Signal synchronous sampling method and system, storage medium and application equipment

Abstract

The present invention relates to a method and system for synchronous sampling of signals, a storage medium, an FPGA chip, and a sweeping robot. The method includes: for the pulse signals output by a plurality of acquisition devices, the following steps are performed: using one of the pulse signals as a reference pulse signal to determine the The moment of the rising edge of the reference pulse signal; determine the corresponding relationship between the rising edges of the plurality of pulse signals; take the moment of a rising edge of the reference pulse signal as the reference moment, according to the reference moment and the The corresponding relationship sets the timing of rising edges of other pulse signals except the reference pulse signal, so that the other pulse signals are synchronized with the reference pulse signal.

Description

technical field [0001] The invention relates to the technical field of robotics, in particular to a method and system for synchronous sampling of signals, a storage medium, an FPGA chip and a sweeping robot. Background technique [0002] With the rapid development of science and technology, people's living standards continue to improve, and intelligent products are more and more widely accepted and applied by the public, a typical one is the sweeping robot. The sweeping robot is an intelligent cleaning device that can automatically clean the ground dust, hair and paper scraps and other substances. [0003] For the existing sweeping robot, there are problems that the signals sampled by different acquisition devices are not synchronized and the calling time of the operating system is uncertain. For example, because the image data sampled by the image sensor and the data containing acceleration and angular velocity sampled by the inertial measurement unit IMU are not synchroni...

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Problems solved by technology

[0004] In order to solve, for example, for a sweeping robot, the technical problem of low precision of SLAM caused by the asynchronous sampling signals of different acquisition devices, the present invention provides a method and system for synchronous sampling of signals, a storage medium and a sweeping robot. The pulse signal of one of the acquisition devices is used as the reference pulse signal, and the time of a rising edge of the reference pulse signal is used as the reference time, and the rising edges of other pulse signals are reset according to the corresponding relationship between the reference time and the rising edges of each pulse signal At the moment, the synchronous sampling of different acquisition devices is realized, thereby improving the accuracy of SLAM

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