CN115574810A - Space-time synchronization method, system, device and storage medium - Google Patents

Abstract

The invention discloses a space-time synchronization method, comprising: generating a time message and a pulse-per-second PPS signal in real time, and sending them to each of the subsystems; acquiring a pulse signal generated by a wheel encoder, and based on the pulse signal in each Determine the target subsystem to be synchronized in the subsystem; obtain inertial navigation information, generate precise positioning information in the central control system based on the inertial navigation information, the second pulse PPS signal and the pulse signal, and send it to the The target subsystem; based on the precise positioning information and the time message, complete time-space synchronization in the target subsystem to obtain synchronization data. The invention enables the tunnel detection vehicle to have the ability of environmental cognition evaluation and offline operation, and can realize the time-space synchronization of multiple detection subsystems for collaborative operation, which provides guarantee for the fusion processing and comprehensive diagnosis of subsequent multi-source data, and improves the efficiency of the tunnel at the same time. Check the robustness of the car.

Description

Space-time synchronization method, system, device and storage medium

technical field

The present invention relates to the technical field of time-space synchronization, in particular to a time-space synchronization method, system, device and storage medium.

Background technique

With the continuous development of science and technology and urban transportation, the spatial layout of urban transportation infrastructure has shown a trend of extending underground, and a new type of urban transportation has been realized through underground tunnels.

However, no matter what mode of transportation it is, its safety must be the first priority. However, the urban traffic mode realized through underground tunnels often has many potential safety hazards. Therefore, unmanned tunnel diagnostic equipment is required to move in the underground tunnels to check possible potential safety hazards, and to analyze possible problems in the underground tunnels. Comprehensive detection and identification, and due to the limitations of unmanned driving technology and the isolation of underground tunnels from the ground, when the existing tunnel diagnostic equipment moves and detects in these underground tunnels, due to insufficient environmental cognitive evaluation capabilities and offline operation capabilities, It leads to poor coordination, unable to realize the coordinated operation of various systems, and low robustness, prone to accidents, resulting in damage to equipment and experimental equipment, which is difficult to deal with.

Therefore, there is a need for a tunnel inspection vehicle with the ability to evaluate the environment and offline operation, and a technical solution is proposed to enable the tunnel inspection vehicle to achieve time-space synchronization.

Contents of the invention

The main purpose of the present invention is to provide a space-time synchronization method, aiming to solve the problem that the existing tunnel diagnostic equipment has insufficient environmental cognition evaluation ability and offline operation ability, and it is difficult for various systems to work together and achieve time-space consistency, and the robustness is not high technical problems.

In order to achieve the above object, the present invention provides a space-time synchronization method, which is applied to a tunnel inspection vehicle. The tunnel inspection vehicle at least includes a central control system and various subsystems. The space-time synchronization method includes the following steps:

Generate time messages and second pulse PPS signals in real time, and send them to each of the subsystems;

Obtain the pulse signal generated by the wheel encoder, and determine the target subsystem to be synchronized in each of the subsystems based on the pulse signal;

Acquiring inertial navigation information, generating precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and sending it to the target subsystem;

The time-space synchronization is completed in the target subsystem based on the precise positioning information and the time message to obtain synchronization data.

Preferably, the step of completing time-space synchronization in the target subsystem based on the precise positioning information and the time message, and obtaining synchronization data includes:

If the detection data is collected by the target subsystem, a time tag is obtained based on the time message;

And obtain a mileage label and a coordinate label based on the precise positioning information;

Inputting the time tag, the mileage tag and the coordinate tag into the detection data to obtain the synchronization data.

Preferably, the step of obtaining a time stamp based on the time message includes:

An operation of parsing the time message to obtain time information corresponding to the time message;

The time stamp is determined based on the time information.

Preferably, the step of obtaining a mileage label and a coordinate label based on the precise positioning information includes:

Obtaining the mileage label based on the pulse signal corresponding to the precise positioning information and the pulse-per-second PPS signal;

The coordinate label is obtained based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal.

Preferably, the step of obtaining the mileage label based on the pulse signal corresponding to the precise positioning information and the pulse-per-second PPS signal includes:

determining mileage information corresponding to the precise positioning information based on the pulse signal;

The mileage synchronization is performed on the mileage information based on the pulse per second PPS signal to obtain the mileage coordinates.

Preferably, the step of obtaining the coordinate label based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal includes:

determining the positioning information of the tunnel inspection vehicle based on the inertial navigation information;

Acquiring relative coordinates of the target subsystem with respect to the tunnel inspection vehicle, and determining coordinate information corresponding to the precise positioning information based on the positioning information and the relative coordinates;

Coordinate synchronization is performed on the coordinate information based on the pulse per second PPS signal to obtain the coordinate label.

Preferably, after completing the space-time synchronization in the target subsystem based on the precise positioning information and the time message, after the step of obtaining synchronization data, it further includes:

Analyzing and calculating the synchronization data, and/or uploading the synchronization data to a remote client for display.

In addition, in order to achieve the above object, the present invention also provides a space-time synchronization system, which includes:

A generation module, used to generate time messages and second pulse PPS signals in real time, and send them to each of the subsystems;

The first obtaining module is used to obtain the pulse signal generated by the wheel encoder, and determine the target subsystem to be synchronized in each of the subsystems based on the pulse signal;

The second acquisition module is used to acquire inertial navigation information, generate precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and send it to the target subsystem ;

A synchronization module, configured to complete time-space synchronization in the target subsystem based on the precise positioning information and the time message, and obtain synchronization data.

In addition, in order to achieve the above object, the present invention also provides a time-space synchronization device, which includes: a memory, a processor, and a time-space synchronization program stored in the memory and operable on the processor. Steps for implementing the above-mentioned space-time synchronization method when the space-time synchronization program is executed by the processor.

In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium, on which a time-space synchronization program is stored, and when the time-space synchronization program is executed by a processor, the above-mentioned time-space synchronization method is realized A step of.

The space-time synchronization method proposed by the present invention generates time messages and pulse-per-second PPS signals in real time, and sends them to each of the subsystems; obtains the pulse signals generated by the wheel encoder, and sends them to each of the subsystems based on the pulse signals Determine the target subsystem to be synchronized; acquire inertial navigation information, generate precise positioning information in the central control system based on the inertial navigation information, the second pulse PPS signal and the pulse signal, and send it to the target subsystem The system: complete time-space synchronization in the target subsystem based on the precise positioning information and the time message, and obtain synchronization data. It enables the tunnel inspection vehicle to have the ability of environmental cognitive evaluation and offline operation, and can realize the time-space synchronization of multiple inspection subsystems for collaborative operation, which provides guarantee for the fusion processing and comprehensive diagnosis of subsequent multi-source data, and at the same time improves the performance of the tunnel inspection vehicle. robustness.

Description of drawings

FIG. 1 is a schematic structural diagram of a space-time synchronization device in a hardware operating environment involved in the solution of an embodiment of the present invention;

FIG. 2 is a schematic flow chart of the first embodiment of the space-time synchronization method of the present invention;

FIG. 3 is a block diagram of the space-time synchronization system of the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

detailed description

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in FIG. 1 , FIG. 1 is a schematic structural diagram of a space-time synchronization device in a hardware operating environment involved in the solution of the embodiment of the present invention.

The terminal in this embodiment of the present invention may be a PC, or may be a mobile terminal device with a display function such as a smart phone, a tablet computer, or a portable computer.

As shown in FIG. 1 , the space-time synchronization device may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Optionally, the space-time synchronization device may further include a camera, an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Wherein, sensors such as light sensors, motion sensors and other sensors will not be repeated here.

Those skilled in the art can understand that the terminal structure shown in FIG. 1 does not constitute a limitation on the space-time synchronization device, and may include more or less components than those shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a time-space synchronization program.

In the space-time synchronization device shown in Figure 1, the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server; the user interface 1003 is mainly used to connect to the client (client) and perform data communication with the client; The processor 1001 may be used to call the space-time synchronization program stored in the memory 1005 .

In this embodiment, the space-time synchronization device includes: a memory 1005, a processor 1001, and a space-time synchronization program stored in the memory 1005 and operable on the processor 1001, wherein the processor 1001 calls the program stored in the memory 1005 In the space-time synchronization program, the steps of the space-time synchronization method in the following embodiments are executed.

The present invention also provides a space-time synchronization method, which is applied to a tunnel inspection vehicle. The tunnel inspection vehicle includes at least various subsystems. Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a first embodiment of the time-space synchronization method of the present invention.

In this embodiment, the space-time synchronization method includes the following steps:

Step S101, generating a time message and a pulse-per-second PPS signal in real time, and sending them to each of the subsystems;

In this embodiment, the existing unmanned driving technology generally provides accurate UTC (Universal Time Coordinated, Coordinated Universal Time) time information through the GNSS signal sent by the Global Navigation Satellite System (GNSS), but due to the working environment of the tunnel inspection vehicle It is generally located in an underground tunnel and is often running offline. When the tunnel inspection vehicle is running offline, it cannot communicate with the outside world or interact with data. Therefore, in order to prevent the tunnel inspection vehicle from being unable to obtain time information in an offline environment, the tunnel inspection vehicle There is a precise clock module built in, as the clock source of the tunnel inspection vehicle, it can provide accurate time information for each subsystem of the tunnel inspection vehicle. In addition, there is a high-precision synchronization box in the tunnel inspection vehicle. The synchronization box There is a PPS module in the memory, which can generate and send a pulse-per-second PPS signal to each subsystem.

Specifically, the precise time information provided by the precise clock module includes hours, minutes, seconds, years, months, and days. According to the time information, a time message including the time information can be generated in real time and sent to the tunnel Detect each subsystem of the vehicle. At the same time, the PPS module in the high-precision synchronization box generates a second pulse PPS signal in real time and sends it to each subsystem, so that the time tag can be obtained in each subsystem according to the time information. According to the second pulse The PPS signal performs mileage synchronization and coordinate synchronization.

Optionally, when the PPS module generates a pulse-per-second PPS signal and sends it to each subsystem, it can first perform differential calculation according to the relative positions between different subsystems, so as to avoid interference between the PPS signals sent to each subsystem.

Step S102, acquiring the pulse signal generated by the wheel encoder, and determining the target subsystem to be synchronized in each of the subsystems based on the pulse signal;

In this embodiment, there is a wheel encoder in the tunnel inspection vehicle, and the wheel encoder is an ABZ phase wheel encoder, and the pulse signal output by it has three phases ABZ, wherein, the AB phase is the pulse output signal, and the Z phase is the number of turns. In the A phase, B phase, and Z phase signals of the wheel encoder, the signals of the A and B channels are generally orthogonal (the signal sequence phase difference of the A and B channels is 90°) pulse signals, and the Z phase It is a zero pulse signal. Therefore, in addition to the two phases A and B, the output signal of the wheel encoder also outputs a zero pulse Z for each revolution. When the main shaft rotates clockwise, the output pulse A channel signal is located in the B channel Before; when the spindle rotates counterclockwise, the A channel signal is behind the B channel, so it can be judged whether the spindle is rotating forward or reverse.

Specifically, when the tunnel detects the movement of the vehicle, by receiving the pulse signal sent by the wheel encoder, the high-precision synchronization box can determine the target subsystem that needs to be synchronized in each subsystem, for example, the wheel encoder rotates one revolution to generate 3000 pulse signals, each subsystem includes camera/infrared subsystem and 3D laser radar subsystem, among them, the operating frequency set by camera/infrared subsystem is once every 100 pulse signals, and the working frequency set by 3D laser radar subsystem is The working frequency is once every 500 pulse signals. Therefore, when the high-precision synchronization box receives the pulse signal generated by the wheel encoder, it can determine that the target subsystem is the camera/infrared subsystem every 100 pulse signals; every 500 pulses The signal can determine that the target subsystem is a three-dimensional lidar subsystem.

Step S103, acquiring inertial navigation information, generating precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and sending it to the target subsystem;

In this embodiment, the tunnel inspection vehicle is also equipped with an inertial navigation module. The high-precision synchronization box can obtain inertial navigation information through the inertial navigation module. In this way, the inertial navigation information is obtained and sent to the high-precision synchronization box. When the high-precision synchronization box determines the target subsystem in each subsystem according to the pulse signal generated by the wheel encoder, the inertial navigation information and pulse signal are sent to the tunnel detection The central control system of the vehicle generates the precise positioning information corresponding to the target subsystem according to the inertial navigation information and the pulse signal in the central control system, and sends the precise positioning information to the target subsystem. In addition, the target subsystem also receives Real-time time message and pulse-per-second PPS signal, according to precise positioning information, time message and pulse-per-second PPS signal, time-space synchronization can be completed in the target subsystem.

Step S104, based on the precise positioning information and the time message, complete time-space synchronization in the target subsystem, and obtain synchronization data.

In this embodiment, the precise positioning information is generated by the pulse signal and inertial navigation information. After receiving the precise positioning information, the target subsystem starts to work and collects detection data. At the same time, the target subsystem obtains the time tag according to the time message; according to the precise positioning The pulse signal corresponding to the information and the second pulse PPS signal are used for mileage synchronization to obtain the mileage label; the coordinates are synchronized according to the inertial navigation information corresponding to the precise positioning information and the second pulse PPS signal to obtain the coordinate label. Finally, input the time tag, mileage tag, and coordinate tag into the collected detection data in the target subsystem to obtain synchronous data. The time tag, mileage tag, and coordinate tag included in the synchronous data correspond to the time when the detection data was collected information, mileage information, and coordinate information.

In this embodiment, the time message and the second pulse PPS signal are generated in real time and sent to each of the subsystems; the pulse signal generated by the wheel encoder is obtained, and the pulse signal to be determined in each of the subsystems is determined based on the pulse signal. Synchronized target subsystem; acquire inertial navigation information, generate precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and send it to the target subsystem; The time-space synchronization is completed in the target subsystem based on the precise positioning information and the time message to obtain synchronization data. It enables the tunnel inspection vehicle to have the ability of environmental cognitive evaluation and offline operation, and can realize the time-space synchronization of multiple inspection subsystems for collaborative operation, which provides guarantee for the fusion processing and comprehensive diagnosis of subsequent multi-source data, and at the same time improves the performance of the tunnel inspection vehicle. robustness.

Based on the first embodiment, a second embodiment of the space-time synchronization method of the present invention is proposed. In this embodiment, step S104 includes:

Step S201, if the target subsystem collects detection data, then obtain a time stamp based on the time message;

Step S202, and obtain a mileage label and a coordinate label based on the precise positioning information;

Step S203, inputting the time tag, the mileage tag and the coordinate tag into the detection data to obtain the synchronization data.

In this embodiment, after the target subsystem receives the precise positioning information generated by the central control system, it immediately collects the detection data. If the target subsystem collects the detection data, it obtains the time tag according to the time message received in real time; according to The pulse signal corresponding to the precise positioning information and the second pulse PPS signal are used to obtain the mileage label; the coordinate label is obtained according to the inertial navigation information corresponding to the precise positioning information and the second pulse PPS signal, and then the time label, mileage label and coordinate label are input into the detection data to obtain Synchronous Data.

Specifically, since the target subsystem receives the time message and the pulse-per-second PPS signal in real time, it can obtain the time information corresponding to the time message by analyzing the time message, and then obtain the time label according to the time information; at the same time , analyze the received precise positioning information, according to the pulse signal corresponding to the precise positioning information, the mileage information corresponding to the precise positioning information can be obtained, and then the mileage information can be synchronized according to the second pulse PPS signal, and the mileage label can be obtained In addition, the coordinate information corresponding to the precise positioning information can be obtained according to the inertial navigation information corresponding to the precise positioning information, and then the coordinate information can be synchronized according to the second pulse PPS signal to obtain the coordinate label. Finally, the target subsystem can obtain synchronous data by inputting the time tag, mileage tag, and coordinate tag into the collected detection data, which can be uploaded to the central control system of the tunnel inspection vehicle later. The synchronous data includes the target subsystem Time information, mileage information and coordinate information when the detection data is collected.

In this embodiment, if the detection data is collected by the target subsystem, a time tag is obtained based on the time message; and a mileage tag and a coordinate tag are obtained based on the precise positioning information; the time tag, the The mileage tag and the coordinate tag input the detection data to obtain the synchronization data. The various subsystems of the tunnel inspection vehicle can synchronize the collected data in time and space, and then carry out collaborative operation to achieve time-space consistency, which provides guarantee for the fusion processing and comprehensive diagnosis of subsequent multi-source data, and at the same time improves the robustness of the tunnel inspection vehicle. Stickiness.

Based on the second embodiment, a third embodiment of the space-time synchronization method of the present invention is proposed. In this embodiment, the method for obtaining a time tag based on the time message in step S201, the specific steps include:

Step S301, performing an operation of parsing the time message to obtain time information corresponding to the time message;

Step S302, determining the time tag based on the time information.

In this embodiment, in order to perform time synchronization, the time message received in real time is analyzed in the target subsystem to obtain corresponding time information. For example, after the target subsystem receives the time message, it analyzes it and extracts the time message. The time information such as hours, minutes, seconds, years, months, and days in the text can be used to determine the time label according to the time information, and the same process can be continued to make the time synchronization continue.

In this embodiment, the time information corresponding to the time message is obtained by parsing the time message; and then the time tag is determined based on the time information. Because the precise clock module is used as the clock source, the tunnel inspection vehicle has the ability to run offline, and each subsystem can continuously synchronize time. When the tunnel inspection vehicle is working, the subsystems can cooperate to achieve temporal and spatial consistency. The fusion processing and comprehensive diagnosis of the source data provide guarantee, and at the same time, the robustness of the tunnel inspection vehicle is improved.

Based on the second embodiment, a fourth embodiment of the space-time synchronization method of the present invention is proposed. In this embodiment, step S202 includes:

Step S401, obtaining the mileage label based on the pulse signal corresponding to the precise positioning information and the pulse-per-second PPS signal;

Step S401: Obtain the coordinate label based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal.

In this embodiment, when the target subsystem receives the precise positioning information sent by the central control system to operate and collect detection data, it also needs to analyze the precise positioning information to obtain the pulse signal and inertial navigation information corresponding to the precise positioning information, according to The pulse signal judges the rolling distance of the wheel encoder, so that the mileage information corresponding to the precise positioning information can be obtained, that is, the movement mileage of the tunnel diagnostic vehicle, and then the mileage information is synchronized through the second pulse PPS signal to obtain the mileage label; according to the inertia The navigation information can determine the positioning information of the tunnel inspection vehicle, and then obtain the relative coordinates of the target subsystem about the tunnel inspection vehicle, and convert the positioning information through the relative coordinates to obtain the coordinate information corresponding to the precise positioning information, and then pass the second pulse The PPS signal performs coordinate synchronization on the coordinate information to obtain the coordinate label.

In this embodiment, the mileage label is obtained based on the pulse signal corresponding to the precise positioning information and the pulse-per-second PPS signal; and based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal , to get the coordinate label. The detection data collected by the tunnel inspection vehicle can be added to the mileage label and coordinate label, thereby synchronizing with the mileage information and coordinate information, improving the accuracy of the detection data, and when the tunnel inspection vehicle is working, various subsystems can cooperate to achieve a space-time Consistency provides guarantee for the fusion processing and comprehensive diagnosis of subsequent multi-source data, and improves the robustness of the tunnel inspection vehicle at the same time.

Based on the fourth embodiment, a fifth embodiment of the space-time synchronization method of the present invention is proposed. In this embodiment, step S401 includes:

Step S501, based on the pulse signal, determine the mileage information corresponding to the precise positioning information;

Step S502, performing mileage synchronization on the mileage information based on the pulse per second PPS signal, to obtain the mileage coordinates.

In this embodiment, when the target subsystem analyzes the precise positioning information and obtains the pulse signal corresponding to the precise positioning information, the mileage information corresponding to the precise positioning information can be determined according to the pulse signal, and then the mileage information can be determined according to the second pulse PPS signal. The information is synchronized with the mileage to obtain the mileage coordinates. For example, when the target subsystem receives the precise positioning information and collects the detection data, the tunnel inspection vehicle may have been moving, so there is a delay in the mileage information, and the time is calculated according to the second pulse PPS signal. Determine the time consumed between obtaining the precise positioning information and obtaining the detection data, and then calculate the actual mileage information according to the time and the speed of the tunnel inspection vehicle, and finally obtain the mileage label.

In this embodiment, the mileage information corresponding to the precise positioning information is determined based on the pulse signal; and then the mileage information is synchronized based on the pulse-per-second PPS signal to obtain the mileage coordinates. The tunnel inspection vehicle can continuously synchronize the mileage. When the tunnel inspection vehicle is working, various subsystems can work together to achieve spatio-temporal consistency, which provides guarantee for subsequent multi-source data fusion processing and comprehensive diagnosis, and improves the tunnel inspection vehicle’s performance. robustness.

Based on the fourth embodiment, a sixth embodiment of the space-time synchronization method of the present invention is proposed. In this embodiment, step S402 includes:

Step S601, based on the inertial navigation information, determine the positioning information of the tunnel inspection vehicle;

Step S602, acquiring relative coordinates of the target subsystem with respect to the tunnel inspection vehicle, and determining coordinate information corresponding to the precise positioning information based on the positioning information and the relative coordinates;

Step S603, performing coordinate synchronization on the coordinate information based on the pulse per second PPS signal to obtain the coordinate label.

In this embodiment, when the target subsystem analyzes the precise positioning information and obtains the inertial navigation information corresponding to the precise positioning information, the positioning information of the tunnel inspection vehicle can be determined according to the inertial navigation information, and then the target subsystem can obtain information about the tunnel inspection vehicle. The relative coordinates of the positioning information can be transformed through the relative coordinates to obtain the coordinate information corresponding to the precise positioning information, and then the coordinate information is synchronized through the second pulse PPS signal to obtain the coordinate label. For example, the target subsystem receives the precise When positioning information and collecting detection data, the positioning information of the tunnel inspection vehicle can be determined according to the inertial navigation information, that is, the actual position of the tunnel inspection vehicle on the three-dimensional level, and each subsystem can be obtained by using the tunnel inspection vehicle as a reference coordinate system. With regard to the relative coordinates of the tunnel inspection vehicle, coordinate conversion is performed on the positioning information of the tunnel inspection vehicle according to the relative coordinates, and the coordinate information corresponding to the precise positioning information can be obtained. Since the position of the target subsystem itself and the tunnel inspection vehicle may change, so There is a delay in the finally obtained coordinate information. The time calculation is performed according to the second pulse PPS signal to determine the time consumed between obtaining the precise positioning information and obtaining the detection data. The inertial navigation information also includes the three-axis acceleration and angular velocity of the carrier of the tunnel inspection vehicle. According to The coordinate label can be obtained by comprehensive calculation of the coordinate information, the three-axis acceleration and angular velocity of the carrier, and the time.

In this embodiment, by determining the positioning information of the tunnel inspection vehicle based on the inertial navigation information; and obtaining the relative coordinates of the target subsystem with respect to the tunnel inspection vehicle, based on the positioning information and the relative The coordinates determine the coordinate information corresponding to the precise positioning information; thereby performing coordinate synchronization on the coordinate information based on the pulse per second PPS signal to obtain the coordinate label. The tunnel inspection vehicle can continuously synchronize coordinates. When the tunnel inspection vehicle is working, various subsystems can cooperate to achieve temporal and spatial consistency, which provides guarantee for subsequent multi-source data fusion processing and comprehensive diagnosis, and at the same time improves the tunnel inspection vehicle. robustness.

Based on the above-mentioned various embodiments, the seventh embodiment of the space-time synchronization method of the present invention is proposed. In this embodiment, after step S104, it also includes:

Step S701, analyzing and calculating the synchronization data, and/or uploading the synchronization data to a remote client for display.

In this embodiment, the central control system can control all equipment and subsystems in the tunnel inspection vehicle. After the time information, mileage information, and coordinate information of the detection data are synchronized in the target subsystem, the central control system obtains the synchronization data. The synchronous data can be analyzed and calculated, and then processed accordingly, and/or, the synchronous data can also be uploaded to the remote client for display, and the operation instructions sent by the remote client can be received to execute corresponding commands.

In this embodiment, the synchronization data is analyzed and calculated, and/or, the synchronization data is uploaded to a remote client for display. It enables the central control system and/or the remote client to quickly perform corresponding processing according to the synchronous data, which improves the efficiency of data processing and the accuracy of the data. The tunnel inspection vehicle performs collaborative operation through the synchronous data of each subsystem to achieve temporal and spatial consistency. It provides guarantee for the fusion processing and comprehensive diagnosis of subsequent multi-source data, and improves the robustness of the tunnel inspection vehicle at the same time.

In addition, an embodiment of the present invention also proposes a space-time synchronization system. Referring to FIG. 3, the space-time synchronization system includes:

Generating module 10, is used for generating time message and second pulse PPS signal in real time, and sends to each described subsystem;

The first obtaining module 20 is used to obtain the pulse signal generated by the wheel encoder, and determine the target subsystem to be synchronized in each of the subsystems based on the pulse signal;

The second acquisition module 30 is used to acquire inertial navigation information, generate precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and send it to the target sub- system;

The synchronization module 40 is configured to complete time-space synchronization in the target subsystem based on the precise positioning information and the time message, and obtain synchronization data.

Further, the synchronization module 40 is also used for:

If the detection data is collected by the target subsystem, a time tag is obtained based on the time message;

And obtain a mileage label and a coordinate label based on the precise positioning information;

Inputting the time tag, the mileage tag and the coordinate tag into the detection data to obtain the synchronization data.

Further, the space-time synchronization system is also used for:

An operation of parsing the time message to obtain time information corresponding to the time message;

The time stamp is determined based on the time information.

Further, the space-time synchronization system is also used for:

Obtaining the mileage label based on the pulse signal corresponding to the precise positioning information and the pulse-per-second PPS signal;

The coordinate label is obtained based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal.

Further, the space-time synchronization system is also used for:

determining mileage information corresponding to the precise positioning information based on the pulse signal;

The mileage synchronization is performed on the mileage information based on the pulse per second PPS signal to obtain the mileage coordinates.

Further, the space-time synchronization system is also used for:

determining the positioning information of the tunnel inspection vehicle based on the inertial navigation information;

Acquiring relative coordinates of the target subsystem with respect to the tunnel inspection vehicle, and determining coordinate information corresponding to the precise positioning information based on the positioning information and the relative coordinates;

Coordinate synchronization is performed on the coordinate information based on the pulse per second PPS signal to obtain the coordinate label.

Further, the space-time synchronization system is also used for:

Analyzing and calculating the synchronization data, and/or uploading the synchronization data to a remote client for display.

For the method executed by the above-mentioned space-time synchronization system, reference may be made to various embodiments of the space-time synchronization method of the present invention, which will not be repeated here.

In addition, an embodiment of the present invention also proposes a time-space synchronization device, which includes: a memory, a processor, and a time-space synchronization program stored in the memory and operable on the processor, the time-space synchronization program When executed by the processor, the steps of the above-mentioned space-time synchronization method are realized.

In addition, an embodiment of the present invention also proposes a computer-readable storage medium, the medium is preferably a computer-readable storage medium on which a time-space synchronization program is stored, and when the time-space synchronization program is executed by a processor, the above-mentioned Steps of the spatiotemporal synchronization method.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. A space-time synchronization method, characterized in that it is applied to a tunnel inspection vehicle, and the tunnel inspection vehicle at least includes a central control system and each subsystem, and the space-time synchronization method comprises the following steps: Generate time messages and second pulse PPS signals in real time, and send them to each of the subsystems; Obtain the pulse signal generated by the wheel encoder, and determine the target subsystem to be synchronized in each of the subsystems based on the pulse signal; Acquiring inertial navigation information, generating precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and sending it to the target subsystem; The time-space synchronization is completed in the target subsystem based on the precise positioning information and the time message to obtain synchronization data. 2. The space-time synchronization method as claimed in claim 1, wherein the space-time synchronization is completed in the target subsystem based on the precise positioning information and the time message, and the step of obtaining synchronous data comprises: If the detection data is collected by the target subsystem, a time tag is obtained based on the time message; And obtain a mileage label and a coordinate label based on the precise positioning information; Inputting the time tag, the mileage tag and the coordinate tag into the detection data to obtain the synchronization data. 3. The space-time synchronization method according to claim 2, wherein the step of obtaining a time stamp based on the time message comprises: An operation of parsing the time message to obtain time information corresponding to the time message; The time stamp is determined based on the time information. 4. The space-time synchronization method according to claim 2, wherein the step of obtaining a mileage label and a coordinate label based on the precise positioning information comprises: Obtaining the mileage label based on the pulse signal corresponding to the precise positioning information and the pulse-per-second PPS signal; The coordinate label is obtained based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal. 5. The space-time synchronization method according to claim 4, wherein the step of obtaining the mileage tag comprises: determining mileage information corresponding to the precise positioning information based on the pulse signal; The mileage synchronization is performed on the mileage information based on the pulse per second PPS signal to obtain the mileage coordinates. 6. The space-time synchronization method according to claim 4, wherein the step of obtaining the coordinate label based on the inertial navigation information corresponding to the precise positioning information and the pulse-per-second PPS signal comprises: determining the positioning information of the tunnel inspection vehicle based on the inertial navigation information; Acquiring relative coordinates of the target subsystem with respect to the tunnel inspection vehicle, and determining coordinate information corresponding to the precise positioning information based on the positioning information and the relative coordinates; Coordinate synchronization is performed on the coordinate information based on the pulse per second PPS signal to obtain the coordinate label. 7. The space-time synchronization method according to any one of claims 1 to 6, wherein the space-time synchronization is completed in the target subsystem based on the precise positioning information and the time message, and the synchronization data is obtained After the steps, also include: Analyzing and calculating the synchronization data, and/or uploading the synchronization data to a remote client for display. 8. A space-time synchronization system, characterized in that the space-time synchronization system comprises: A generation module, used to generate time messages and second pulse PPS signals in real time, and send them to each of the subsystems; The first obtaining module is used to obtain the pulse signal generated by the wheel encoder, and determine the target subsystem to be synchronized in each of the subsystems based on the pulse signal; The second acquisition module is used to acquire inertial navigation information, generate precise positioning information in the central control system based on the inertial navigation information, the pulse-per-second PPS signal and the pulse signal, and send it to the target subsystem ; A synchronization module, configured to complete time-space synchronization in the target subsystem based on the precise positioning information and the time message, and obtain synchronization data. 9. A space-time synchronization device, characterized in that, the space-time synchronization device comprises: a memory, a processor, and a space-time synchronization program stored on the memory and operable on the processor, the space-time synchronization program being The processor implements the steps of the space-time synchronization method according to any one of claims 1 to 7 when executed. 10. A computer-readable storage medium, characterized in that, a time-space synchronization program is stored on the readable storage medium, and when the time-space synchronization program is executed by a processor, it is implemented as described in any one of claims 1 to 7. The steps of the space-time synchronization method.

Images