Data synchronous export system and unmanned vehicle

Abstract

The invention provides a data synchronous export system and an unmanned vehicle, and the system comprises a data writing monitoring module which is used for monitoring a writing event and a writing progress of a target file in real time; the target file comprises a file written by vehicle real-time acquired sensing data and / or a log file of a system; the data synchronous monitoring module is used for monitoring a file system mounting state change event in real time; and the data export module is used for exporting the target file to the mobile storage device according to the writing progress of the target file monitored by the data writing monitoring module under the condition that the mounting state change event monitored by the data synchronous monitoring module represents that the mobile storage device is mounted. The export process can be triggered without manual intervention, so that the operation complexity and the labor cost are reduced; export can be flexibly started according to the writing progress of the target file, the export period is shortened, and the method is suitable for mines, vehicles and other scenes with high requirements for data export efficiency.

Description

Technical Field

[0001] This disclosure relates to the fields of smart mining, autonomous driving, and vehicle control technology, and in particular to a data synchronization and export system and an unmanned vehicle. Background Technology

[0002] Existing data export technologies rely on Ethernet transmission, but there are significant compatibility issues in mining applications: while gigabit Ethernet can achieve a transmission speed of 1000Mbps, it takes approximately 4.5 hours to export 2TB of point cloud data collected by a LiDAR sensor, which is far beyond what is practically acceptable. Furthermore, using common tools such as GoodSync (compatible with file synchronization between PC devices) and RSync (compatible with file synchronization between Linux and Unix-like systems) in conjunction with FTP / SFTP or NFS protocols to export data from NAS devices via Ethernet requires maintenance personnel to carry a microcomputer onto the vehicle for operation. This process is not only cumbersome and difficult to operate, but also makes it difficult to secure the microcomputer in the vehicle, preventing the reduction of time through real-time export. Moreover, the unmanned mining trucks in mines have time limits for staying in operation, typically not exceeding one hour, making this data export method completely unsuitable for practical scenarios.

[0003] If hot-swappable hard drives are used to export data, the hard drive must be unmounted in the operating system before it can be removed, otherwise the hard drive and data may be damaged, making the operation cumbersome. When backing up and exporting data using tools such as RSync, maintenance personnel cannot determine whether the hard drive used for backup is mounted, and manually interrupting the data export process in the operating system will increase the difficulty of operation. Summary of the Invention

[0004] This disclosure provides a data synchronization and export system and an unmanned vehicle to solve the problem that existing data export methods are time-consuming and cannot adapt to mining application scenarios.

[0005] In view of the above problems, in a first aspect, the present disclosure provides a data synchronization and export system, comprising: The data write monitoring module is used to monitor the write events and write progress of the target file in real time; the target file includes the file containing the real-time sensor data collected by the vehicle and / or the log file of the system. The data synchronization monitoring module is used to monitor file system mount status change events in real time. The data export module is used to export the target file to the mobile storage device according to the write progress of the target file monitored by the data write monitoring module when the mount status change event detected by the data synchronization monitoring module indicates that a mobile storage device is mounted. In conjunction with the first aspect, in one possible implementation, the system further includes: a database; The data write monitoring module is used to add a corresponding target file management record to the database when it detects a write event of the target file and the write progress indicates that the target file has been written.

[0006] In conjunction with the first aspect, in one possible implementation, the data export module is used to query the target file management record to see if there is a target file that has not yet been exported when the mount status change event detected by the data synchronization monitoring module indicates that a mobile storage device is mounted; if so, the target file is exported to the mobile storage device.

[0007] In conjunction with the first aspect, in one possible implementation, the data writing monitoring module is further configured to monitor for deletion events of the target file; and upon detecting a deletion event of the target file, to update the target file management record in the database; or, The data write monitoring module is also used to update the target file management record in the database after the data export module has finished exporting the target file to the mobile storage device.

[0008] In conjunction with the first aspect, in one possible implementation, the system further includes: a prompting module; The prompting module is used to provide a first prompt that the file export is complete when the data export module queries the target file management record and finds that no target file has been exported yet.

[0009] In conjunction with the first aspect, in one possible implementation, the data export module is configured to, after exporting the target file to the mobile storage device, add a preset pause time interval before querying whether there is another target file that has not yet been exported.

[0010] In conjunction with the first aspect, in one possible implementation, the system further includes: a prompting module; The prompting module is used to provide a second prompt that the file is being exported during the process of the data export module exporting the target file to the removable storage device; and After the data export module finishes exporting the target file to the mobile storage device, or during a preset pause time interval before checking whether there is another target file that has not yet been exported, a first prompt indicating that the export of the file is complete is made.

[0011] In conjunction with the first aspect, in one possible implementation, the data export module is further configured to, after exporting the target file to the mobile storage device, determine whether the data synchronization monitoring module has detected a mount status change event indicating that the mobile storage device has been unloaded, before querying whether there is another target file that has not yet been exported. If no target file is detected, check if there is another target file that has not yet been exported.

[0012] In conjunction with the first aspect, in one possible implementation, the system further includes: a data cleaning module and / or a log statistics module; The data cleaning module is used to delete the target file after the data export module has finished exporting the target file to the mobile storage device; The log statistics module is used to generate and store log files for operations on the system.

[0013] In a second aspect, an unmanned vehicle is provided, comprising: a data synchronization and export system as described in the first aspect or any possible implementation thereof.

[0014] The beneficial effects of the embodiments disclosed herein include: This disclosure provides a data synchronization and export system and an unmanned vehicle, comprising: a data write monitoring module for real-time monitoring of write events and write progress of target files; the target files include files written to the vehicle's real-time collected perception data and / or system log files; a data synchronization monitoring module for real-time monitoring of file system mount status change events; and a data export module for exporting the target files to the mobile storage device based on the write progress of the target files monitored by the data write monitoring module when the mount status change event detected by the data synchronization monitoring module indicates the presence of a mobile storage device mounted. The data synchronization and export system provided in this disclosure can achieve real-time data export relying solely on a mobile storage device. By automatically monitoring the mount status of the mobile storage device, the export process can be triggered without manual intervention, significantly reducing operational complexity and labor costs. For dynamically generated target files such as perception data and system log files collected in real-time by the unmanned vehicle, export can be flexibly initiated based on the write progress of the target files, significantly shortening the export cycle, and is particularly suitable for scenarios with high requirements for data export efficiency, such as mines and vehicle-mounted applications. Attached Figure Description

[0015] Figure 1 A structural diagram of a data synchronization and export system provided in this embodiment of the disclosure; Figure 2 A flowchart illustrating data synchronization and export provided in this embodiment of the disclosure; Figure 3This is a schematic diagram of a data synchronization and export system architecture provided in an embodiment of this disclosure. Detailed Implementation

[0016] This disclosure provides a data synchronization and export system and an unmanned vehicle. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0017] This disclosure provides a data synchronization and export system, such as... Figure 1 As shown, it includes: The data write monitoring module 101 is used to monitor the write events and write progress of the target file in real time; the target file includes the file containing the real-time sensor data collected by the vehicle and / or the system's log file. The data synchronization monitoring module 102 is used to monitor file system mount status change events in real time. The data export module 103 is used to export the target file to the mobile storage device according to the writing progress of the target file monitored by the data write monitoring module 101 when the mount status change event monitored by the data synchronization monitoring module 102 indicates that the mobile storage device is mounted.

[0018] In this embodiment of the disclosure, in a mining operation scenario, the unmanned vehicle can be an unmanned mining truck. Data export can export and store key data collected by the unmanned vehicle, such as point cloud data and system logs collected by the unmanned mining truck, to avoid data loss due to local storage overflow or unmanned vehicle malfunction. The exported data can be used for in-depth analysis on professional terminals (such as algorithm optimization, fault diagnosis, and operation effect evaluation), without being limited by the computing power of on-site equipment or the operating status of the unmanned vehicle. As a core operating device, the unmanned mining truck needs to operate continuously and efficiently, but existing data export technologies rely too heavily on Ethernet transmission, which has a significant compatibility contradiction with the actual needs of this scenario: although the gigabit Ethernet commonly used in mining environments has a transmission speed of 1000Mbps, the lidar sensors on the unmanned mining truck will continuously collect massive amounts of point cloud data during operation, with a single batch of data reaching 2TB. Even at the theoretical full speed transmission, a complete export still takes about 4.5 hours, far exceeding the timeliness requirements of data export in mining operations; and current mainstream file synchronization tools such as GoodSync (mainly adapted for file synchronization between PC devices) and RSync (commonly used for Linux and Unix-like systems) are not suitable for this scenario. (Data synchronization between ix systems) When exporting mining card data stored in NAS devices using FTP / SFTP or NFS protocols, maintenance personnel need to carry a microcomputer to the work site and operate it on the vehicle. This is not only affected by the complex terrain of the mine, making the equipment transportation and connection process cumbersome and difficult to operate, but also because the unmanned mining truck will be accompanied by bumps and vibrations during mining operations, making it difficult to keep the microcomputer stable in the vehicle and achieve real-time data export to shorten the time. In order to ensure operational efficiency, the dwell time of the unmanned mining truck in operation is usually strictly limited to 1 hour, which cannot meet the time requirements of traditional Ethernet export methods. Therefore, this data export solution is not applicable in actual mining operation scenarios.

[0019] In this embodiment, by real-time monitoring of data writing and storage device mounting status, the dynamic export of target files to mobile storage devices is achieved, solving the problems of real-time performance and automation in data export. The data writing monitoring module 101 is used to monitor the writing events and progress of target files in real time. Target files include: files written from perception data collected in real time by the autonomous vehicle through sensors (such as LiDAR, cameras, etc.) (such as point cloud data files, image sequence files), and log files generated during the operation of the autonomous vehicle (such as device status logs, error logs, etc.). For example, the data writing monitoring module 101 can capture writing events such as the creation, data appending, and completion of writing of target files through file system hooks or real-time monitoring interfaces (such as Linux's inotify mechanism), and record the writing progress in real time (such as the number of bytes written, the proportion of the total expected size, etc.), providing accurate triggering basis for subsequent target file export. The data synchronization monitoring module 102 is used to monitor file system mounting status change events in real time and capture changes in the mounting status of mobile storage devices in the file system. The monitoring object can be the mounting and unmounting status changes of mobile storage devices (such as USB flash drives, external hard drives, portable SSDs, etc.). For example, the data synchronization monitoring module 102 monitors the system's storage device management service (such as Linux's udev mechanism). When a mobile storage device is connected and mounted (i.e., recognized by the Linux system as a readable and writable storage path), the data synchronization monitoring module 102 will capture this state change event and pass the information to the data export module 103 as a prerequisite for the export operation.

[0020] Furthermore, the data export module 103, when the data synchronization monitoring module 102 detects a mount status change event indicating that a mobile storage device is mounted, exports the target file to the mobile storage device based on the write progress monitored by the data write monitoring module 101. The export process only begins after the data synchronization monitoring module 102 confirms that the mobile storage device has been successfully mounted, avoiding export failures due to the mobile storage device not being ready. Combining the write progress provided by the data write monitoring module 101, the export method can be flexibly selected. For example, for a target file being written, a streaming transfer method (suitable for real-time processing of large files) can be used; for a target file that has been written completely, it can be exported entirely, ensuring data integrity and export efficiency. Thus, automatic data migration from the unmanned vehicle system to the mobile storage device can be achieved without manual operation, especially suitable for scenarios with limited operating time, such as unmanned mining trucks, solving the problems of excessively long processing times and complex operations associated with traditional Ethernet export.

[0021] This application embodiment enables real-time data export relying solely on mobile storage devices. By automatically monitoring the mounting status of the mobile storage device, export can be triggered without manual intervention, reducing operational complexity and labor costs. Mobile storage devices offer faster data export speeds; for example, USB 3.0 theoretically has a transfer speed of 5Gbps, and the transfer time for 2TB of data is approximately one hour, reducing the transfer time by 75% compared to traditional methods. For dynamically generated target files such as real-time collected perception data and system logs from unmanned vehicles, export can be flexibly based on the target file's writing progress, avoiding the lag of waiting for the target file to be fully generated before exporting in traditional methods, thus shortening the data export cycle. This is particularly suitable for scenarios requiring rapid data export, such as mines and vehicles.

[0022] In another embodiment of this disclosure, such as Figure 1 As shown, the system also includes: database 104; The data write monitoring module 101 is used to add a corresponding target file management record to the database 104 when a write event of the target file is detected and the write progress indicates that the target file has been written.

[0023] In this embodiment, database 104 serves as the storage medium for target file management records, used to structurally store key information related to the target file. This includes, for example, the target file's identifier (e.g., filename, ID), generation time, storage path, file size, write completion status, and export status. Database 104 can replace fragmented local records, improving the convenience and accuracy of target file management through its efficient retrieval and sorting capabilities. The data write monitoring module 101 monitors target file write events in real time, continuously tracking the target file write progress. It determines whether the write progress meets the completion conditions (e.g., write activity terminated, target file size stable and as expected, write close event generated), avoiding accidental record triggering when the target file is not fully written. After confirming the target file has been written, it sends an instruction to database 104 to add a corresponding target file management record, ensuring the target file management record matches the actual usable target file. Database 104 can record and retain target file management information, facilitating subsequent querying of key attributes such as target file generation time and storage path, supporting full lifecycle data tracking. After the target file is completely written, a corresponding target file management record is added to ensure that the target file management record in Database 104 is consistent with the actual usable data, thus avoiding export failures or data incompleteness due to incomplete target file writing. The structured target file management record in Database 104 can be quickly integrated with subsequent data export, filtering, and statistical operations, providing data support for batch processing or automated workflows.

[0024] In another embodiment of this disclosure, the data export module 103 is used to query the target file management record to see if there is a target file that has not yet been exported when the mount status change event detected by the data synchronization monitoring module 102 indicates that a mobile storage device is mounted; if so, the target file is exported to the mobile storage device.

[0025] In this embodiment, the data export module 103 uses the successful mounting of the mobile storage device as a trigger condition. By querying the target file management records in the database 104, it filters out target files that have not yet been exported and completes the export to the mobile storage device. The data export module 103 receives status feedback from the data synchronization monitoring module 102 in real time. When a mounting status change event clearly indicates that the mobile storage device has been successfully mounted (e.g., the device is recognized by the system and a read / write path is allocated), the subsequent export process is initiated. In mining operations, after maintenance personnel connect the mobile storage device to the unmanned mining truck, they can quickly respond to the mounting event of the mobile storage device without additional manual triggering, meeting the needs of efficient on-site operations. The data export module 103 automatically accesses the target file management records in the database 104. For example, by searching the target file export status field, it filters out target files that have not yet been exported. After confirming the list of target files that have not yet been exported, the data export module 103 can export the corresponding target files from the original storage location (e.g., the mining truck's local storage) to the mounted mobile storage device according to preset rules (e.g., the order of target file generation time and file size). During the target file export process, file integrity is simultaneously verified (e.g., checking target file size and checksum). By querying target file management records, target files that have not yet been exported can be accurately identified, preventing the same target file from being exported multiple times, thus saving storage space and export time. Targeted export of unsynchronized target files ensures that all target files that have been written are properly exported, avoiding data loss. Furthermore, no manual screening of target files is required, adapting to the operational needs of unmanned mining trucks with short-term stays in mining scenarios.

[0026] In another embodiment of this disclosure, the data writing monitoring module 101 is further configured to monitor for deletion events of the target file; and upon detecting a deletion event of the target file, update the target file management record in the database 104; or, The data write monitoring module 101 is also used to update the target file management record in the database 104 after the data export module 103 has finished exporting the target file to the mobile storage device.

[0027] In this embodiment, the data write monitoring module 101 synchronously updates the target file management record in the database 104 upon detecting a target file deletion event. It also updates the corresponding target file management record after the target file export is completed. The data write monitoring module 101 continuously monitors for target file deletion events. Upon detecting a target file deletion event (such as a file being manually deleted or automatically cleaned up in local storage), it immediately triggers an update operation in the database 104. It can send an update command to the database 104 to mark the status of the corresponding target file management record as "deleted," or supplement information such as the deletion time and reason (if the system can capture it), ensuring that the target file management record is synchronized with the actual target file status. During mining operations, if some expired logs or redundant data are cleaned up, the database 104 can record this status in real time, avoiding the query of deleted target files during subsequent export and reducing invalid operations. The data export module 103 can send an export completion signal back to the data write monitoring module 101 after successfully exporting the target file to the mobile storage device. After receiving the signal, the data write monitoring module 101 automatically accesses the database 104, locates the target file management record corresponding to the target file, and updates its target file export status field to "exported." It can also supplement information such as export time and removable storage device identifier. The updated target file management record can be directly used as the basis for subsequent queries and filtering, ensuring that when a removable storage device is mounted, exports are only initiated for target files that have not yet been exported, avoiding duplicate operations. Real-time synchronization of target file deletion and export completion status prevents invalid records or outdated statuses from remaining in the database 104, ensuring that the target file management record matches the actual target file status. This prevents invalid exports of deleted files or duplicate exports of already exported files, improving data processing efficiency.

[0028] In another embodiment of this disclosure, the system further includes: a prompting module 105; The prompt module 105 is used to provide a first prompt that the file export is complete when the data export module 103 finds that no target file has been exported in the target file management record.

[0029] In this embodiment, after the data export module 103 queries the target file management record and confirms that there are no target files yet to be exported, the prompt module 105 will trigger a first prompt indicating that the export is complete. The prompt module 105, as a feedback carrier of the export status, is responsible for transmitting a signal to maintenance personnel that the target file has been exported. This allows maintenance personnel to quickly obtain the operation result and improves the certainty of on-site operations. For example, to help maintenance personnel know when to unplug the mobile storage device, the prompt module 105 may include a buzzer. If no target files have been found to be exported, the first prompt can be an 800Hz buzzer, indicating that the mobile storage device should be unplugged. This intuitively informs maintenance personnel that the target file has been exported, eliminating the need for manual querying or waiting. The first prompt allows for quick confirmation of the export result, lowering the operational threshold and adapting to the operational needs of unmanned mining trucks with short dwell times in mining scenarios.

[0030] In another embodiment of this disclosure, the data export module 103 is used to add a preset pause time interval after the target file has been exported to the mobile storage device and before checking whether there is another target file that has not yet been exported.

[0031] In this embodiment, after exporting a single target file to a mobile storage device, the data export module 103 sets a preset pause time interval before initiating the query and export process for the next target file that has not yet been exported. After completing the transmission of a single target file, the data export module 103 can determine whether the target file has been successfully exported by verifying the file size, checking the checksum (e.g., MD5), and confirming write feedback from the mobile storage device. After exporting, the corresponding target file management record in the database 104 is updated synchronously to ensure status synchronization before entering the pause process. Once the target file is confirmed to have been successfully exported, the module automatically triggers a preset pause mechanism. The pause duration can be configured according to the actual scenario (e.g., 10-60 seconds, adapting to the device buffering needs after exporting large files in mining scenarios). During the pause, some system read / write resources are released, allowing the mobile storage device to complete data write confirmation and the unmanned mining card storage system to organize the cache, avoiding the accumulation of device pressure caused by continuous exports. After the pause time ends, the data export module 103 queries the target file management record according to predetermined logic to select the next target file that has not yet been exported. Preset pause intervals can prevent storage devices (mobile storage devices, local storage of unmanned mining cards) from overheating and excessive load due to continuous high-frequency read and write, reduce the risk of data transmission interruption or target file corruption, and adapt to the equipment stability requirements of the bumpy mining environment.

[0032] In another embodiment of this disclosure, the system further includes: a prompting module 105; The prompt module 105 is used to provide a second prompt that the file is being exported during the process of the data export module 103 exporting the target file to the removable storage device; and After the data export module 103 finishes exporting the target file to the mobile storage device, or during a preset pause time interval before checking whether there is another target file that has not yet been exported, the first prompt that the export of the file is complete is given.

[0033] In this embodiment, the prompting module 105 issues a second prompt indicating that the file is being exported during the process of the data exporting module 103 transferring the target file to the mobile storage device; and issues a first prompt indicating that the file export is complete after the target file export is completed, or during a preset pause time interval between the completion of the export and the next round of querying for unexported files. The prompting module 105 serves as a status feedback carrier for the entire data export process, responsible for conveying key information about exporting and export completion to maintenance personnel. It provides clear operational guidance to maintenance personnel, ensuring a smooth export process. For example, the prompting module 105 may include a buzzer. During the process of the data exporting module 103 exporting the target file to the mobile storage device, the second prompt indicating that the file export is in progress is issued. The second prompt can be a buzzer at 400Hz every 2 seconds. After the data exporting module 103 completes the export of the target file to the mobile storage device, or during a preset pause time interval before querying for the existence of another unexported target file, the first prompt indicating that the file export is complete is issued, and the buzzer frequency changes to 800Hz. Maintenance personnel can use the buzzer sound to indicate when the target file has been exported to the removable storage device, either after the export is complete or within a preset pause interval, thus reducing waiting time. The second "Exporting" prompt prevents accidental disconnection of the removable storage device and potential data corruption, while the first "Export Complete" prompt clearly indicates that the operation is safe, reducing human error. The prompts allow users to judge the process progress without requiring specialized skills, lowering the operational threshold in the complex environment of mines and improving maintenance efficiency.

[0034] In another embodiment of this disclosure, the data export module 103 is further configured to determine whether the data synchronization monitoring module 102 has detected a mount status change event that represents the unloading of the mobile storage device after the target file has been exported to the mobile storage device and before querying whether there is another target file that has not yet been exported. If no target file is detected, check if there is another target file that has not yet been exported.

[0035] In this embodiment, after a single target file is exported, the data export module 103 adds a mobile storage device mounting status verification step before querying the next unexported target file. If the data synchronization monitoring module 102 does not detect a mobile storage device unloading event, the next round of querying unexported target files is initiated. The data export module 103 sends a status query request to the data synchronization monitoring module 102 to obtain feedback on the current mobile storage device mounting status change event. It confirms whether there is a mobile storage device unloading mounting status change event, i.e., whether the mobile storage device is still stably mounted in the unmanned mining card system. During mining operations, if maintenance personnel do not remove the mobile storage device, the process can automatically continue exporting the remaining target files without manual intervention. If the mobile storage device has been unloaded, the export can be paused to avoid failure, improving the flexibility of on-site operations. It also avoids the next round of export failure due to accidental unloading of the mobile storage device, especially adapting to the instability of mobile storage device connections in the bumpy environment of a mine. Pre-verification of mounting status change events prevents export operations from being initiated after the mobile storage device is disconnected, reducing the probability of data transmission interruption and target file corruption. The operating environment of unmanned mining trucks is complex, and maintenance personnel may temporarily plug and unplug equipment as needed. The verification process can flexibly respond to changes in the status of mobile storage devices to avoid invalid operations.

[0036] In another embodiment of this disclosure, the system further includes: a data cleaning module 106 and / or a log statistics module 107; The data cleaning module 106 is used to delete the target file after the data export module 103 has finished exporting the target file to the mobile storage device; The log statistics module 107 is used to generate and store log files for operations on the system.

[0037] In this embodiment, the data cleaning module 106 automatically deletes the original target file after it is exported, preventing the local storage of the unmanned mining truck from being occupied by massive amounts of data. This ensures sufficient storage space for subsequent data collection and operation of the unmanned vehicle, adapting to the long-term operational needs of mines. It eliminates the need for manual cleaning of expired data, reducing on-site operation steps and preventing equipment failures due to storage overflow, thus improving operational efficiency. The log statistics module 107 generates and stores log files for system operations. The log files record the entire system operation process, facilitating subsequent troubleshooting and data flow tracking, meeting the safety compliance and management requirements of mining scenarios. The data cleaning module 106 prevents storage redundancy from slowing down equipment operation, while the log statistics module 107 provides data support for system optimization, providing dual protection for the long-term stable operation of the system.

[0038] like Figure 2 As shown, Figure 2 A flowchart for data synchronization and export provided in this embodiment of the disclosure includes the following steps: S201. Monitor the write events and write progress of the target file in real time, and add the corresponding target file management record to the database; S202. Real-time monitoring of file system mount status change events; S203. If the mount status change event indicates that a mobile storage device is mounted, query the target file management record in the database to see if there is a target file that has not yet been exported; if yes, proceed to step S204; if no, proceed to step S205. S204. During the process of exporting the target file to the removable storage device, a second prompt will appear indicating that the file is being exported. S205. After exporting the target file to the removable storage device is completed, or during a preset pause time interval before checking whether there is another target file that has not yet been exported, a first prompt indicating that the export of the file is complete is made; and the exported target file is deleted and the corresponding target file management record is updated. S206. Determine whether a mount status change event indicating the unmounting of the removable storage device has been detected; if yes, return to step S202; if no, return to step S203. like Figure 3 As shown, Figure 3 This is a schematic diagram of a data synchronization and export system architecture provided in an embodiment of this disclosure. Figure 3The layered structure of the data synchronization and export system is demonstrated, including at least one of the following: Service Layer 301, General Layer 302, and System Layer 303. Service Layer 301 is the core structure directly supporting the data export business. Service Layer 301 includes at least one of the following: Data Monitoring 3011, Data Synchronization 3012, Data Cleaning 3013, and Log Statistics 3014. Specifically, for Data Monitoring 3011, corresponding to the data write monitoring module 101, it is responsible for real-time monitoring of write events, write progress, and deletion events of the target file, providing a basis for subsequent export and cleanup. For Data Synchronization 3012, corresponding to the data synchronization monitoring module 102 and the data export module 103, its core function is to real-time monitor file system mount status change events, trigger data export to the mobile storage device, and synchronize the target file management records in the database. For Data Cleaning 3013, corresponding to the data cleanup module 106, it is used to automatically delete the original target file after the target file is successfully exported to the mobile storage device, releasing the local storage resources of the autonomous vehicle system. For log statistics 3014, corresponding to log statistics module 107, it records the entire process of operations (such as file writing, exporting, cleaning, device mounting, etc.), generates log files and stores them, supporting subsequent traceability and auditing. The general layer 302 is located between the service layer 301 and the system layer 303, providing the necessary basic operational capabilities for the service layer 301. The general layer 302 includes at least one of the following: file operation 3021, database operation 3022, time operation 3023, and buzzer operation 3024. File operation 3021 supports read, write, delete, and export operations on target files for service layer data monitoring 3011, data synchronization 3012, and data cleaning 3013. Database operation 3022 supports the service layer 300 in adding, updating, and querying records for target file management. Time operation 3023 supports the preset pause interval and export duration statistics, and other time-related logic of the data export module 103. The buzzer operation 3024 supports the sound prompt function of the prompt module 105 (such as a buzzer prompt during or after export), adapting to the noisy environment of a mine. The system layer 303 is located at the bottom of the architecture and is the interface layer for interaction between the system and hardware / basic systems. The system layer 303 includes at least one of the following: USB 3031, Ethernet 3032, other access devices 3033, buzzer 3034, file system 3035, and system call 3036. USB 3031 corresponds to the access interface for mobile storage devices and is the core transmission carrier (relying on USB 3.0 to achieve 5Gbps high-speed transmission), supporting the export of data to mobile storage devices. Ethernet 3032 corresponds to the traditional data export transmission interface. Other access devices 3033 is a reserved expansion interface supporting the access of other types of storage devices. The buzzer 3034 hardware device implements the hardware output of the prompt function through the buzzer operation 3024.The file system 3035 is responsible for storing target files and provides the underlying support for basic operations such as file creation, writing, reading, and deletion. It is the underlying dependency of the data write monitoring module 101 for monitoring target file write events, the data export module 103 for reading target files, and the data cleanup module 106 for deleting target files. Furthermore, the file system 3035 manages the mounting and unmounting process of removable storage devices and is the underlying dependency of the data synchronization monitoring module 102 for monitoring the device mounting status. System call 3036 is the interface component of the system layer 303 and serves as a bridge for interaction between the service layer 301, the general layer 302, and the operating system kernel.

[0039] Based on the same disclosed concept, embodiments of this disclosure provide a computer-readable storage medium storing a computer program that is executed by a processor to produce a data synchronization export system as described in any of the above embodiments.

[0040] This disclosure provides an unmanned vehicle, including a data synchronization and export system as described in any of the above embodiments.

[0041] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0042] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0043] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0044] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0045] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A data synchronization export system, characterized by, The system comprises: a data writing monitoring module, configured to monitor a writing event and a writing progress of a target file in real time; the target file comprises a file in which real-time sensing data collected by a vehicle is written and / or a log file of the system; a data synchronization monitoring module, configured to monitor a mounting state change event of a file system in real time; a data exporting module, configured to, when the mounting state change event monitored by the data synchronization monitoring module indicates that a mobile storage device is mounted, export the target file to the mobile storage device according to the writing progress of the target file monitored by the data writing monitoring module.

2. The system of claim 1, wherein, The system further comprises a database. The data writing monitoring module is configured to, when the writing event of the target file is monitored and the writing progress indicates that the writing of the target file is completed, add a corresponding target file management record in the database.

3. The system of claim 2, wherein, The data exporting module is configured to, when the mounting state change event monitored by the data synchronization monitoring module indicates that the mobile storage device is mounted, query whether there is a target file that has not been exported in the target file management record. If there is, the target file is exported to the mobile storage device.

4. The system of claim 2, wherein, The data writing monitoring module is further configured to monitor a deletion event of the target file, and update the target file management record in the database when the deletion event of the target file is monitored, or The data writing monitoring module is further configured to update the target file management record in the database after the data exporting module completes exporting the target file to the mobile storage device.

5. The system of claim 2, wherein, The system further comprises a prompt module. The prompt module is configured to, when the data exporting module queries that there is no target file that has not been exported in the target file management record, perform a first prompt of completion of exporting the file.

6. The system of any one of claims 1-5, wherein, The data exporting module is configured to, after completing exporting the target file to the mobile storage device, add a preset pause time interval before querying whether there is a next target file that has not been exported.

7. The system of claim 6, wherein, The system further comprises a prompt module. The prompt module is configured to, during the process in which the data exporting module exports the target file to the mobile storage device, perform a second prompt of exporting the file; and after the data exporting module completes exporting the target file to the mobile storage device, or within the preset pause time interval before querying whether there is a next target file that has not been exported, perform the first prompt of completion of exporting the file.

8. The system of any one of claims 1-5, wherein, The data exporting module is further configured to, after completing exporting the target file to the mobile storage device, determine whether the data synchronization monitoring module monitors a mounting state change event indicating that the mobile storage device is unmounted before querying whether there is a next target file that has not been exported. If not, it is queried whether there is a next target file that has not been exported.

9. The system of any one of claims 1-5, wherein, The system further comprises a data cleaning module and / or a log statistics module. The data cleaning module is configured to delete the target file after the data exporting module finishes exporting the target file to the mobile storage device. The log statistics module is configured to generate a log file for operations of the system and store the log file.

10. An unmanned vehicle, characterized in that A data synchronization exporting system as claimed in any one of claims 1 to 9.

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