Time synchronization method and device applied to tower crane and electronic equipment
By sending periodic synchronization signals and injecting timestamp information to multiple sensors of the tower crane, and combining the sensor sampling interval and clock drift rate, the problem of decreased sensor synchronization accuracy was solved, achieving high-precision time synchronization and improving the stability of automated operation and automatic driving.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- KYLAND TECH CO LTD
- Filing Date
- 2025-12-25
- Publication Date
- 2026-04-28
AI Technical Summary
Existing technologies struggle to maintain high synchronization accuracy of multiple sensors in tower cranes during long-term operation, leading to a decrease in the accuracy of automated operation and autopilot functions.
By sending the same periodic synchronization signal to multiple sensors and injecting timestamp information in each synchronization cycle, combined with the sensor sampling interval and clock drift rate, joint synchronization of synchronization trigger and absolute timestamp is achieved, while time synchronization is performed separately.
This improves the time synchronization accuracy of sensors in tower cranes during long-term operation, reduces the accumulated deviation of the timing units inside the sensors over time, and ensures the accuracy of automated operation and automatic driving.
Smart Images
Figure CN121940084A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of crane technology, and in particular relates to a time synchronization method, device and electronic equipment for tower cranes. Background Technology
[0002] In related technologies, tower cranes (which can be simply referred to as "tower cranes") are typically equipped with multiple sensors, such as lidar and inertial measurement units (IMUs). By comprehensively utilizing the data collected by these multiple sensors, tower cranes can achieve functions such as automated operation or automatic driving in various working scenarios. The comprehensive utilization of the data collected by these multiple sensors requires clock synchronization. Currently, to ensure clock synchronization, the timing units, such as crystal oscillators (or simply "crystal oscillators") of these multiple sensors are usually uniformly calibrated before the sensors are installed on the tower crane. However, this method is difficult to maintain high synchronization accuracy over long-term operation. Summary of the Invention
[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a time synchronization method, device, and electronic equipment for tower cranes, which can improve the time synchronization accuracy of multiple sensors installed on tower cranes under long-term operating conditions.
[0004] In a first aspect, this application provides a time synchronization method for tower cranes, the method comprising: The same periodic synchronization signal is sent to multiple target sensors installed on the tower crane to trigger the multiple target sensors to start data acquisition for each synchronization cycle based on the synchronization signal; At the target time in each synchronization cycle, a target data frame carrying the timestamp information of the target time is sent to the plurality of target sensors, so that the plurality of target sensors embed the timestamp information of the target time into the sensor data frame of the synchronization cycle and associate it with the timestamp information of the target time carried in the target data frame; the time difference between the target time and the start time of the synchronization cycle is the target delay; Receive each sensor data frame sent by each of the target sensors; Based on the timestamp information of the target time in each synchronization cycle, the sampling time corresponding to each sensor data frame of each target sensor in the synchronization cycle is determined.
[0005] According to the time synchronization method for tower cranes proposed in this application, each target sensor is triggered based on the same synchronization signal, and data acquisition for each synchronization cycle begins simultaneously. Absolute time information is injected after the target delay, realizing joint synchronization of synchronization trigger and absolute timestamp. Time synchronization is performed separately in each synchronization cycle, which can reduce or even eliminate the deviation caused by the accumulation of time in the timing unit inside the target sensor. This can improve the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operating conditions.
[0006] According to one embodiment of this application, determining the sampling time corresponding to each sensor data frame of each target sensor in each synchronization period based on the timestamp information of the target time in each synchronization period includes: For each sensor data frame of each target sensor in each synchronization period, the sampling time corresponding to the sensor data frame is determined based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor.
[0007] According to one embodiment of this application, determining the sampling time corresponding to the sensor data frame based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor includes: The product of the position of the sensor data frame in the sequence of sensor data frames in the synchronization period and the sampling interval of the target sensor is obtained as the first time interval; The product of the first time interval and the clock drift rate of the target sensor is obtained as the second time interval; Based on the timestamp information of the target time in the synchronization cycle, the sampling time corresponding to the sensor data frame is obtained by delaying the first time interval and the second time interval.
[0008] According to one embodiment of this application, before determining the sampling time corresponding to the sensor data frame based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor, the method further includes: Obtain the theoretical and actual number of sensor data frames in the synchronization period; The difference between the theoretical quantity and the actual quantity, and the ratio of this difference to the actual quantity, are used as the clock drift rate of the target sensor.
[0009] According to one embodiment of this application, sending the same periodic synchronization signal to multiple target sensors installed on a tower crane includes: Multiple synchronization signals with the same frequency and phase are generated based on a timer; the synchronization signals are periodic signals. A synchronization signal is sent to each of the target sensors; each target sensor corresponds to a synchronization signal.
[0010] According to one embodiment of this application, the plurality of target sensors include a lidar and an external inertial measurement unit for the lidar.
[0011] According to one embodiment of this application, after determining the sampling time corresponding to each sensor data frame of each target sensor in the synchronization period based on the timestamp information of the target time in each synchronization period, the method further includes: For each sensor data frame of the lidar, the nearest neighbor data frame is obtained; the nearest neighbor data frame is the one in the sensor data frames of the inertial measurement unit whose corresponding sampling time is closest to the sampling time corresponding to each sensor data frame. Intra-frame motion distortion correction is performed on each sensor data frame based on the nearest neighbor data frame of each sensor data frame.
[0012] Secondly, this application provides a time synchronization device for tower cranes, the device comprising: A trigger synchronization module is used to send the same periodic synchronization signal to multiple target sensors installed on the tower crane, so as to trigger the multiple target sensors to start data acquisition for each synchronization cycle based on the synchronization signal; A timestamp sending module is used to send a target data frame carrying timestamp information of the target time to the plurality of target sensors at a target time in each synchronization cycle, so that the plurality of target sensors embed the timestamp information of the target time into the sensor data frame of the synchronization cycle; the time difference between the target time and the start time of the synchronization cycle is the target delay; A data receiving module is used to receive each sensor data frame sent by each of the target sensors; The time synchronization module is used to determine the sampling time corresponding to each sensor data frame of each target sensor in the synchronization period based on the timestamp information of the target time in each synchronization period.
[0013] According to the time synchronization device for tower cranes of this application, each target sensor is triggered based on the same synchronization signal, and data acquisition for each synchronization cycle begins simultaneously. Absolute time information is injected after the target delay, realizing the joint synchronization of synchronous triggering and absolute timestamp. Time synchronization is performed separately in each synchronization cycle, which can reduce or even eliminate the deviation caused by the accumulation of time in the timing unit inside the target sensor. It can improve the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operating conditions.
[0014] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the time synchronization method for tower cranes as described in the first aspect above.
[0015] Fourthly, this application provides a non-volatile computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the time synchronization method for tower cranes as described in the first aspect above.
[0016] Fifthly, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the time synchronization method for tower cranes as described in the first aspect.
[0017] In a sixth aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the time synchronization method for tower cranes as described in the first aspect above.
[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating the time synchronization method for tower cranes provided in an embodiment of this application; Figure 2 This is a schematic diagram of the communication architecture used in the time synchronization method for tower cranes provided in the embodiments of this application; Figure 3 This is a schematic diagram of the time synchronization device applied to a tower crane provided in an embodiment of this application; Figure 4This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0020] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0021] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0022] The following description, in conjunction with the accompanying drawings, details the time synchronization method, time synchronization device, electronic device, and readable storage medium for tower cranes provided in this application, through specific embodiments and application scenarios.
[0023] The time synchronization method applied to tower cranes can be applied to a terminal, specifically executed by the hardware or software within the terminal.
[0024] The time synchronization method for tower cranes provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the time synchronization method for tower cranes. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras and wearable devices. The time synchronization method for tower cranes provided in this application embodiment will be described below using an electronic device as the execution subject.
[0025] like Figure 1 As shown, the time synchronization method applied to tower cranes is specifically a time synchronization method for collecting tower crane data, including steps 110, 120, 130, and 140.
[0026] In some embodiments, the time synchronization method for tower cranes provided in this application can adopt the following communication architecture (see below). Figure 2 As shown.
[0027] Step 110: Send the same periodic synchronization signal to multiple target sensors installed on the tower crane to trigger the multiple target sensors to start data acquisition for each synchronization cycle based on the synchronization signal.
[0028] In practical implementation, the time synchronization method for tower cranes provided in this application can achieve time synchronization of data collected by multiple target sensors installed on the tower crane. These multiple target sensors may include multiple, or at least two, such as lidar, inertial measurement units, and cameras. The time synchronization controller can send the same periodic synchronization signal to the multiple target sensors installed on the tower crane.
[0029] In some embodiments, multiple synchronization signals may be generated first. Each synchronization signal is a periodic signal, and each period of the synchronization signal constitutes a synchronization cycle. The number of synchronization signals is the same as the number of target sensors, and there is a one-to-one correspondence between the synchronization signals and the target sensors. The multiple synchronization signals are identical, that is, they have the same frequency and phase, and therefore can be used as a time reference.
[0030] In some embodiments, a synchronization signal can be input to the control terminal of each of the target sensors, so that each of the target sensors can start data acquisition for each synchronization cycle based on the synchronization signal.
[0031] It is understandable that, for each target sensor, after the start of data acquisition for each synchronization cycle, data acquisition can be performed based on the sampling interval of that target sensor, and each data acquisition can generate one or one frame of sensor data for that target sensor.
[0032] In some embodiments, the synchronization signal may be a pulse width modulation (PWM) signal.
[0033] In some embodiments, the external synchronization interface (SYNC_IN) of each of the target sensors can be configured to be rising edge triggered, so that when each rising edge of the synchronization signal is reached (i.e. when a new synchronization cycle begins), the multiple target sensors simultaneously begin data acquisition for that synchronization cycle.
[0034] It should be noted that the external synchronization interface of each of the above target sensors can also be configured with other triggering methods, but the principle and implementation method of starting data acquisition for each synchronization cycle based on the synchronization signal are similar to the rising edge triggering method described above, and will not be repeated here.
[0035] It should be noted that, considering the actual differences in the transmission path of the synchronization signal, the time for the synchronization signal to reach the above-mentioned multiple target sensors can be controlled within a very small range (for example, less than or equal to 1 microsecond), thereby ignoring the time difference in the arrival of the synchronization signal to the above-mentioned multiple target sensors, and still considering that the synchronization signal arrives at each of the above-mentioned target sensors at the same time, and each of the above-mentioned target sensors starts data acquisition for each synchronization cycle at the same time.
[0036] Step 120: At the target time in each synchronization cycle, send a target data frame carrying the timestamp information of the target time to multiple target sensors, so that the multiple target sensors embed the timestamp information of the target time into the sensor data frame of the synchronization cycle; the time difference between the target time and the start time of the synchronization cycle is the target delay.
[0037] In actual execution, after a fixed delay following the start of each synchronization cycle, a target data frame can be sent to the data receiving terminals of each of the aforementioned target sensors. The target data frame can carry a timestamp of the target time. This timestamp can be used as an absolute timestamp or absolute time information. The time synchronization controller can send the timestamp information to each sensor, and the sensors embed the timestamp information into their sensor data frames for the current synchronization cycle.
[0038] For example, when the target sensors include a lidar and an IMU, a target data frame can be sent simultaneously to the data receiver (RX) of the lidar and the data receiver (RX) of the IMU via a Universal Asynchronous Receiver / Transmitter (UART) serial port.
[0039] In some embodiments, for each synchronization cycle, a fixed delay after the start of the synchronization cycle is the target time within that synchronization cycle. This fixed delay T is the target delay ΔT.
[0040] In some embodiments, the target delay ΔT can be determined based on the sampling interval of each target sensor, for example, the target delay ΔT can be 10 to 20 milliseconds (ms). The specific value of the target delay ΔT is not specifically limited in the embodiments of this application.
[0041] In some embodiments, the timestamp information of the target time may include year, month, day, hour, minute, second, and millisecond-level time information, or year, month, day, hour, minute, second, millisecond, and even smaller granularity (e.g., microsecond level) time information.
[0042] In some embodiments, the timestamp information of the target time can be the recommended minimum specific GPS / transit data (GPRMC), and correspondingly, the target data frame can be called the recommended positioning information data frame or the GPRMC data frame.
[0043] It should be noted that, at the target time within each synchronization cycle, sending target data frames to each target sensor serves to assign a precise absolute time to that synchronization cycle. The time information in the timestamp information of the aforementioned target time can be based on a time base such as Coordinated Universal Time (UTC).
[0044] In some embodiments, for each synchronization period, after receiving the timestamp information of the target time in the synchronization period, each target sensor can associate it with each of its own sensor data frames in the synchronization period, and carry the timestamp information of the target time in each sensor data frame, so that the timestamp information can be used as a reference for the start time of the current sensor data frame.
[0045] It is understandable that the period after receiving the timestamp information of the target moment in the synchronization cycle and before the next cycle of the synchronization signal arrives (e.g., the next rising edge arrives) is considered part of the synchronization cycle.
[0046] It is understandable that for each target sensor, the sensor data frame of that target sensor can carry the data acquired by that target sensor. For example, for a lidar as a target sensor, the data acquired by the target sensor is point cloud data; for a camera as a target sensor, the data acquired by the target sensor is image data; and for an IMU as a target sensor, the data acquired by the target sensor includes data such as acceleration and angular velocity.
[0047] Step 130: Receive the sensor data frames sent by each target sensor.
[0048] In actual execution, it can receive every sensor data frame sent by each target sensor.
[0049] Step 140: Based on the timestamp information of the target time in each synchronization cycle, determine the sampling time corresponding to each sensor data frame of each target sensor in the synchronization cycle.
[0050] In actual execution, after receiving each sensor data frame sent by each target sensor, the sampling time corresponding to each sensor data frame of each target sensor in each synchronization period can be determined based on the timestamp information of the target time in each synchronization period. The sampling times corresponding to each sensor data frame of each target sensor in that synchronization period are then aligned on the time axis, thereby completing the time synchronization of the data collected by each target sensor in that synchronization period. The sampling time corresponding to each sensor data frame is the time when the target sensor collects the data carried in that sensor data frame.
[0051] It should be noted that the sampling intervals or sampling frequencies of the above-mentioned target sensors are not exactly the same. Therefore, it is necessary to determine the sampling time corresponding to each sensor data frame and align the sampling times corresponding to the sensor data frames on the time axis to determine the time sequence between the sensor data frames.
[0052] In some embodiments, each sensor data frame can be parsed to obtain the timestamp information of the target time carried by it, denoted as... Based on the timestamp information of the target time This allows us to determine which synchronization period the sensor data frame belongs to.
[0053] In some embodiments, after determining the synchronization period to which the sensor data frame belongs, the timestamp of the sensor data frame can be reconstructed and aligned.
[0054] In some embodiments, timestamp reconstruction and alignment of the sensor data frame may include steps such as establishing an absolute time reference point and timestamp reconstruction and alignment.
[0055] In some embodiments, establishing an absolute time reference point may include: for each synchronization cycle, establishing timestamp information for the target time within that synchronization cycle. Synchronization time and absolute time reference point The mapping between them aligns the timestamp information of the target moment in the synchronization cycle. Synchronization time and absolute time reference point Align the timestamp information of the target time within this synchronization cycle. Synchronization time and absolute time reference point , can be represented as = = .
[0056] It should be noted that the synchronization time This could be the start time of the synchronization cycle. For example, if the synchronization signal uses a PWM signal and the target sensor is set to rise-edge triggering, the synchronization time could be... It can be each rising edge of the PWM signal.
[0057] In some embodiments, timestamp reconstruction and alignment may include: reconstructing the timestamps of each sensor data frame, determining the sampling time corresponding to each sensor data frame, and aligning them.
[0058] In some embodiments, the sampling intervals or sampling frequencies of the multiple target sensors are not entirely the same. The sampling interval of the IMU set in the tower crane is mostly, but not limited to, 5ms, and the sampling interval of the lidar set in the tower crane is mostly, but not limited to, 100ms. Different strategies can be adopted for timestamp alignment.
[0059] In some embodiments, the sampling time corresponding to each frame of sensor data from each target sensor in any synchronization period can be determined by the following formula (the unit can be seconds): , n=0,1,2,...(1).
[0060] in, This indicates the sampling time corresponding to the nth sensor data frame of the target sensor in the synchronization period; n represents the position of the sensor data frame in the sequence of sensor data frames in the synchronization period. This indicates the sampling interval of the target sensor.
[0061] For example, for an IMU serving as the target sensor, the sequence of sampling times corresponding to each frame of sensor data from the IMU can be represented as: , k=0,1,2,...(2).
[0062] in, This indicates the sampling time corresponding to the kth sensor data frame of the target sensor in the synchronization period; k represents the position of the sensor data frame in the sequence of sensor data frames in the synchronization period; 0.005 (in seconds, i.e., 5ms) is an illustrative example of the sampling interval of the IMU, and it is not limited to this.
[0063] For example, for a lidar as a target sensor, the sequence of sampling times corresponding to each frame of sensor data from the lidar can be represented as: , m=0,1,2,...(3).
[0064] in, This indicates the sampling time corresponding to the k-th sensor data frame of the target sensor in the synchronization period; m indicates the position of the sensor data frame in the sequence of sensor data frames in the synchronization period; 0.1 (in seconds, i.e., 100ms) is a schematic example of the sampling interval of the lidar, and it is not limited to this.
[0065] It is understandable that by determining the sampling time corresponding to each frame of sensor data, the sampling times corresponding to each frame of sensor data can be mapped onto the same time axis, thereby determining the temporal relationship between each frame of sensor data and achieving time synchronization.
[0066] According to the time synchronization method for tower cranes provided in the embodiments of this application, each target sensor is triggered based on the same synchronization signal, and data acquisition for each synchronization cycle begins simultaneously. Absolute time information is injected after the target delay, realizing joint synchronization of synchronization trigger and absolute timestamp. Time synchronization is performed separately in each synchronization cycle, which can reduce or even eliminate the deviation caused by the accumulation of time in the timing unit inside the target sensor. This can improve the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operating conditions.
[0067] In some embodiments of this application, the sampling time corresponding to each sensor data frame of each target sensor in the synchronization period is determined based on the timestamp information of the target time in each synchronization period. This includes: for each sensor data frame of each target sensor in each synchronization period, the sampling time corresponding to the sensor data frame is determined based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor.
[0068] In actual implementation, for each sensor data frame, the clock drift rate of the target sensor that generated the sensor data frame can also be considered. Based on the aforementioned formula (1), a clock drift compensation term is added, expressed as follows: , n=0,1,2,...(4).
[0069] in, This represents the clock drift compensation term for the nth sensor data frame of the target sensor during the synchronization cycle.
[0070] In some embodiments, the clock drift compensation term of the nth sensor data frame can be determined based on the position n of the nth sensor data frame in the sequence of sensor data frames in the synchronization period, and the clock drift rate of the target sensor of the sensor data frame. For example, the clock drift rate and the position n of the nth sensor data frame in the sequence of sensor data frames in the synchronization period can be used as independent variables, and the clock drift compensation term of the nth sensor data frame can be used as the dependent variable. The mapping relationship between the two independent variables and the dependent variable can be predetermined, thereby determining the clock drift compensation term of the nth sensor data frame based on the position n of the nth sensor data frame in the sequence of sensor data frames in the synchronization period, and the clock drift rate of the target sensor of the sensor data frame. The specific mapping relationship is not limited in the embodiments of this application. In some embodiments, the above mapping relationship can be expressed in the form of tables or formulas.
[0071] It is understood that the clock drift rate of the target sensor can be the clock drift rate of the timing unit such as the crystal oscillator of the target sensor. The clock drift rate can be used to indicate the timing deviation of the timing unit of the target sensor relative to the execution subject of the time synchronization method provided in the embodiments of this application.
[0072] According to the time synchronization method for tower cranes provided in the embodiments of this application, by compensating for the timing deviation of the timing unit of the target sensor based on the clock drift rate of the target sensor that generates the sensor data frame during the process of determining the sampling time corresponding to each sensor data frame, the deviation generated by the timing unit inside the target sensor over time can be reduced or even eliminated, thereby improving the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operating conditions.
[0073] In some embodiments of this application, the sampling time corresponding to the sensor data frame is determined based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor, including: The first time interval is the product of the position of the sensor data frame in the sequence of sensor data frames in the synchronization period and the sampling interval of the target sensor. The product of the first time interval and the clock drift rate of the target sensor is obtained as the second time interval; Based on the timestamp information of the target time in the synchronization cycle, the sampling time corresponding to the sensor data frame is obtained by delaying the first time interval and the second time interval.
[0074] In actual execution, taking IMU and LiDAR as target sensors respectively, the process of determining the sampling time corresponding to the sensor data frame is described.
[0075] In some embodiments, the timestamp reconstruction of the IMU's sensor data frames can be represented as: , k=0,1,2,...(5).
[0076] in, This indicates the sampling time corresponding to the k-th sensor data frame of the IMU in the synchronization period, i.e., the timestamp of the reconstruction of the k-th sensor data frame; Indicates the sampling interval of the IMU; This represents the clock drift compensation term for the k-th sensor data frame in the synchronization cycle of the IMU, i.e., the second time interval.
[0077] In some embodiments, the clock drift compensation term for the nth sensor data frame in the IMU synchronization cycle can be obtained by the following formula: , k=0,1,2,...(6).
[0078] in, This indicates the clock drift rate of the IMU.
[0079] It should be noted that, This represents the theoretical time elapsed since the reference time of this synchronization cycle (i.e., the aforementioned synchronization time), i.e., the first time interval. This term can be used to correct for accumulated time errors caused by inaccurate frequency of the crystal oscillator inside the IMU.
[0080] In some embodiments, the timestamp reconstruction of the sensor data frames of a lidar can be represented as: , m=0,1,2,...(7).
[0081] in, This indicates the sampling time corresponding to the m-th sensor data frame of the lidar in the synchronization period, i.e., the timestamp of the reconstruction of the m-th sensor data frame; This indicates the sampling interval of the lidar; This represents the clock drift compensation term for the m-th sensor data frame in the synchronization cycle of the lidar, i.e., the second time interval.
[0082] In some embodiments, the clock drift compensation term for the nth sensor data frame in the IMU synchronization cycle can be obtained by the following formula: = , m=0,1,2,...(8).
[0083] in This indicates the clock drift rate of the lidar.
[0084] It should be noted that, This represents the theoretical duration elapsed since the reference time of this synchronization cycle (i.e., the aforementioned synchronization time), i.e., the first time interval. This term can be used to correct for the linear deviation that accumulates over time in the internal timing unit of the lidar.
[0085] It is understood that for other types of target sensors, the determination of the sampling time corresponding to the sensor data frame can be found in the aforementioned embodiments of IMU and LiDAR, which will not be repeated here.
[0086] According to the time synchronization method for tower cranes provided in the embodiments of this application, in the process of determining the sampling time corresponding to each sensor data frame, the timing deviation of the timing unit of the target sensor is compensated based on the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, the sampling interval of the target sensor, and the clock drift rate. The compensation term is not a fixed value, but a dynamic variable with adaptive characteristics, so that the timestamp reconstruction can adapt to the timing deviation caused by the crystal oscillator frequency fluctuation (temperature drift) of the target sensor due to temperature changes, etc., which can reduce or even eliminate the deviation generated by the internal timing unit of the target sensor over time, achieve higher precision time synchronization in all weather conditions, and improve the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operation conditions.
[0087] In some embodiments of this application, before determining the sampling time corresponding to the sensor data frame based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor, the method further includes: Obtain the theoretical and actual number of sensor data frames during the synchronization cycle; The difference between the theoretical and actual quantities, and the ratio of this difference to the actual quantities, are used as the clock drift rate of the target sensor.
[0088] In actual execution, the formula for calculating the clock drift rate α of the target sensor can be expressed as: (9).
[0089] in, This represents the theoretical number of sensor data frames in a synchronization cycle, i.e., the theoretically required number of sampling points; This indicates the actual number of sensor data frames in the synchronization period, i.e., the actual number of sampling points counted.
[0090] That is, within the synchronization period, the clock drift rate α of the target sensor is equal to (theoretically required number of sampling points - actual number of sampling points) / actual number of sampling points.
[0091] In some embodiments, for each target sensor, the theoretical number of sensor data frames in a synchronization cycle can be obtained based on the duration of the synchronization cycle and the sampling interval of the target sensor. For example, it can be equal to the quotient of the duration of the synchronization cycle and the sampling interval of the target sensor.
[0092] In some embodiments, for each target sensor, the number of sensor data frames actually received in a synchronization cycle can be counted as the actual number of sensor data frames.
[0093] It is understandable that the clock drift rate α of the target sensor is calculated from the actual frame number deviation of the sensor data frames within one cycle of the synchronization signal.
[0094] According to the time synchronization method for tower cranes provided in the embodiments of this application, the difference between the theoretical quantity and the actual quantity is obtained as the ratio of the actual quantity to the theoretical quantity, which is used as the clock drift rate of the target sensor. The clock drift rate of each target sensor is recalculated and updated once in each synchronization cycle. This allows the timestamp reconstruction to adapt to the timing deviation caused by the frequency fluctuation (temperature drift) of the crystal oscillator of the target sensor due to temperature changes, etc. It can reduce or even eliminate the deviation caused by the accumulation of time in the timing unit inside the target sensor, achieve higher precision time synchronization in all weather conditions, and improve the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operating conditions.
[0095] In some embodiments of this application, sending the same periodic synchronization signal to multiple target sensors installed on a tower crane includes: generating multiple synchronization signals with the same frequency and phase based on a timer; the synchronization signals are periodic signals; sending a synchronization signal to each target sensor respectively; and there is a one-to-one correspondence between the target sensors and the synchronization signals.
[0096] In actual operation, hardware synchronization can be used to send the same periodic synchronization signal to multiple target sensors installed on the tower crane. The synchronization signal is a hardware trigger signal.
[0097] In some embodiments, a unified clock source may be used, such as the same timer of the microcontroller as the sole time reference.
[0098] In some embodiments, synchronization signals can be generated by configuring multiple output comparison channels (CH1 and CH2, etc.) of the timer to produce synchronization signals that are in phase and have the same frequency and phase.
[0099] It should be noted that multiple channels can be driven by the same prescaler and counter of the timer, ensuring the natural synchronization of their output rising edges, with a theoretical deviation of 0, thus guaranteeing time synchronization accuracy. Considering the differences in the transmission path of the synchronization signal in practice, the actual deviation can be controlled within 1 microsecond.
[0100] According to the time synchronization method for tower cranes provided in the embodiments of this application, by using a single hardware timer as an absolute time reference and generating strictly synchronized hardware trigger signals through its multiple channels, the time for the synchronization signal to reach the aforementioned multiple target sensors can be controlled within a very small range, thereby improving the time synchronization accuracy of the multiple sensors installed on the tower crane under long-term operating conditions.
[0101] In some embodiments of this application, the multiple target sensors include a lidar and an external inertial measurement unit for the lidar.
[0102] In actual implementation, the aforementioned multiple target sensors include a lidar and an external (i.e., separately configured) inertial measurement unit. This application does not specify the particular models of the lidar and the inertial measurement unit.
[0103] In some embodiments, the lidar and the IMU may be mounted or installed using a hardware integrated structure. The hardware integrated structure may include sensor mounting devices and vibration damping buffer layers, among other things.
[0104] In some embodiments, the communication architecture employed by the time synchronization method applied to tower cranes can be as follows: Figure 2 As shown, this is a time synchronization system designed for the execution of a time synchronization method applied to tower cranes. The synchronization system may include a time synchronization controller 201, a lidar unit 202, an inertial measurement unit 203, a host computer 204, and a data transmission link 205.
[0105] In some embodiments, for situations where long-distance data transmission of tower cranes, sensors and other devices are installed on constantly moving luffing trolleys resulting in inconvenience for network cable transmission over a certain distance, and where the format or protocol of sensor output data is inconsistent, a layered transmission architecture based on a serial port server can be adopted.
[0106] In some embodiments, the time synchronization controller 201, lidar 202, and inertial measurement unit 203 may be disposed in the sensor layer 281 of the synchronization system. Physically, the time synchronization controller 201, lidar 202, and inertial measurement unit 203 may all be disposed on the boom or luffing trolley of the tower crane.
[0107] In some embodiments, the time synchronization controller 201 can be used to perform the aforementioned steps 110 and 120. In some embodiments, the time synchronization controller 201 may have a built-in MCU and a hardware timer.
[0108] In some embodiments, both the lidar 202 and the inertial measurement unit 203 may have an external synchronization trigger interface. The external synchronization trigger interface can serve as a control terminal for receiving synchronization signals generated by the time synchronization controller 201.
[0109] In some embodiments, the data transmission link 205 may be distributed across the serial server layer 282, the wired transmission layer 283, and the wireless bridge layer 284 in the synchronization system.
[0110] In some embodiments, the serial port server layer 282 may be equipped with a serial port server. The time synchronization controller 201 and the inertial measurement unit 203 can communicate with the serial port server via serial ports to transmit target data frames carrying timestamp information of the target time, as well as sensor data frames of the inertial measurement unit 203. Both the target data frames and the sensor data frames of the inertial measurement unit 203 are serial port data frames. The serial port server can convert the serial port data frames into Ethernet packets and transmit them to the network cable transmission layer 283. Physically, the serial port server can be installed on the boom or luffing trolley of a tower crane.
[0111] In some embodiments, the serial server may be an industrial-grade serial server that supports operation over a wide temperature range.
[0112] In some embodiments, the serial port server can use TCP Client mode to perform port mapping.
[0113] In some embodiments, the parameters for serial communication by the serial server may include: a baud rate of 115200, 8 data bits, 1 stop bit, and no parity.
[0114] In some embodiments, the sensor data frames of the lidar 202 can be Ethernet data packets. The sensor data frames of the lidar 202 can be transmitted to the network cable transport layer 283.
[0115] In some embodiments, the wired network layer 283 can wirelessly transmit Ethernet data packets to the host 204 via the wireless bridge layer 284. The host 204 is located within the communication range of the wireless bridge layer 284; for example, the host 204 can be located in a back-end control room or the operator's cab of a tower crane. The host 204 can be a personal computer or a server, etc.
[0116] In some embodiments, the host 204 can be divided into a virtual serial port layer 285 and a data processing layer 286.
[0117] In some embodiments, the virtual serial port layer 285 can be used for virtual serial port mapping, specifically including converting Ethernet data packets derived from the target data frame and the sensor data frames of the inertial measurement unit 203 into serial port data frames.
[0118] In some embodiments, the virtual serial port layer 285 can be implemented in software to drive the virtual serial port and map the network connection to a virtual COM port (i.e., the serial port in this embodiment). The software implementation of the virtual serial port layer 285 allows for zero modification to the application program and is plug-and-play.
[0119] In some embodiments, the data processing layer 286 can parse the serial port data frames converted by the virtual serial port layer 285 and the sensor data frames of the LiDAR 202 in the received Ethernet data packets, extract the corresponding data and process it, and execute steps 130 and 140.
[0120] Data transmission based on this communication architecture can achieve millisecond-level latency, fully meeting the needs of tower crane operation.
[0121] The time synchronization method for tower cranes provided in this application provides a hardware integration structure for LiDAR and external inertial measurement units suitable for tower crane working scenarios, an environmental protection system, a high-precision time synchronization method, and a data transmission method based on a serial port server. This solves the problems of structural stability, time synchronization accuracy, environmental protection, and data transmission reliability faced by the integration of LiDAR and external inertial measurement units in tower crane working scenarios.
[0122] In some embodiments of this application, after determining the sampling time corresponding to each sensor data frame of each target sensor in the synchronization period based on the timestamp information of the target time in each synchronization period, the method further includes: for each sensor data frame of the lidar, obtaining the nearest neighbor data frame; the nearest neighbor data frame is the sensor data frame of the inertial measurement unit whose corresponding sampling time is closest to the sampling time corresponding to each sensor data frame.
[0123] In practice, after time synchronization, a multi-rate data time alignment algorithm can be used to achieve a unified timeline.
[0124] In some embodiments, the nearest neighbor interpolation + motion compensation method can be used to unify the time axis to accommodate the situation where the sampling frequency of the IMU (200Hz when the sampling interval is 5ms) is much higher than that of the lidar (10Hz when the sampling interval is 100ms).
[0125] In some embodiments, for each sensor data frame of the lidar, the sensor data frame of the IMU that is closest in time can be determined as the nearest neighbor data frame.
[0126] (10).
[0127] in, This indicates the position of the nearest neighbor data frame within the sequence of sensor data frames of the IMU during its synchronization period.
[0128] Intra-frame motion distortion correction is performed on each sensor data frame based on the nearest neighbor data frame.
[0129] In actual implementation, for scenarios such as high-speed tower cranes, the nearest neighbor data frame can be determined, and the angular velocity and acceleration data collected by the IMU carried in the nearest neighbor data frame can be further used to perform intra-frame motion distortion correction on the point cloud data in each sensor data frame of the lidar, thus completing the final spatiotemporal synchronization.
[0130] According to the time synchronization method for tower cranes provided in the embodiments of this application, by acquiring the nearest neighbor data frame for each sensor data frame of the lidar, and performing intra-frame motion distortion correction on each sensor data frame based on the nearest neighbor data frame of each sensor data frame, the spatiotemporal synchronization of data collected by multiple target sensors can be achieved, thereby enabling more accurate and efficient automatic operation and automatic travel of the tower crane.
[0131] The time synchronization method for tower cranes provided in this application can be executed by a time synchronization device for tower cranes. This application uses an example of a time synchronization device for tower cranes executing a time synchronization method for tower cranes to illustrate the time synchronization device for tower cranes provided in this application.
[0132] This application also provides a time synchronization device for tower cranes. For example... Figure 3 As shown, the time synchronization device applied to tower cranes includes: a trigger synchronization module 310, a timestamp sending module 320, a data receiving module 330, and a time synchronization module 340.
[0133] The trigger synchronization module 310 is used to send the same periodic synchronization signal to multiple target sensors installed on the tower crane, so as to trigger the multiple target sensors to start data acquisition in each synchronization cycle based on the synchronization signal; The timestamp sending module 320 is used to send a target data frame carrying the timestamp information of the target time to multiple target sensors at the target time in each synchronization cycle, so that the multiple target sensors embed the timestamp information carrying the target time into the sensor data frame of the synchronization cycle and associate it with the timestamp information of the target time carried in the target data frame; the time difference between the target time and the start time of the synchronization cycle is the target delay. The data receiving module 330 is used to receive the sensor data frames sent by each target sensor; The time synchronization module 340 is used to determine the sampling time corresponding to each sensor data frame of each target sensor in the synchronization cycle based on the timestamp information of the target time in each synchronization cycle.
[0134] In some embodiments, the trigger synchronization module 310 and the timestamp sending module 320 may be located on the tower crane side, and the data receiving module 330 and the time synchronization module 340 may be located on the back-end control room side.
[0135] In some embodiments, the trigger synchronization module 310 and the timestamp sending module 320 can be integrated into a time synchronization controller 201. The time synchronization controller 201 may include a master microcontroller unit (MCU) and timers, etc. The data receiving module 330 and the time synchronization module 340 can be integrated into a host 204. The host 204 may include a central processing unit (CPU), etc.
[0136] According to the time synchronization device for tower cranes provided in the embodiments of this application, each target sensor is triggered based on the same synchronization signal, and data acquisition for each synchronization cycle begins simultaneously. Absolute time information is injected after the target delay, realizing joint synchronization of synchronization trigger and absolute timestamp. Time synchronization is performed separately in each synchronization cycle, which can reduce or even eliminate the deviation caused by the accumulation of time in the timing unit inside the target sensor. It can improve the time synchronization accuracy of multiple sensors installed on the tower crane under long-term operating conditions.
[0137] In some embodiments of this application, the time synchronization module 340 can be specifically used to determine the sampling time corresponding to the sensor data frame for each sensor data frame of each target sensor in each synchronization period, based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor.
[0138] In some embodiments of this application, the time synchronization module 340 may include: The first acquisition unit is used to acquire the product of the position of the sensor data frame in the sequence of sensor data frames in the synchronization period and the sampling interval of the target sensor, as the first time interval; The second acquisition unit is used to acquire the product of the first time interval and the clock drift rate of the target sensor as the second time interval; The third acquisition unit is used to obtain the sampling time corresponding to the sensor data frame by delaying the first time interval and the second time interval based on the timestamp information of the target time in the synchronization cycle.
[0139] In some embodiments of this application, the time synchronization module 340 may further include: The fourth acquisition unit is used to acquire the theoretical and actual number of sensor data frames in the synchronization cycle; and to acquire the difference between the theoretical and actual number, and the ratio of the theoretical number to the actual number, as the clock drift rate of the target sensor.
[0140] In some embodiments of this application, the trigger synchronization module 310 may include: The generation unit is used to generate multiple synchronization signals with the same frequency and phase based on a timer; the synchronization signals are periodic signals. The transmitting unit is used to send a synchronization signal to each target sensor; there is a one-to-one correspondence between the target sensor and the synchronization signal.
[0141] In some embodiments of this application, the multiple target sensors include a lidar and an external inertial measurement unit for the lidar.
[0142] In some embodiments of this application, the time synchronization device applied to tower cranes may further include: The time alignment module is used to obtain the nearest neighbor data frame for each sensor data frame of the LiDAR. The nearest neighbor data frame is the one in the sensor data frames of the inertial measurement unit whose corresponding sampling time is closest to the sampling time of each sensor data frame. Based on the nearest neighbor data frame of each sensor data frame, intra-frame motion distortion correction is performed on each sensor data frame.
[0143] The time synchronization device applied to the tower crane in this application embodiment can be an electronic device or a component of an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific device.
[0144] The time synchronization device applied to the tower crane in this application embodiment can be a device with an operating system. This operating system can be Microsoft (Windows), Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.
[0145] The time synchronization device for tower cranes provided in this application embodiment can achieve... Figures 1 to 2 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.
[0146] In some embodiments, such as Figure 4 As shown, this application embodiment also provides an electronic device 400, including a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the computer program is executed by the processor 401, it implements the various processes of the above-described time synchronization method embodiment applied to tower cranes and achieves the same technical effect. To avoid repetition, it will not be described again here.
[0147] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.
[0148] This application also provides a non-volatile computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes described above in the time synchronization method embodiment for tower cranes and achieves the same technical effect. To avoid repetition, it will not be described again here.
[0149] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
[0150] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described time synchronization method applied to tower cranes.
[0151] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
[0152] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described time synchronization method embodiment applied to tower cranes, and can achieve the same technical effect. To avoid repetition, it will not be described again here.
[0153] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0154] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0155] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0156] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
[0157] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0158] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.
Claims
1. A time synchronization method applied to tower cranes, characterized in that, include: The same periodic synchronization signal is sent to multiple target sensors installed on the tower crane to trigger the multiple target sensors to start data acquisition for each synchronization cycle based on the synchronization signal; At the target time in each synchronization cycle, a target data frame carrying the timestamp information of the target time is sent to the plurality of target sensors, so that the plurality of target sensors embed the timestamp information of the target time into the sensor data frame of the synchronization cycle; The time difference between the target time and the start time of the synchronization period is the target delay; Receive each sensor data frame sent by each of the target sensors; Based on the timestamp information of the target time in each synchronization cycle, the sampling time corresponding to each sensor data frame of each target sensor in the synchronization cycle is determined.
2. The time synchronization method for tower cranes according to claim 1, characterized in that, The step of determining the sampling time corresponding to each sensor data frame of each target sensor in each synchronization period based on the timestamp information of the target time in each synchronization period includes: For each sensor data frame of each target sensor in each synchronization period, the sampling time corresponding to the sensor data frame is determined based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor.
3. The time synchronization method for tower cranes according to claim 2, characterized in that, The step of determining the sampling time corresponding to the sensor data frame based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor includes: The product of the position of the sensor data frame in the sequence of sensor data frames in the synchronization period and the sampling interval of the target sensor is obtained as the first time interval; The product of the first time interval and the clock drift rate of the target sensor is obtained as the second time interval; Based on the timestamp information of the target time in the synchronization cycle, the sampling time corresponding to the sensor data frame is obtained by delaying the first time interval and the second time interval.
4. The time synchronization method for tower cranes according to claim 2, characterized in that, Before determining the sampling time corresponding to the sensor data frame based on the timestamp information of the target time in the synchronization period, the position of the sensor data frame in the sequence of sensor data frames in the synchronization period, and the sampling interval and clock drift rate of the target sensor, the method further includes: Obtain the theoretical and actual number of sensor data frames in the synchronization period; The difference between the theoretical quantity and the actual quantity, and the ratio of this difference to the actual quantity, are used as the clock drift rate of the target sensor.
5. The time synchronization method for tower cranes according to claim 1, characterized in that, Sending the same periodic synchronization signal to multiple target sensors installed on the tower crane includes: Multiple synchronization signals with the same frequency and phase are generated based on a timer; the synchronization signals are periodic signals. A synchronization signal is sent to each of the target sensors; each target sensor corresponds to a synchronization signal.
6. The time synchronization method for tower cranes according to any one of claims 1 to 5, characterized in that, The plurality of target sensors include a lidar and an external inertial measurement unit for the lidar.
7. The time synchronization method for tower cranes according to claim 6, characterized in that, After determining the sampling time corresponding to each sensor data frame of each target sensor in the synchronization period based on the timestamp information of the target time in each synchronization period, the method further includes: For each sensor data frame of the lidar, the nearest neighbor data frame is obtained; the nearest neighbor data frame is the one in the sensor data frames of the inertial measurement unit whose corresponding sampling time is closest to the sampling time corresponding to each sensor data frame. Intra-frame motion distortion correction is performed on each sensor data frame based on the nearest neighbor data frame of each sensor data frame.
8. A time synchronization device for tower cranes, characterized in that, include: A trigger synchronization module is used to send the same periodic synchronization signal to multiple target sensors installed on the tower crane, so as to trigger the multiple target sensors to start data acquisition for each synchronization cycle based on the synchronization signal; The timestamp sending module is used to send a target data frame carrying the timestamp information of the target time to the plurality of target sensors at the target time in each synchronization cycle, so that the plurality of target sensors embed the timestamp information of the target time into the sensor data frame of the synchronization cycle. The time difference between the target time and the start time of the synchronization period is the target delay; A data receiving module is used to receive each sensor data frame sent by each of the target sensors; The time synchronization module is used to determine the sampling time corresponding to each sensor data frame of each target sensor in the synchronization period based on the timestamp information of the target time in each synchronization period.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the time synchronization method for tower cranes as described in any one of claims 1 to 7.
10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the time synchronization method for tower cranes as described in any one of claims 1 to 7.
11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the time synchronization method for tower cranes as described in any one of claims 1 to 7.