Time synchronization method and device of split type hovercar and storage medium

Abstract

The invention relates to a time synchronization method and device of a split type hovercar and a storage medium. The method comprises the following steps: performing state detection on a navigation signal of a first navigation unit to obtain a signal state of the navigation signal; under the condition that the signal state is an abnormal state, acquiring a level state of an interface level signal at the first combination interface and a message receiving state; if the level state is a high-level signal state and the message receiving state is that heartbeat messages are periodically received from the flight controller, determining that the chassis module and the flight module are in an integrated state; and receiving first time information sent by the flight controller from a second integrated interface of the flight module based on the first integrated interface. According to the method, the combination state of the hovercar can be rapidly and accurately determined, time synchronization of the flight module and the chassis module can be guaranteed under the condition that the hovercar is in the combination state, and it is guaranteed that timestamps of data, control and logs of all functional modules of the hovercar are unified.

Description

Technical Field

[0001] The present disclosure relates to the technical field of flying cars, and in particular to a time synchronization method, device, storage medium and electronic device for a split-type flying car. Background Art

[0002] In recent years, there are more and more urbanized vehicles in various places, and road traffic is becoming more and more congested. Traffic is facing huge pressure and cannot meet the development needs of modern society and economy. With the popularization and popularity of the concept of low-altitude economy, people are vigorously developing and researching low-altitude transportation tools, among which flying cars are the most representative.

[0003] The split flying car is composed of a flight module and a chassis module. In the prior art, the time synchronization method of the flight module and the chassis module of the flying car is not flexible enough, and errors are prone to occur in the time between the two. Summary of the invention

[0004] In order to solve at least one of the technical problems mentioned above, the present disclosure proposes a time synchronization method, device, storage medium and electronic device for a split flying car.

[0005] According to one aspect of the present disclosure, a time synchronization method for a split flying car is provided, wherein the split flying car comprises a flight module and a chassis module, wherein the flight module comprises a flight controller, and the chassis module comprises a chassis controller and a first navigation unit, wherein the method is applied to the chassis controller, and comprises:

[0006] Performing status detection on the navigation signal of the first navigation unit to obtain a signal status of the navigation signal;

[0007] When the signal state of the navigation signal is abnormal, obtaining the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller;

[0008] If the level state is a high level signal state, and the message receiving state is periodically receiving a heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in a combined state;

[0009] When the chassis module and the flight module are in the combined state, the first combined interface and the second combined interface of the flight module are in a physically connected state, and the first combined interface receives the first time information sent by the flight controller from the second combined interface based on the first combined interface, so that the chassis module and the flight module achieve time synchronization based on the first time information. When the chassis module and the flight module are in the combined state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be abnormal.

[0010] In some possible implementations, the flight module further includes a second navigation unit, and the method further includes:

[0011] When the chassis module and the flight module are in a separated state, acquiring first navigation information of the first navigation unit;

[0012] Second time information is determined based on the first navigation information, the time represented by the second time information is synchronized with the time represented by the first time information, and the first time information is determined by the flight controller based on the second navigation information obtained from the second navigation unit.

[0013] In some possible implementations, the method further includes:

[0014] If at least one of the following conditions exists: the signal state of the navigation signal is a normal state, the level state is a low level signal state, and the message receiving state is not periodically receiving a heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in the separated state.

[0015] In some possible implementations, the method further includes:

[0016] In the case where the signal state of the navigation signal is an abnormal state, if the level state is a low level signal state, and the message receiving state is that a heartbeat message is not periodically received from the flight controller, it is determined that the first navigation unit is faulty, and the chassis module and the flight module are in the separated state;

[0017] Acquire third time information of the base station.

[0018] In some possible implementations, the chassis module further includes a radar unit, and the method further includes:

[0019] The second time information is sent to the radar unit, so that the radar unit and the chassis controller achieve time synchronization based on the second time information.

[0020] According to a second aspect of the present disclosure, a time synchronization method for a split flying car is provided, wherein the split flying car comprises a flight module and a chassis module, wherein the flight module comprises a flight controller, and the chassis module comprises a chassis controller and a first navigation unit, wherein the method is applied to the flight controller, and the method comprises:

[0021] Periodically sending a heartbeat message to the chassis controller through the second integrated interface of the flight module;

[0022] The first time information is sent to the chassis controller through the second integrated interface of the flight module, so that when the chassis module and the flight module are in an integrated state, the first integrated interface of the chassis module and the second integrated interface are in a physically connected state, the chassis controller receives the first time information sent by the flight controller from the second integrated interface based on the first integrated interface, and realizes time synchronization with the flight module based on the first time information. When the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, resulting in an abnormal signal state of the navigation signal. The method for determining the integrated state is that the chassis controller performs state detection on the navigation signal of the first navigation unit to obtain the signal state of the navigation signal; when the signal state of the navigation signal is an abnormal state, the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of receiving the heartbeat message from the flight controller are obtained; if the level state is a high level signal state, and the message receiving state is a periodic reception of the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in the integrated state.

[0023] According to a third aspect of the present disclosure, a time synchronization device for a split flying car is provided, the split flying car comprising a flight module and a chassis module, the flight module comprising a flight controller, the chassis module comprising a chassis controller and a first navigation unit, the device is applied to the chassis controller, and the device comprises:

[0024] a detection module, configured to perform state detection on the navigation signal of the first navigation unit to obtain a signal state of the navigation signal;

[0025] A state acquisition module, used for acquiring the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller when the signal state of the navigation signal is abnormal;

[0026] A combined state determination module, configured to determine that the chassis module and the flight module are in a combined state if the level state is a high level signal state and the message receiving state is a heartbeat message periodically received from the flight controller;

[0027] The first time synchronization module is used for, when the chassis module and the flight module are in the integrated state, the first integrated interface and the second integrated interface of the flight module are in a physically connected state, and based on the first integrated interface, receiving the first time information sent by the flight controller from the second integrated interface, so that the chassis module and the flight module can achieve time synchronization based on the first time information; when the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be abnormal.

[0028] According to a fourth aspect of the present disclosure, a time synchronization device for a split flying car is provided, the split flying car comprising a flight module and a chassis module, the flight module comprising a flight controller, the chassis module comprising a chassis controller and a first navigation unit, the device is applied to the flight controller, and the device comprises:

[0029] A heartbeat message sending module, used for periodically sending a heartbeat message to the chassis controller through the second combined interface of the flight module;

[0030] The first time information sending module is used to send the first time information to the chassis controller through the second integrated interface of the flight module, so that when the chassis module and the flight module are in an integrated state, the first integrated interface of the chassis module and the second integrated interface are in a physically connected state, the chassis controller receives the first time information sent by the flight controller from the second integrated interface based on the first integrated interface, and realizes time synchronization with the flight module based on the first time information. When the chassis module and the flight module are in the integrated state, the flight module has the first navigation unit. The chassis module and the flight module are in a combined state if the chassis controller detects the state of the navigation signal of the first navigation unit and obtains the signal state of the navigation signal; when the signal state of the navigation signal is abnormal, the level state of the interface level signal at the first combined interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller are obtained; if the level state is a high level signal state and the message receiving state is a periodic reception of the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in a combined state.

[0031] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the time synchronization method of the split flying car as described in any one of the first aspects by executing the instructions stored in the memory.

[0032] According to a sixth aspect of the present disclosure, a computer-readable storage medium is provided, wherein at least one instruction or at least one program is stored in the computer-readable storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to implement the time synchronization method of a split flying car as described in any one of the first aspects.

[0033] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0034] The implementation of this disclosure has the following beneficial effects:

[0035] A state detection is performed on the navigation signal of the first navigation unit to obtain the signal state of the navigation signal; when the signal state of the navigation signal is an abnormal state, the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of receiving the heartbeat message from the flight controller are obtained; if the level state is a high-level signal state, and the message receiving state is to periodically receive the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in an integrated state; when the chassis module and the flight module are in an integrated state, the first integrated interface and the second integrated interface of the flight module are in a physically connected state, and the first time information sent by the flight controller is received from the second integrated interface based on the first integrated interface, so that the chassis module and the flight module achieve time synchronization based on the first time information, and when the chassis module and the flight module are in an integrated state, the flight module blocks the first navigation unit, resulting in an abnormal signal state. The present application can accurately and quickly determine whether the chassis module and the flight module are in a combined state according to the signal state of the navigation signal in combination with the level state of the interface level signal and the message reception state of the heartbeat message. When in the combined state, the chassis module receives the time information of the flight module as the time reference, realizes time synchronization with the flight module, determines the connection state of the chassis module and the flight module from multi-dimensional conditions, and flexibly determines the time synchronization method according to the connection state of the chassis module and the flight module, thereby solving the problems of time errors and time asynchrony between the chassis module and the flight module in the related technology.

[0036] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic diagram showing a flow chart of a method for synchronizing chassis modules of a split-type flying car according to an embodiment of the present disclosure;

[0039] Figure 2 A schematic structural diagram of a split flying car according to an embodiment of the present disclosure is shown;

[0040] Figure 3 A schematic diagram showing a flow chart of a method for determining second time information according to an embodiment of the present disclosure;

[0041] Figure 4 A schematic diagram showing a flow chart of a third time information determination method according to an embodiment of the present disclosure;

[0042] Figure 5 A schematic diagram showing a flow chart of a method for synchronizing flight modules of a split-type flying car according to an embodiment of the present disclosure;

[0043] Figure 6 A schematic structural diagram of a chassis module time synchronization device for a split-type flying car according to an embodiment of the present disclosure is shown;

[0044] Figure 7 A schematic structural diagram of a flight module time synchronization device of a split-type flying car according to an embodiment of the present disclosure is shown;

[0045] Figure 8 A block diagram of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0048] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0049] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0050] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0051] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0052] Figure 1 A schematic flow chart of a time synchronization method for a split flying car according to an embodiment of the present disclosure is shown. The split flying car includes a flight module and a chassis module. The flight module includes a flight controller. The chassis module includes a chassis controller and a first navigation unit. The method is applied to the chassis controller. Figure 1 As shown, the above method includes:

[0053] S101, performing status detection on a navigation signal of a first navigation unit to obtain a signal status of the navigation signal;

[0054] The split flying car includes a flight module and a chassis module. The chassis module includes a chassis controller, which is used to drive the chassis module to travel on the ground. The flight module includes a flight controller, which is used to assist the flight module to fly in the air.

[0055] The first navigation unit may be a global positioning system (GPS). The signal state of the navigation signal includes a normal state and an abnormal state. The abnormal state indicates that the navigation signal of the first navigation unit is weak, the frequency of the navigation signal is abnormal, or the navigation signal does not exist. The normal state indicates that the navigation signal of the first navigation unit exists, is strong, and is stable.

[0056] S102, when the signal state of the navigation signal is abnormal, obtaining the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller;

[0057] The reasons that cause the signal status of the navigation signal to be abnormal include but are not limited to: (1) the chassis module and the flight module are in a combined state, and the first navigation unit is blocked, resulting in the absence of the navigation signal, the navigation signal is weak, or the frequency is abnormal; (2) there is a fault in the first navigation unit, resulting in the absence of the navigation signal, the navigation signal is weak, or the frequency is abnormal.

[0058] When the signal state of the navigation signal is in an abnormal state, it is further determined whether the reason causing the signal state of the navigation signal to be in an abnormal state is the integration of the chassis module and the flight module, and the level state of the interface level signal at the first integration interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller are continued to be obtained; when the chassis module and the flight module are in an integrated state, the first integration interface of the chassis module and the second integration interface of the flight module are connected, at this time, the level states of the interface level signals of the first integration interface and the second integration interface are both in a high level state, and when the chassis module and the flight module are in a separated state, the first integration interface of the chassis module and the second integration interface of the flight module are disconnected, at this time, the level states of the interface level signals of the first integration interface and the second integration interface are both in a low level state. The heartbeat message is periodically sent by the flight controller through the second combination interface. When the chassis module and the flight module are in a combined state, the first combination interface of the chassis module is connected to the second combination interface of the flight module. At this time, the first combination interface and the second combination interface are connected in communication. The chassis controller of the chassis module can receive the heartbeat message periodically sent by the flight controller through the second combination interface through the first combination interface, and the chassis controller of the chassis module obtains navigation information from the second navigation unit through the first combination interface. When the chassis module and the flight module are in a separated state, the first combination interface of the chassis module and the second combination interface of the flight module are disconnected. At this time, the first combination interface and the second combination interface are not connected in communication, and the chassis controller of the chassis module cannot receive the heartbeat message periodically sent by the flight controller through the second combination interface. The message receiving state of the heartbeat message includes periodically receiving the heartbeat message from the flight controller and not periodically receiving the heartbeat message from the flight controller.

[0059] S103: If the level state is a high level signal state, and the message receiving state is periodically receiving a heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in a combined state;

[0060] When the signal state of the navigation signal is abnormal, the level state of the interface level signal at the first integrated interface of the chassis module is a high level signal state, and the message receiving state of receiving the heartbeat message from the flight controller is periodically receiving the heartbeat message from the flight controller, indicating that the first integrated interface of the chassis module and the second integrated interface of the flight module are in a physically connected state, and the connection state is stable, determining that the chassis module and the flight module are in an integrated state.

[0061] S104. When the chassis module and the flight module are in a combined state, the first combined interface and the second combined interface of the flight module are in a physically connected state, and the first combined interface receives the first time information sent by the flight controller from the second combined interface based on the first combined interface, so that the chassis module and the flight module achieve time synchronization based on the first time information. When the chassis module and the flight module are in a combined state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be abnormal.

[0062] In the combined state, the flight module and the chassis module are mechanically connected, and the chassis module can drive the flight module to travel on the ground.

[0063] When the chassis module and the flight module are in a combined state, the chassis controller of the chassis module receives the first time information sent by the flight controller through the second combined interface through the first combined interface. The chassis module uses the first time information as the time reference, and the chassis module achieves time synchronization with the flight module through the first time information.

[0064] See also Figure 2 In some embodiments, the split flying car includes a flight module and a chassis module, and the chassis module includes a chassis controller, a first navigation unit, a first inertial measurement unit (IMU), a camera and a first laser radar unit. The flight module includes a flight domain and a driving domain; the flight domain is used to accurately calculate and control the flight attitude, and the driving domain is used to sense the surrounding environment of the flying car and manage the flight route. The flight domain includes a flight controller, a second navigation unit, a second inertial measurement unit, a barometer, a magnetometer and a power component, and the driving domain includes a cockpit controller, a visible light camera, an infrared camera, a second laser radar unit and a millimeter wave radar. The flight controller and the cockpit controller are connected by an Ethernet switch and an aviation cable. When the chassis module and the flight module are in a combined state, the flight controller and the chassis controller are also connected by an Ethernet switch and an aviation cable, and the aviation cable includes a charging cable and a communication cable.

[0065] The above technical scheme can accurately and quickly determine whether the chassis module and the flight module are in a combined state according to the signal state of the navigation signal and in combination with the level state of the interface level signal and the message reception state of the heartbeat message. When in the combined state, the chassis module receives the time information of the flight module as the time reference, realizes time synchronization with the flight module, determines the connection state between the flight module and the chassis module through multiple dimensions, improves the accuracy and efficiency of the connection state judgment, and automatically determines the time synchronization mode through the connection state, flexibly determines the time synchronization method and improves the anti-interference ability of the time synchronization, thereby solving the problems of time errors and time asynchrony between the chassis module and the flight module in the related technology.

[0066] See also Figure 3 In some embodiments, the flight module further includes a second navigation unit, and the method further includes:

[0067] S201, when the chassis module and the flight module are in a separated state, obtaining first navigation information of a first navigation unit;

[0068] S202: Determine second time information based on the first navigation information, wherein the time represented by the second time information is synchronized with the time represented by the first time information, and the first time information is determined by the flight controller based on the second navigation information obtained from the second navigation unit.

[0069] The split state is a state where the flight module and the chassis module are separated, the flight module is in the air, and the chassis module is on the ground. The first navigation information is obtained by the chassis controller from the first navigation unit, and the second navigation information is obtained by the flight controller from the second navigation unit. The time of the first navigation unit and the second navigation unit is unified. Therefore, the time represented by the second time information determined by the first navigation information and the first time information determined by the second navigation information are synchronized, so that the chassis module and the flight module achieve time synchronization. Both the first navigation unit and the second navigation unit can be global positioning systems. In this embodiment, the time determined based on the first navigation unit and the second navigation unit is accurate.

[0070] In some embodiments, when the chassis module and the flight module are in a separated state, the first navigation unit serves as the time source of the chassis module, and the chassis controller determines the second time information by parsing the first navigation information sent by the first navigation unit. The first navigation information includes NEMA messages and pulse signals (Pulse Per Second, PPS). NEMA is a standardized communication protocol developed by the National Marine Electronics Association (NMEA), which is mainly used for data transmission between global positioning system (GPS) devices.

[0071] In the above technical solution, when the chassis module and the flight module are in a separate state, the chassis module and the flight module respectively obtain navigation information from their respective navigation systems to determine their respective times based on their respective navigation information, thereby achieving time synchronization. The chassis controller can detect the connection status of the chassis module and the flight module in real time, determine whether they are in a separate state, and determine the time synchronization solution in time to avoid time delay problems, thereby solving the problems of errors and time asynchrony between the chassis module and the flight module in the related art.

[0072] In some embodiments, the method further comprises:

[0073] If at least one of the following conditions exists: the signal state of the navigation signal is a normal state, the level state is a low level signal state, and the message reception state is a state where the heartbeat message is not periodically received from the flight controller, it is determined that the chassis module and the flight module are in a separated state.

[0074] If the signal state of the navigation signal of the first navigation unit is normal, it means that the first navigation unit is not blocked by the flight module, thereby determining that the chassis module and the flight module are in a separate state. If the level state of the interface level signal at the first combined interface of the chassis module is a low-level signal state, it means that the first combined interface of the chassis module is not physically connected to the second combined interface of the flight module, thereby determining that the chassis module and the flight module are in a separate state. If the chassis controller does not periodically receive the heartbeat message sent by the flight module, it means that the first combined interface of the chassis module is not physically connected to the second combined interface of the flight module, and cannot receive the heartbeat message periodically sent by the flight controller through the second combined interface, thereby determining that the first combined interface is not physically connected to the second combined interface of the flight module.

[0075] If the chassis module and the flight module are in a separated state, the first navigation unit is not blocked by the flight module, the navigation signal of the first navigation unit is normal, the physical connection between the first combined interface of the chassis module and the second combined interface of the flight module is disconnected, and the level states of the interface level signals of the first combined interface of the chassis module and the second combined interface of the flight module are both in a low level signal state, and the chassis controller cannot receive the heartbeat message and the first time information sent by the flight controller.

[0076] In the above technical solution, when at least one of the following conditions exists: the signal state of the navigation signal is a normal state, the level state is a low-level signal state, and the message-unreceiving state is a state where the heartbeat message is not periodically received from the flight controller, the separation state of the flight module and the chassis module can be quickly determined to achieve time synchronization in the separation state. The connection state between the flight module and the chassis module is determined in multiple dimensions to improve the accuracy and efficiency of the connection state judgment. At the same time, the time synchronization mode is automatically determined by the connection state to improve the anti-interference performance of the time synchronization.

[0077] See also Figure 4 In some embodiments, the method further comprises:

[0078] S301, when the signal state of the navigation signal is in an abnormal state, if the level state is a low level signal state, and the message receiving state is that the heartbeat message is not periodically received from the flight controller, it is determined that the first navigation unit is faulty, and the chassis module and the flight module are in a separated state;

[0079] S302: Obtain third time information of the base station.

[0080] The chassis controller determines that there is no physical connection between the first combined interface of the chassis module and the second combined interface of the flight module through the level state of the interface level signal being a low level signal state and the message receiving state of not receiving the heartbeat message from the flight controller, thereby determining that the chassis module and the flight module are in a separated state.

[0081] When the chassis module and the flight module are in a separated state, the chassis controller cannot obtain the first time information from the flight controller, the first navigation unit fails, and the chassis controller cannot obtain the first navigation information from the first navigation unit, thereby being unable to determine the second time information. At this time, the chassis controller obtains the third time information from the base station, and the chassis module uses the third time information as the time reference.

[0082] The above technical solution obtains time information from the base station when the chassis module and the flight module are in a separated state and the first navigation unit fails. According to the connection method between the chassis module and the flight module and the fault state of the navigation unit, the time acquisition method is flexibly changed to ensure the time source of the chassis module and reduce the time error between the chassis module and the flight module.

[0083] In some embodiments, the chassis module further includes a radar unit, and the method further includes:

[0084] The second time information is sent to the radar unit, so that the radar unit and the chassis controller achieve time synchronization based on the second time information.

[0085] When the chassis module and the flight module are in a separated state, the chassis controller obtains first navigation information from the first navigation unit, determines second time information based on the first navigation information, uses the second time information as the time reference of the chassis module, and synchronizes the second time information to the radar unit.

[0086] When the chassis module and the flight module are in a combined state, after the chassis controller receives the first time information sent by the flight module, it uses the first time information as the time reference of the chassis module and synchronizes the first time information to the radar unit.

[0087] In some embodiments, the chassis controller serves as the time synchronization source within the chassis module, and performs time synchronization for the first laser radar via Ethernet, and the synchronization method is Precision Time Protocol (PTP) and generalized Precision Time Protocol (gPTP); the camera uses the time when the exposure is triggered as the timestamp of the image frame.

[0088] The above technical solution solves the problem of clock synchronization operation of the radar unit inside the chassis module of the flying car by quickly synchronizing the time to the radar unit through the chassis controller, ensuring the uniformity of the timestamps of the data, control, and logs of each unit.

[0089] See also Figure 5 According to a second aspect of the present disclosure, a time synchronization method for a split flying car is provided. The split flying car includes a flight module and a chassis module. The flight module includes a flight controller. The chassis module includes a chassis controller and a first navigation unit. The method is applied to the flight controller. The method includes:

[0090] S401, periodically sending a heartbeat message to the chassis controller through the second integrated interface of the flight module;

[0091] S402, sending the first time information to the chassis controller through the second integrated interface of the flight module, so that when the chassis module and the flight module are in an integrated state, the first integrated interface and the second integrated interface of the chassis module are in a physically connected state, the chassis controller receives the first time information sent by the flight controller from the second integrated interface based on the first integrated interface, and realizes time synchronization with the flight module based on the first time information; when the chassis module and the flight module are in an integrated state, the flight module blocks the first navigation unit, resulting in an abnormal signal state of the navigation signal; a method for determining the integrated state is that the chassis controller performs a state detection on the navigation signal of the first navigation unit to obtain the signal state of the navigation signal; when the signal state of the navigation signal is an abnormal state, the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of receiving the heartbeat message from the flight controller are obtained; if the level state is a high level signal state, and the message receiving state is a periodic reception of the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in an integrated state.

[0092] The flight module includes a second navigation unit and a flight controller, and the flight controller periodically sends a heartbeat message to the chassis controller through the second integrated interface of the flight module. The flight controller obtains second navigation information from the second navigation unit, determines first time information based on the second navigation information, and periodically sends the first time information to the chassis controller through the second integrated interface of the flight module. Whether the heartbeat message and the first time information are sent or not is independent of the connection state between the flight module and the chassis module, and the connection state includes an integrated state and a separated state.

[0093] The heartbeat message is sent periodically to enable the chassis controller to detect the physical connection status of the first integrated interface of the chassis module and the second integrated interface of the flight module according to the heartbeat message.

[0094] In some embodiments, the second navigation unit serves as the time source of the flight module, and the flight controller obtains the first time information by parsing the second navigation information sent by the second navigation unit. The second navigation information includes a NEMA message and a PPS signal. The flight controller serves as the time synchronization source of the flight module, and sends the first time information to the cockpit controller through an onboard Ethernet switch, so that the cockpit controller achieves time synchronization with the flight controller based on the first time information. The synchronization methods include the Precision Time Protocol (PTP) and the generalized Precision Time Protocol (gPTP). The driving controller then synchronizes the second laser radar through the Ethernet Time-Sensitive Networking (TSN) and synchronizes the millimeter-wave radar through the Controller Area Network (CAN) TSN. The infrared camera and the visible light camera both use the time of triggering the exposure as the timestamp of the image frame.

[0095] The above technical scheme can accurately and quickly determine whether the chassis module and the flight module are in a combined state according to the signal state of the navigation signal in combination with the level state of the interface level signal and the message reception status of the heartbeat message. When in the combined state, the chassis module receives the time information of the flight module as the time reference and realizes time synchronization with the flight module, thereby solving the problems of time errors and time asynchrony between the chassis module and the flight module in the related technology.

[0096] See also Figure 6 According to a third aspect of the present disclosure, a time synchronization device for a split flying car is provided. The split flying car includes a flight module and a chassis module. The flight module includes a flight controller. The chassis module includes a chassis controller and a first navigation unit. The device is applied to the chassis controller. The device includes:

[0097] The detection module 10 is used to detect the state of the navigation signal of the first navigation unit to obtain the signal state of the navigation signal;

[0098] The state acquisition module 20 is used to acquire the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller when the signal state of the navigation signal is in an abnormal state;

[0099] A combined state determination module 30, for determining that the chassis module and the flight module are in a combined state if the level state is a high level signal state and the message receiving state is a heartbeat message periodically received from the flight controller;

[0100] The first time synchronization module 40 is used for, when the chassis module and the flight module are in a combined state, the first combined interface and the second combined interface of the flight module are in a physically connected state, and based on the first combined interface, receiving the first time information sent by the flight controller from the second combined interface, so that the chassis module and the flight module can achieve time synchronization based on the first time information; when the chassis module and the flight module are in a combined state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be abnormal.

[0101] See also Figure 7 According to a fourth aspect of the present disclosure, a time synchronization device for a split flying car is provided. The split flying car includes a flight module and a chassis module. The flight module includes a flight controller. The chassis module includes a chassis controller and a first navigation unit. The device is applied to the flight controller. The device includes:

[0102] A heartbeat message sending module 11, used for periodically sending a heartbeat message to the chassis controller through the second integrated interface of the flight module;

[0103] The first time information sending module 21 is used to send the first time information to the chassis controller through the second integrated interface of the flight module, so that when the chassis module and the flight module are in an integrated state, the first integrated interface and the second integrated interface of the chassis module are in a physically connected state, the chassis controller receives the first time information sent by the flight controller from the second integrated interface based on the first integrated interface, and realizes time synchronization with the flight module based on the first time information. When the chassis module and the flight module are in an integrated state, the flight module blocks the first navigation unit, resulting in an abnormal signal state of the navigation signal. The method for determining the integrated state is that the chassis controller performs a state detection on the navigation signal of the first navigation unit to obtain the signal state of the navigation signal; when the signal state of the navigation signal is an abnormal state, the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of receiving the heartbeat message from the flight controller are obtained; if the level state is a high level signal state, and the message receiving state is a periodic reception of the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in an integrated state.

[0104] In some embodiments, the flight module further includes a second navigation unit, and the device further includes:

[0105] A first navigation information acquisition module, used for acquiring first navigation information of a first navigation unit when the chassis module and the flight module are in a separated state;

[0106] The second time information determination module is used to determine the second time information based on the first navigation information, the time represented by the second time information is synchronized with the time represented by the first time information, and the first time information is determined by the flight controller based on the second navigation information obtained from the second navigation unit.

[0107] In some embodiments, the apparatus further comprises:

[0108] The split state determination module is used to determine that the chassis module and the flight module are in a split state if at least one of the following conditions exists: the signal state of the navigation signal is a normal state, the level state is a low level signal state, and the message reception state is a heartbeat message not periodically received from the flight controller.

[0109] In some embodiments, the apparatus further comprises:

[0110] A fault determination module is used to determine that the first navigation unit has a fault and the chassis module and the flight module are in a separated state if the level state is a low level signal state and the message receiving state is that the heartbeat message is not periodically received from the flight controller when the signal state of the navigation signal is in an abnormal state;

[0111] The third time information acquisition module is used to acquire the third time information of the base station.

[0112] In some embodiments, the chassis module further includes a radar unit, and the apparatus further includes:

[0113] The second time information is sent to the radar unit, so that the radar unit and the chassis controller achieve time synchronization based on the second time information.

[0114] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0115] An embodiment of the present application provides a time synchronization device for a split flying car, which may be a terminal or a server. The time synchronization device for the split flying car includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the time synchronization method for the split flying car provided in the above method embodiment.

[0116] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0117] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 8 1 is a hardware structure block diagram of an electronic device for a time synchronization method of a split flying car provided in an embodiment of the present application. Figure 8As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 can be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0118] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (Network Interface Controller, NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0119] It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components as shown, or with Figure 8 Different configurations shown.

[0120] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to a time synchronization method for a split flying car in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the time synchronization method for a split flying car provided in the above method embodiment.

[0121] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0122] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0123] It can be seen from the embodiments of the time synchronization method, device, equipment, terminal, server, storage medium or computer program of the split flying car provided by the present application that the present application performs state detection on the navigation signal of the first navigation unit to obtain the signal state of the navigation signal; when the signal state of the navigation signal is an abnormal state, the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of receiving the heartbeat message from the flight controller are obtained; if the level state is a high level signal state, and the message receiving state is to periodically receive the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in a combined state; when the chassis module and the flight module are in a combined state, the first integrated interface and the second integrated interface of the flight module are in a physically connected state, and the first time information sent by the flight controller is received from the second integrated interface based on the first integrated interface, so that the chassis module and the flight module are synchronized based on the first time information, and when the chassis module and the flight module are in a combined state, the flight module blocks the first navigation unit, resulting in an abnormal signal state. The present application can accurately and quickly determine whether the chassis module and the flight module are in a combined state according to the signal state of the navigation signal in combination with the level state of the interface level signal and the message reception state of the heartbeat message. When in the combined state, the chassis module receives the time information of the flight module as the time reference and realizes time synchronization with the flight module, thereby solving the problems of time errors and time asynchrony between the chassis module and the flight module in the related technology.

[0124] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0125] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0126] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0127] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A time synchronization method for a split flying car, characterized in that: The split flying car comprises a flight module and a chassis module, the flight module comprises a flight controller, the chassis module comprises a chassis controller and a first navigation unit, the method is applied to the chassis controller, and the method comprises: Performing status detection on the navigation signal of the first navigation unit to obtain a signal status of the navigation signal; When the signal state of the navigation signal is abnormal, obtaining the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller; If the level state is a high level signal state, and the message receiving state is periodically receiving a heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in a combined state; When the chassis module and the flight module are in the combined state, the first combined interface and the second combined interface of the flight module are in a physically connected state, and the first combined interface receives the first time information sent by the flight controller from the second combined interface based on the first combined interface, so that the chassis module and the flight module achieve time synchronization based on the first time information. When the chassis module and the flight module are in the combined state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be abnormal.

2. The method according to claim 1, characterized in that The flight module further includes a second navigation unit, and the method further includes: When the chassis module and the flight module are in a separated state, acquiring first navigation information of the first navigation unit; Second time information is determined based on the first navigation information, the time represented by the second time information is synchronized with the time represented by the first time information, and the first time information is determined by the flight controller based on the second navigation information obtained from the second navigation unit.

3. The method according to claim 2, characterized in that The method further comprises: If at least one of the following conditions exists: the signal state of the navigation signal is a normal state, the level state is a low level signal state, and the message receiving state is not periodically receiving a heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in the separated state.

4. The method according to claim 2, characterized in that: The method further comprises: In the case where the signal state of the navigation signal is an abnormal state, if the level state is a low level signal state, and the message receiving state is that a heartbeat message is not periodically received from the flight controller, it is determined that the first navigation unit is faulty, and the chassis module and the flight module are in the separated state; Acquire third time information of the base station.

5. The method according to claim 2, characterized in that: The chassis module further includes a radar unit, and the method further includes: The second time information is sent to the radar unit, so that the radar unit and the chassis controller achieve time synchronization based on the second time information.

6. A time synchronization method for a split flying car, characterized in that: The split flying car comprises a flight module and a chassis module, the flight module comprises a flight controller, the chassis module comprises a chassis controller and a first navigation unit, the method is applied to the flight controller, and the method comprises: Periodically sending a heartbeat message to the chassis controller through the second integrated interface of the flight module; The first time information is sent to the chassis controller through the second integrated interface of the flight module, so that when the chassis module and the flight module are in an integrated state, the first integrated interface of the chassis module and the second integrated interface are in a physically connected state, the chassis controller receives the first time information sent by the flight controller from the second integrated interface based on the first integrated interface, and realizes time synchronization with the flight module based on the first time information. When the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, resulting in an abnormal signal state of the navigation signal. The method for determining the integrated state is that the chassis controller performs state detection on the navigation signal of the first navigation unit to obtain the signal state of the navigation signal; when the signal state of the navigation signal is an abnormal state, the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of receiving the heartbeat message from the flight controller are obtained; if the level state is a high level signal state, and the message receiving state is a periodic reception of the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in the integrated state.

7. A time synchronization device for a split flying car, characterized in that: The split flying car comprises a flight module and a chassis module, the flight module comprises a flight controller, the chassis module comprises a chassis controller and a first navigation unit, the device is applied to the chassis controller, and the device comprises: a detection module, configured to perform state detection on the navigation signal of the first navigation unit to obtain a signal state of the navigation signal; a state acquisition module, used for acquiring the level state of the interface level signal at the first integrated interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller when the signal state of the navigation signal is abnormal; A combined state determination module, configured to determine that the chassis module and the flight module are in a combined state if the level state is a high level signal state and the message receiving state is a heartbeat message periodically received from the flight controller; The first time synchronization module is used for, when the chassis module and the flight module are in the integrated state, the first integrated interface and the second integrated interface of the flight module are in a physically connected state, and based on the first integrated interface, receiving the first time information sent by the flight controller from the second integrated interface, so that the chassis module and the flight module can achieve time synchronization based on the first time information; when the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be abnormal.

8. A time synchronization device for a split flying car, characterized in that: The split flying car comprises a flight module and a chassis module, the flight module comprises a flight controller, the chassis module comprises a chassis controller and a first navigation unit, the device is applied to the flight controller, and the device comprises: A heartbeat message sending module, used for periodically sending a heartbeat message to the chassis controller through the second combined interface of the flight module; The first time information sending module is used to send the first time information to the chassis controller through the second integrated interface of the flight module, so that when the chassis module and the flight module are in an integrated state, the first integrated interface of the chassis module and the second integrated interface are in a physically connected state, the chassis controller receives the first time information sent by the flight controller from the second integrated interface based on the first integrated interface, and realizes time synchronization with the flight module based on the first time information. When the chassis module and the flight module are in the integrated state, the flight module has the first navigation unit. The chassis module and the flight module are in a combined state if the chassis controller detects the state of the navigation signal of the first navigation unit and obtains the signal state of the navigation signal; when the signal state of the navigation signal is abnormal, the level state of the interface level signal at the first combined interface of the chassis module and the message receiving state of the heartbeat message received from the flight controller are obtained; if the level state is a high level signal state and the message receiving state is a periodic reception of the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in a combined state.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the time synchronization method of the split flying car as described in any one of claims 1-6.

10. An electronic device, characterized in that: The invention comprises at least one processor and a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the time synchronization method of the split flying car as described in any one of claims 1 to 6 by executing the instructions stored in the memory.

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