Sensor synchronization method and sensor measuring system appertaining thereto

Patent metadata

Field	Value
Publication number	US-9829342-B2
Application number	US-201414189776-A
Country	US
Kind code	B2
Filing date	Feb 25, 2014
Priority date	Feb 26, 2013
Publication date	Nov 28, 2017
Grant date	Nov 28, 2017

Abstract

A synchronization method for at least two sensors, which enables synchronized collection of a sensor value of a slave sensor in relation to a predetermined intended value of a master sensor. Time-dependent measured values of the master sensor are used to determine open parameters of a prediction model, on the basis of which a time associated with a master sensor intended value to be predetermined is extrapolated. When this time is reached, a synchronization signal triggering the recording of a slave sensor value, in particular the recording of a measured value, is transmitted to the at least one slave sensor. Master sensor intended value and slave sensor value are provided as connected value tuple. As a result of continuous collection of measured values by the master sensor, it is possible to form updated extrapolation rules continuously. Predetermined intended values of the master sensor can have, in particular, an equidistant spacing.

First claim

What is claimed is:

1. A sensor measuring system, comprising:
a master sensor,
at least one slave sensor with signal reception unit, configured such that the at least one slave sensor records at least one sensor value when receiving a first synchronization signal;
a processing unit that, in relation to a predetermined master sensor intended value, is configured to extrapolate a time on the basis of at least two measured values of the master sensor, collected at different times;
a signal transmission unit configured to transmit at least the first synchronization signal when an extrapolated time is reached; and
a data storage unit configured to provide at least one value tuple made of the predetermined master sensor intended value and the associated at least one slave sensor value.

2. The sensor measuring system according to claim 1 , further comprising:
a control and evaluation unit with clock that:
receives, provides, transmits and evaluates at least the first synchronization signal, time values and sensor values of at least the master sensor and the at least one slave sensor; and
provides times or recording times, associated with the at least one sensor value, for downstream data processing.

3. The sensor measuring system according to claim 1 , wherein the system is a laser scanner comprising:
a laser rangefinder as a first slave sensor;
an angle measuring unit, which determines the first direction angle of the beam direction of the laser rangefinder, as the master sensor;
an angle measuring unit, which determines the second direction angle of the beam direction of the laser rangefinder, as a second slave sensor; and
a control and evaluation unit.

4. A synchronization method for a master sensor and at least one slave sensor, for synchronized recording of at least one sensor value by the at least one slave sensor in relation to an intended value of the master sensor to be predetermined, comprising:
providing the sensor measuring system of claim 1 ;
collecting a first time/measured value pair by the master sensor at a first time;
collecting at least a second time/measured value pair by the master sensor at a second time;
providing an extrapolation rule by calculation from the first time/measured value pair and at least the second time/measured value pair;
providing of at least a first extrapolated time associated with an intended value of the master sensor to be predetermined, on the basis of the extrapolation rule, by the processing unit;
transmitting at least the first synchronization signal to the at least one slave sensor when the extrapolated time occurs and/or when a delay time, different from the extrapolated time in a temporally defined manner, occurs;
triggering a recording of at least one slave sensor value by a first synchronization signal; and
providing the intended value and the at least one slave sensor value as connected value tuple.

5. The synchronization method according to claim 4 , wherein:
the synchronization is value-based and predictive in such a way that an intended value is predetermined such that the associated extrapolated time lies after the second time.

6. The synchronization method according to claim 5 , wherein:
the associated extrapolated time lies in the future.

7. The synchronization method according to claim 5 , wherein:
at least a second, successive extrapolated time associated with a second intended value of the master sensor to be predetermined, on the basis of the extrapolation rule, is provided by the processing unit, whereby
a minimum interval is maintained between the first and second extrapolated times in order to keep the sensor values distinguishable from one another.

8. The synchronization method according to claim 5 , wherein:
the recording of values of a first slave sensor is triggered by the first synchronization signal; and
the recording of values of further slave sensors is triggered by further synchronization signals.

9. The synchronization method according to claim 4 , wherein:
in the at least one slave sensor, the triggered recording of the at least one slave sensor value comprises the collection of a sensor measured value as the at least one slave sensor value.

10. The synchronization method according to claim 9 , for a master sensor and at least two slave sensors, wherein:
in the at least two slave sensors, the triggered recording of the at least one slave sensor value comprises the collection of a sensor measured value as the at least one slave sensor value.

11. The synchronization method according to claim 4 , wherein:
the calculation from the first time/measured value pair and the at least second time/measured value pair comprises calculation of parameter values of a stored extrapolation algorithm with the first time/measured value pair and at least the second time/measured value pair.

12. The synchronization method according to claim 11 , wherein:
the calculation of parameter values is performed using at least one further state signal of the master sensor, with the stored extrapolation algorithm being selected in advance in an automated manner from a plurality of stored extrapolation algorithms.

13. The synchronization method according to claim 11 , wherein:
master sensor measured values are collected continuously and an availability of a new time/measured value pair triggers a provision of an updated extrapolation rule by newly calculating the parameter values using the new time/measured value pair.

14. The synchronization method according to claim 13 , wherein:
newly calculating the parameter values using the new time/measured value pair is performed with deviations being determined between newly calculated parameter values and previously calculated parameter values; and
use of the newly calculated parameter values occurs only if the deviations do not exceed a defined amount.

15. The synchronization method according to claim 4 , wherein:
a plurality of intended values of the master sensor to be predetermined is provided and a numeral spacing between the plurality of intended values to be predetermined is equidistant.

16. The synchronization method according to claim 4 , wherein:
a second synchronization signal is transmitted in relation to defined numbers of first synchronization signals, in such a way that the second synchronization signal renders it possible to assign each first synchronization signal uniquely to an underlying master sensor measured value.

17. The synchronization method according to claim 4 , wherein:
the extrapolated time lies after the delay time derived therefrom; and
the time difference between the delay time and the extrapolated time underlying the delay time is such that the transmission of the synchronization signal at the delay time causes the recording of the slave sensor value at the extrapolated time.

18. The synchronization method according to claim 4 , wherein:
within a connected value tuple, one master sensor value is replaced by the master sensor value available at the time of recording of the at least one slave sensor value in such a way that the master sensor intended value is replaced by a master sensor measured value collected at this time or by a master sensor value extrapolated or interpolated for this time from collected master sensor measured values.

19. The synchronization method according to claim 4 , wherein the method steps of:
providing the extrapolated time in relation to the predetermined master sensor intended value;
transmitting of the at least one synchroni

Assignees

• Hexagon Technology Ct Gmbh

Inventors

• Fritsch Robert

Classifications

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01D18/00

  Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00 · CPC title

• G01B11/02

  for measuring length, width or thickness (G01B11/08 takes precedence) · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title

• H04W56/00

  Synchronisation arrangements · CPC title