CN111614521B - Monitoring method and device for mobile carrier, storage medium and processor - Google Patents

Abstract

The present application provides a monitoring method, a monitoring device, a storage medium, and a processor of a mobile carrier. The mobile carrier includes a transfer device and multiple sensors communicating with the transfer device. The transfer device is used to transfer the data of multiple sensors on the mobile carrier. , the transfer device is also used to provide a network port for the mobile carrier, the monitoring method includes: monitoring the total power supply and total power consumption of the transfer device; monitoring the power supply and power consumption of each sensor; monitoring the network status of the transfer device , the network status includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal. This solution realizes the monitoring of the status of the mobile carrier by monitoring these devices, and solves the problem of The prior art lacks a method for monitoring whether the mobile carrier is working normally.

Description

Monitoring method, monitoring device, storage medium and processor of mobile carrier

technical field

The present application relates to the field of automatic driving, and in particular, relates to a monitoring method, a monitoring device, a storage medium, a processor and a mobile carrier.

Background technique

NBox2.5 is an important relay device for sensor data on unmanned vehicles, and provides network ports for vehicles. NBox2.5 includes a programmable logic unit (FPGA) and a computing unit (CPU), and communicates with external sensors and lower-level devices through a variety of interfaces. The prior art lacks a method for monitoring whether the mobile carrier is working normally. The mobile carrier includes transfer equipment and external equipment, the external equipment includes external sensors and lower-level equipment, and the mobile carrier includes an unmanned vehicle.

The above information disclosed in the Background section is only to enhance the understanding of the background of the technology described herein, therefore, the Background may contain certain information which is not formed in the country for those skilled in the art. known prior art.

Contents of the invention

The main purpose of this application is to provide a mobile carrier monitoring method, monitoring device, storage medium, processor and mobile carrier to solve the problem of lack of a method for monitoring whether the mobile carrier is working normally in the prior art.

In order to achieve the above object, according to one aspect of the present application, a method for monitoring a mobile carrier is provided, the mobile carrier includes a transfer device and a plurality of sensors communicating with the transfer device, and the transfer device is used to transfer the The data of multiple sensors on the mobile carrier, the transfer device is also used to provide a network port for the mobile carrier, the monitoring method includes: monitoring the total power supply and total power consumption of the transfer device ; Monitor the power supply and power consumption of each of the sensors; monitor the network status of the transfer device, the network status includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, the strength of the network signal .

Optionally, monitoring the total power supply and total power consumption of the transfer device includes: when it is detected that the voltage of the total power is not within the first predetermined range, the current of the total power is not within the second predetermined range, and /or when the power consumption of the total power supply is not within the third predetermined range, check whether the power conversion module of the transfer device is working normally, and whether the configuration of the processing unit that requires program configuration is successful; monitor the power supply of each of the sensors Situations and power consumption situations, including: when it is detected that the voltage of the power supply of the sensor is not within the fourth predetermined range, the current of the power supply of the sensor is not within the fifth predetermined range, and/or the power consumption of the power supply of the sensor is not within the In the case of the sixth predetermined range, check whether the circuit connection of the sensor is normal and whether the configuration status is successful; monitor the network status of the transfer device, including: when the network connection failure of the transfer device is detected, the network delay is too If it is large, the type of the network signal does not belong to the predetermined type and/or the strength of the network signal is not within the seventh predetermined range, adjust the parameters of the network of the transfer device or restart the network.

Optionally, the monitoring method further includes: monitoring the satellite navigation status of the transfer device, where the satellite navigation status includes positioning information and timing information of the transfer device.

Optionally, monitoring the satellite navigation state of the transit device includes: checking the status of the corresponding module of the mobile carrier when the lack of the positioning information and/or the lack of the timing information of the transit device is detected. An antenna, and the corresponding modules include a satellite navigation module and a programmable logic unit.

Optionally, the mobile carrier further includes a laser radar and an inertial measurement unit, and the monitoring method further includes: monitoring the working state of the laser radar, and the working state of the laser radar includes the time synchronization state of the laser radar and The hardware connection state of the lidar; monitoring the working state of the inertial measurement unit, the working state of the inertial measurement unit includes whether the output signal of the inertial measurement unit satisfies a first preset condition.

Optionally, monitoring the working state of the lidar includes: restarting the lidar when it is detected that the time of the lidar is not synchronized successfully; when it is detected that the hardware of the lidar is not connected Next, check the corresponding connector; monitor the working state of the inertial measurement unit, including: restarting the inertial measurement unit when it is detected that the output signal of the inertial measurement unit does not meet the first preset condition ; After restarting the inertial measurement unit, if the output signal of the inertial measurement unit still does not satisfy the first preset condition, check the inertial measurement unit.

Optionally, the monitoring method further includes: monitoring whether the temperature at a predetermined location of the mobile carrier is within an eighth predetermined range, the predetermined location including the engine; monitoring the working state of the internal switch of the mobile carrier, the The working status of the internal switch includes whether the register value of the internal switch satisfies the second preset condition; monitoring the working status of the bus of the mobile carrier, the working status of the bus includes the data transmission status of the bus and the The connection state of the bus; monitoring the operation state of the programmable logic unit of the mobile carrier, the operation state of the programmable logic unit includes whether the programmable logic unit controls the normal operation of the mobile carrier.

Optionally, monitoring whether the temperature at the predetermined position of the mobile carrier is within an eighth predetermined range includes: controlling the Shutting down at a predetermined location; monitoring the working status of the internal switch of the mobile carrier, including: reconfiguring the register of the internal switch when it is detected that the register value of the internal switch does not meet the second preset condition; Monitoring the working status of the bus of the mobile carrier includes: reconnecting the bus when abnormal data transmission of the bus is detected and/or disconnection of the bus; monitoring the programmable The running state of the logic unit includes: restarting the programmable logic unit when it is detected that the programmable logic unit cannot control the normal operation of the mobile carrier and cannot recover by itself.

Optionally, the monitoring method further includes: restoring the predetermined device to a normal working state without affecting the normal operation of the mobile carrier when it is detected that the predetermined device of the mobile carrier is working abnormally; In case the predetermined device cannot be restored to a normal working state, the predetermined device is inspected.

Optionally, the monitoring method further includes: obtaining abnormal data and self-recovery data of the predetermined device when monitoring the predetermined equipment of the mobile carrier is abnormal; according to the abnormal data and self-recovery data, Check the intended device.

Optionally, the operating data of each device of the mobile carrier is displayed to the user in the form of a web page.

According to another aspect of the present application, a monitoring device for a mobile carrier is provided, the mobile carrier includes a transfer device and a plurality of sensors communicating with the transfer device, the transfer device is used to transfer the For the data of a plurality of sensors, the transfer device is also used to provide a network port for the mobile carrier, and the monitoring device includes: a first monitoring unit, which is used to monitor the total power supply situation and the total power supply of the transfer device Power consumption; the second monitoring unit is used to monitor the power supply and power consumption of each sensor; the third monitoring unit is used to monitor the network status of the transfer device, and the network status includes at least one of the following: Whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.

According to still another aspect of the present application, a storage medium is provided, and the storage medium includes a stored program, wherein the program executes any one of the monitoring methods described above.

According to still another aspect of the present application, a processor is provided, and the processor is used to run a program, wherein, when the program is running, any one of the monitoring methods described above is executed.

According to still another aspect of the present application, a mobile carrier is provided, including: one or more processors, memory, display device and one or more programs, wherein the one or more programs are stored in the memory In, and configured to be executed by the one or more processors, the one or more programs are included for performing any one of the monitoring methods.

Applying the technical solution of this application, by monitoring the total power supply and power consumption of the transfer equipment, monitoring the power supply and power consumption of each sensor, monitoring the network status of the transfer equipment, and monitoring these devices, thereby realizing The monitoring of the state of the mobile carrier is realized, and the problem of lack of a method for monitoring whether the mobile carrier is working normally in the prior art is solved.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application. In the attached picture:

Fig. 1 shows a flow chart of a method for monitoring a mobile carrier according to an embodiment of the present application; and

Fig. 2 shows a schematic diagram of a monitoring device for a mobile carrier according to an embodiment of the present application.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when it is described that an element is "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the another element through a third element.

As introduced in the background technology, there is a lack of a method for monitoring whether the unmanned vehicle operating system is working normally in the prior art. In order to solve the problem of lacking a method for monitoring whether the unmanned vehicle operating system is working normally, the application The embodiment provides a monitoring method of a mobile carrier, a monitoring device, a storage medium, a processor and a mobile carrier.

According to an embodiment of the present application, a method for monitoring a mobile carrier is provided.

Fig. 1 is a flowchart of a monitoring method for a mobile carrier according to an embodiment of the present application. The above-mentioned mobile carrier includes a transfer device and multiple sensors communicating with the above-mentioned transfer device. The above-mentioned transfer device is used to transfer the data of a plurality of the above-mentioned sensors on the above-mentioned mobile carrier. The above-mentioned transfer device is also used to provide a network port for the above-mentioned mobile carrier, such as As shown in Figure 1, the method includes the following steps:

Step S101, monitoring the total power supply and total power consumption of the above-mentioned transfer equipment;

Step S102, monitoring the power supply and power consumption of each of the above sensors;

Step S103, monitoring the network status of the transit device, the network status includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.

In the above scheme, by monitoring the total power supply and total power consumption of the transfer equipment, the power supply and power consumption of each sensor, and the network status of the transfer equipment are monitored. By monitoring these devices, mobile The monitoring of the state of the carrier solves the problem in the prior art that there is no method for monitoring whether the mobile carrier is working normally.

It should be noted that the mobile carriers mentioned above include but are not limited to unmanned vehicles.

It should be noted that the steps shown in the flowcharts of the accompanying drawings may be performed in a computer system, such as a set of computer-executable instructions, and that although a logical order is shown in the flowcharts, in some cases, The steps shown or described may be performed in an order different than here.

In yet another embodiment of the present application, the monitoring of the total power supply and total power consumption of the above-mentioned transfer equipment includes: when it is detected that the voltage of the total power is not within the first predetermined range, and the current of the above-mentioned total power is not within the second predetermined range, Within the range and/or the power consumption of the above-mentioned total power supply is not within the third predetermined range, check the above-mentioned transfer equipment; specifically, the first predetermined range includes but is not limited to within the error range of 5% of the design voltage, and The second predetermined range is the range between the predetermined minimum current value and the predetermined maximum current value, and the third predetermined range is the range between the predetermined minimum power consumption and the predetermined maximum power consumption. Those skilled in the art can select the appropriate first power consumption according to the actual situation. The predetermined range, the second predetermined range, and the third predetermined range, specifically, check whether the power conversion module of the above-mentioned transfer equipment is working normally, whether the configuration of the processing unit that requires program configuration is successful, and monitor the power supply and power consumption of each of the above-mentioned sensors , including: when it is detected that the voltage of the power supply of the sensor is not within the fourth predetermined range, the current of the power supply of the sensor is not within the fifth predetermined range, and/or the power consumption of the power supply of the sensor is not within the sixth predetermined range , check the above-mentioned sensor; specifically, in the case that the above-mentioned sensor is an inertial measurement sensor (inertial measurement unit), check whether the inertial measurement sensor has an output value of acceleration and angular acceleration that changes according to a change in the motion state of the device, within the fourth predetermined range Including but not limited to the allowable input voltage range of the sensor or within the error range of 5% of the design voltage, the fifth predetermined range is the nominal current range of the sensor or the current range of the expected maximum and minimum values, and the sixth predetermined range Within the nominal power consumption range of the sensor or the power range of the expected maximum value and minimum value, those skilled in the art can select the appropriate fourth predetermined range, fifth predetermined range and sixth predetermined range according to the actual situation, specifically , check whether the circuit connection of the above-mentioned sensor is normal, and whether the configuration status is successful; monitor the network status of the above-mentioned transit device, including: when the network connection failure of the above-mentioned transit device is detected, the network delay is too large, and the type of the above-mentioned network signal does not belong to the predetermined type And/or when the strength of the above-mentioned network signal is not within the seventh predetermined range, adjust the parameters of the network of the above-mentioned transfer device or restart the above-mentioned network, and monitor the total power supply and total power consumption of the transfer device to monitor each sensor The power supply and power consumption of the transfer equipment are monitored, and the network status of the transfer equipment is monitored to monitor whether the transfer equipment and sensors are working normally. When the transfer equipment and sensors are not working properly, corresponding recovery measures are taken to ensure the transfer The stability of the equipment and the work of each sensor further ensures the normal operation of the mobile carrier operating system.

In another embodiment of the present application, the above method further includes: monitoring the satellite navigation status of the above-mentioned transfer equipment, the above-mentioned satellite navigation status includes the positioning information and timing information of the above-mentioned transfer equipment, and the timing information refers to the accurately corrected information sent by the satellite to the equipment. The time message and the per-second pulse signal that allows the device to monitor to achieve accurate time synchronization. By monitoring the satellite navigation status of the transfer device, it is further realized whether the transfer device is working normally.

In yet another embodiment of the present application, the monitoring of the satellite navigation status of the above-mentioned transit equipment includes: when the above-mentioned positioning information of the above-mentioned transit equipment is missing and/or the above-mentioned timing information is missing, checking the status of the corresponding module of the above-mentioned mobile carrier The antenna, the corresponding module includes a satellite navigation module and a programmable logic unit. The satellite navigation module is used to receive and calculate the original signal of the satellite and output it to the programmable logic unit. The programmable logic unit performs equipment timing and timing information forwarding through internal logic. That is, in the case that the transit equipment is detected to be abnormal, corresponding recovery measures are taken to ensure the stability of the transit equipment and further ensure the normal operation of the mobile carrier operating system.

In an embodiment of the present application, the above-mentioned mobile carrier also includes a laser radar and an inertial measurement unit, and the above-mentioned method further includes: monitoring the working state of the above-mentioned laser radar, and the working state of the above-mentioned laser radar includes the time synchronization state of the above-mentioned laser radar and the above-mentioned laser radar. The hardware connection state of the radar; monitoring the working state of the above-mentioned inertial measurement unit, the working state of the above-mentioned inertial measurement unit includes whether the output signal of the above-mentioned inertial measurement unit meets the first preset condition, and the time synchronization state of the laser radar refers to the internal of the laser radar Whether the clock has been synchronized with the satellite timing and maintains the time synchronization state. The hardware connection status of the laser radar refers to whether the data of the laser radar can be sent to the transfer device through the network interface. The output signal of the inertial measurement unit includes information that matches the motion state of the device Acceleration and angular acceleration with time stamps, the first preset conditions include but are not limited to no excessive or always zero or other fixed output, the time information of time stamps is accurate and uniform, by monitoring the working status of the lidar and monitoring The working state of the inertial measurement unit further ensures the normal operation of the mobile carrier operating system.

In another embodiment of the present application, monitoring the working status of the above-mentioned laser radar includes: restarting the above-mentioned laser radar when it is detected that the time of the above-mentioned laser radar is not synchronized successfully; Under the circumstances, check the corresponding connector; monitor the working status of the above-mentioned inertial measurement unit, including: restart the above-mentioned inertial measurement unit when the output signal of the above-mentioned inertial measurement unit does not meet the above-mentioned first preset condition; After the above-mentioned inertial measurement unit, if the output signal of the above-mentioned inertial measurement unit still does not meet the above-mentioned first preset condition, check the above-mentioned inertial measurement unit, that is, when it is detected that the lidar and the inertial measurement unit are not working normally, take Corresponding recovery measures to ensure the normal operation of the mobile carrier operating system.

In another embodiment of the present application, the method further includes: monitoring whether the temperature of the predetermined position of the mobile carrier is within the eighth predetermined range, the predetermined position includes different positions of the circuit board; the eighth predetermined range includes but is not limited to The operating temperature range allowed by the standard equipment, such as the range of -40 degrees Celsius to 125 degrees Celsius, those skilled in the art can select the appropriate eighth predetermined range according to the actual situation, and monitor the working status of the internal switch of the above-mentioned mobile carrier. The working state includes whether the register value of the above-mentioned internal switch meets the second preset condition; the second preset condition includes but is not limited to that the value read from the register is the same as the value written in the configuration stage, and those skilled in the art can choose the appropriate value according to the actual situation. The second preset condition is to monitor the working state of the bus of the above-mentioned mobile carrier. The working state of the above-mentioned bus includes the data transmission state of the above-mentioned bus and the connection state of the above-mentioned bus; the above-mentioned bus includes but not limited to the CAN bus, and monitors the above-mentioned mobile carrier. The operation state of the programmable logic unit, the operation state of the above-mentioned programmable logic unit includes whether the above-mentioned programmable logic unit communicates normally with other equipment components of the above-mentioned mobile carrier, and monitors the internal temperature of the mobile carrier by monitoring the temperature at the predetermined position of the mobile carrier. The working status of the switch monitors the working status of the bus of the mobile carrier to further ensure the normal operation of the mobile carrier operating system.

In yet another embodiment of the present application, monitoring whether the temperature at the predetermined position of the mobile carrier is within the eighth predetermined range includes: when the temperature at the predetermined position of the monitored mobile carrier is not within the eighth predetermined range, control Shutting down at the predetermined location; monitoring the working status of the internal switch of the mobile carrier, including: reconfiguring the registers of the internal switch when it is detected that the register value of the internal switch does not meet the second preset condition; monitoring the mobile The working state of the bus of the carrier includes: reconnecting the above-mentioned bus when abnormal data transmission of the above-mentioned bus is detected and/or the above-mentioned bus is disconnected; monitoring the running state of the programmable logic unit of the above-mentioned mobile carrier includes: When it is detected that the above-mentioned programmable logic unit cannot control the normal operation of the above-mentioned mobile carrier and cannot recover by itself, restart the above-mentioned programmable logic unit, that is, the temperature at the predetermined position of the monitored mobile carrier does not meet the conditions, and the monitored When the working state does not meet the conditions, and the monitoring detects that the operating state of the programmable logic unit of the mobile carrier is abnormal, take corresponding recovery measures to ensure the normal operation of the mobile carrier operating system.

In an embodiment of the present application, the above-mentioned method further includes: in the case where it is detected that the predetermined equipment of the above-mentioned mobile carrier is working abnormally, without affecting the normal operation of the above-mentioned mobile carrier, restoring the above-mentioned predetermined equipment to a normal working state; In the case of failure to restore the above-mentioned scheduled equipment to the normal working state, check the above-mentioned scheduled equipment, that is, in the case of abnormal operation of the scheduled equipment of the mobile carrier, take corresponding measures as far as possible without affecting the normal operation of the entire mobile carrier. In the case of unsuccessful self-recovery, the scheduled equipment will be checked accordingly to ensure the efficient and normal operation of the mobile carrier operating system.

In yet another embodiment of the present application, the above method further includes: when it is detected that the predetermined device of the mobile carrier is working abnormally, acquiring the abnormal data and self-recovery data of the above-mentioned predetermined device; according to the above-mentioned abnormal data and self-recovery data, Check the above scheduled equipment, that is, obtain relevant abnormal data and self-recovery data and upload relevant abnormal data and self-recovery data to the server for subsequent analysis of offline data to ensure the efficient and normal operation of the mobile carrier operating system.

In one embodiment of the present application, the operating data of each device of the above-mentioned mobile carrier is displayed to the user in the form of a webpage. In the case of an unmanned vehicle, generally speaking, the transfer device is installed on the roof of the vehicle, so the user It is impossible to see its status in real time during the process of automatic driving, so all the data is presented to the user in the form of a web page to facilitate the user's viewing, so as to ensure the efficient and normal operation of the mobile carrier operating system.

An embodiment of the present invention provides a mobile carrier, including: one or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and are configured to Executed by the above-mentioned one or more processors, the above-mentioned one or more programs are used to execute any one of the above-mentioned monitoring methods.

The embodiment of the present application also provides a mobile carrier monitoring device. It should be noted that the mobile carrier monitoring device in the embodiment of the present application can be used to implement the mobile carrier monitoring method provided in the embodiment of the present application. The mobile carrier monitoring device provided in the embodiment of the present application is introduced below.

Fig. 2 is a schematic diagram of a monitoring device for a mobile carrier according to an embodiment of the present application. The above-mentioned mobile carrier includes a transfer device and multiple sensors communicating with the above-mentioned transfer device. The above-mentioned transfer device is used to transfer the data of a plurality of the above-mentioned sensors on the above-mentioned mobile carrier. The above-mentioned transfer device is also used to provide a network port for the above-mentioned mobile carrier, such as As shown in Figure 2, the device includes:

The first monitoring unit 10 is configured to monitor the total power supply situation and the total power consumption situation of the above-mentioned transfer equipment;

The second monitoring unit 20 is used to monitor the power supply and power consumption of each of the above sensors;

The third monitoring unit 30 is configured to monitor the network status of the transit device, and the network status includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.

In the above solution, the first monitoring unit monitors the total power supply and power consumption of the transfer equipment, the second monitoring unit monitors the power supply and power consumption of each sensor, and the third monitoring unit monitors the network status of the transfer equipment. The monitoring of these devices realizes the monitoring of the state of the mobile carrier, and solves the problem in the prior art that there is no method for monitoring whether the mobile carrier is working normally.

It should be noted that the mobile carriers mentioned above include but are not limited to unmanned vehicles.

In yet another embodiment of the present application, the first monitoring unit is also used to monitor that the voltage of the total power supply is not within the first predetermined range, the current of the above-mentioned total power supply is not within the second predetermined range, and/or the power consumption of the above-mentioned total power supply If it is not within the third predetermined range, check the above-mentioned transfer equipment; specifically, the first predetermined range includes but is not limited to within the error range of 5% of the design voltage, and the second predetermined range is from the predetermined minimum current value to the predetermined The range between the maximum current values, the third predetermined range is the range between the predetermined minimum power consumption and the predetermined maximum power consumption, those skilled in the art can select the appropriate first predetermined range, the second predetermined range and the third predetermined range according to the actual situation. 3. Predetermined scope, specifically, check whether the power conversion module of the above-mentioned relay equipment is working normally, whether the configuration of the processing unit that requires program configuration is successful, and the second monitoring unit is also used to detect that the voltage of the power supply of the above-mentioned sensor is not within the fourth predetermined range. In the case that the current of the power supply of the above-mentioned sensor is not within the fifth predetermined range and/or the power consumption of the power supply of the above-mentioned sensor is not within the sixth predetermined range, check the above-mentioned sensor; specifically, when the above-mentioned sensor is an inertial measurement sensor Under the circumstances, check whether the inertial measurement sensor has acceleration and angular acceleration output values that change according to the change of the equipment’s motion state, and the fourth predetermined range includes but is not limited to the allowable input voltage range of the sensor or within the error range of 5% of the design voltage , the fifth predetermined range includes but is not limited to the sensor’s nominal current range or the expected maximum and minimum current range, and the sixth predetermined range includes but is not limited to the sensor’s nominal power consumption range or the expected Within the power range of the maximum value and the minimum value, those skilled in the art can select the appropriate fourth predetermined range, fifth predetermined range and sixth predetermined range according to the actual situation. Specifically, check whether the circuit connection of the above-mentioned sensor is normal, the configuration state Whether it is successful or not; the third monitoring unit is also used to detect that the network connection failure of the above-mentioned transit device, the network delay is too large, the type of the above-mentioned network signal does not belong to the predetermined type and/or the strength of the above-mentioned network signal is not within the seventh predetermined range Under such circumstances, adjust the parameters of the network of the above-mentioned transfer equipment or restart the above-mentioned network, monitor the power supply and power consumption of each sensor by monitoring the total power supply and power consumption of the transfer equipment, and monitor the network status of the transfer equipment. It realizes the monitoring of whether the transfer equipment and sensors are working normally, and takes corresponding recovery measures when the transfer equipment and sensors are detected to be abnormal, thereby ensuring the stability of the transfer equipment and sensors, and further ensuring that the mobile The normal operation of the carrier operating system.

In another embodiment of the present application, the above-mentioned device further includes a fourth monitoring unit, and the fourth monitoring unit is used to monitor the satellite navigation state of the above-mentioned transfer equipment, and the above-mentioned satellite navigation state includes the positioning information and timing information of the above-mentioned transfer equipment, and the timing information It refers to the precisely corrected time message sent by the satellite to the device and the per-second pulse signal for the device to monitor to achieve accurate time synchronization. By monitoring the satellite navigation status of the transfer device, it is further realized whether the transfer device is working normally.

In yet another embodiment of the present application, the fourth monitoring unit is also used to check the antenna of the corresponding module of the above-mentioned mobile carrier when the above-mentioned positioning information of the above-mentioned transfer device is detected to be missing and/or the above-mentioned timing information is missing. It includes a satellite navigation module and a programmable logic unit. The satellite navigation module is used to receive and calculate the original signal of the satellite and output it to the programmable logic unit. When the transfer equipment does not work normally, take corresponding recovery measures to ensure the stability of the transfer equipment and further ensure the normal operation of the mobile carrier operating system.

In an embodiment of the present application, the above-mentioned mobile carrier also includes a laser radar and an inertial measurement unit, the above-mentioned device also includes a fifth monitoring unit and a sixth monitoring unit, the fifth monitoring unit is used to monitor the working state of the above-mentioned laser radar, and the above-mentioned laser The working state of the radar includes the time synchronization state of the above-mentioned laser radar and the hardware connection state of the above-mentioned laser radar; the sixth monitoring unit is used to monitor the working state of the above-mentioned inertial measurement unit, and the working state of the above-mentioned inertial measurement unit includes the output of the above-mentioned inertial measurement unit Whether the signal meets the first preset condition. The time synchronization state of the lidar refers to whether the internal clock of the lidar is synchronized with the satellite timing and maintains the time synchronization state. The hardware connection status of the lidar refers to whether the data of the lidar can pass through The network interface sends to the relay device, and the output signal of the inertial measurement unit includes acceleration and angular acceleration with time stamps that match the motion state of the device. The first preset condition includes but is not limited to no excessive or always zero or other fixed The output of the time stamp is accurate and uniform. By monitoring the working status of the lidar and the inertial measurement unit, the normal operation of the mobile carrier operating system is further ensured.

In another embodiment of the present application, the fifth monitoring unit further includes a first restart module and a first inspection module, and the first restart module is used to restart the above-mentioned laser radar when it detects that the time of the above-mentioned laser radar is not synchronized successfully ; The first inspection module is used to check the corresponding connector when the hardware of the above-mentioned lidar is not connected; the sixth monitoring unit includes a second restart module and a second inspection module, and the second restart module is used for monitoring When the output signal of the above-mentioned inertial measurement unit does not meet the above-mentioned first preset condition, restart the above-mentioned inertial measurement unit; the second checking module is used to restart the above-mentioned inertial measurement unit, the output signal of the above-mentioned inertial measurement unit still does not meet In the case of the above-mentioned first preset condition, the above-mentioned inertial measurement unit is checked, that is, when the lidar and the inertial measurement unit are detected to be abnormal, corresponding recovery measures are taken to ensure the normal operation of the mobile carrier operating system.

In another embodiment of the present application, the device further includes a seventh monitoring unit, an eighth monitoring unit, a ninth monitoring unit, and a tenth monitoring unit, and the seventh monitoring unit is used to monitor whether the temperature at the predetermined position of the mobile carrier is within Within the eighth predetermined range, the above predetermined position includes different positions of the circuit board, and the eighth predetermined range includes but is not limited to the operating temperature range allowed by the vehicle-regulated equipment, for example, the range from -40 degrees Celsius to 125 degrees Celsius, and those skilled in the art can according to The actual situation selects the appropriate eighth predetermined range; the eighth monitoring unit is used to monitor the working state of the internal switch of the mobile carrier, the working state of the internal switch includes whether the register value of the internal switch meets the second preset condition, the second The preset conditions include but are not limited to that the value read by the register is the same as the value written in the configuration stage, and those skilled in the art can select an appropriate second preset condition according to the actual situation; the ninth monitoring unit is used to monitor the bus of the above-mentioned mobile carrier The working state of the above-mentioned bus, the working state of the above-mentioned bus includes the transmission state of the data of the above-mentioned bus and the connection state of the above-mentioned bus, and the above-mentioned bus includes but not limited to the CAN bus; the tenth monitoring unit is used to monitor the operation of the programmable logic unit of the above-mentioned mobile carrier State, the operating state of the above-mentioned programmable logic unit includes whether the above-mentioned programmable logic unit communicates normally with other equipment components of the above-mentioned mobile carrier, by monitoring the temperature of the predetermined position of the mobile carrier, monitoring the working status of the internal switch of the mobile carrier, monitoring the mobile The working state of the bus of the carrier further ensures the normal operation of the operating system of the mobile carrier.

In yet another embodiment of the present application, the seventh monitoring unit is also used to control the shutdown at the predetermined location when the temperature at the predetermined location monitored by the mobile carrier is not within the eighth predetermined range; the eighth monitoring unit is also used to When it is detected that the register value of the above-mentioned internal switch does not meet the above-mentioned second preset condition, the register of the above-mentioned internal switch is reconfigured; the ninth monitoring unit is also used to monitor the abnormal data transmission of the above-mentioned bus and/or the above-mentioned bus In the case of disconnection, reconnect the above-mentioned bus; the tenth monitoring unit is also used to restart the above-mentioned programmable logic unit when it is detected that the above-mentioned programmable logic unit cannot control the normal operation of the above-mentioned mobile carrier and cannot recover by itself, that is When it is detected that the temperature at the predetermined position of the mobile carrier does not meet the conditions, the working state of the internal switch is not satisfied, and the operating state of the programmable logic unit of the mobile carrier is detected to be abnormal, take corresponding recovery measures, To ensure the normal work of the mobile carrier operating system.

In an embodiment of the present application, the above-mentioned device further includes a recovery unit and a first inspection unit, and the recovery unit is used to detect that the predetermined equipment of the above-mentioned mobile carrier is working abnormally without affecting the normal operation of the above-mentioned mobile carrier , restore the predetermined equipment to a normal working state; the first inspection unit is used to check the predetermined equipment in the case of failing to restore the predetermined equipment to a normal working state, that is, when the predetermined equipment of the mobile carrier is detected to be working abnormally , as far as possible without affecting the normal operation of the entire mobile carrier, take corresponding self-recovery measures, and in the case of unsuccessful self-recovery, then conduct corresponding inspections on the scheduled equipment to ensure that the mobile carrier operating system is efficient and normal Work.

In yet another embodiment of the present application, the above-mentioned device further includes an acquisition unit and a second inspection unit, and the acquisition unit is used to acquire the abnormal data and self-recovery data; the second inspection unit is used to check the predetermined device based on the above abnormal data and self-recovery data, that is, to obtain relevant abnormal data and self-recovery data and upload the relevant abnormal data and self-recovery data to the server for subsequent Analysis of offline data to ensure the efficient and normal operation of the mobile carrier operating system.

In one embodiment of the present application, the operating data of each device of the above-mentioned mobile carrier is displayed to the user in the form of a webpage. In the case of an unmanned vehicle, generally speaking, the transfer device is installed on the roof of the vehicle, so the user It is impossible to see its status in real time during the process of automatic driving, so all the data is presented to the user in the form of a web page to facilitate the user's viewing, so as to ensure the efficient and normal operation of the mobile carrier operating system.

The monitoring device of the above-mentioned mobile carrier includes a processor and a memory, and the above-mentioned first monitoring unit, the second monitoring unit and the third monitoring unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize realize the corresponding function.

The processor includes a kernel, and the kernel fetches corresponding program units from the memory. One or more kernels can be set to ensure the high efficiency and normal operation of the mobile carrier operating system by adjusting kernel parameters.

Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one memory chip.

An embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, the above mobile carrier monitoring method is implemented.

An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein, when the program is running, the mobile carrier monitoring method is executed.

An embodiment of the present invention provides a device. The device includes a processor, a memory, and a program stored on the memory and operable on the processor. When the processor executes the program, at least the following steps are implemented:

Step S101, monitoring the total power supply and total power consumption of the above-mentioned transfer equipment;

Step S102, monitoring the power supply and power consumption of each of the above sensors;

Step S103, monitoring the network status of the transit device, the network status includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.

The devices in this article can be servers, PCs, PADs, mobile phones, etc.

The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program initialized with at least the following method steps:

Step S101, monitoring the total power supply and total power consumption of the above-mentioned transfer equipment;

Step S102, monitoring the power supply and power consumption of each of the above sensors;

Step S103, monitoring the network status of the transit device, the network status includes at least one of the following: whether the network is connected, whether the network is delayed, the type of network signal, and the strength of the network signal.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. The memory is an example of a computer readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. 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 apparatus that includes the element.

From the above description, it can be seen that the above-mentioned embodiments of the present application have achieved the following technical effects:

1), the monitoring method of the mobile carrier of the present application, by monitoring the total power supply situation and the total power consumption situation of the transfer equipment, monitoring the power supply situation and power consumption situation of each sensor, monitoring the network status of the transfer equipment, by monitoring these equipment monitoring, thereby realizing the monitoring of the state of the mobile carrier, and solving the problem in the prior art that there is no method for monitoring whether the mobile carrier is working normally.

2), the monitoring device of the mobile carrier of the present application, the first monitoring unit monitors the total power supply situation and the total power consumption situation of the transfer equipment, the second monitoring unit monitors the power supply situation and power consumption situation of each sensor, and the third monitoring unit The network status of the transfer equipment is monitored, and the monitoring of the status of the mobile carrier is realized by monitoring these devices, which solves the problem in the prior art that there is no method for monitoring whether the mobile carrier is working normally.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (13)

1. A method for monitoring a mobile carrier, wherein the mobile carrier includes a relay device and a plurality of sensors in communication with the relay device, the relay device is configured to relay data of the plurality of sensors on the mobile carrier, and the relay device is further configured to provide a network port for the mobile carrier, the method comprising:

monitoring the power supply condition and the power consumption condition of a total power supply of the transfer equipment;

monitoring the power supply condition and the power consumption condition of each sensor;

monitoring a network state of the transfer device, wherein the network state includes at least one of the following: whether the network is connected or not, whether the network is delayed or not, the type of the network signal and the strength of the network signal;

monitoring a satellite navigation state of the transfer equipment, wherein the satellite navigation state comprises positioning information and time service information of the transfer equipment;

monitoring the satellite navigation state of the transfer device, including:

and under the condition that the positioning information and/or the time service information of the transfer equipment are/is monitored to be absent, checking an antenna of a corresponding module of the mobile carrier, wherein the corresponding module comprises a satellite navigation module and a programmable logic unit.

2. The monitoring method according to claim 1,

monitoring the total power supply condition and the total power consumption condition of the transfer equipment, including:

under the condition that the voltage of a total power supply is monitored not to be within a first preset range, the current of the total power supply is monitored not to be within a second preset range and/or the power consumption of the total power supply is monitored not to be within a third preset range, whether a power supply conversion module of the transfer equipment works normally or not is checked, and whether the configuration of a processing unit needing program configuration is successful or not is checked;

monitoring the power supply condition and the power consumption condition of each sensor, including:

checking whether the circuit connection of the sensor is normal and the configuration state is successful under the condition that the voltage of the power supply of the sensor is monitored not to be in a fourth preset range, the current of the power supply of the sensor is monitored not to be in a fifth preset range and/or the power consumption of the power supply of the sensor is monitored not to be in a sixth preset range;

monitoring the network state of the transfer device, including:

and under the condition that the network connection failure of the transfer equipment, the network delay is too large, the type of the network signal does not belong to the preset type and/or the strength of the network signal is not in a seventh preset range, adjusting the parameters of the network of the transfer equipment or restarting the network.

3. The monitoring method of claim 1, wherein the mobile carrier further comprises a lidar and an inertial measurement unit, the monitoring method further comprising:

monitoring the working state of the laser radar, wherein the working state of the laser radar comprises the time synchronization state of the laser radar and the hardware connection state of the laser radar;

and monitoring the working state of the inertia measurement unit, wherein the working state of the inertia measurement unit comprises whether the output signal of the inertia measurement unit meets a first preset condition.

4. The monitoring method according to claim 3,

monitoring the operating state of the lidar, including:

restarting the laser radar under the condition that the time synchronization of the laser radar is not successful;

checking a corresponding connector under the condition that the hardware of the laser radar is not connected;

monitoring the operating state of the inertial measurement unit, including:

restarting the inertia measurement unit under the condition that the output signal of the inertia measurement unit is monitored not to meet the first preset condition;

checking the inertial measurement unit if the output signal of the inertial measurement unit still does not satisfy the first preset condition after the inertial measurement unit is restarted.

5. The monitoring method of claim 1, further comprising:

monitoring whether a temperature of a predetermined location of the moving carrier, the predetermined location including a motor, is within an eighth predetermined range;

monitoring the working state of an internal switch of the mobile carrier, wherein the working state of the internal switch comprises whether the register value of the internal switch meets a second preset condition;

monitoring the working state of a bus of the mobile carrier, wherein the working state of the bus comprises the transmission state of data of the bus and the connection state of the bus;

and monitoring the running state of a programmable logic unit of the mobile carrier, wherein the running state of the programmable logic unit comprises whether the programmable logic unit controls the mobile carrier to work normally.

6. The monitoring method according to claim 5,

monitoring whether the temperature of the predetermined location of the moving carrier is within an eighth predetermined range, comprising:

in the case that the temperature of the preset position of the moving carrier is monitored not to be in the eighth preset range, controlling the preset position to stop;

monitoring an operating state of an internal switch of the mobile carrier, comprising:

under the condition that the register value of the internal switch is monitored not to meet the second preset condition, reconfiguring the register of the internal switch;

monitoring the working state of the bus of the mobile carrier, comprising:

reconnecting the bus under the condition that the data transmission abnormality of the bus and/or the disconnection of the bus are monitored;

monitoring an operational state of a programmable logic unit of the mobile carrier, comprising:

and restarting the programmable logic unit under the condition that the programmable logic unit cannot control the mobile carrier to normally work and cannot automatically recover.

7. The monitoring method of claim 1, further comprising:

under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, under the condition that the normal work of the mobile carrier is not influenced, the preset equipment is recovered to be in a normal working state;

and checking the predetermined equipment under the condition that the predetermined equipment cannot be recovered to a normal working state.

8. The monitoring method of claim 7, further comprising:

under the condition that the work of the preset equipment of the mobile carrier is monitored to be abnormal, acquiring abnormal data and self-recovery data of the preset equipment;

and checking the predetermined equipment according to the abnormal data and the self-recovery data.

9. The monitoring method according to any one of claims 1 to 8, wherein the operation data of each device of the mobile carrier is displayed to a user in the form of a webpage.

10. A monitoring apparatus for a mobile carrier, wherein the mobile carrier includes a relay device and a plurality of sensors in communication with the relay device, the relay device is configured to relay data of the plurality of sensors on the mobile carrier, the relay device is further configured to provide a network port for the mobile carrier, and the monitoring apparatus includes:

the first monitoring unit is used for monitoring the total power supply condition and the total power consumption condition of the transfer equipment;

the second monitoring unit is used for monitoring the power supply condition and the power consumption condition of each sensor;

a third monitoring unit, configured to monitor a network state of the relay device, where the network state includes at least one of: whether the network is connected or not, whether the network is delayed or not, the type of the network signal and the strength of the network signal;

the fourth monitoring unit is used for monitoring a satellite navigation state of the transfer equipment, wherein the satellite navigation state comprises positioning information and time service information of the transfer equipment;

the fourth monitoring unit is further configured to check an antenna of a corresponding module of the mobile carrier when the positioning information and/or the time service information of the transfer device is/are monitored to be missing, where the corresponding module includes a satellite navigation module and a programmable logic unit.

11. A storage medium characterized by comprising a stored program, wherein the program executes the monitoring method of any one of claims 1 to 9.

12. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the monitoring method according to any one of claims 1 to 9 when running.

13. A mobile carrier, comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the monitoring method of any of claims 1-9.

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