Time synchronization method and device for split-type flying car and storage medium

Abstract

The present disclosure relates to a time synchronization method, device and storage medium for a split flying car. The method comprises: detecting a navigation signal of a first navigation unit to obtain a signal state of the navigation signal; in the case that the signal state is an abnormal state, obtaining a level state of an interface level signal at a first integrated interface and a message receiving state; if the level state is a high level signal state and the message receiving state is that a heartbeat message is periodically received from a flight controller, determining that a chassis module and a 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. The present disclosure can quickly and accurately determine the integrated state of the flying car, and can ensure time synchronization of the flight module and the chassis module when the flying car is in the integrated state, and ensure that the time stamps of data, control and logs of each functional module of the flying car are unified.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of flying cars, and particularly relates to a time synchronization method and device for a split flying car, a storage medium and an electronic device. BACKGROUND

[0002] In recent years, urban vehicles are increasing, and highway traffic is increasingly congested, and traffic is under great pressure and cannot meet the development needs of modern society and economy. With the popularity and heat of the concept of low-altitude economy, people are developing and researching low-altitude transportation tools, and 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 of the two. SUMMARY

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

[0005] According to an aspect of the present disclosure, a time synchronization method 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, and the chassis module comprising a chassis controller and a first navigation unit, the method being applied to the chassis controller and comprising:

[0006] detecting the state of the navigation signal of the first navigation unit to obtain the signal state of the navigation signal;

[0007] if the signal state of the navigation signal is an abnormal state, obtaining the level state of the interface level signal at the first split interface of the chassis module, and receiving the message receiving state of the heartbeat message 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 split state;

[0009] In a case where the chassis module and the flight module are in the integrated state, the first integrated interface and a second integrated interface of the flight module are in a physical connection state, and based on the first integrated interface receiving first time information sent by the flight controller from the second integrated interface, the chassis module implements time synchronization with the flight module based on the first time information.

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

[0011] In a case where the chassis module and the flight module are in the disintegrated state, first navigation information of the first navigation unit is acquired.

[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 second navigation information acquired from the second navigation unit.

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

[0014] In a case where at least one of the following conditions is met: 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 that a heartbeat message is not periodically received from the flight controller, it is determined that the chassis module and the flight module are in the disintegrated state.

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

[0016] In a case where the signal state of the navigation signal is an abnormal state, and 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 disintegrated state.

[0017] Third time information of a base station is acquired.

[0018] In some possible implementation manners, 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 implements time synchronization with the chassis controller based on the second time information.

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

[0021] periodically sending a heartbeat packet to the chassis controller through a second body interface of the flying module;

[0022] sending first time information to the chassis controller through the second body interface of the flying module, so that in a case where the chassis module and the flying module are in a body state, a first body interface and the second body interface of the chassis module are in a physical connection state, the chassis controller receives the first time information sent by the flying controller from the second body interface based on the first body interface, and implements time synchronization based on the first time information and the flying module, in the case where the chassis module and the flying module are in the body state, the flying module blocks the first navigation unit, causing the signal state of the navigation signal to be an abnormal state, the determination method of the body state comprising that the chassis controller detects the state of the navigation signal of the first navigation unit to obtain the signal state of the navigation signal, in the case where the signal state of the navigation signal is the abnormal state, obtaining the level state of an interface level signal at the first body interface of the chassis module, and receiving the packet reception state of the heartbeat packet from the flying controller, and if the level state is a high level signal state and the packet reception state is that the heartbeat packet is periodically received from the flying controller, determining that the chassis module and the flying module are in the body state.

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

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

[0025] a state acquisition module configured to, in a case where the signal state of the navigation signal is an abnormal state, acquire a level state of an interface level signal at a first body interface of the chassis module, and acquire a packet reception state of a heartbeat packet from the flying controller;

[0026] a combined state determining 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 that a heartbeat message is periodically received from the flight controller;

[0027] a first time synchronizing module, configured to, in a case where the chassis module and the flight module are in the combined state and the first combined interface and a second combined interface of the flight module are in a physical connection state, receive 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.

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

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

[0030] a first time information sending module, configured to send first time information to the chassis controller through the second combined interface of the flight module, so that, in a case where the chassis module and the flight module are in a combined state and a first combined interface of the chassis module and the second combined interface are in a physical connection state, the chassis controller receives the first time information sent by the flight controller from the second combined interface based on the first combined interface, and the chassis controller and the flight module achieve time synchronization based on the first time information.

[0031] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising at least one processor, and a memory connected with the at least one processor in communication; 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 according to any one of the first aspect 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, and the computer readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the time synchronization method of the split flying car according to any one of the first aspect.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory, but not limiting the present disclosure.

[0034] The present disclosure has the following beneficial effects:

[0035] The navigation signal of the first navigation unit is subjected to state detection to obtain a signal state of the navigation signal; in a case where the signal state of the navigation signal is an abnormal state, a level state of an interface level signal at a first integrated interface of the chassis module and a message receiving state of receiving a heartbeat message from the flight controller are obtained; if the level state is a high level signal state and the message receiving state is periodically receiving the heartbeat message from the flight controller, it is determined that the chassis module and the flight module are in an integrated state; in a case where the chassis module and the flight module are in the integrated state, the first integrated interface and a second integrated interface of the flight module are in a physical connection state, and the first integrated interface receives first time information sent by the flight controller from the second integrated interface, so that the chassis module and the flight module achieve time synchronization based on the first time information; in a case where the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, resulting in that the signal state of the navigation signal is an abnormal state. The present application can accurately and quickly determine whether the chassis module and the flight module are in the integrated state according to the signal state of the navigation signal, in combination with the level state of the interface level signal and the message receiving state of the heartbeat message, and in a case where the chassis module and the flight module are in the integrated state, the chassis module receives the time information of the flight module as a time reference to achieve time synchronization with the flight module. The connection state of the chassis module and the flight module is determined from multiple dimensions, and the time synchronization method is flexibly determined according to the connection state of the chassis module and the flight module, thereby solving the problems of time error and time asynchronization of the chassis module and the flight module in the related art.

[0036] Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0038] Figure 1 A flowchart of a chassis module time synchronization method of a split flying car according to an embodiment of the present disclosure is shown;

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

[0040] Figure 3 A flowchart of a second time information determination method according to an embodiment of the present disclosure is shown;

[0041] Figure 4 A flowchart of a third time information determination method according to an embodiment of the present disclosure is shown;

[0042] Figure 5 A flowchart of a flying module time synchronization method of a split flying car according to an embodiment of the present disclosure is shown;

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

[0044] Figure 7 A structural diagram of a flying module time synchronization device of a split 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 technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0047] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged under appropriate circumstances so that the embodiments of the application described herein can be implemented in other than the order illustrated or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server comprising a list of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such 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 numbers in the drawings represent the same or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0049] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0050] The term "and / or", merely used to describe the associated relationship of associated objects, means that there can be three relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, and C can mean 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 specific embodiments below. Those skilled in the art should understand that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, elements and circuits well known to those skilled in the art are not described in detail, in order to highlight the main idea of the present disclosure.

[0052] Figure 1 A flowchart of a time synchronization method of a split flying car according to an embodiment of the present disclosure is shown, the split flying car comprising a flying module and a chassis module, the flying module comprising a flight controller, the chassis module comprising a chassis controller and a first navigation unit, the method being applied to the chassis controller, as shown in Figure 1 The above method comprises:

[0053] S101, state detection is performed on a navigation signal of a first navigation unit to obtain a signal state of the navigation signal;

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

[0055] The first navigation unit can be a global positioning system (GPS). The signal state of the navigation signal includes a normal state and an abnormal state, and the abnormal state represents a state 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 represents a state that the navigation signal of the first navigation unit exists, the signal is strong, and the signal is stable.

[0056] S102, in a case where the signal state of the navigation signal is the abnormal state, a level state of an interface level signal at a first combination interface of the chassis module is obtained, and a message receiving state of a heartbeat message received from the flight controller is obtained;

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

[0058] In the case that the signal state of the navigation signal is the abnormal state, it is further determined whether the reason for the signal state of the navigation signal being the abnormal state is that the chassis module and the flight module are in the combined state, the level state of the interface level signal at the first combined interface of the chassis module is continuously acquired, and the message receiving state of the heartbeat message received from the flight controller is acquired; when the chassis module and the flight module are in the combined state, the first combined interface of the chassis module and the second combined interface of the flight module are connected, at this time, the level state of the interface level signal of the first combined interface and the second combined interface is the high level state, and when the chassis module and the flight module are in the separated state, the first combined interface of the chassis module and the second combined interface of the flight module are disconnected, at this time, the level state of the interface level signal of the first combined interface and the second combined interface is the low level state. The heartbeat message is periodically sent by the flight controller through the second combined interface, when the chassis module and the flight module are in the combined state, the first combined interface of the chassis module and the second combined interface of the flight module are connected, at this time, the first combined interface and the second combined interface are in communication connection, the chassis controller of the chassis module can receive the heartbeat message periodically sent by the flight controller through the second combined interface through the first combined interface, and the chassis controller of the chassis module acquires the navigation information from the second navigation unit through the first combined interface. When the chassis module and the flight module are in the separated state, the first combined interface of the chassis module and the second combined interface of the flight module are disconnected, at this time, the first combined interface and the second combined interface are not in communication connection, and the chassis controller of the chassis module cannot receive the heartbeat message periodically sent by the flight controller through the second combined 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 the high level signal state and the message receiving state is that the heartbeat message is periodically received from the flight controller, it is determined that the chassis module and the flight module are in the combined state.

[0060] In the case that the signal state of the navigation signal is the abnormal state, the level state of the interface level signal at the first combined interface of the chassis module is the high level signal state, and the message receiving state of the heartbeat message received from the flight controller is that the heartbeat message is periodically received from the flight controller, which indicates that the first combined interface of the chassis module and the second combined interface of the flight module are in the physical connection state and the connection state is stable, and it is determined that the chassis module and the flight module are in the combined state.

[0061] S104, in the case that 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 the physical connection state, the first time information sent by the flight controller is received from the second combined interface based on the first combined interface, so that the chassis module realizes time synchronization based on the first time information and the flight module, in the case that 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 an abnormal state.

[0062] The combined state is that 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] In the case that the chassis module and the flight module are in the 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, and the chassis module takes the first time information as a time reference, and the chassis module realizes time synchronization with the flight module through the first time information.

[0064] Please refer to Figure 2 In some embodiments, the split flight car includes a flight module and a chassis module, 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 for accurate calculation and control of flight attitude, and the driving domain is used for sensing the environment around the flight car and managing 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 assembly, 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 in communication through an Ethernet switch and an aviation cable. In the case that the chassis module and the flight module are in the combined state, the flight controller and the chassis controller are also connected in communication through the Ethernet switch and the aviation cable, and the aviation cable includes a charging cable and a communication cable.

[0065] The technical solution 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 receiving state of the heartbeat message, and in the case of being in the combined state, the chassis module receives the time information of the flight module as a time reference, and time synchronization is achieved with the flight module, the connection state of the flight module and the chassis module is determined through multiple dimensions, the accuracy and efficiency of the connection state determination are improved, and the time synchronization mode is automatically determined through the connection state, the time synchronization method is flexibly determined, the anti-interference performance of the time synchronization is improved, and the problems of time error and time asynchronization between the chassis module and the flight module in the related art are solved.

[0066] Please refer to Figure 3 In some embodiments, the flight module further comprises a second navigation unit, and the method further comprises:

[0067] S201, in the case of the chassis module and the flight module being in a separated state, acquiring first navigation information of the first navigation unit;

[0068] S202, determining second time information based on the first navigation information, the time represented by the second time information being synchronized with the time represented by the first time information, the first time information being determined by the flight controller based on second navigation information acquired from the second navigation unit.

[0069] The separated state is that 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 acquired by the chassis controller from the first navigation unit, and the second navigation information is acquired 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 based on the first navigation information is synchronized with the time represented by the first time information determined based on the second navigation information, so that the chassis module and the flight module achieve time synchronization. The first navigation unit and the second navigation unit can both be a global positioning system, and in this embodiment, the time determined based on the first navigation unit and the second navigation unit is accurate.

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

[0071] The chassis module and the flight module are in a split state, the chassis module and the flight module obtain navigation information from respective navigation systems, time synchronization is realized based on respective navigation information, and the chassis controller can detect the connection state of the chassis module and the flight module in real time, determine whether the chassis module and the flight module are in a split state, and determine a time synchronization scheme in a timely manner, thereby avoiding time delay problems, and solving problems such as time errors and time asynchronization 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 of the navigation signal is a low-level signal state, and the non-message receiving state is that a heartbeat message is not periodically received from the flight controller, it is determined that the chassis module and the flight module are in a split state.

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

[0075] If the chassis module and the flight module are in a split state, the first navigation unit is not blocked by the flight module, the navigation signal of the first navigation unit is normal, the first split interface of the chassis module is physically disconnected from the second split interface of the flight module, the level state of the interface level signal of the first split interface of the chassis module and the second split interface of the flight module is 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] The above technical solution can quickly determine the split state of the flight module and the chassis module if at least one of the following conditions exists: the signal state of the navigation signal is a normal state, the level state of the navigation signal is a low-level signal state, and the non-message receiving state is that a heartbeat message is not periodically received from the flight controller, thereby realizing time synchronization in a split state. The connection state of the flight module and the chassis module is determined in multiple dimensions, the accuracy and efficiency of connection state determination are improved, and the time synchronization mode is automatically determined based on the connection state, thereby improving the anti-interference performance of time synchronization.

[0077] Referring to Figure 4 In some embodiments, the method further comprises:

[0078] S301, in the case that 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 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 split state;

[0079] S302, obtaining third time information of the base station.

[0080] The chassis controller determines that the first integrated interface of the chassis module and the second integrated interface of the flight module are not physically connected through the level state of the interface level signal being a low level signal state and the message receiving state being that the heartbeat message is not received from the flight controller, thereby determining that the chassis module and the flight module are in a split state.

[0081] When the chassis module and the flight module are in a split state, the chassis controller cannot obtain the first time information from the flight controller, the first navigation unit is faulty, the chassis controller cannot obtain the first navigation information from the first navigation unit, and thus cannot determine the second time information. At this time, the chassis controller obtains the third time information from the base station, and the chassis module takes the third time information as a time reference.

[0082] The above technical solution, when the chassis module and the flight module are in a split state and the first navigation unit is faulty, obtains time information from the base station, and flexibly changes the time acquisition method according to the connection mode of the chassis module and the flight module and the fault state of the navigation unit, ensures the time source of the chassis module, and reduces the time error of the chassis module and the flight module.

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

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

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

[0086] In the case that the chassis module and the flight module are in an integrated state, the chassis controller receives the first time information sent by the flight module, takes the first time information as a 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 a time synchronization source within the chassis module, and synchronizes time to the first laser radar through Ethernet in a precision time protocol (PTP) and a generalized precision time protocol (gPTP) manner; the camera uses the time of the trigger exposure moment as the timestamp of the image frame.

[0088] The above technical solution synchronizes time from the chassis controller to the radar unit quickly, solves the problem of clock synchronization operation of the radar unit inside the chassis module of the flying car, and ensures the timestamps of data, control, and logs of each unit are unified.

[0089] Referring to 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 including a flight module and a chassis module, the flight module including a flight controller, and the chassis module including a chassis controller and a first navigation unit, the method being applied to the flight controller, and the method including:

[0090] S401. periodically sending a heartbeat packet to the chassis controller through a second body interface of the flight module;

[0091] S402. sending first time information to the chassis controller through the second body interface of the flight module, so that in a case where the chassis module and the flight module are in a body state, the first body interface and the second body interface of the chassis module are in a physical connection state, the chassis controller receives the first time information sent by the flight controller from the second body interface based on the first body interface, and implements time synchronization based on the first time information and the flight module, in the case where the chassis module and the flight module are in the body state, the flight module blocks the first navigation unit, causing the signal state of the navigation signal to be an abnormal state, the determination method of the body state is that the chassis controller detects the state of the navigation signal of the first navigation unit to obtain the signal state of the navigation signal, in the case where the signal state of the navigation signal is the abnormal state, the level state of the interface level signal at the first body interface of the chassis module is obtained, and the packet reception state of the heartbeat packet received from the flight controller is obtained; if the level state is a high level signal state, and the packet reception state is that the heartbeat packet is periodically received from the flight controller, it is determined that the chassis module and the flight module are in the body state.

[0092] The flight module includes a second navigation unit and a flight controller. The flight controller periodically sends a heartbeat packet to the chassis controller through a second 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 interface of the flight module. Whether the heartbeat packet and the first time information are sent or not is irrelevant to the connection state of the flight module and the chassis module, and the connection state includes a combined state and a separated state.

[0093] The heartbeat packet is periodically sent to enable the chassis controller to detect the physical connection state of the first interface of the chassis module and the second interface of the flight module based on the heartbeat packet.

[0094] In some embodiments, the second navigation unit serves as a time source of the flight module. The flight controller obtains the first time information by analyzing second navigation information sent by the second navigation unit. The second navigation information includes a NEMA packet and a PPS signal. The flight controller serves as a time synchronization source of the flight module. The flight controller sends the first time information to the cockpit controller through an onboard Ethernet switch, so that the cockpit controller implements time synchronization with the flight controller based on the first time information. The synchronization mode includes a Precision Time Protocol (PTP) and a generalized Precision Time Protocol (gPTP). The flight controller further implements time synchronization with the second laser radar through a Time-Sensitive Networking (TSN) of an Ethernet network, implements time synchronization with the millimeter wave radar through a Controller Area Network (CAN) TSN, and triggers the exposure time of the infrared camera and the visible light camera as the time stamp of the image frame.

[0095] The above technical solution 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 packet receiving state of the heartbeat packet. When the chassis module and the flight module are in the combined state, the chassis module receives the time information of the flight module as a time reference, and the flight module and the chassis module are time-synchronized. The above technical solution solves the problems of time error and time asynchronization between the chassis module and the flight module in the related art.

[0096] Please refer to Figure 6 According to a third aspect of the present disclosure, a time synchronization device for a split-type flying car is provided. The split-type 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 and 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 status acquisition module 20 is used to obtain the level status of the interface level signal at the first integrated interface of the chassis module and the message reception status of the heartbeat message received from the flight controller when the signal status of the navigation signal is abnormal;

[0099] The combined state determining module 30 is 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 periodic heartbeat message received from the flight controller;

[0100] The first time synchronization module 40 is used to, when the chassis module and the flight module are in a combined state, have the first combined interface and the second combined interface of the flight module in a physically connected state, and receive 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 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-type flying car is provided. The split-type 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 and includes:

[0102] A heartbeat message sending module 11 is used to periodically send a heartbeat message to the chassis controller through the second combined 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 achieves 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 status 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 abnormal, the level state of the interface level signal at the first integrated interface of the chassis module and the message reception 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 reception state is periodically receiving heartbeat messages 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 is used to acquire first navigation information of the 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. 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 that the heartbeat message is not periodically received from the flight controller.

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

[0110] a fault determination module, configured to determine, when the signal state of the navigation signal is abnormal, that a fault exists in the first navigation unit and that 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 reception state is that a heartbeat message is not periodically received from the flight controller;

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

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

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

[0114] In some embodiments, the apparatus provided by the embodiments of the present disclosure has functions or includes modules that can be used to perform the methods described in the above method embodiments, and the specific implementation can refer to the description of the above method embodiments. For brevity, it will not be repeated here.

[0115] Embodiments of the present application provide a time synchronization device of a split flying car, which can be a terminal or a server. The time synchronization device of the split flying car includes a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or the at least one program is loaded and executed by the processor to implement the time synchronization method of the split flying car as provided in the above method embodiments.

[0116] The memory can be used to store software programs and modules. The processor performs 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. The program storage area can store operating systems, application programs required by 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 magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory can also include a memory controller to provide access for the processor to the memory.

[0117] The method embodiments provided by the embodiments of the present application can be executed in a mobile terminal, a computer terminal, a server, or an electronic device such as a similar computing device. Figure 8 FIG. 1 is a hardware structure block diagram of an electronic device for a time synchronization method of a split flying car provided by the embodiments of the present application. As shown in FIG. 1, the electronic device includes a processor 101, a memory 102, a communication interface 103, and a bus 104. Figure 8As shown, the electronic device 900 can vary greatly in configuration and performance, and can include one or more Central Processing Units (CPU) 910 (processor 910 can include, but is not limited to, a microprocessor, a programmable logic device, a microcontroller, or the like), a memory 930 for storing data, one or more storage media 920 (e.g., one or more mass storage devices) for storing applications 923 or data 922. The memory 930 and the storage media 920 can be of the volatile or persistent storage type. The programs stored in the storage media 920 can include one or more modules, each of which can include a series of instructions for operating on the electronic device. Further, the CPU 910 can be configured to communicate with the storage media 920 and execute a series of instructions in the storage media 920 on the electronic device 900. The electronic device 900 can also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input / output interfaces 940, and / or one or more operating systems 921, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or the like.

[0118] The input / output interface 940 can be configured to receive or transmit data via a network. Examples of the network can 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 interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one example, the input / output interface 940 can be a radio frequency (RF) module configured to communicate with the Internet through a wireless manner.

[0119] Those of ordinary skill in the art can understand that, Figure 8 The structure shown is merely illustrative and does not limit the structure of the electronic device described above. For example, the electronic device 900 can include more or fewer components than those shown in FIG. 9, or have a different configuration than that shown in FIG. 9. Figure 8 For example, the electronic device 900 can include more or fewer components than those shown in FIG. 9, or have a different configuration than that shown in FIG. 9. Figure 8 For example, the electronic device 900 can include more or fewer components than those shown in FIG. 9, or have a different configuration than that shown in FIG. 9.

[0120] The embodiment of the present application further provides a computer readable storage medium, which can be arranged in an electronic device to store at least one instruction or at least one program for implementing a time synchronization method of a split flying car in the method embodiment, 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 of the split flying car provided by the above method embodiment.

[0121] Optionally, in the embodiment, the storage medium can be located in at least one of a plurality of network servers of a computer network. Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media capable of storing program codes.

[0122] According to an aspect of the present application, a computer program product or computer program is provided, which includes computer instructions 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 method provided in the various optional implementation manners.

[0123] According to the embodiments of the time synchronization method, the device, the equipment, the terminal, the server, the storage medium or the computer program of the split flying car provided in the application, the navigation signal of the first navigation unit is detected to obtain the signal state of the navigation signal; in the case that 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 is obtained, and the message receiving state of the heartbeat message received from the flight controller is obtained; if the level state is a high level signal state, and the message receiving state is that the heartbeat message is periodically received from the flight controller, it is determined that the chassis module and the flight module are in the integrated state; in the case that 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 the physical connection state, 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 realize time synchronization based on the first time information, in the case that the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, resulting in that the signal state of the navigation signal is an abnormal state. The application can accurately and quickly determine whether the chassis module and the flight module are in the integrated 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 receiving state of the heartbeat message, and in the case that the chassis module and the flight module are in the integrated state, the chassis module receives the time information of the flight module as a time reference, and the chassis module and the flight module realize time synchronization, thereby solving the problems of time error and time asynchronization of the chassis module and the flight module in the related art.

[0124] It should be noted that the above-mentioned embodiments of the application are in the order of description only, and do not represent the advantages and disadvantages of the embodiments. The above describes the specific embodiments of the application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited 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, multi-task processing and parallel processing are possible or can be advantageous.

[0125] Each of the embodiments in the application is described in a progressive manner, and the same or similar parts of each embodiment can be referred to each other. Each embodiment focuses on the difference 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 part of the method embodiment.

[0126] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or can be instructed to relevant hardware to complete by program, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0127] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A time synchronization method of a split flying car, characterized by, 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, and the method includes: The navigation signal of the first navigation unit is detected to obtain the signal state of the navigation signal; In the case that 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 is obtained, and the message receiving state of the heartbeat message received from the flight controller is received; 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 an integrated state; In the case that 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 physical connection state, 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 realizes time synchronization based on the first time information and the flight module, and in the case that the chassis module and the flight module are in the integrated state, the flight module blocks the first navigation unit, so that the signal state of the navigation signal is an abnormal state.

2. The method of claim 1, wherein, The flight module further includes a second navigation unit, and the method further includes: In the case that the chassis module and the flight module are in a split state, first navigation information of the first navigation unit is obtained; 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 second navigation information obtained from the second navigation unit.

3. The method of claim 2, wherein, The method further includes: 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 split state.

4. The method of claim 2, wherein, The method further includes: In the case that 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 not periodically receiving a heartbeat message 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 split state; Third time information of a base station is obtained.

5. The method of claim 2, wherein, 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 realizes time synchronization based on the second time information and the chassis controller.

6. A time synchronization method of a split flying car, characterized by, 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, and the method includes: periodically sending a heartbeat packet to the chassis controller through a second body interface of the flight module; sending first time information to the chassis controller through the second body interface of the flight module, so that in a case where the chassis module and the flight module are in a body state, a first body interface and the second body interface of the chassis module are in a physical connection state, the chassis controller receives the first time information sent by the flight controller from the second body interface based on the first body interface, and time synchronization is implemented based on the first time information and the flight module, in a case where the chassis module and the flight module are in the body state, the flight module exists occlusion to the first navigation unit, causing the signal state of the navigation signal to be an abnormal state, a determination method of the body state is that the chassis controller detects the state of the navigation signal of the first navigation unit to obtain the signal state of the navigation signal, in a case where the signal state of the navigation signal is the abnormal state, a level state of an interface level signal at the first body interface of the chassis module is obtained, and a packet receiving state of receiving the heartbeat packet from the flight controller is obtained, and in a case where the level state is a high-level signal state and the packet receiving state is that the heartbeat packet is periodically received from the flight controller, it is determined that the chassis module and the flight module are in the body state.

7. A time synchronization device for a split-body air car, characterized by, The split-type flying automobile 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, and the device includes: a detection module configured to detect the state of a navigation signal of the first navigation unit to obtain a signal state of the navigation signal; a state acquisition module configured to, in a case where the signal state of the navigation signal is an abnormal state, acquire a level state of an interface level signal at a first body interface of the chassis module, and acquire a packet receiving state of receiving a heartbeat packet from the flight controller; a body state determination module configured to, in a case where the level state is a high-level signal state and the packet receiving state is that the heartbeat packet is periodically received from the flight controller, determine that the chassis module and the flight module are in a body state; a first time synchronization module configured to, in a case where the chassis module and the flight module are in the body state, a first body interface and a second body interface of the flight module are in a physical connection state, receive first time information sent by the flight controller from the second body interface based on the first body interface, so that the chassis module implements time synchronization based on the first time information and the flight module, in a case where the chassis module and the flight module are in the body state, the flight module exists occlusion to the first navigation unit, causing the signal state of the navigation signal to be an abnormal state.

8. A time synchronization device for a split-body air car, characterized by, The split flying car includes a flying module and a chassis module, the flying module includes a flying controller, the chassis module includes a chassis controller and a first navigation unit, the device is applied to the flying controller, and the device includes: A heartbeat packet sending module is configured to periodically send a heartbeat packet to the chassis controller through a second integrated interface of the flying module; A first time information sending module is configured to send first time information to the chassis controller through the second integrated interface of the flying module, so that in a case where the chassis module and the flying module are in an integrated state, a first integrated interface and the second integrated interface of the chassis module are in a physical connection state, the chassis controller receives the first time information sent by the flying controller from the second integrated interface based on the first integrated interface, implements time synchronization based on the first time information and the flying module, in a case where the chassis module and the flying module are in the integrated state, the flying module blocks the first navigation unit, causing the signal state of the navigation signal to be an abnormal state, the determination method of the integrated state is that the chassis controller detects the state of the navigation signal of the first navigation unit to obtain the signal state of the navigation signal, in a case where the signal state of the navigation signal is an abnormal state, the level state of an interface level signal at the first integrated interface of the chassis module is obtained, and the packet receiving state of the heartbeat packet received from the flying controller is obtained, if the level state is a high level signal state and the packet receiving state is that the heartbeat packet is periodically received from the flying controller, it is determined that the chassis module and the flying module are in the integrated 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 according to any one of claims 1-6.

10. An electronic device, comprising: 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 according to any one of claims 1-6. 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 according to any one of claims 1-6.

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