Time synchronization system of multiple sensing devices

Abstract

The utility model relates to the technical field of communication, and discloses a time synchronization system of multiple sensing devices, the time synchronization system comprises an integrated navigation system, a time synchronization box and a plurality of sensing devices, the time information corresponding to a GPS signal is obtained through the integrated navigation system, and the time synchronization box is used for synchronizing the time information corresponding to the GPS signal. The time information is synchronized to the time synchronization box based on the GPS protocol, and the time information is synchronized to the sensing devices through the time synchronization box based on the PTP protocol, so that the time synchronization precision can be improved, and the time of the plurality of sensing devices can be unified.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a time synchronization system for multiple sensor devices. Background Art

[0002] In the field of autonomous driving technology, the time stamp difference between different sensor devices will affect the understanding of the environment and the accuracy of decision-making. Therefore, the time synchronization of sensor device data is very important.

[0003] At present, the common time synchronization method for sensor device data is based on the PPS (pulse signal) and GPRMC (remote information transmission parameters containing position and speed information) of the GPS protocol (Global Positioning System). GPS provides a reference time for each sensor device, and each sensor device calibrates its own clock time according to the provided reference time. Each sensor device then adds timestamp information to its independently collected data according to the calibrated time to achieve timestamp synchronization of all sensor devices. Since GPS is highly dependent on satellite signals and is easily affected by the surrounding environment, such as buildings, clouds, electromagnetic interference, etc., resulting in large errors in time. Therefore, using a time synchronization method based on the GPS protocol will increase network latency, resulting in inaccurate time synchronization. Utility Model Content

[0004] In order to solve the above technical problems, an embodiment of the present application provides a time synchronization system for multiple sensor devices, which obtains time information corresponding to the GPS signal through a combined navigation system, and synchronizes the time information to a time synchronization box based on the GPS protocol. The time information is synchronized to the sensor device through the time synchronization box based on the PTP protocol. The present application can improve the accuracy of time synchronization to unify the time of multiple sensor devices.

[0005] The embodiments of the present application provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a time synchronization system for multiple sensor devices, the time synchronization system comprising a combined navigation system, a time synchronization box and a sensor device, wherein the sensor device comprises a plurality of;

[0007] The integrated navigation system is connected to the time synchronization box, and is used to receive and analyze GPS signals to extract time information, and send the time information to the time synchronization box based on the GPS protocol;

[0008] A time synchronization box is connected to the integrated navigation system and each sensor device, and is used to receive the time information sent by the integrated navigation system and send the time information to the sensor device based on the PTP protocol;

[0009] The sensor device is connected to the time synchronization box, and is used to receive the time information sent by the time synchronization box and synchronize the time information to the sensor device.

[0010] In some embodiments, the integrated navigation system includes a GPS receiver for receiving and parsing GPS signals to extract time information.

[0011] In some embodiments, the sensing device includes: an imaging device, a radar;

[0012] The imaging device is connected to the time synchronization box, and is used to receive the time information sent by the time synchronization box and synchronize the time information to the imaging device;

[0013] The radar is connected to the time synchronization box to receive the time information sent by the time synchronization box and synchronize the time information to the radar.

[0014] In some embodiments, the radar includes a first radar, a second radar, and a third radar;

[0015] The time synchronization box includes a first debugging interface, which connects the first radar, the second radar, and the third radar. The first debugging interface is used to set a first phase angle corresponding to the first radar, a second phase angle corresponding to the second radar, and a third phase angle corresponding to the third radar, so that the radar can detect obstacles in multiple directions.

[0016] In some embodiments, the first debugging interface is also used to set a first trigger time corresponding to the first radar, a second trigger time corresponding to the second radar, and a third trigger time corresponding to the third radar, so that the first radar, the second radar, and the third radar can detect obstacles in a timely manner.

[0017] In some embodiments, the radar includes a transmitter, an antenna;

[0018] The transmitter is used to monitor the triggering time of the radar to control the antenna to emit a laser beam to detect obstacles.

[0019] In some embodiments, the radar includes a laser receiver, a first processor;

[0020] A laser receiver, connected to the first processor, for receiving laser light reflected by an obstacle, generating an electrical signal, and sending the electrical signal to the first processor;

[0021] The first processor is connected to the laser receiver and is used to receive the electrical signal sent by the laser receiver to obtain point cloud information of the obstacle.

[0022] In some embodiments, the time synchronization box includes a second processor, a second debug interface;

[0023] A first debugging interface is connected to the first processor and the second processor, and is used to receive the point cloud information of the obstacle sent by the first processor, and send the point cloud information of the obstacle to the second processor;

[0024] The second processor is connected to the first debugging interface and the second debugging interface, and is used to receive the point cloud information of the obstacle sent by the first debugging interface to generate a trigger signal, and send the trigger signal to the second debugging interface;

[0025] The second debugging interface is connected to the second processor and the imaging device, and is used to receive a trigger signal sent by the second processor, and set a trigger time corresponding to the imaging device through the trigger signal to trigger the imaging device to capture an image corresponding to the obstacle.

[0026] In some embodiments, the first debugging interface is further used to set a first time period corresponding to the radar, so that the radar is triggered at the same time in the first time period;

[0027] The second debugging interface is also used to set a second time period corresponding to the imaging device, so that the imaging device is triggered at the same time in the second time period.

[0028] In some embodiments, the time synchronization system includes an industrial computer, which is connected to a time synchronization box to receive time information sent by the time synchronization box and synchronize the time information to the industrial computer.

[0029] The beneficial effects of the implementation methods of the present application are as follows: Different from the prior art, the implementation methods of the present application provide a time synchronization system for multiple sensor devices, which includes: a combined navigation system, connected to a time synchronization box, for receiving and parsing GPS signals to extract time information, and sending the time information to the time synchronization box based on the GPS protocol; a time synchronization box, connected to the combined navigation system and each sensor device, for receiving the time information sent by the combined navigation, and sending the time information to the sensor device based on the PTP protocol; a sensor device, connected to the time synchronization box, for receiving the time information sent by the time synchronization box, and synchronizing the time information to the sensor device.

[0030] The time information corresponding to the GPS signal is obtained through the combined navigation system, and the time information is synchronized to the time synchronization box based on the GPS protocol. The time information is synchronized to the sensor device through the time synchronization box based on the PTP protocol. This application can improve the accuracy of time synchronization to unify the time of multiple sensor devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0032] Figure 1 is a schematic diagram of the structure of a time synchronization system for multiple sensor devices provided in an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of the connection relationship between a sensor device and a time synchronization box provided in an embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of the connection relationship between a radar and a time synchronization box provided in an embodiment of the present application;

[0035] Figure 4 is an example schematic diagram of different device position settings on a vehicle provided by an embodiment of the present application;

[0036] Figure 5 This is a schematic diagram of the connection relationship between a radar, a sensor device, and a time synchronization box provided in an embodiment of the present application;

[0037] Figure 6 This is an example schematic diagram of spatial synchronization between a laser radar and an imaging device provided in an embodiment of the present application.

[0038] Description of Figure Numbers:

[0039]

[0040] DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0043] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0044] The technical solution of the present application is described in detail below in conjunction with the accompanying drawings:

[0045] See also Figure 1 , Figure 1 is a schematic diagram of the structure of a time synchronization system for multiple sensor devices provided in an embodiment of the present application;

[0046] Among them, the time synchronization system of the sensor device is applied to the vehicle.

[0047] like Figure 1 As shown, the time synchronization system 1000 of the multi-sensor device includes a combined navigation system 100, a time synchronization box 200, a sensor device 300, and an industrial computer 400. It should be noted that the various components of the time synchronization system 1000 of the multi-sensor device are connected through a wired network and / or a wireless network. It can be understood that the wireless network includes 2G, 3G, 4G, 5G, wireless LAN, Bluetooth, WI-FI and other wireless networks, and the wired network includes a serial cable, a network cable and other wired networks.

[0048] The combined navigation system 100 has a built-in GPS receiver 101. The combined navigation system 100 receives GPS signals through the GPS receiver 101 and parses the GPS signals to extract time information, wherein the time information includes date and time, such as: date: a certain year, month, and day, time: a certain moment. The combined navigation system 100 recognizes the time information extracted by the GPS receiver 101 and synchronizes the time information to the combined navigation system 100 to update the time of the combined navigation system 100.

[0049] The integrated navigation system 100 is connected to the time synchronization box 200. The integrated navigation system 100 sends time information to the time synchronization box 200 based on the GPS protocol to synchronize the time information to the time synchronization box 200, so that the time of the integrated navigation system 100 is the same as the time of the time synchronization box 200. Among them, the integrated navigation system 100 is mainly composed of input devices, data processing and control devices, output devices and other devices. The input device includes a keyboard and other devices for inputting data. The data processing and control device includes but is not limited to a microprocessor (Micro Processor Unit, MPU), a digital signal processor (Digital Signal Processor, DSP), and the output device includes but is not limited to a display screen and other devices. The integrated navigation system 100 is used to process the data collected by the sensor device to measure and calculate the parameters such as the position, speed, posture, acceleration, etc. of the vehicle, and provide a decision-making control basis for the vehicle.

[0050] In an embodiment of the present application, the global positioning system (GPS) provides accurate time. Accurate time information can be obtained through a GPS receiver, and the time information can be synchronized based on the GPS protocol to achieve synchronization of time information, thereby ensuring the consistency of time between the combined navigation system and the time synchronization box.

[0051] The time synchronization box 200 is connected to the time synchronization box 200, the sensor device 300, and the industrial computer 400. The time synchronization box 200 is used to receive the time information sent by the integrated navigation system 100 and synchronize the time information to the time synchronization box 200. At the same time, the time synchronization box 200 sends the time information to the sensor device 300 and the industrial computer 400 based on the PTP protocol to synchronize the time information to the sensor device 300 and the industrial computer 400. The time synchronization box includes an electronic control unit (ECU).

[0052] In an embodiment of the present application, the sensor devices include multiple ones. Since synchronizing time information to multiple sensor devices based on the GPS protocol is easily restricted by the geographical location and satellite signal strength, it is not suitable for information exchange between multiple sensor devices. However, synchronizing time information to the sensor devices and industrial computers based on the PTP protocol will not be affected by the environment, thereby achieving time synchronization of multiple sensor devices and industrial computers to ensure the time consistency of multiple sensor devices and industrial computers.

[0053] The sensor device 300 is connected to the time synchronization box 200, and is used to receive the time information sent by the time synchronization box 200, and synchronize the time information to the sensor device 300. The sensor device includes a radar and an imaging device.

[0054] The industrial computer 400 is connected to the time synchronization box 200 , and the industrial computer 400 is used to receive the time information sent by the time synchronization box 200 and synchronize the time information to the industrial computer 400 .

[0055] In an embodiment of the present application, a radar is used to detect and identify obstacles around an autonomous vehicle to capture point cloud information of the obstacles. Obstacles include other vehicles, pedestrians, etc. The point cloud information of the obstacles includes the three-dimensional coordinates, reflectivity, speed, angle and other information of the obstacles. An imaging device is used to capture images and videos of obstacles around the autonomous vehicle. In order to make the time point when the radar detects the obstacle the same as the time point when the imaging device captures the image of the obstacle, it is necessary to synchronize the time of the radar and the imaging device to ensure the consistency of the working time of the radar and the imaging device.

[0056] In an embodiment of the present application, the time information is synchronized to a time synchronization box by a combined navigation system, and the time information is further synchronized to a sensor device and an industrial computer by the time synchronization box. Through secondary synchronization, the time of multiple sensor devices and industrial computers is unified.

[0057] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the connection relationship between a sensor device and a time synchronization box provided in an embodiment of the present application;

[0058] like Figure 2 As shown, the sensing device 300 includes an imaging device 301 and a radar 302. The imaging device 301 is connected to the time synchronization box 200. The imaging device 301 is used to receive the time information sent by the time synchronization box 200 and synchronize the time information to the imaging device 301, thereby realizing the time synchronization of the time synchronization box 200 and the imaging device 301. The imaging device 301 includes but is not limited to a rearview camera, a front view camera, a backup side view camera, a blind spot monitoring camera, a lane keeping camera, a forward collision warning camera, and other devices for capturing images.

[0059] The radar 302 is connected to the time synchronization box 200, and the radar 302 is used to receive the time information sent by the time synchronization box 200, and synchronize the time information to the radar 302, so as to achieve the time synchronization between the time synchronization box 200 and the radar 302. Among them, the radar 302 includes but is not limited to laser radar, millimeter wave radar and other radars.

[0060] In an embodiment of the present application, the imaging device and the radar simultaneously receive the time information sent by the time synchronization box, and synchronize the time to the imaging device and the radar, thereby unifying the time of the imaging device, the radar, and the time synchronization box, and realizing time synchronization of multiple devices.

[0061] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the connection relationship between a radar and a time synchronization box provided in an embodiment of the present application;

[0062] like Figure 3 As shown, the radar 302 includes a first radar 3021, a second radar 3022, and a third radar 3023, and the time synchronization box 200 includes a first debugging interface 201. The time synchronization box 200 is connected to the first radar 3021, the second radar 3022, and the third radar 3023 through the first debugging interface 201. The first debugging interface 201 is used to set the first phase angle corresponding to the first radar 3021, the second phase angle corresponding to the second radar 3022, and the third phase angle corresponding to the third radar 3023. The phase angle represents the angle of relative position or time between different radars. The first radar 3021, the second radar 3022, and the third radar 3023 are all used to detect and identify obstacles around the autonomous driving vehicle to capture point cloud information of the obstacles.

[0063] The first debugging interface 201 is also used to set the first trigger time corresponding to the first radar 3021, the second trigger time corresponding to the second radar 3022, and the third trigger time corresponding to the third radar 3023, so that the first radar 3021, the second radar 3022, and the third radar 3023 can detect obstacles regularly, wherein the trigger time is the time when the first radar 3021, the second radar 3022, and the third radar 3023 transmit signals to the surroundings of the autonomous driving vehicle. The first debugging interface 201 includes but is not limited to a serial port and a network interface.

[0064] In an embodiment of the present application, the phase angles and trigger times corresponding to the first radar 3021, the second radar 3022, and the third radar 3023 can also be set by a first application running on a computer terminal. For example, the computer terminal is connected to the first radar 3021, the second radar 3022, and the third radar 3023 through a wired or wireless interface, and the phase angles and trigger times corresponding to the first radar 3021, the second radar 3022, and the third radar 3023 are set respectively through a setting page corresponding to the first application, such as a browser page.

[0065] In an embodiment of the present application, the first debugging interface 201 is also used to set the first time period corresponding to the radar 302. The first time period represents the triggering time interval of the radar 302, that is, the time length between the time point when the radar 302 is currently triggered and the time point when it is next triggered. For example: the first time period of the radar 302 is set to 100ms, and the triggering time of the radar 302 is the 25th ms in each first time period, that is, the radar 302 will be triggered once at the 25th ms in each first time period.

[0066] In the embodiment of the present application, the phase angles corresponding to different radars are set to expand the detection range of the radar, thereby improving the comprehensive perception capability of the vehicle's surrounding environment, thereby helping the vehicle to make safe and efficient decisions and control.

[0067] In the embodiment of the present application, since the phase angles corresponding to different radars are different, by setting the trigger time corresponding to the radar, different radars always maintain the same scanning direction during operation.

[0068] It should be noted that the time periods corresponding to the first radar 3021, the second radar 3022, and the third radar 3023 are all the same. When the phase angles corresponding to the first radar 3021, the second radar 3022, and the third radar 3023 are different, the triggering times corresponding to the first radar 3021, the second radar 3022, and the third radar 3023 are different. For example, the first phase angle of the first radar 3021 is 180 degrees, the second phase angle of the second radar 3022 is 270 degrees, and the third phase angle of the third radar 3023 is 90 degrees. In order to make the first radar 3021, the second radar 3022, and the third radar 3023 scan the same direction at the same time, the triggering time of the first radar 3021 in the first time period is set to 50ms, the triggering time of the second radar 3022 in the first time period is set to 75ms, and the triggering time of the third radar 3023 in the first time period is set to 25ms.

[0069] Please refer to Figure 4 , Figure 4 is an example schematic diagram of different device position settings on a vehicle provided by an embodiment of the present application;

[0070] like Figure 4As shown, the vehicle includes 8 imaging devices 301, a first radar 3021, a second radar 3022, a third radar 3023, a combined navigation system 100, and a time synchronization box 200. Area A is the front direction of the vehicle. The combined navigation system 100 and the time synchronization box 200 are arranged in front of the vehicle. Three imaging devices 301 are arranged in front of the vehicle, two imaging devices are arranged on the right side of the vehicle, two imaging devices are arranged on the left side of the vehicle, and one imaging device is arranged behind the rear of the vehicle. It should be noted that Figure 4 The positions of different devices can be adjusted according to specific needs, and the number of imaging devices and radars can be adjusted according to specific needs, which are not limited here.

[0071] In the embodiment of the present application, the initial positions of the first radar 3021, the second radar 3022, and the third radar 3023 are different, that is, the phase angles set by the first radar 3021, the second radar 3022, and the third radar 3023 are different, then the initial scanning directions of the first radar 3021, the second radar 3022, and the third radar 3023 are also different. For example: the initial position of the first radar 3021 is set in front of the front of the vehicle, the initial position of the second radar 3022 is set to the right side of the front of the vehicle, and the initial position of the third radar 3023 is set to the left side of the front of the vehicle. Then, the initial scanning direction of the first radar 3021 is in front of the front of the vehicle, the initial scanning direction of the second radar 3022 is the right side of the vehicle, and the initial scanning direction of the third radar 3023 is the left side of the vehicle. By setting different trigger times, the scanning directions of the first radar 3021, the second radar 3022, and the third radar 3023 at the same time in the same cycle can be the same.

[0072] In the embodiment of the present application, by setting up multiple radars and imaging devices, the environmental conditions around the vehicle can be more comprehensively acquired, and obstacles around the vehicle can be detected in a timely manner.

[0073] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the connection relationship between a radar, a sensor device, and a time synchronization box provided in an embodiment of the present application;

[0074] like Figure 5 As shown, the radar 302 includes a transmitter 3024, an antenna 3025, a laser receiver 3026, and a second processor 3027. It should be noted that the various components in the radar 302 communicate with each other through a wired or wireless interface.

[0075] In the embodiment of the present application, the structure of the radar 302 is the same as the structure of the first radar 3021 , the second radar 3022 , and the third radar 3023 .

[0076] The transmitter 3024 is connected to the antenna 3025. The transmitter 3024 is used to monitor the trigger time of the radar 302 to control the antenna 3025 to emit a laser beam to detect obstacles around the vehicle. That is, when it is detected that the current time point is the trigger time of the radar 302, the transmitter 3024 sends a control signal to the antenna 3025 to control the antenna 3025 to emit a laser beam. When the laser beam emitted by the antenna 3025 encounters an obstacle, the laser beam will be reflected. The transmitter 3024 includes but is not limited to a continuous wave laser, a pulse laser, and a frequency modulated laser.

[0077] The laser receiver 3026 is connected to the first processor 3027. The laser receiver 3026 is used to receive the laser reflected by the obstacle, convert the light energy into an electrical signal, and send the electrical signal to the first processor 3027. The first processor 3027 is used to receive the electrical signal sent by the laser receiver 3026 to obtain the point cloud information of the obstacle, that is, to obtain the position, speed, direction and other information of the obstacle by parsing and processing the electrical signal. The first processor 3027 includes but is not limited to processors such as a microprocessor unit (MPU) and a digital signal processor (DSP).

[0078] The synchronization box 200 includes a first debugging interface 201, a second processor 202, and a second debugging interface 203. The second debugging interface 203 includes but is not limited to a serial port and a network interface. It should be noted that each component in the synchronization box 200 communicates with each other through a wired or wireless interface.

[0079] The first debugging interface 201 is connected to the first processor 3027 and the second processor 202 . The first debugging interface 201 is used to receive the point cloud information of the obstacle sent by the first processor 3027 , and send the point cloud information of the obstacle to the second processor 202 .

[0080] The second processor 202 is connected to the first debugging interface 201 and the second debugging interface 203, and is used to receive the point cloud information of the obstacle sent by the first debugging interface 201 to generate a trigger signal, and send the trigger signal to the second debugging interface 203. The second processor 202 includes but is not limited to a microprocessor (Micro Processor Unit, MPU), a digital signal processor (Digital Signal Processor, DSP) and other processors.

[0081] The second debugging interface 203 is connected to the second processor 202 and the imaging device 301, and is used to receive the trigger signal sent by the second processor 202, and set the trigger time corresponding to the imaging device 301 through the trigger signal to trigger the imaging device 301 to capture the image corresponding to the obstacle, wherein the trigger signal includes a signal of the trigger time.

[0082] In the embodiment of the present application, the trigger time of the imaging device 301 can also be set by a second application that can adapt to the imaging device 301, and the second application can be run on a computer terminal, a mobile phone, a tablet or other networked device.

[0083] In the embodiment of the present application, the second debugging interface 203 is also used to set the second time period corresponding to the imaging device 301, so that the imaging device 301 is triggered at the same time in the second time period. For example, the second time period of the imaging device 301 is 100ms, and the trigger time of the imaging device 301 within 100ms is set to 01ms, that is, the imaging device 301 will be triggered once at the 01ms of each second time period.

[0084] In an embodiment of the present application, when the radar emits a laser beam and detects an obstacle, the radar receives the laser reflected by the obstacle to collect point cloud information of the obstacle. At the same time, the point cloud information of the obstacle is sent to the time synchronization box. The time synchronization box receives the point cloud information of the obstacle to generate a trigger signal, and sends the trigger signal to the imaging device to trigger the imaging device to collect an image or video of the obstacle. The present application triggers the imaging device through the time synchronization box when the laser beam of the radar reaches the field of view of the imaging device, thereby achieving spatial synchronization between the data of the radar and the imaging device, that is, the radar and the imaging device are triggered to collect obstacle information at the same time.

[0085] Please refer to Table 1, which is a table of triggering times of imaging devices and radars provided in an embodiment of the present application;

[0086]

[0087] Table 1

[0088] As shown in Table 1, the trigger time of the imaging device and the trigger time of the radar in the trigger time table are obtained by experiments. The positions of the imaging device and the radar described in the table can be referred to. Figure 4In the trigger time chart, the trigger time period of the imaging device and the radar is the same. In the same time period, when the trigger time of the imaging device 12mm is 01ms, the trigger time of the first radar is 51ms, the trigger time of the second radar is 75ms, and the trigger time of the third radar is 25ms, at this time, the obstacle data collected by the imaging device 12mm, the first radar, the second radar, and the third radar in the same time period correspond to the same time point, and the detected obstacle is the same obstacle, thereby achieving spatial synchronization between the data of the imaging device and the radar.

[0089] It is understandable that in order to synchronize the data of the radar and the imaging device, the triggering times set for the imaging devices at different locations and the radars at different locations will be different, so that the triggering sequences of the imaging devices at different locations and the radars at different locations are different. It should be noted that the triggering time of the imaging device and the triggering time of the radar in the triggering time chart can be changed according to actual conditions.

[0090] Please refer to Figure 6 , Figure 6 This is an example schematic diagram of spatial synchronization between a laser radar and an imaging device provided in an embodiment of the present application.

[0091] like Figure 6 As shown, the left half of the figure is the working diagram of the laser radar, and the right half is the working diagram of the imaging device. When the laser radar is working, it can rotate 360 ​​degrees counterclockwise to emit laser beams to detect obstacles around the vehicle. When the laser radar rotates to 180 degrees, it emits laser beams. At the same time, the laser beam of the laser radar enters the field of view of the imaging device, triggering the imaging device to take images or videos in the same direction of the laser beam emitted by the laser radar.

[0092] In an embodiment of the present application, by setting the phase angle of the radar and setting the trigger time of the radar and the imaging device, the time point when the radar collects the point cloud information of the obstacle is the same as the time point when the imaging device collects the image of the obstacle, thereby maintaining the consistency and spatial synchronization of the data collected by the radar and the imaging device at the same time.

[0093] In an embodiment of the present application, the time information corresponding to the GPS signal is obtained through a combined navigation system, and the time information is synchronized to a time synchronization box based on the GPS protocol. The time information is synchronized to a sensor device through the time synchronization box based on the PTP protocol, thereby improving the accuracy of time synchronization and unifying the time of multiple sensor devices.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as mentioned above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A time synchronization system for multiple sensor devices, characterized in that: The time synchronization system comprises a combined navigation system, a time synchronization box and a sensor device, wherein the sensor device comprises a plurality of; The integrated navigation system is connected to the time synchronization box, and is used to receive and parse GPS signals to extract time information, and send the time information to the time synchronization box based on the GPS protocol; The time synchronization box is connected to the integrated navigation system and each of the sensor devices, and is used to receive the time information sent by the integrated navigation system, and send the time information to the sensor device based on the PTP protocol; The sensor device is connected to the time synchronization box, and is used to receive the time information sent by the time synchronization box, and synchronize the time information to the sensor device.

2. The time synchronization system according to claim 1, characterized in that: The integrated navigation system comprises a GPS receiver, and the GPS receiver is used to receive and analyze the GPS signal to extract the time information.

3. The time synchronization system according to claim 2, characterized in that: The sensing device includes: an imaging device and a radar; The imaging device is connected to the time synchronization box, and is used to receive the time information sent by the time synchronization box and synchronize the time information to the imaging device; The radar is connected to the time synchronization box, and is used to receive the time information sent by the time synchronization box and synchronize the time information to the radar.

4. The time synchronization system according to claim 3, characterized in that: The radar includes a first radar, a second radar, and a third radar; The time synchronization box includes a first debugging interface, which connects the first radar, the second radar, and the third radar. The first debugging interface is used to set a first phase angle corresponding to the first radar, a second phase angle corresponding to the second radar, and a third phase angle corresponding to the third radar, so that the radar can detect obstacles in multiple directions.

5. The time synchronization system according to claim 4, characterized in that: The first debugging interface is also used to set a first trigger time corresponding to the first radar, a second trigger time corresponding to the second radar, and a third trigger time corresponding to the third radar, so that the first radar, the second radar, and the third radar can detect obstacles at regular intervals.

6. The time synchronization system according to claim 5, characterized in that: The radar includes a transmitter and an antenna; The transmitter is used to monitor the triggering time of the radar to control the antenna to emit a laser beam to detect obstacles.

7. The time synchronization system according to claim 6, characterized in that: The radar includes a laser receiver and a first processor; The laser receiver is connected to the first processor and is used to receive the laser reflected by the obstacle and generate an electrical signal, and send the electrical signal to the first processor; The first processor is connected to the laser receiver and is used to receive the electrical signal sent by the laser receiver to obtain the point cloud information of the obstacle.

8. The time synchronization system according to claim 7, characterized in that: The time synchronization box includes a second processor and a second debugging interface; The first debugging interface is connected to the first processor and the second processor, and is used to receive the point cloud information of the obstacle sent by the first processor, and send the point cloud information of the obstacle to the second processor; The second processor is connected to the first debugging interface and the second debugging interface, and is used to receive the point cloud information of the obstacle sent by the first debugging interface to generate a trigger signal, and send the trigger signal to the second debugging interface; The second debugging interface is connected to the second processor and the imaging device, and is used to receive a trigger signal sent by the second processor, and set a trigger time corresponding to the imaging device through the trigger signal to trigger the imaging device to capture an image corresponding to the obstacle.

9. The time synchronization system according to claim 8, characterized in that: The first debugging interface is further used to set a first time period corresponding to the radar, so that the radar is triggered at the same time in the first time period; The second debugging interface is further used to set a second time period corresponding to the imaging device, so that the imaging device is triggered at the same time in the second time period.

10. The time synchronization system according to claim 1, characterized in that: The time synchronization system includes an industrial computer, which is connected to the time synchronization box and is used to receive the time information sent by the time synchronization box and synchronize the time information to the industrial computer.

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