. When acquiring data via bus-type interfaces (such as CAN bus), a corresponding terminal matching resistor (typically 120 ohms) should be connected according to its physical characteristics to mitigate signal reflection interference.

[0054] To address the aforementioned technical problems, this application provides an engineering equipment in which sensors are connected to a virtual bus via corresponding interfaces to transmit collected sensor data to the virtual bus. The controller of the engineering equipment is used to determine the required target sensor data, set a corresponding data tag field based on the target sensor data, and then use the data tag field to obtain the corresponding target sensor data in the virtual bus.

[0055] Since the embodiments of the engineering equipment section correspond to the embodiments of the method section, please refer to the description of the embodiments of the method section for the embodiments of the engineering equipment section, and they will not be repeated here. The engineering equipment provided in this embodiment corresponds to the above-described method, and therefore has the same beneficial effects as the above-described method.

[0056] In the above embodiments, the method for acquiring sensor data has been described in detail. This application also provides embodiments corresponding to the sensor data acquisition device. It should be noted that this application describes the embodiments of the device part from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0057] From the perspective of functional modules, this embodiment provides a sensor data acquisition device. The sensor is connected to a virtual bus through a corresponding interface to send the acquired sensor data to the virtual bus. Figure 4 A structural diagram of the sensor data acquisition device provided in the embodiments of this application is shown below. Figure 4 As shown, the device includes:

[0058] Module 10 is used to determine the required target sensor data;

[0059] Setting module 11 is used to set the corresponding data tag field according to the target sensor data;

[0060] The acquisition module 12 is used to acquire the corresponding target sensor data in the virtual bus using the data tag field.

[0061] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0062] The sensor data acquisition device provided in this embodiment corresponds to the method described above, and therefore has the same beneficial effects as the method described above.

[0063] From a hardware perspective, this embodiment provides another sensor data acquisition device. Figure 5 A structural diagram of a sensor data acquisition device provided in another embodiment of this application is shown below. Figure 5 As shown, the sensor data acquisition device includes: a memory 20 for storing computer programs;

[0064] The processor 21 is used to execute a computer program to implement the steps of the sensor data acquisition method mentioned in the above embodiments.

[0065] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the CPU, is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0066] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the sensor data acquisition method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, data involved in the sensor data acquisition method.

[0067] In some embodiments, the sensor data acquisition device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0068] Those skilled in the art will understand that the structure shown in the figure does not constitute a limitation on the sensor data acquisition device and may include more or fewer components than shown.

[0069] The sensor data acquisition device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: sensor data acquisition method.

[0070] The sensor data acquisition device provided in this embodiment corresponds to the method described above, and therefore has the same beneficial effects as the method described above.

[0071] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0072] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] The computer-readable storage medium provided in this embodiment corresponds to the method described above, and therefore has the same beneficial effects as the method described above.

[0074] The foregoing has provided a detailed description of a sensor data acquisition method, apparatus, engineering equipment, and medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0075] It should also be noted that, in this specification, 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 the aforementioned element.

Claims

1. A method of acquiring sensor data, characterized by, The sensors are connected to the virtual bus through corresponding interfaces to send collected sensor data to the virtual bus, and the method comprises: determining required target sensor data, which is determined according to data categories, sampling rates, time intervals and sampling accuracy requirements; setting corresponding data tag fields according to the target sensor data; wherein the setting of the corresponding data tag fields according to the target sensor data comprises: setting the data tag fields according to the data categories, sampling rates, time intervals and sampling accuracy; setting data collection strategies according to requirements; and setting the data tag fields according to the data collection strategies; acquiring the corresponding target sensor data in the virtual bus by using the data tag fields; storing the target sensor data into a database server, wherein the database in the database server comprises a structured database and a nosql database; the structured database is used to store structured data, and the nosql database is used to store video data, point cloud data and obstacle information; the database further comprises a test environment database, an engineering equipment ontology database and a test piece database, each of which is divided into an online database and an offline database; the online database is used to store data stored online through a wireless link during a test, and the offline database is used to store data stored by a data collection computer after the test.

2. The method of acquiring sensor data according to claim 1, wherein, The connection device connected to the sensor connection interface comprises a CPU board card, a comprehensive board card, a serial port board card and a CAN board card.

3. The method of acquiring sensor data according to claim 2, wherein, The method is applied to automatic driving engineering equipment; the sensors comprise at least one of the following: a combined inertial navigation system, a wheel speed sensor, an inclination sensor, an angle sensor, a current sensor, a pressure transmitter, a temperature sensor and a tire pressure sensor.

4. The method of acquiring sensor data according to claim 3, wherein, The computer mainboard of the engineering equipment is provided with a backup interface of the connection device.

5. An engineering equipment characterized by, The sensors of the engineering equipment are connected with the virtual bus through corresponding interfaces to send collected sensor data to the virtual bus; the controller of the engineering equipment is configured to determine target sensor data required, the target sensor data being determined according to data types, sampling rates, time intervals and sampling accuracy requirements, and setting corresponding data tag fields according to the target sensor data, and then acquiring corresponding target sensor data in the virtual bus by using the data tag fields; wherein the controller of the engineering equipment is configured to set the corresponding data tag fields according to the target sensor data, specifically by setting the data tag fields according to the data types, sampling rates, time intervals and sampling accuracy; setting a data acquisition strategy according to requirements; and setting the data tag fields according to the data acquisition strategy; the database server storage of the engineering equipment is configured to store different types of data collected into a database server, the database in the database server including a structured database and a nosql database; the structured database is configured to store structured data, and the nosql database is configured to store video data, point cloud data and obstacle information; the database further includes a test environment database, an engineering mechanical equipment ontology database and a test piece database, each database being divided into an online database and an offline database, the online database being configured to store data stored online through a wireless link during a test, and the offline database being configured to store data stored by a data acquisition computer after the test.

6. An apparatus for acquiring sensor data, characterized by The sensors are connected with the virtual bus through corresponding interfaces to send collected sensor data to the virtual bus, and the apparatus includes: a determination module configured to determine target sensor data required, the target sensor data being determined according to data types, sampling rates, time intervals and sampling accuracy requirements; a setting module configured to set corresponding data tag fields according to the target sensor data; the setting module is specifically configured to set the data tag fields according to the data types, sampling rates, time intervals and sampling accuracy; set a data acquisition strategy according to requirements; and set the data tag fields according to the data acquisition strategy; an acquisition module configured to acquire corresponding target sensor data in the virtual bus by using the data tag fields; the acquisition module is further configured to store the target sensor data into a database server, the database in the database server including a structured database and a nosql database; the structured database is configured to store structured data, and the nosql database is configured to store video data, point cloud data and obstacle information; the database further includes a test environment database, an engineering mechanical equipment ontology database and a test piece database, each database being divided into an online database and an offline database, the online database being configured to store data stored online through a wireless link during a test, and the offline database being configured to store data stored by a data acquisition computer after the test.

7. An apparatus for acquiring sensor data, characterized by include a memory configured to store a computer program; A processor for implementing the steps of the method for acquiring sensor data according to any one of claims 1 to 4 when executing the computer program.

8. A computer-readable storage medium, characterized in that, A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for acquiring sensor data according to any one of claims 1 to 4.

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