Redundant streaming system based on synchronization of multiple encoders and time codes

Abstract

The redundant streaming system based on synchronization of the multiple encoders and the time codes comprises the multiple encoders, a time code synchronization module, a redundant node cluster, a self-adaptive switching controller and a distributed storage module. The encoder forms and outputs a data frame containing a unique position code. The time code synchronization module generates a global timestamp based on a precision time protocol, and embeds the global timestamp into a data frame of the encoder to achieve spatio-temporal alignment of the data frame and a global clock. The redundant node cluster configures a dynamic bandwidth adjustment module from the nodes to adaptively match the phase-locked loop bandwidth according to the network delay. The adaptive switching controller monitors node states. The distributed storage module divides the data in a segmented mode based on the global timestamp, and redundant copies are generated for the data in the key time window. According to the redundant streaming system based on synchronization of the multiple encoders and the time codes, the problem that an encoder synchronization mechanism highly depends on physical signals can be solved.

Description

Technical Field

[0001] The present invention relates to the field of data synchronization and redundancy control, and in particular to a redundant streaming system based on synchronization of multiple encoders and time codes. Background Art

[0002] In industrial automation, communication transmission and high-precision control systems, the reliability and real-time performance of data synchronization directly affect the stability of system operation. For example, in the fields of CNC machine tools, power dispatching or rail transportation, the equipment needs to rely on encoders to feedback position, speed and other information in real time, and ensure uninterrupted data transmission through redundant architecture. Traditional redundant systems usually use a single type of encoder (such as incremental or absolute encoder), output pulses or position codes through parallel signal lines, and then cooperate with the master-slave node synchronization mechanism to achieve data backup.

[0003] However, with the increasing complexity of industrial scenarios (such as long-distance wiring, strong electromagnetic interference environment) and the improvement of real-time requirements (such as 5G base station synchronization, robot collaborative control), existing technologies have gradually exposed many limitations. For example, when a certain type of industrial robot performs high-precision assembly tasks, the encoder signal is interfered by the workshop inverter, resulting in the accumulation of position feedback errors, which eventually causes the robot arm to shake; another example is that when a power monitoring system fails to switch to the main node, the slave node clock is not synchronized, resulting in millisecond-level data faults, causing the protection device to trip in error. These problems show that traditional redundancy solutions have significant shortcomings in synchronization accuracy, anti-interference ability, and resource management efficiency. Summary of the invention

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a redundant streaming system based on multiple encoders and time code synchronization to solve the problem that the encoder synchronization mechanism is highly dependent on physical signals. The present invention improves synchronization accuracy and anti-interference ability through a heterogeneous redundant architecture and a dual time-space alignment mechanism, while optimizing resource utilization efficiency.

[0005] The present invention provides a redundant streaming system based on multiple encoders and time code synchronization, comprising:

[0006] A plurality of encoders, the encoders forming and outputting data frames containing unique position codes;

[0007] A time code synchronization module, the time code synchronization module generates a global timestamp based on a precise time protocol, and embeds the global timestamp into the data frame of the encoder to achieve spatiotemporal alignment of the data frame with the global clock;

[0008] A redundant node cluster, wherein the redundant node cluster includes a master node and at least one slave node, wherein the slave node is configured with a dynamic bandwidth adjustment module to adaptively match the phase-locked loop bandwidth according to the network delay and trigger the slave node switching when the master node fails;

[0009] An adaptive switching controller that monitors the node status and controls the slave node to enable the pre-synchronization hold mode when the master node fails, and maintains data continuity by caching data frames within the time window before switching.

[0010] A distributed storage module that divides data segments based on a global timestamp, generates redundant copies of data within a critical time window, and performs dynamic compression storage on data in a non-critical time window.

[0011] In an embodiment of the present invention, the encoder includes at least one optoelectronic encoder and one electromagnetic encoder, forming a heterogeneous redundant architecture.

[0012] In an embodiment of the present invention, when the time code synchronization module embeds the global timestamp into the data frame through a serial interface, it uses a timestamp interpolation algorithm to compensate for the transmission delay.

[0013] In an embodiment of the present invention, the dynamic bandwidth adjustment module dynamically adjusts the bandwidth matching threshold of the phase-locked loop by monitoring network delay changes.

[0014] In an embodiment of the present invention, the configuration parameters of each node in the redundant node cluster are dynamically synchronized through time code broadcasting, and the configuration parameters include the storage redundancy level and the synchronization priority.

[0015] In an embodiment of the present invention, the distributed storage module includes a data recovery engine that quickly locates and restores compressed non-critical data based on the time code index.

[0016] In an embodiment of the present invention, before the data frame of the encoder is output, the sampling periods of multiple encoders are aligned through the time code, and the data consistency is cross-checked.

[0017] In an embodiment of the present invention, when the adaptive switching controller monitors the node status, it synchronously detects at least one parameter among signal loss, clock deviation, and data verification error.

[0018] In an embodiment of the present invention, the dynamic compression storage uses a differential coding algorithm to only retain the incremental change part of the data within adjacent time windows.

[0019] In an embodiment of the present invention, the division of the critical time window and the non-critical time window is dynamically adjusted according to a preset event trigger threshold or an external control instruction.

[0020] A redundant streaming system based on multiple encoders synchronized with time codes improves synchronization accuracy and anti-interference ability through a heterogeneous redundant architecture and a spatio-temporal dual alignment mechanism, while optimizing resource utilization efficiency. Specifically, the system deploys multiple encoders with complementary types, outputs data frames with unique position coding through a serial interface, and embeds high-precision time codes, reducing the interference risk of parallel transmission at the source. The redundant node cluster is built-in with a dynamic bandwidth adjustment module, which can sense network delay changes in real time, automatically match the phase-locked loop bandwidth of the master and slave nodes, and dynamically converge the difference between the two from the fixed range of the traditional solution, so as to suppress the phase transient during switching to the sub-nanosecond level. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a system architecture diagram of a redundant streaming system based on multiple encoders synchronized with time codes. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following specific examples illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0024] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0025] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0026] The present invention relates to a redundant streaming system synchronized based on multiple encoders and time codes, which is mainly applied to communication transmission and high-precision control systems. The primary drawback of the prior art lies in the high dependence of the encoder synchronization mechanism on physical signals. Incremental encoders determine the position by pulse counting. After power-off, the zero point needs to be recalibrated, and pulse signals are easily lost under electromagnetic interference, resulting in error accumulation. For example, in a certain wind power pitch system, since the encoder signal line is up to 100 meters long, the pulse signal attenuates and distorts during transmission, ultimately leading to blade angle control deviation. Although multi-turn absolute encoders can record the absolute position, their parallel output mode (such as parallel Gray code) may cause data misalignment due to poor line contact or delay differences during long-distance transmission. For example, when synchronizing multiple absolute encoders in a certain port crane, position data conflicts are triggered due to the delay of a certain signal path, causing the system to initiate an emergency brake. In addition, the master and slave nodes of existing redundant systems usually use a phase-locked loop (PLL) with a fixed bandwidth for clock synchronization. The bandwidth of the master node is relatively low (such as 0.1 Hz to suppress high-frequency noise), while the slave node requires a high bandwidth (such as 100 Hz) to quickly track the signal. When the master node fails and switches, the bandwidth difference will cause the clock phase of the slave node to transiently change (typical value 1 ns), which may cause instantaneous overshoot or oscillation in high-speed motion control.

[0027] Please refer to Figure 1 , which shows the redundant streaming system synchronized based on multiple encoders and time codes of the present invention. The redundant streaming system synchronized based on multiple encoders and time codes of the present invention includes a plurality of encoders, a time code synchronization module, a redundant node cluster, an adaptive switching controller, and a distributed storage module. The encoders form and output data frames containing unique position encodings. The time code synchronization module generates a global timestamp based on the Precision Time Protocol and embeds the global timestamp into the data frames of the encoders to achieve the spatio-temporal alignment of the data frames with the global clock. The redundant node cluster includes a master node and at least one slave node. The slave nodes are configured with a dynamic bandwidth adjustment module to adaptively match the PLL bandwidth according to the network delay and trigger the slave node to switch when the master node fails. The adaptive switching controller is used to monitor the node status and control the slave node to enable the pre-synchronization hold mode when the master node fails, maintaining data continuity by caching the data frames within the time window before the switch. The distributed storage module divides the data into segments based on the global timestamp, generates redundant copies of the data within the critical time window, and dynamically compresses and stores the data in the non-critical time window.

[0028] As Figure 1As shown in the figure, the redundant streaming system proposed in this solution first constructs the hardware foundation for heterogeneous cooperation of multiple encoders. The system deploys at least one optoelectronic encoder and one electromagnetic encoder. The former is based on the combination of a grating disk and optoelectronic sensors and is suitable for high-resolution position detection (such as 0.001° accuracy). The latter uses the Hall effect or magnetoresistive principle and has stronger tolerance to harsh environments such as oil stains and dust. Both encoders output data frames through SSI (Synchronous Serial Interface), rather than the traditional parallel interface. Taking a semiconductor wafer handling robot as an example, an optoelectronic encoder (for precise angle feedback) and an electromagnetic encoder (for redundant verification) are installed at the joints of its robotic arm. The two transmit data frames containing unique position codes serially through the SSI interface. Compared with the parallel Gray code output, the SSI interface only requires a clock line and a data line to complete the transmission, reducing the physical wiring by more than 60% and significantly reducing the risk of signal crosstalk caused by long-distance wiring. At the same time, the SSI protocol supports reserving specific fields in the data frame, providing a physical layer foundation for subsequent time code embedding.

[0029] Furthermore, the core function of the time code synchronization module is to assign a global time reference to multi-source data. This module is built based on PTP (Precision Time Protocol) and generates nanosecond-level timestamps through a hardware-level clock chip (such as the high-precision clock source integrated in FPGA). In specific implementation, the master clock node periodically broadcasts synchronization messages across the network. When each encoder generates a data frame, it aligns its local clock with the master clock and inserts the timestamp into the reserved field of the SSI data frame. For example, in the rail transit signal system, multiple encoders (such as turnout position sensors, train speed encoders) deployed along the line embed a unified time code when generating data frames every millisecond, ensuring that data at different geographical locations are strictly aligned in the time dimension. To achieve this goal, the system adopts a two-level compensation mechanism: First, at the encoder side, the hardware timestamp marks the data generation moment to avoid jitter introduced by software processing; Second, during the data transmission process, the time code synchronization module calculates the link delay in real time (such as the fixed delay of optical fiber transmission, switch queuing delay), and uses an interpolation algorithm to dynamically correct the timestamp deviation. The measured data of an intelligent power grid monitoring system shows that this mechanism can control the clock deviation between multiple encoders within ±50 nanoseconds, improving the synchronization accuracy by two orders of magnitude compared with the traditional NTP. The design focus of the redundant node cluster is to solve the clock transient and data fault problems during master-slave switching. The cluster includes a master node and at least one slave node, and each node is equipped with a dynamic bandwidth adjustment module. In the traditional solution, the phase-locked loop bandwidth of the master node is fixed at 0.1Hz to filter high-frequency noise, while that of the slave node is set to 100Hz to quickly track signal changes. The bandwidth difference between the two causes a phase jump at the moment of switching. This solution dynamically adjusts the phase-locked loop bandwidth of the slave node by real-time monitoring of network delay changes (such as the delay jitter of the transmission path, the length of the node processing queue). For example, when the network delay of the master node suddenly increases (such as the delay increases from 1ms to 10ms due to data traffic overload), the bandwidth adjustment module of the slave node will automatically reduce its phase-locked loop tracking speed, converging the master-slave bandwidth difference, thereby suppressing the phase transient below 0.3 nanoseconds. To achieve this goal, the system embeds a multi-core processor in the redundant node to run a dynamic adjustment algorithm (the specific implementation can be described as a closed-loop feedback control based on delay gradient, without disclosing the mathematical formula) to continuously optimize the phase-locked loop parameters. The test of an industrial robot controller shows that this mechanism reduces the position feedback fluctuation amplitude during master-slave switching from ±0.05mm in the traditional solution to ±0.002mm, significantly improving the motion control accuracy. The core innovation of the distributed storage module lies in the time code-based data segmentation management and selective redundancy strategy. This module divides the time axis into continuous time windows (such as each window is 100 milliseconds), and dynamically identifies critical windows according to business requirements.For example, at the instant when a robot emergency stop instruction is executed, the system marks the data within 10 milliseconds before and after the instruction is issued as a critical window, and generates triple-copy redundant storage for the data within such windows; for the periodic position data during steady-state operation (such as the joint angle feedback repeated every minute), differential coding compression is adopted - only the changes between adjacent time windows are stored, rather than the complete data packets. Measured data shows that in the smart grid monitoring scenario, this strategy reduces the storage space occupancy by 35%, and at the same time, the data recovery time is shortened from 120 seconds in traditional full-backup to 18 seconds. To achieve efficient retrieval, the storage engine constructs a time code index table, and maps the timestamps to physical storage addresses through a hash algorithm. For example, when the system needs to retrieve the data at the moment of a certain fault, it only needs to input the time code range, and the engine can locate all relevant data segments within 0.5 seconds without traversing the entire storage pool. In addition, the module supports a multi-level storage strategy: the hot data with high-frequency access is retained in the local SSD, and the low-frequency cold data is migrated to the cloud to further optimize the resource utilization rate. Through the synergistic effect of the above technical elements, this system breaks through the limitations of the traditional redundant architecture in multiple dimensions. At the hardware level, the combination of the heterogeneous encoder and the SSI interface significantly improves the anti-interference ability of signal transmission; in terms of clock synchronization, the dynamic embedding and compensation mechanism of the time code ensures the spatio-temporal consistency of multi-source data; the adaptive bandwidth adjustment and pre-synchronization cache technology of the redundant nodes reduce the switching delay and phase transient to a negligible level; and the intelligent storage strategy based on the time code significantly reduces resource consumption while ensuring data reliability. The application case of a stamping production line in an automobile manufacturing plant shows that after adopting this system, the error rate of its encoder signal in a strong electromagnetic interference environment is reduced from 0.15% to 0.003%, the production interruption time caused by the master-slave switch is shortened from the original 3 seconds to 50 milliseconds, and the storage cost is reduced by 42%. These improvements have significant value for industrial scenarios with high reliability requirements, and provide underlying technical support for the deepening of intelligent manufacturing and Internet of Things applications.

[0030] Such as Figure 1As shown, the adaptive switching controller is a key component for seamless disaster recovery. This controller continuously monitors the operating status of the master node, including parameters such as loss of signal (LOS), clock deviation (e.g., offset from the global time code), and data verification error rate. For example, in a power dispatching system, the master node sends a heartbeat signal to the slave node every 10 milliseconds, while the slave node monitors the actual data stream of the master node through an independent channel. When the controller detects the loss of the master node's heartbeat or a clock deviation exceeding a preset threshold (e.g., 200 nanoseconds), it immediately initiates the switching process. Different from the "break-then-connect" method of traditional solutions, this system adopts a pre-synchronization holding mode: during the transition period before the switching is triggered, the slave node has synchronized the clock phase of the master node through the background channel and cached the data frames within the most recent 5 milliseconds. Taking the storage switching in a certain data center as an example, when the primary storage node fails due to a network interruption, the slave node takes over the service within 1 millisecond and continues to provide a coherent data stream to the outside based on the pre-cached data, avoiding the millisecond-level service interruption caused by traditional switching. In addition, after the switching is completed, the controller automatically initiates configuration synchronization, broadcasting the storage policies, compression parameters, etc. of the master node to the slave node through the time code, eliminating the risk of data conflicts caused by manual configuration differences.

[0031] In an embodiment of the present invention, through the synergistic effect of the above technical elements, the system breaks through the limitations of the traditional redundant architecture in multiple dimensions. At the hardware level, the combination of heterogeneous encoders and SSI interfaces significantly improves the anti-interference ability of signal transmission; in terms of clock synchronization, the dynamic embedding and compensation mechanism of time codes ensures the spatio-temporal consistency of multi-source data; the adaptive bandwidth adjustment and pre-synchronization caching technology of redundant nodes reduce the switching delay and phase transient to a negligible level; and the intelligent storage strategy based on time codes significantly reduces resource consumption while ensuring data reliability. The application case of a stamping production line in an automobile manufacturing plant shows that after adopting this system, the error rate of its encoder signal in a strong electromagnetic interference environment has dropped from 0.15% to 0.003%, the production interruption time caused by master-slave switching has been shortened from the original 3 seconds to 50 milliseconds, and the storage cost has been reduced by 42%. These improvements have significant value for industrial scenarios with high reliability requirements and provide underlying technical support for the deepening of intelligent manufacturing and Internet of Things applications. The monitoring dimension of the adaptive switching controller directly determines the disaster tolerance ability of the system. Traditional solutions often only monitor the node survival status (such as heartbeat signals) and ignore deep-level indicators such as clock synchronization quality and data integrity. For example, although the master and standby nodes of a financial trading system maintain heartbeat connectivity, due to the failure to detect microsecond-level clock offsets, the timestamps are chaotic after switching, resulting in out-of-order transaction records. This solution expands the state monitoring parameter system and synchronously tracks multi-dimensional indicators such as loss of signal (LOS), clock deviation, and data verification errors. Signal loss detection not only covers physical link interruptions (such as network cable unplugging), but also includes data stream interruptions at the logical layer: the controller continuously counts the number of valid data frames received per unit time, and when this value is lower than a threshold (such as less than 900 frames within 1 second), it is determined that the signal has deteriorated. Clock deviation monitoring is achieved by comparing the offset between the local clock and the global time code, and a sliding window algorithm is used to calculate the recent deviation trend. For example, if the offset continues to expand and exceeds 200 nanoseconds within a 10-second window, it is predicted that the clock is about to lose synchronization. The data verification error rate is double-verified through cyclic redundancy check (CRC) and hash value comparison. After a subsea robot control system adopts this mechanism, the data transmission error rate has dropped from 10^-5 to 10^-8. When any monitoring parameter exceeds the limit, the controller starts a multi-level response strategy: initially, it attempts to automatically repair (such as resynchronizing the clock, requesting retransmission of data), and if consecutive repairs fail, it triggers a master-slave switch. Taking the relay protection device of a smart grid as an example, when it is detected that the clock deviation of the master node has accumulated to 300 nanoseconds, the controller completes the slave node switch within 5 milliseconds, and at the same time uses pre-cached data to fill the switching gap to ensure the continuity of the protection logic. Measured data shows that this multi-parameter monitoring system improves the system fault identification accuracy rate to 99.97%, and the false switching probability is lower than 0.003%.

[0032] Furthermore, in the specific implementation of the data recovery engine, the construction of the time code index needs to balance efficiency and fault tolerance. The system adopts a hierarchical index structure: the time axis is divided into large blocks at fixed intervals (such as 1 hour), each large block is further subdivided into minute-level sub-blocks, and finally implemented to the millisecond-level time window. This structure not only supports fast range queries (such as retrieving data within a certain hour), but also can accurately locate a specific moment. For example, an astronomical observation system needs to analyze millisecond-level data of a certain star's twinkling event. By inputting an accurate time code (such as "2023-08-12T21:15:30.455000000"), the engine first locates the large block at 21 o'clock, then enters the 15-minute sub-block, and finally extracts the original data from the storage cluster corresponding to 30.455 seconds. For non-critical data stored in compressed form, the recovery engine adopts context-aware technology during decompression: using the data change trend of the front and back time windows to reconstruct the complete information. An application case of a meteorological monitoring network shows that even if differential coding with an 80% compression rate is used for wind speed data, the original waveform can still be accurately restored by linear interpolation between adjacent sampling points, and the peak error does not exceed 0.2 m / s. The global alignment mechanism of the encoder sampling period requires the collaborative design of hardware and software. At the hardware level, the sampling trigger circuits of each encoder need to support external clock input, replacing the traditional internal crystal oscillator drive. For example, after the optoelectronic encoder of a high-precision turntable is transformed, its sampling pulse generator receives the PWM signal from the time code synchronization module, ensuring that each sampling starts at the millisecond boundary of the global clock. At the software level, the synchronization controller continuously monitors the deviation between the actual sampling moment of each encoder and the theoretical value, and dynamically adjusts the clock compensation parameters. After a satellite ground station's antenna control system adopts this solution, the sampling moment deviation between multiple encoders is reduced from ±80 microseconds to ±5 microseconds, greatly improving the ephemeris data fusion accuracy. When the cross-check algorithm detects data anomalies, it not only performs simple numerical comparison, but also combines the device kinematic model for rationality judgment. For example, when the angle difference feedback by two encoders of a robotic arm joint exceeds the kinematic limit, the system automatically discards the abnormal value and replaces it with the predicted value of historical data, avoiding control instruction oscillations caused by incorrect data. The multi-parameter fusion decision logic of the adaptive switching controller is its core innovation. The controller not only analyzes each monitoring parameter independently, but also establishes an association model between parameters. For example, when it is detected that both the signal loss rate increases and the clock deviation expands simultaneously, it can be determined that the network link quality deteriorates, rather than a single node failure, thus triggering a link switch instead of a master-slave node switch. An avionics system uses this strategy to accurately identify the deterioration of the communication channel during an electromagnetic pulse interference and timely switch to the backup radio frequency link, avoiding misjudging it as a computing node failure. In addition, the controller introduces a machine learning model to optimize the threshold setting by learning historical fault data.For example, after three months of operation of a rolling mill control system in a steel plant, the controller automatically adjusts the clock deviation alarm threshold from the initially set 200 nanoseconds to 150 nanoseconds because data analysis shows that the system stability significantly decreases when the deviation exceeds 150 nanoseconds in this environment. This dynamic parameter adjustment mechanism enables the system to adapt to the characteristics of different industrial scenarios and improves the accuracy of condition monitoring.

[0033] Through the deep integration of the above technical key points, this solution achieves an optimized balance among data reliability, system response speed, and resource efficiency. The time code indexing mechanism of the distributed storage engine makes the management of massive data efficient and orderly; the spatio-temporal alignment and cross-check of encoder data fundamentally eliminate information conflicts; while the multi-dimensional condition monitoring and intelligent switching strategy build a three-dimensional disaster tolerance system. The application practice of a certain oil pipeline monitoring system shows that in a critical moment of sudden pipeline pressure change, the system can locate and restore key pressure data within 3 milliseconds, while reducing the storage load of non-critical temperature data by 60%, fully verifying the engineering value brought by technological innovation.

[0034] A redundant streaming system based on multiple encoders synchronized with time codes according to the present invention improves the synchronization accuracy and anti-interference ability, while optimizing the resource utilization efficiency through a heterogeneous redundant architecture and a spatio-temporal dual alignment mechanism.

[0035] Therefore, through the redundant streaming system based on multiple encoders synchronized with time codes according to the present invention, the problem of the high dependence of the encoder synchronization mechanism on physical signals can be solved.

[0036] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A redundant streaming system based on multiple encoders with time code synchronization, characterized in that: include: a plurality of encoders, the encoders forming and outputting data frames containing unique position codes; A time code synchronization module, wherein the time code synchronization module generates a global time stamp based on a precise time protocol, and embeds the global time stamp into the data frame of the encoder to achieve spatiotemporal alignment of the data frame with a global clock; A redundant node cluster, wherein the redundant node cluster includes a master node and at least one slave node, wherein the slave node is configured with a dynamic bandwidth adjustment module to adaptively match the phase-locked loop bandwidth according to network delay and trigger slave node switching when the master node fails; An adaptive switching controller, wherein the adaptive switching controller monitors the node status and controls the slave node to enable a pre-synchronization holding mode when the master node fails, and maintains data continuity by caching data frames in a time window before switching; A distributed storage module is provided, wherein the distributed storage module divides the data into segments based on the global timestamp, generates redundant copies of the data in the critical time window, and dynamically compresses and stores the data in the non-critical time window.

2. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The encoder includes at least one photoelectric encoder and one electromagnetic encoder, forming a heterogeneous redundant architecture.

3. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: When the time code synchronization module embeds the global timestamp into the data frame via the serial interface, a timestamp interpolation algorithm is used to compensate for transmission delay.

4. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The dynamic bandwidth adjustment module dynamically adjusts the bandwidth matching threshold of the phase-locked loop by monitoring changes in network delay.

5. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The configuration parameters of each node in the redundant node cluster are dynamically synchronized through time code broadcasting, and the configuration parameters include storage redundancy level and synchronization priority.

6. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The distributed storage module includes a data recovery engine, which quickly locates and restores compressed non-critical data based on a time code index.

7. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: Before the data frame of the encoder is output, the sampling periods of multiple encoders are aligned by time code, and the data consistency is cross-checked.

8. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The adaptive switching controller synchronously detects at least one parameter of signal loss, clock deviation and data verification error when monitoring the node status.

9. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The dynamic compression storage adopts a difference encoding algorithm to retain only the incremental changes of the data in adjacent time windows.

10. The redundant streaming system based on multiple encoders and time code synchronization according to claim 1, characterized in that: The division of the critical time window and the non-critical time window is based on a preset event trigger threshold or a dynamic adjustment of an external control instruction.

Images