CN112527009A - Radar data processing method and device and operation equipment - Google Patents
Radar data processing method and device and operation equipment Download PDFInfo
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- CN112527009A CN112527009A CN202010281619.XA CN202010281619A CN112527009A CN 112527009 A CN112527009 A CN 112527009A CN 202010281619 A CN202010281619 A CN 202010281619A CN 112527009 A CN112527009 A CN 112527009A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application discloses a radar data processing method and device and operation equipment. Wherein, the method comprises the following steps: acquiring data corresponding to at least one target object detected by a radar in the operation equipment; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view. This application has been solved current stage plant protection unmanned aerial vehicle and has utilized the millimeter wave radar to measure the barrier and have more data redundancy's technical problem.
Description
Technical Field
The application relates to the field of radar data processing, in particular to a radar data processing method and device and operation equipment.
Background
During the operation of plant protection unmanned aerial vehicle, always meet various barriers, if do not dodge the barrier, plant protection unmanned aerial vehicle can hit on the barrier, causes the incident. In order to solve the problem of flight safety, two existing schemes are used for dealing with the following problems: the first scheme is that high-precision positioning equipment is used for marking the position of an obstacle, the obstacle is added into a task route of the plant protection unmanned aerial vehicle, and the planned route avoids the area of the obstacle; the second solution is to measure the obstacle by using an onboard sensor, and to bypass the obstacle in real time according to the measured data. At the present stage, the operation is generally carried out in a complementary mode of two schemes, and the flight safety is ensured.
In the second scheme, the current onboard sensors include a vision sensor, an ultrasonic radar, a millimeter wave radar, a laser radar, and the like. Due to the facts that the agricultural operation environment is severe and complex, the adaptability of a vision sensor is poor, the measuring distance of an ultrasonic radar is short, the laser radar is expensive and the like, the millimeter wave radar is mainly adopted for measuring the obstacles at present.
The millimeter wave radar is divided from a transmitting antenna and a receiving antenna, and the millimeter wave radar mainly has two types: single-shot, single-receive radar and multiple-shot, multiple-receive radar. The single-transmitting and single-receiving radar can only obtain the distance information of one target, so the data of the single-transmitting and single-receiving radar is generally used for brake and stop operation. The multi-transmitting and multi-receiving radar can obtain the distance and direction information of a plurality of targets, so that the data of the multi-transmitting and multi-receiving radar can be used for performing detour operation.
In the field of plant protection unmanned aerial vehicles, due to the characteristics of the environment, each target of the multi-transmitting multi-receiving radar cannot explain the specific information of each obstacle, and a lot of data redundancy exists.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a radar data processing method and device and operation equipment, and aims to at least solve the technical problem that in the current stage, a millimeter wave radar is used for measuring obstacles, and more data redundancy exists.
According to an aspect of an embodiment of the present application, there is provided a method for processing radar data, including: acquiring data corresponding to at least one target object detected by a radar in the operation equipment; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
Optionally, acquiring data corresponding to at least one target object detected by a radar in the working equipment includes: acquiring position information of at least one target object detected by a radar in a preset coordinate system, wherein the position information comprises: the distance between at least one target object and the radar and the azimuth angle of at least one target object, wherein the preset coordinate system is a determined polar coordinate system which takes the center of an antenna surface of the radar as an origin and takes the normal of the antenna surface as a 0-degree line.
Optionally, the field of view of the radar is a sector area with the radar as a vertex, and the field of view of the radar is divided into a plurality of sub-fields of view, including: the central angle of the sector area is divided into a plurality of sub-sector areas with the same area at equal intervals.
Optionally, determining the obstacles located in the plurality of subfields, respectively, comprises: and taking the target object which is closest to the radar in each sub-sector area as an obstacle in the sub-sector area.
Optionally, determining the obstacles located in the plurality of subfields respectively further comprises: and if no target object exists in the sub-sector area, taking the maximum detection distance of the radar as the distance between the obstacle in the sub-sector area and the radar.
Optionally, controlling the driving state of the working device according to the determined obstacles in the plurality of subfields includes: constructing an obstacle distribution map according to data corresponding to obstacles in the plurality of sub-fields of view; and determining the driving route of the operation equipment according to the obstacle distribution map.
According to another aspect of the embodiments of the present application, there is also provided a target object identification method, including: acquiring data corresponding to at least one target object detected by a radar, wherein the target object is a target point reflecting electromagnetic waves emitted by the radar, and the data comprises the distance from the at least one target object to the radar and the azimuth angle of the at least one target object; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining whether a target object exists in each sub-field of view; if the target object exists in the sub-field of view, a valid target object is determined from the target objects in the sub-field of view according to the distance between the target object in the sub-field of view and the radar.
According to another aspect of the embodiments of the present application, there is also provided a radar data processing apparatus, including: the acquisition module is used for acquiring data corresponding to at least one target object detected by a radar in the operation equipment; the dividing module is used for dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; the determining module is used for respectively determining obstacles in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and the control module is used for controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
According to another aspect of the embodiments of the present application, there is also provided a work apparatus including: the radar is used for detecting data corresponding to at least one target object; the processor is in communication connection with the radar and is used for acquiring data corresponding to at least one target object; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
According to still another aspect of the embodiments of the present application, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus where the storage medium is located is controlled to execute the above radar data processing method.
According to another aspect of the embodiments of the present application, there is also provided a processor for executing a program stored in a memory, wherein the program executes the above radar data processing method.
In the embodiment of the application, data corresponding to at least one target object detected by a radar in the operation equipment is acquired; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; according to the mode of controlling the running state of the operation equipment by the determined obstacles in the sub-fields, the field of view of the radar is divided into the sub-fields of view, and the obstacles in each sub-field of view are respectively acquired, so that the aim of determining the information of the obstacles by using as few target points as possible is fulfilled, the redundant data in the radar data are filtered, the technical effect of calculating the quantity in the process of constructing the obstacle map by using the radar data is reduced, and the technical problem of more data redundancy existing in the process of measuring the obstacles by using the millimeter wave radar in the plant protection unmanned aerial vehicle at the present stage is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flow chart of a method of processing radar data according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a radar target object according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a radar field of view division according to an embodiment of the present application;
FIG. 4 is a schematic diagram of radar target data sparsification according to an embodiment of the application;
fig. 5 is a block diagram of a radar data processing apparatus according to an embodiment of the present application;
fig. 6 is a structural diagram of a work apparatus according to an embodiment of the present application;
fig. 7 is a flowchart of a target object identification method according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present application, there is provided an embodiment of a method for radar data processing, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a radar data processing method according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step S102, acquiring data corresponding to at least one target object detected by a radar in the operation equipment.
According to an optional embodiment of this application, above-mentioned operation equipment is including can be plant protection unmanned aerial vehicle, other unmanned equipment such as unmanned car, also can be the agricultural machinery driving equipment of ordinary manpower driving, and millimeter wave radar is used to above-mentioned radar preferred.
The target object may be a branch or a leaf on a travel path of the work equipment.
And step S104, dividing the field of view range of the radar into a plurality of sub-fields of view, wherein the field of view range is an area which can be detected by the radar.
And step S106, respectively determining obstacles in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object.
And step S108, controlling the running state of the working equipment according to the obstacles in the plurality of determined sub-fields.
Through the steps, the view field of the radar is divided into the plurality of sub view fields, and the obstacles in each sub view field are respectively acquired, so that the purpose of determining the information of the obstacles by using as few target points as possible is achieved, the redundant data in the radar data is filtered, and the technical effect of reducing the calculated amount in the process of constructing the obstacle map by using the radar data is achieved.
In an alternative embodiment of the present application, step S102 may be implemented by the following method: acquiring position information of at least one target object detected by a radar in a preset coordinate system, wherein the position information comprises: the distance between at least one target object and the radar and the azimuth angle of at least one target object, wherein the preset coordinate system is a determined polar coordinate system which takes the center of an antenna surface of the radar as an origin and takes the normal of the antenna surface as a 0-degree line.
Fig. 2 is a schematic diagram of a radar target object according to an embodiment of the present application, and as shown in fig. 2, a black sector area is an effective field of view of the radar, and a point in the sector area is a target object.
The data structure of the millimeter wave radar is as follows:
data structure of a single target object:
a radar data frame is composed of a plurality of target objects, and the data structure of the radar data frame is as follows:
the position information reference coordinate of the target object detected by the radar is a polar coordinate system which takes the center of the radar antenna surface as an original point and takes the normal of the antenna surface as a 0-degree line. The target distance refers to a distance from a target object detected by the radar to the radar, and the target azimuth refers to an azimuth of the target object in the polar coordinate system.
Fig. 3 is a schematic view of field division of a radar according to an embodiment of the present application, where, as shown in fig. 3, a field range of the radar is a sector area with the radar as a vertex, and the field range of the radar is divided into a plurality of sub-fields, including: the central angle of the sector area is divided into a plurality of sub-sector areas with the same area at equal intervals.
As shown in fig. 3, the radar field angle is equally spaced into 8 regions. It should be noted that, in practical applications, the number of the divided regions may be set according to requirements.
According to an alternative embodiment of the present application, step S106 may be implemented by: and taking the target object which is closest to the radar in each sub-sector area as an obstacle in the sub-sector area.
In an alternative embodiment of the present application, in executing step S106, if there is no target object in the sub-sector area, the maximum detection distance of the radar is taken as the distance from the radar to the obstacle in the sub-sector area.
Fig. 4 is a schematic diagram of radar target data thinning according to an embodiment of the present application, as shown in fig. 4, each region records only the target with the smallest distance within the region, and the shadow region is a schematic diagram of the distance of the nearest target stored in each sub-region after the field of view of the radar is divided at equal intervals. Here, since no target falls in the region numbered 6 and 8, the stored distance is the maximum detection distance of the radar.
In some optional embodiments of the present application, in executing step S108, an obstacle distribution map is constructed according to data corresponding to obstacles in the plurality of subfields; and determining the driving route of the operation equipment according to the obstacle distribution map.
And constructing an obstacle distribution map by using the data of the obstacles obtained by thinning the radar target data, and then determining the driving route of the working equipment by using the constructed obstacle distribution map. In specific implementation, the range search may be directly used, or the kd-tree may be used to store the data corresponding to the obstacle, and the kd-tree may perform nearest neighbor search to obtain the environment information of the environment where the operating device is located. A kd-tree (short for k-dimensional tree) is a data structure that partitions a k-dimensional data space. The method is mainly applied to searching of multidimensional space key data (such as range searching and nearest neighbor searching).
Due to the characteristics of the radar, part of radar waves usually penetrate through the surface of a leaf, and the leaf is detected to reach the branch part behind, so that the target of the branch part behind has no significance except the nearest distance, and the obstacle avoidance mainly considers the information of the surface of the obstacle. Therefore, by the method, the position information of the obstacle can be determined by adopting the target points as few as possible, and the calculation amount in the process of constructing the obstacle map can be further reduced.
Fig. 5 is a block diagram of a radar data processing apparatus according to an embodiment of the present application, and as shown in fig. 5, the apparatus includes:
the acquisition module 50 is configured to acquire data corresponding to at least one target object detected by a radar in the work equipment.
According to an optional embodiment of this application, above-mentioned operation equipment can be plant protection unmanned aerial vehicle, other unmanned equipment such as plant protection unmanned vehicles, also can be the agricultural machinery driving equipment of ordinary manpower driving, and millimeter wave radar is preferably used to above-mentioned radar.
The target object may be a branch or a leaf on a travel path of the work equipment.
And a dividing module 52, configured to divide a field range of the radar into a plurality of sub-fields, where the field range is a region that can be detected by the radar.
And a determining module 54, configured to determine the obstacles located in the plurality of sub-fields of view respectively, where an obstacle is a target object that affects traveling of the work equipment, among the at least one target object.
And a control module 56 for controlling the driving state of the working device according to the determined obstacles in the plurality of sub-fields of view.
According to an alternative embodiment of the present application, the obtaining module 50 is further configured to obtain position information of at least one target object detected by the radar in a preset coordinate system, where the position information includes: the distance between at least one target object and the radar and the azimuth angle of at least one target object, wherein the preset coordinate system is a determined polar coordinate system which takes the center of an antenna surface of the radar as an origin and takes the normal of the antenna surface as a 0-degree line.
According to an alternative embodiment of the present application, the field of view of the radar is a sector area with the vertex of the radar, and the dividing module 52 is further configured to divide the central angle of the sector area into a plurality of sub-sector areas with the same area at equal intervals.
Optionally, the determining module 54 is further configured to use the target object closest to the radar in each sub-sector as an obstacle in the sub-sector.
The control module 56 is further configured to construct an obstacle distribution map according to data corresponding to obstacles in the plurality of sub-fields of view; and determining the driving route of the operation equipment according to the obstacle distribution map.
According to an alternative embodiment of the application, the determination module 54 is further configured to take the maximum detection range of the radar as the distance of the obstacle in the sub-sector area from the radar in case there is no target object in the sub-sector area.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 5, and details are not described here again.
Fig. 6 is a structural diagram of a work apparatus according to an embodiment of the present application, and as shown in fig. 6, the work apparatus includes:
and a radar 60 for detecting data corresponding to the at least one target object.
According to an optional embodiment of this application, above-mentioned operation equipment can be plant protection unmanned aerial vehicle, other unmanned operation equipment such as plant protection unmanned vehicles, also can be ordinary manpower drive's agricultural machinery driving equipment, and millimeter wave radar is preferably used to above-mentioned radar.
The target object may be a branch or a leaf on a travel path of the work equipment.
A processor 62, communicatively connected to the radar, for obtaining data corresponding to at least one target object; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 6, and details are not described here again.
Fig. 7 is a flowchart of a target object identification method according to an embodiment of the present application, and as shown in fig. 7, the method includes the following steps:
step S702, obtaining data corresponding to at least one target object detected by the radar, where the target object is a target point reflecting electromagnetic waves emitted by the radar, and the data includes a distance from the radar to the at least one target object and an azimuth angle of the at least one target object.
Step S704, dividing the field of view range of the radar into a plurality of sub-fields of view, where the field of view range is a region that can be detected by the radar.
Step S706, determining whether there is a target object in each subfield, respectively.
In step S708, if there is a target object in the sub-field, a valid target object is determined from the target objects in the sub-field according to the distance between the target object in the sub-field and the radar.
Steps S702 to S708 provide a method for identifying an effective target, wherein step S704 is executed with reference to the schematic diagram of dividing the radar field of view shown in fig. 3, after the division is completed, whether a target object exists in the sub-field of view is determined, and if a target object exists in the sub-field of view, an effective target object is determined according to a distance between the target object and the radar. In practical applications, the effective target object may be set according to specific requirements, for example, a target object closest to the radar is used as the effective target object, a target object farthest from the radar is also used as the effective target object, or a target object whose distance from the radar is within a preset range is used as the effective target object.
It should be noted that, the preferred implementation of the embodiment shown in fig. 7 can be referred to the description related to the embodiment shown in fig. 1.
The embodiment of the application also provides a storage medium, which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the processing method of the radar data.
The storage medium stores a program for executing the following functions: acquiring data corresponding to at least one target object detected by a radar in the operation equipment; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
The embodiment of the application also provides a processor, wherein the processor is used for running the program stored in the memory, and the program runs to execute the above radar data processing method.
The processor is used for running a program for executing the following functions: acquiring data corresponding to at least one target object detected by a radar in the operation equipment; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which influence the running of the working equipment in at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a variety of media that can store program codes, such as a usb disk, a read-Only Memory (ROM), a random access Memory (RGZJFM), a mobile hard disk, a magnetic disk, or an optical disk.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (11)
1. A method for processing radar data, comprising:
acquiring data corresponding to at least one target object detected by a radar in the operation equipment;
dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar;
determining obstacles located in the plurality of sub-fields of view respectively, wherein the obstacles are target objects which affect the running of the working equipment in the at least one target object;
and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
2. The method of claim 1, wherein obtaining data corresponding to at least one target object detected by a radar in the work machine comprises:
acquiring position information of at least one target object detected by the radar in a preset coordinate system, wherein the position information comprises: the distance between the at least one target object and the radar and the azimuth angle of the at least one target object are determined, wherein the preset coordinate system is a determined polar coordinate system which takes the center of an antenna surface of the radar as an origin and takes the normal of the antenna surface as a 0-degree line.
3. The method of claim 1, wherein the field of view of the radar is a sector area with the radar as a vertex, and wherein dividing the field of view of the radar into a plurality of subfields comprises:
and dividing the central angle of the sector area into a plurality of sub-sector areas with the same area at equal intervals.
4. The method of claim 3, wherein determining obstacles located in the plurality of subfields respectively comprises:
and taking the target object which is closest to the radar in each sub-sector area as an obstacle in the sub-sector area.
5. The method of claim 3, wherein obstacles located in the plurality of subfields are respectively determined, further comprising:
and if the target object does not exist in the sub-sector area, taking the maximum detection distance of the radar as the distance between an obstacle in the sub-sector area and the radar.
6. The method of claim 1, wherein controlling the travel state of the work equipment in accordance with the determined obstacles in the plurality of subfields comprises:
constructing an obstacle distribution map according to data corresponding to obstacles in the plurality of sub-fields of view;
and determining a driving route of the operation equipment according to the obstacle distribution map.
7. A method for identifying a target object, comprising:
acquiring data corresponding to at least one target object detected by a radar, wherein the target object is a target point reflecting electromagnetic waves emitted by the radar, and the data comprises the distance from the at least one target object to the radar and the azimuth angle of the at least one target object;
dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar;
determining whether the target object exists in each sub-field of view respectively;
and if the target object exists in the sub-field of view, determining a valid target object from the target objects in the sub-field of view according to the distance between the target object in the sub-field of view and the radar.
8. An apparatus for processing radar data, comprising:
the acquisition module is used for acquiring data corresponding to at least one target object detected by a radar in the operation equipment;
the dividing module is used for dividing a field of view range of the radar into a plurality of sub-field of view, wherein the field of view range is an area which can be detected by the radar;
a determination module, configured to determine obstacles located in the plurality of sub-fields of view respectively, where the obstacles are target objects that affect the traveling of the work equipment, among the at least one target object;
and the control module is used for controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
9. A work apparatus, comprising:
the radar is used for detecting data corresponding to at least one target object;
the processor is in communication connection with the radar and is used for acquiring data corresponding to the at least one target object; dividing a field range of the radar into a plurality of sub-fields, wherein the field range is an area which can be detected by the radar; respectively determining obstacles located in the plurality of sub-fields of view, wherein the obstacles are target objects which affect the running of the working equipment in the at least one target object; and controlling the running state of the working equipment according to the determined obstacles in the plurality of sub-fields of view.
10. A storage medium, characterized in that the storage medium includes a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the radar data processing method according to any one of claims 1 to 6.
11. A processor for executing a program stored in a memory, wherein,
the program is operative to perform a method of processing radar data according to any one of claims 1 to 6.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113917450A (en) * | 2021-12-07 | 2022-01-11 | 深圳佑驾创新科技有限公司 | Multi-extended-target radar measurement set partitioning method and device |
| CN113932703A (en) * | 2021-11-09 | 2022-01-14 | 中国有色金属长沙勘察设计研究院有限公司 | Deformation monitoring radar area data processing method |
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