WO2023109649A1

WO2023109649A1 - Data processing method, device, and system, and medium

Info

Publication number: WO2023109649A1
Application number: PCT/CN2022/137618
Authority: WO
Inventors: 郭剑文
Original assignee: 深圳市道通智能航空技术股份有限公司
Priority date: 2021-12-13
Filing date: 2022-12-08
Publication date: 2023-06-22
Also published as: CN114217316A

Abstract

A data processing method, device, and system, and a medium. The method is applied to the data processing system, and an electronic device, a camera, and a radar in the data processing system are all fixed on an unmanned aerial vehicle. When the unmanned aerial vehicle flies in a target area, the electronic device obtains first data obtained by detecting a target object in the target area by the radar, and obtains second data obtained by detecting the target object by the camera (S110); the electronic device packages the first data and the second data according to a timestamp to obtain original data associated with the target object (S120); the electronic device obtains third data from the radar, the third data being data obtained after the radar processes the first data (S130); and the electronic device determines, on the basis of the third data and the original data, whether a processing algorithm of the radar needs to be optimized (S140). According to the method, the accuracy of processing the first data by a radar internal algorithm can be determined, and the technical effect of optimizing the processing algorithm of the radar on the basis of the original data can be achieved.

Description

A data processing method, device, system and medium

This application claims the priority of the Chinese patent application with the application number 2021115222461 and the application title "A data processing method, device, system and medium" filed with the China Patent Office on December 13, 2021, the entire contents of which are incorporated by reference in this application.

technical field

The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a data processing method, device, system and medium.

Background technique

With the development of society, UAVs are widely used in various fields such as military affairs, surveying and mapping, and aerial photography because of their advantages such as small size, low cost, and good maneuverability. During the flight of drones, obstacle avoidance technology is also in increasing demand as a guarantee for increasing the safe flight of drones.

UAVs have different obstacle avoidance requirements in different application scenarios. For example, when UAVs conduct inspections on engineering sites, they need to maintain a special distance or angle from the main body of the building to avoid possible collisions; , It is necessary to be able to avoid tiny wires to avoid being entangled by tiny objects and causing danger. During the flight of the UAV, the radar sensor collects the information of the surrounding environment. If an obstacle is detected, the radar sensor will analyze and process the obtained data related to the obstacle to obtain the distance from the current position to the obstacle. According to The current distance instructs the UAV to make corresponding action commands, so as to achieve the function of "obstacle avoidance".

In order to analyze the performance of radar sensors and improve the "obstacle avoidance" function of UAVs, it is necessary to accumulate radar data of multiple scenarios, environments and working conditions. However, the radar data obtained by existing solutions are processed After the data, it is impossible to optimize the radar processing algorithm.

Contents of the invention

Embodiments of the present invention provide a data processing method, device, system, and medium, which can optimize an existing data processing scheme, so as to realize the optimization of a radar processing algorithm by processing data.

In the first aspect, the embodiment of the present invention provides a data processing method, which is applied to a data processing system, and the data processing system includes an electronic device, a camera, a radar, and a drone, and the electronic device, the camera, and the The radars are all fixed on the unmanned aerial vehicle, and the unmanned aerial vehicle flies in the target area, and the method includes:

The electronic device obtains the first data obtained by the radar detecting the target object in the target area, and obtains the second data obtained by the camera detecting the target object;

The electronic device packs the first data and the second data according to the time stamp to obtain the original data associated with the target object;

The electronic device acquires third data from the radar, and the third data is data obtained after the radar processes the first data;

The electronic device determines whether to optimize the processing algorithm of the radar based on the third data and the original data.

Further, the electronic device determines whether to optimize the radar processing algorithm based on the third data and the original data, including:

The electronic device processes the raw data to obtain target data;

the electronic device determines whether the third data matches the target data;

If the third data does not match the target data, it is determined that the radar processing algorithm needs to be optimized.

Further, the electronic device processes the raw data to obtain target data, including:

The electronic device parses the first data by using the second data as reference information of the target object, and obtains interference data and non-interference data of the target object;

The electronic device uses a preset noise reduction algorithm to perform noise reduction processing on the interference data contained in the first data, and uses a preset processing algorithm to process the non-interference data to obtain the target data.

Further, after it is determined that the processing algorithm of the radar needs to be optimized, it also includes:

The electronic device sends the target data to the cloud server, so that the server optimizes a processing algorithm of the radar based on the target data.

Further, the electronic device packs the first data and the second data according to the time stamp to obtain the original data associated with the target object, including:

The electronic device performs analog-to-digital conversion on the first data to obtain digital data corresponding to the first data;

The electronic device packs the digital data and the second data according to the time stamp to obtain the original data associated with the target object.

Further, the electronic device acquires the first data from the radar through LAN communication, and acquires the second data from the camera through LAN communication.

Further, the electronic device acquires the third data from the radar through serial communication.

In the second aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements the computer program according to the present invention when executing the computer program. The data processing method provided by the embodiment.

In a third aspect, an embodiment of the present invention provides a data processing system, the system includes a camera, a radar, a drone, and electronic equipment, and the electronic equipment, the camera, and the radar are all fixed on the drone, The electronic equipment in the data processing system is used to execute the data processing method provided by the embodiment of the present invention.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the data processing method provided in the embodiment of the present invention is implemented.

The data processing scheme provided in the embodiment of the present invention is applied to the data processing system. The electronic equipment, camera and radar in the data processing system are all fixed on the drone. When the drone is flying in the target area, the electronic equipment first acquires the radar The first data obtained by detecting the target object in the target area, and the second data obtained by the camera detecting the target object; the electronic device then packs the first data and the second data according to the time stamp to obtain the original data associated with the target object; the electronic device obtains the original data associated with the target object; The radar acquires the third data, and the third data is the data obtained after the radar processes the first data; the electronic device finally determines whether to optimize the processing algorithm of the radar based on the third data and the original data. By adopting the above technical solution, the second data obtained by the camera detecting the target object can be combined to compare and analyze the original data obtained when the radar detects the target object in the target area and the third data obtained after the radar processes the first data, Therefore, the accuracy of processing the first data by the internal algorithm of the radar can be determined, and the technical effect of optimizing the processing algorithm of the radar based on the original data can be achieved.

Description of drawings

Fig. 1a is a schematic flow diagram of a data processing method provided by Embodiment 1 of the present invention;

FIG. 1b is a structural block diagram of a data processing system provided by Embodiment 1 of the present invention;

Fig. 2a is a schematic flow chart of a data processing method provided by Embodiment 2 of the present invention;

FIG. 2b is a logical block diagram of a data processing method provided by Embodiment 2 of the present invention;

FIG. 3 is a structural block diagram of a data processing device provided in Embodiment 3 of the present invention;

FIG. 4 is a structural block diagram of an electronic device provided by Embodiment 4 of the present invention.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processing, many of the steps may be performed in parallel, concurrently, or simultaneously. Additionally, the order of steps may be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like.

Embodiment one

Figure 1a is a schematic flow chart of a data processing method provided by Embodiment 1 of the present invention. The method can be executed by a data processing device, wherein the device can be implemented by software and/or hardware, and is generally used in a data processing system. Please refer to FIG. 1b, FIG. 1b is a structural block diagram of a data processing system provided by Embodiment 1 of the present invention.

The above-mentioned data processing system includes electronic equipment, camera, radar and unmanned aerial vehicle, wherein, electronic equipment, camera and radar are all fixed on the unmanned aerial vehicle, when the unmanned aerial vehicle is flying in the target area, the above-mentioned data processing system can be used for carrying out the present invention The data processing method provided by the embodiment.

Optionally, when the electronic equipment, camera and radar are fixed on the UAV, it can be fixed by setting a bracket so that the electronic equipment, camera and radar are fixed on the bracket, and then by setting screw holes or fixing buckles for the bracket Fix the electronic equipment, camera and radar on the bracket with the drone; or directly fix the electronic equipment, camera and radar on the drone in the form of pasting or screw fixing. The fixing methods of specific electronic devices, cameras and radars on the drone are not limited here.

It should be noted that the radar, the camera, and the electronic equipment are respectively provided with a charging interface, and the charging interface is connected to the UAV through the Universal Serial Bus USB; the UAV provides power to the radar, the camera, and the electronic equipment through the charging interface. .

As shown in Figure 1a, the data processing method provided by the embodiment of the present invention includes:

S110. The electronic device acquires first data obtained by the radar detecting the target object in the target area, and obtains second data obtained by the camera detecting the target object.

In order to optimize the radar processing algorithm, it is necessary for the radar to accumulate raw data of multiple scenes, multiple environments and multiple working conditions. Therefore, the data processing method provided by the embodiment of the present invention can make the UAV fly in The target area, wherein, the target area can be artificially set according to the testing requirements of the testers. In addition to the target object, the target area can also contain other objects related to the target object, so as to simulate the real environment in the target area technical effect.

Exemplarily, taking the aerial inspection of drones as an example, utility poles, trees, tall buildings, flying birds, and tiny wires can be set in the target area, so that the radar can collect In addition to the target object data, other object data in the target area can also be collected, so that the influence of other object data on the target object data can be analyzed. The setting of the target objects in the specific target area is not limited here, and the actual needs of the testers shall prevail.

When the UAV flies in the target area and detects the target object, the radar fixed on the UAV can send electromagnetic waves through the transmitter of the internal sensor. When the electromagnetic wave touches the target object, it can feed back the electromagnetic wave to the receiver of the internal sensor. The point cloud data, the point cloud data of the current electromagnetic wave may represent the first data when the target object in the target area is detected.

Among them, the target object is not necessarily a fixed object in the target area. During the flight of the UAV, the target object within the detection range of the radar also changes accordingly with the flight of the UAV. Exemplarily, taking drone inspection in the air as an example, in the target area, within the radar detection range, it can be detected that the data of the utility pole that is closer to the drone, then the current target object can be a utility pole, At the current moment, in addition to detecting the data of the utility pole, it is also possible to detect the data of tall buildings and trees within the signal transmission range of the radar transmitter around the utility pole. With the flight of the UAV, subtle wire data may be detected when the UAV is relatively close to the utility pole, so the current utility pole and wire can be the target objects.

Further, in order to clarify the actual environment when the first data is obtained within the radar detection range, the data processing method provided by the embodiment of the present invention also has a camera on the UAV, and the camera can capture the target area in real time when the UAV is flying The actual environment data in the current data is the second data.

It should be noted that the above second data may be photo data or video data captured by the camera, and the specific type of the second data is not limited here.

The first data obtained by the radar detecting the target object in the target area is obtained by the electronic device, and the second data obtained by the camera detecting the target object is obtained. Wherein, the above-mentioned electronic device may be a device composed of a hardware system and a software system that can operate independently and complete specific functions. Exemplarily, it may be a physical electronic device including a memory and a processor, specifically, a notebook computer, a tablet computer, and an ultrabook, and the specific type of the electronic device is not limited here.

Optionally, the electronic device acquires the first data from the radar through LAN communication, and acquires the second data from the camera through LAN communication.

Wherein, the above-mentioned local area network can be Ethernet, and a wireless transmission module is arranged in the camera and the radar, and a wireless receiving module is arranged in the electronic device, and the wireless transmission module and the wireless receiving module transmit the collected first data to the electronic device through Ethernet. first data and second data.

S120. The electronic device packs the first data and the second data according to the time stamp to obtain original data associated with the target object.

Since the first data is the signal data when the radar detects the target object, and the second data is the environmental data in the target area when the camera captures the target object, it is convenient to analyze the first data and the second data at the same time, Then the electronic device can package the first data and the second data obtained at the same time through the time stamp, and store them in a corresponding position of the electronic device, so as to obtain the original data associated with the target object.

It should be noted that since both the camera and the radar are fixed on the UAV, as the flight attitude of the UAV changes when flying in the target area, the first data received by the radar receiver and collected by the camera within the shooting range of the camera The second data of will also change accordingly. When transmitting the first data and the second data to the electronic device, the corresponding time stamp is marked according to the collection time, so when the electronic device packs the first data and the second data according to the time stamp, the first data under the same time stamp can be guaranteed The second data and the second data are raw data collected at the same time as the target object.

S130. The electronic device acquires third data from the radar, where the third data is data obtained after the radar processes the first data.

During the flight of the UAV, the radar internal sensor collects the environmental information around the target area. If a target object is detected, the radar analyzes and processes the first data obtained according to step S110 to obtain the third data. The analysis of the third data obtains the distance from the current position to the target object, and instructs the UAV to make corresponding action commands according to the current distance, so as to achieve the function of "obstacle avoidance".

The current third data may be track data and track data obtained after the radar processes the first data. Wherein, the point trace data is obtained when the radar detects the target object, and the point trace data can be used to reflect the characteristics of the data points after the preliminary processing of the first data by the radar when the target object is detected. Exemplarily, the current preliminary processing It can be to remove the abnormal data of the first data, or to perform noise reduction processing on the first data, etc. The specific preliminary processing method is not limited here; the track data is obtained by clustering the point track data by the radar through the preset clustering algorithm The obtained track data can be used to characterize the target object within the detection range of the radar.

The aforementioned preset clustering algorithm may be: K-Means clustering algorithm, mean shift clustering or density-based clustering method (DBSCAN), etc., and the specific clustering algorithm type is not limited here.

Optionally, the electronic device may package and store the first data, the second data and the third data in corresponding locations according to the time stamp, so as to obtain raw data and processed data related to the target object.

It should be noted that the above step S120 corresponds to the process of packaging the first data and the second data according to the time stamp after obtaining the first data and the second data, and step S130 corresponds to the process of obtaining the first data after processing the radar. The process of obtaining the third data, these two processes are independent of each other, the embodiment of this application does not limit the execution order of these two processes,

The specific execution order of the above two processes needs to be determined according to the actual situation, so the actual execution may be performed in accordance with the order introduced in the above embodiments of the present application, or step S130 may be performed first and then step S120 may be performed.

Optionally, the electronic device acquires the third data from the radar through serial communication, that is, the radar sends the third data to the electronic device through the serial interface.

Among them, the serial interface is an extended interface using a serial communication method, which refers to the sequential transmission of data bit by bit. The characteristic of the serial interface is that the communication line is simple, as long as a pair of transmission lines can realize two-way communication, thus greatly reducing the cost of data transmission. Wherein, the above-mentioned serial interface may be RS-232-C, RS-422, RS485, or USB, etc., and the specific serial interface model is not limited here.

S140. The electronic device determines whether the radar processing algorithm needs to be optimized based on the third data and the original data.

In the electronic device, the third data output by the radar at the same time and the original data obtained when the radar detects the target object are stored according to the time stamp, and the original data and the third data at each time can be compared and analyzed. Exemplarily, the analysis may be analyzing the influence of signals of other data associated with the target object on the relevant signals of the target object, or analyzing the accuracy of the third data obtained by radar processing, so that testers can determine whether it is necessary to The radar processing algorithm is optimized so that the optimized processing algorithm can identify the target object more accurately in practical applications, and can achieve the technical effect of more sensitive obstacle avoidance effect when the UAV is avoiding obstacles.

Optionally, when it is determined that the radar processing algorithm needs to be optimized, the optimization process may include adjusting the characteristic parameters of the radar processing algorithm, adjusting the signal noise threshold, or adjusting the internal filter of the radar, etc., specifically The manner of optimizing the radar processing algorithm based on the raw data is not limited here.

The data processing method provided in the embodiment of the present invention is applied to a data processing system. The electronic equipment, camera and radar in the data processing system are all fixed on the drone. When the drone is flying in the target area, the electronic equipment first obtains the radar The first data obtained by detecting the target object in the target area, and the second data obtained by the camera detecting the target object; the electronic device then packs the first data and the second data according to the time stamp to obtain the original data associated with the target object; the electronic device obtains the original data associated with the target object; The radar acquires the third data, and the third data is the data obtained after the radar processes the first data; the electronic device finally determines whether to optimize the processing algorithm of the radar based on the third data and the original data. By adopting the above technical solution, the second data obtained by the camera detecting the target object can be combined to compare and analyze the original data obtained when the radar detects the target object in the target area and the third data obtained after the radar processes the first data, Therefore, the accuracy of processing the first data by the internal algorithm of the radar can be determined, and the technical effect of optimizing the processing algorithm of the radar based on the original data can be achieved.

Embodiment two

The embodiment of the present invention is further optimized on the basis of the above embodiments, and optimizes the step of determining whether the radar processing algorithm needs to be optimized based on the third data and the original data by the electronic device, including: The electronic device processes the raw data to obtain target data; the electronic device determines whether the third data matches the target data; if the third data does not match the target data, it determines that it needs to The processing algorithm of the radar is optimized. The advantage of this setting is that processing the collected raw data can make the optimization result more accurate when optimizing the radar processing algorithm based on the third data and target data.

The step of packaging the first data and the second data by the electronic device according to the time stamp to obtain the original data associated with the target object is also optimized, including: the electronic device performs analog-to-digital conversion on the first data , to obtain the digital data corresponding to the first data; the electronic device packs the digital data and the second data according to the time stamp to obtain the original data associated with the target object. The advantage of this setting is that when analyzing the first data with the second data as a reference, it can ensure that the first data and the second data are data at the same time, which can improve the accuracy of the analysis results.

As shown in FIG. 2a, FIG. 2a is a schematic flowchart of a data processing method provided by Embodiment 2 of the present invention. Specifically, the method includes the following steps:

S210. The electronic device acquires first data obtained by the radar detecting the target object in the target area, and obtains second data obtained by the camera detecting the target object.

S220. The electronic device performs analog-to-digital conversion on the first data to obtain digital data corresponding to the first data.

Since what is received from the radar receiver is the first data analog data, in order to facilitate the analysis of the first data, an analog to digital converter (Analog To Digital Converter, referred to as ADC) can be set in the electronic device, and the first data obtained will be The analog data of the data is converted into digital data, so that attribute information such as speed, distance, and angle of the UAV when the target object is detected can be analyzed according to the digital data corresponding to the first data.

S230. The electronic device packs the digital data and the second data according to the time stamp to obtain the original data associated with the target object.

When packing the digital data corresponding to the first data with the second data according to the time stamp, the current time stamp is the time stamp of obtaining the first data, not the time stamp of converting the first data into digital data, so as to ensure the time stamp of subsequent data analysis accuracy. Therefore, the digital data corresponding to the first data and the second data are packaged according to the time stamp to obtain the original data associated with the target object.

Optionally, when the electronic device stores the digital data and the second data, it can be stored in the form of data packets, that is, the data acquired in the current time period is packaged and stored every preset time period, and each data package is labeled with Time labels accordingly to differentiate the obtained data.

S240. The electronic device processes the original data to obtain target data.

Since the first data contained in the original data may have interfering digital signals or abnormal digital signals, in order to ensure the accuracy of data analysis, the first data contained in the original data may be processed to obtain target data, the current target data includes the processed first data and the second data acquired by the camera.

In an optional embodiment, the electronic device processes the raw data to obtain the target data, including: the electronic device parses the first data with the second data as reference information of the target object, and obtains interference data and non-interference data of the target object. The electronic device uses a preset noise reduction algorithm to perform noise reduction processing on the interference data included in the first data, and uses a preset processing algorithm to process non-interference data to obtain target data associated with the target object.

Wherein, the aforementioned preset noise reduction algorithm may be a constant false alarm rate (Constant False-Alarm Rate, referred to as CFAR) algorithm; the aforementioned preset processing algorithm may include: one-dimensional fast Fourier transform (1 Dimensions Fast Fourier Transform, referred to as 1DFFT) algorithm, At least one of two-dimensional Doppler fast Fourier transform algorithm (2DFFT), digital beam forming (Digital Beam Forming, DBF for short) algorithm and Kalman filter algorithm.

Please refer to Figure 2b, Figure 2b is a logical block diagram of a data processing method provided in Embodiment 2 of the present invention; in the embodiment of the present invention, the electronic device obtains the original data, and then according to the above-mentioned preset noise reduction algorithm and preset processing The algorithm processes the original data, and the process of obtaining the target data can be as follows:

When the radar detects the target object, the electronic device can obtain the third data processed by the radar through the serial port, and obtain the first data and the second data collected by the camera when the radar detects the target object through the local area network; The three data are analyzed into point track data and track data, and the first data is converted into digital data by the AD sampler, and then the current digital data is processed twice; first, the second data and the first data are processed according to the time stamp Data association can determine whether the target data comes from a target object; and then use the second data as a reference to filter out the interference data in the first data through the constant false alarm rate algorithm to extract non-interference data; The Fourier transform algorithm can obtain the distance between the UAV and the target object; the speed of the target object can be obtained through the two-dimensional Doppler fast Fourier transform algorithm; the angle of the UAV relative to the target object can be obtained through the digital beamforming algorithm; finally, the The Kalman filter algorithm is used to filter the noise data and interference data, so as to obtain the target data associated with the target object.

S250. The electronic device judges whether the third data matches the target data.

Since the data of the target object obtained in different time periods is different, the processing method of the radar for different target objects may be different, and since the target data is collected in real time during the flight of the UAV, the third data at the current moment and If the target data match, the target data corresponding to the next time period may be acquired again, so as to perform step S210 again; if not, then perform step S260.

It should be noted that when analyzing whether the third data matches the target data, the current data can be the data in one data package when it is stored in sub-packages, or it can be the data contained in multiple data packages together in order to reflect the diversity of data. The form of analysis and the specific analysis method are not limited here.

Further, when judging whether the third data matches the target data, the result of the target data is not necessarily completely consistent with the third data, the current match can be a matching rate, when the matching rate of the third data and the target data is greater than the preset threshold When , it is considered a match, and if it is less than the preset threshold, it is considered a mismatch.

The current preset threshold can be 80%, 85% or 90%, etc. The specific value of the specific preset threshold is not limited here, and the actual needs of the research and development personnel shall prevail.

Optionally, the target data can also be parsed into point track data and track data, so as to be compared with the point track data and track data contained in the third data, and the specific method for judging whether the third data matches the target data is in This is not limited.

S260. If the third data does not match the target data, it is determined that the radar processing algorithm needs to be optimized.

When it is determined that the radar processing algorithm needs to be optimized, the target data can be analyzed on the current client to achieve the purpose of optimizing the radar processing algorithm, and the target data can also be sent to the cloud server to process the radar based on the target data Algorithms are optimized. The advantage of this is that data sharing can be realized. Remote personnel can log in to the cloud server client to access and view the required data in real time to analyze the data and achieve the purpose of optimizing the radar processing algorithm.

Please continue to refer to Figure 2b. When sending the target data to the cloud server, the current data processing system also includes: the cloud server, and the cloud server and electronic equipment pass through the fourth generation mobile communication technology (4G)/fifth generation mobile communication technology (5G) ) base station communication connection.

When it is determined that the radar processing algorithm needs to be optimized, the optimization process can include adjusting the characteristic parameters of the radar processing algorithm, adjusting the signal noise threshold, or adjusting the internal filter of the radar, etc., according to the original data. The way of optimizing the radar processing algorithm is not limited here.

The data processing method provided by the embodiment of the present invention can solve the problem that the raw data cannot be obtained in the radar research and development process at a relatively low cost. The target data is obtained after processing the collected raw data, based on the target data and The analysis of the third data processed by the radar can optimize the radar processing algorithm based on the target data, and improve the use effect of the radar. Moreover, the target data and the third data can also be transmitted to the cloud platform in the form of wireless transmission to realize data sharing, so that the remote personnel can perform data analysis and processing again.

Embodiment Three

Fig. 3 is a structural block diagram of a data processing device provided by Embodiment 3 of the present invention. The device can be implemented by software and/or hardware, and generally can be integrated in a computer device such as a server, and can process data by executing a data processing method. In order to realize the optimization of the radar processing algorithm by processing the data. The data processing device is integrated in a data processing system, and the data processing system also includes a camera, a radar, and a drone, and the electronic equipment, the camera, and the radar are all fixed on the drone, and the drone The man-machine is flying in the target area, as shown in Figure 3, the device includes: a first acquisition module 31, a packaging module 32, a second acquisition module 33 and a determination module 34, wherein:

The first obtaining module 31 is configured to obtain first data obtained by the radar detecting the target object in the target area, and obtain second data obtained by the camera detecting the target object;

A packing module 32, configured to pack the first data and the second data according to the timestamp to obtain the original data associated with the target object;

The second acquiring module 33 is configured to acquire third data from the radar, where the third data is obtained after the radar processes the first data;

A determining module 34, configured to determine whether the radar processing algorithm needs to be optimized based on the third data and the original data.

The data processing device provided in the embodiment of the present invention is applied to a data processing system. The electronic equipment, camera and radar in the data processing system are all fixed on the drone. When the drone is flying in the target area, the electronic equipment first obtains the radar The first data obtained by detecting the target object in the target area, and the second data obtained by the camera detecting the target object; the electronic device then packs the first data and the second data according to the time stamp to obtain the original data associated with the target object; the electronic device obtains the original data associated with the target object; The radar acquires the third data, and the third data is the data obtained after the radar processes the first data; the electronic device finally determines whether to optimize the processing algorithm of the radar based on the third data and the original data. By adopting the above-mentioned technical solution, the second data obtained by the camera detecting the target object can be combined to compare and analyze the original data obtained when the radar detects the target object in the target area and the third data obtained after the radar processes the first data, Therefore, the accuracy of processing the first data by the internal algorithm of the radar can be determined, and the technical effect of optimizing the processing algorithm of the radar based on the original data can be achieved.

Optionally, the determining module 34 includes: a processing unit, a first determining unit and a second determining unit, wherein:

a processing unit, configured to process the raw data to obtain target data;

a first determining unit, configured to determine whether the third data matches the target data;

The second determination unit is configured to determine that the radar processing algorithm needs to be optimized if the third data does not match the target data.

Optionally, the processing unit includes: a parsing subunit and a processing subunit, wherein:

The parsing subunit is used for the electronic device to parse the first data by using the second data as reference information of the target object, and obtain interference data and non-interference data of the target object;

The processing subunit is configured to use a preset noise reduction algorithm to perform noise reduction processing on the interference data contained in the first data, and use a preset processing algorithm to process the non-interference data to obtain the target The target data associated with the object.

Optionally, the device also includes: an optimization module, wherein:

An optimization module, configured to send the target data to the cloud server, so that the server optimizes the radar processing algorithm based on the target data.

Optionally, the packaging module 32 includes: a conversion unit and a packaging unit, wherein:

A conversion unit, configured to perform analog-to-digital conversion on the first data to obtain digital data corresponding to the first data;

A packing unit, configured to pack the digital data and the second data according to the time stamp to obtain original data associated with the target object.

Optionally, the data processing device acquires the first data from the radar through LAN communication, and acquires the second data from the camera through LAN communication.

Optionally, the data processing device acquires the third data from the radar through serial communication.

The data processing device provided in the embodiment of the present invention can execute the data processing method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

Embodiment Four

Please refer to FIG. 4 , which is a structural block diagram of an electronic device provided by Embodiment 4 of the present invention. The electronic device 400 may include: a memory 401, a processor 402, and a computer program stored on the memory 401 and operable by the processor. When the processor 402 executes the computer program, the data processing as described in the embodiment of the present invention is realized. method.

The data processing system provided by the embodiment of the present invention can execute the data processing method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

Embodiment five

The embodiment of the present invention provides a data processing system. Please continue to refer to FIG. 1b. The data processing system includes a camera, a radar, an unmanned aerial vehicle, and electronic equipment. The electronic equipment, the camera, and the radar are fixed on on the drone. The electronic equipment in the data processing system is used to execute the data processing method according to the embodiment of the present invention.

Embodiment six

An embodiment of the present invention also provides a storage medium containing computer-executable instructions, the computer-executable instructions are used for a data processing method when executed by a computer processor, and are applied to a data processing system, and the data processing system includes an electronic device , camera, radar and unmanned aerial vehicle, described electronic device, described camera and described radar are all fixed on described unmanned aerial vehicle, and described unmanned aerial vehicle flies in target area, and this method comprises:

storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROMs, floppy disks, or tape drives; computer system memory or random access memory, such as DRAM, DDRRAM, SRAM, EDORAM, Rambus RAM, etc.; Volatile memory, such as flash memory, magnetic media (eg hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. Also, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network such as the Internet. The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems connected by a network. The storage medium may store program instructions (eg embodied as computer programs) executable by one or more processors.

Of course, a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions are not limited to the above-mentioned data processing operations, and may also execute any of the data processing methods provided by any embodiment of the present invention. related operations.

The data processing device, system, and storage medium provided in the above embodiments can execute the data processing method provided in any embodiment of the present invention, and have corresponding functional modules and beneficial effects for executing the method. For technical details not exhaustively described in the foregoing embodiments, reference may be made to the data processing method provided in any embodiment of the present invention.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims

A data processing method, characterized in that it is applied to a data processing system, the data processing system includes electronic equipment, a camera, a radar, and a drone, and the camera and the radar are fixed on the drone, so The unmanned aerial vehicle flies in the target area, and the method includes:

The electronic device obtains the first data obtained by the radar detecting the target object in the target area, and obtains the second data obtained by the camera detecting the target object;

The electronic device packs the first data and the second data according to the time stamp to obtain the original data associated with the target object;

The electronic device acquires third data from the radar, and the third data is data obtained after the radar processes the first data;

The electronic device determines whether to optimize the processing algorithm of the radar based on the third data and the original data.
The method according to claim 1, wherein the electronic device determines whether to optimize the radar processing algorithm based on the third data and the original data, including:

The electronic device processes the raw data to obtain target data;

the electronic device determines whether the third data matches the target data;

If the third data does not match the target data, it is determined that the radar processing algorithm needs to be optimized.
The method according to claim 2, wherein the electronic device processes the raw data to obtain target data, including:

The electronic device parses the first data by using the second data as reference information of the target object, and obtains interference data and non-interference data of the target object;

The electronic device uses a preset noise reduction algorithm to process the interference data included in the first data, and uses a preset processing algorithm to process the non-interference data to obtain a target associated with the target object data.
The method according to claim 2, wherein after it is determined that the radar processing algorithm needs to be optimized, further comprising:

The electronic device sends the target data to the cloud server, so that the server optimizes a processing algorithm of the radar based on the target data.
The method according to claim 1, wherein the electronic device packs the first data and the second data according to the time stamp to obtain the original data associated with the target object, including:

The electronic device performs analog-to-digital conversion on the first data to obtain digital data corresponding to the first data;

The electronic device packs the digital data and the second data according to the time stamp to obtain the original data associated with the target object.
The method according to claim 1, wherein the electronic device acquires the first data from the radar through LAN communication, and acquires the second data from the camera through LAN communication.
The method according to claim 1, wherein the electronic device acquires the third data from the radar through serial communication.
An electronic device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, any one of claims 1-7 is implemented the method described.
A data processing system, characterized by comprising: a camera, a radar, a drone and the electronic device according to claim 8, the electronic device, the camera and the radar are all fixed on the drone.
A computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by a processor, the method according to any one of claims 1 to 7 is realized.