Vision processing system, visual data processing method, chip, and computer storage medium

Abstract

Embodiments of the present disclosure provide a vision processing system, a visual data processing method, a chip, and a computer storage medium. The vision processing system comprises: a plurality of nodes connected to form a network, the plurality of nodes at least comprising a first node and a second node. The second node comprises a second transmission unit, and the second node is used to: obtain first visual data, and, on the basis of a first transmission protocol and by means of the second transmission unit, transmit the first visual data to the first node. The first node comprises a first image signal processing unit and a first transmission unit, and the first node is used to: on the basis of the first transmission protocol and by means of the first transmission unit, receive the first visual data from the second node, and perform image signal processing on the first visual data by means of the first image signal processing unit, to obtain second visual data.

Description

Visual processing system, visual data processing method, chip and computer storage medium

[0001] This application claims priority to: PCT patent application with application date of February 9, 2024, application number "PCT / CN2024 / 077134", patent name "Chip, networking system and electronic device", PCT patent application with application date of February 9, 2024, application number "PCT / CN2024 / 077133", patent name "Data transmission method, chip and storage medium", PCT patent application with application date of July 12, 2024, application number "PCT / CN2024 / 105328", patent name "A data transmission method, chip and storage medium", all of which are incorporated herein by reference. Technical Field

[0002] The embodiments of the present disclosure relate to the field of electronic communication technology, and in particular to a visual processing system, a visual data processing method, a chip, and a computer storage medium. Background Art

[0003] Nowadays, visual processing systems are being used more and more widely. Taking the in-vehicle vision system as an example, by processing the visual data collected by the camera installed on the vehicle, the processed visual data can be used to realize functions including but not limited to 360-degree surround view of the vehicle body, reversing image, automatic driving / assisted driving, etc. The typical solution of the current in-vehicle vision system is that after the camera collects the visual data, the camera first uses the local image signal processor (ISP) to process the visual data, and then sends the processed visual data to the remote application. However, the data transmission and processing performance of the current visual processing system still has room for improvement. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a visual processing system, a visual data processing method, a chip, and a computer storage medium to at least partially solve the above-mentioned problems.

[0005] According to a first aspect of an embodiment of the present disclosure, a visual processing system is provided, comprising: a plurality of nodes connected into a network, the plurality of nodes including at least a first node and a second node, wherein: the second node comprises a second transmission unit, the second node being used to: obtain first visual data, and transmit the first visual data to the first node based on a first transmission protocol through the second transmission unit; the first node comprises a first image signal processing unit and a first transmission unit, the first node being used to: receive first visual data from the second node based on the first transmission protocol through the first transmission unit, and perform image signal processing on the first visual data through the first image signal processing unit to obtain second visual data.

[0006] According to a second aspect of an embodiment of the present disclosure, a visual processing system is provided, comprising: a plurality of nodes connected into a network, the plurality of nodes including at least a first node and a second node, wherein: the second node comprises a second image signal processing unit and a second transmission unit, the second node being used to: perform corresponding functional configuration on the second image signal processing unit according to functional configuration information; obtain original visual data, and obtain third visual data through the functionally configured second image signal processing unit, and transmit the third visual data to the first node based on a first transmission protocol through the second transmission unit; the first node comprises a first transmission unit, the first node being used to: receive the third visual data from the second node based on the first transmission protocol through the first transmission unit.

[0007] According to a third aspect of an embodiment of the present disclosure, a visual data processing method is provided, which is used to connect a second node among a plurality of nodes in a network, wherein the plurality of nodes also include a first node, the second node includes a second transmission unit, and the first node includes a first image signal processing unit and a first transmission unit. The method includes: obtaining first visual data; transmitting the first visual data to the first node based on a first transmission protocol through the second transmission unit, so that the first node receives the first visual data based on the first transmission protocol through the first transmission unit, and performing image signal processing on the first visual data through the first image signal processing unit to obtain second visual data.

[0008] According to a fourth aspect of an embodiment of the present disclosure, a visual data processing method is provided, which is used to connect a first node among a plurality of nodes in a network, wherein the plurality of nodes also include a second node, the second node includes a second transmission unit, and the first node includes a first image signal processing unit and a first transmission unit. The method includes: receiving first visual data from the second node based on a first transmission protocol through the first transmission unit, wherein the first visual data is transmitted to the first node by the second node through the second transmission unit based on the first transmission protocol; and performing image signal processing on the first visual data through the first image signal processing unit to obtain second visual data.

[0009] According to the fifth aspect of an embodiment of the present disclosure, a visual data processing method is provided, which is used to connect a second node among a plurality of nodes in a network, wherein the plurality of nodes also include a first node, and the second node includes a second transmission unit and a second image signal processing unit. The method includes: performing corresponding functional configuration on the second image signal processing unit according to functional configuration information; obtaining original visual data, and obtaining third visual data through the functionally configured second image signal processing unit; and transmitting the third visual data to the first node based on the first transmission protocol through the second transmission unit.

[0010] According to the sixth aspect of an embodiment of the present disclosure, a chip is provided, comprising: a processor and a memory, wherein the processor and the memory communicate with each other; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the visual data processing method as described in any one of the third aspect, the fourth aspect, and the fifth aspect.

[0011] According to the seventh aspect of the embodiments of the present disclosure, a computer storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements the visual data processing method as described in any one of the third aspect, the fourth aspect, and the fifth aspect.

[0012] The visual processing system provided in the embodiment of the present disclosure includes a plurality of nodes connected to form a network, and the plurality of nodes include at least a first node and a second node. The second node can obtain first visual data and transmit the first visual data to the first node based on a first transmission protocol through a second transmission unit. The first node can receive the first visual data from the second node through the first transmission unit based on the first transmission protocol, and perform image signal processing on the first visual data through its first image signal processing unit to obtain second visual data, thereby effectively realizing the transmission and processing of visual data. In addition, the first visual data from the second node can be centrally processed at the first node, while the second node does not need to perform excessive processing on the first visual data, so that the transmission of the first visual data is more real-time and the data processing burden of the second node is also less. When not necessary, it is not necessary to set an image signal processing unit for one or more nodes including the second node, thereby reducing system costs. Therefore, this solution can effectively improve the data transmission and processing performance of the visual processing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present disclosure. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0014] FIG1A shows a schematic diagram of a visual processing system according to some examples of the embodiments of the present disclosure.

[0015] FIG1B shows a schematic diagram of some other exemplary visual processing systems according to the embodiments of the present disclosure.

[0016] FIG2 shows a schematic diagram of a second node obtaining first visual data based on original visual data in an embodiment of the present disclosure.

[0017] FIG3A shows some schematic diagrams of the first node and the second node processing visual data.

[0018] FIG3B shows some other schematic diagrams of the first node and the second node processing visual data.

[0019] FIG4 shows a schematic diagram of dividing a preset period into time slots and allocating frame numbers to subnodes.

[0020] FIG5 is a schematic diagram showing an exemplary visual data transmission process.

[0021] FIG6A shows a simplified schematic diagram of an exemplary vehicle-mounted visual transmission system in the related art.

[0022] FIG. 6B shows an example data packet format in the related art.

[0023] FIG7A shows a schematic diagram of a visual processing system according to some further examples of the embodiments of the present disclosure.

[0024] FIG7B shows a schematic diagram of a visual processing system according to some further examples of the embodiments of the present disclosure.

[0025] FIG8 shows a schematic diagram of a second node obtaining third visual data based on original visual data in an embodiment of the present disclosure.

[0026] FIG9A shows some schematic diagrams of the first node and the second node processing visual data.

[0027] FIG9B shows some other schematic diagrams of the first node and the second node processing visual data.

[0028] FIG9C shows some further schematic diagrams of the first node and the second node processing visual data.

[0029] FIG9D shows some further schematic diagrams of the first node and the second node processing visual data.

[0030] FIG9E shows some further schematic diagrams of the first node and the second node processing visual data.

[0031] FIG10 is a schematic diagram showing a master node scheduling visual data of multiple sub-nodes.

[0032] FIG11 is a schematic diagram showing an example of a visual data transmission process.

[0033] FIG12 shows a schematic flow chart of some exemplary visual data processing methods in the embodiments of the present disclosure.

[0034] FIG13 shows a schematic flowchart of some other exemplary visual data processing methods in the embodiments of the present disclosure.

[0035] FIG14 shows a schematic flow chart of some further exemplary visual data processing methods in the embodiments of the present disclosure.

[0036] FIG15 shows a schematic diagram of chips according to some examples of the embodiments of the present disclosure.

[0037] Explanation of the accompanying drawings: 100, visual processing system; 10, first node; 11, first image signal processing unit; 12, first transmission unit; 20, second node; 21, second image signal processing unit; 22, second transmission unit; 30, visual acquisition unit; 40, host; 1000, chip; 1002, processor; 1006, memory; 1010, program. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and in detail described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in the present disclosure should fall within the scope of protection of the embodiments of the present disclosure.

[0039] Nowadays, visual processing systems are being used more and more widely. Taking the vehicle-mounted vision system as an example, by processing the visual data collected by the camera installed on the vehicle, the processed visual data can be used to realize functions including but not limited to 360° surround view of the vehicle body, reversing image, automatic driving / assisted driving, etc. It should be understood that the terms "vehicle", "vehicle-mounted" or "in-vehicle" or other similar terms used in this article generally include various private or commercial vehicles such as cars, sport utility vehicles, buses, trucks, etc., as well as various boats, ships, aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles and other alternative fuel vehicles.

[0040] For example, in some typical solutions for current in-vehicle vision systems, after the camera captures visual data, the camera first processes the visual data using a local image signal processor (ISP) before sending the processed visual data to the remote end for application. The advantage of this solution is that the visual data is processed locally, and the remote end only applies the visual data, simplifying the division of labor. However, a problem with this solution is that each camera requires a relatively expensive ISP processing chip, resulting in higher overall system costs. Furthermore, the data transmission and processing performance of current vision processing systems still has room for improvement.

[0041] According to a first aspect of an embodiment of the present disclosure, a visual processing system 100 is provided. Referring to Figures 1A and 1B, the visual processing system 100 may include: a plurality of nodes connected to form a network, the plurality of nodes including at least a first node 10 and a second node 20, wherein: the second node 20 includes a second transmission unit 22, the second node 20 is used to: obtain first visual data, and transmit the first visual data to the first node 10 based on a first transmission protocol through the second transmission unit 22; the first node 10 includes a first image signal processing unit 11 and a first transmission unit 12, the first node 10 is used to: receive the first visual data from the second node 20 based on the first transmission protocol through the first transmission unit 12, and perform image signal processing on the first visual data through the first image signal processing unit 11 to obtain second visual data.

[0042] The visual processing system 100 provided in the embodiments of the present disclosure includes a plurality of nodes connected to a network, wherein the plurality of nodes include at least a first node 10 and a second node 20. The second node 20 can obtain first visual data and transmit the first visual data to the first node 10 via a second transmission unit 22 based on a first transmission protocol. The first node 10 can receive the first visual data from the second node 20 via a first transmission unit 12 based on the first transmission protocol and perform image signal processing on the first visual data via its first image signal processing unit 11 to obtain second visual data. This effectively achieves the transmission and processing of visual data. Furthermore, the first visual data from the second node 20 can be centrally processed at the first node 10, without requiring the second node 20 to perform excessive processing on the first visual data. This improves the real-time transmission of the first visual data and reduces the data processing burden on the second node 20. Furthermore, when not necessary, it is not necessary to provide an image signal processing unit for one or more nodes, including the second node 20, thereby reducing system costs. Therefore, the present solution can effectively improve the data transmission and processing performance of the visual processing system.

[0043] It should be understood that the visual processing system 100 of the first aspect of the embodiments of the present disclosure can be applied to any scenario. For example, it can be adapted to scenarios where visual data is transmitted and processed by multiple cameras. As an example, it can be applied to scenarios where visual data is transmitted and processed in a vehicle, or in scenarios such as home or security.

[0044] In the embodiments of the present disclosure, the image signal processing unit and the transmission unit can be independent chips or devices and integrated into the node at the same time. Alternatively, the transmission unit can be an independent chip or device and integrate the functions of the image signal processing unit. Alternatively, the image signal processing unit can be an independent chip or device and integrate the functions of the transmission unit. The node can be an entity concept such as a module, an electronic device, an integrated chip, etc. The embodiments of the present disclosure do not limit the entities of the node, the transmission unit, and the image signal processing unit. In some optional embodiments, the image signal processing unit can be implemented as an image signal processor (ISP).

[0045] In some embodiments, a node can be any module, device, or chip that can implement the embodiments of the present disclosure. For example, in some embodiments, each of the multiple nodes includes at least one chip for data transmission in the network. In some embodiments, a node can also be a chip, that is, a chip can be directly used as a node.

[0046] In the embodiment of the present disclosure, the visual data may include at least one of image data and video data. For example, the visual data may be understood as video data in the following text.

[0047] In the disclosed embodiment, the first transmission protocol may be any suitable data transmission protocol. The first transmission protocol may be an existing standard protocol, such as the Ethernet protocol or any other existing protocol. Alternatively, the first transmission protocol may be a proprietary protocol.

[0048] In some optional embodiments, the first transmission protocol is a first private transmission protocol that implements data transmission and / or processing based on a physical layer. For example, the second node 20 may transmit the first visual data to the first node 10 via the second transmission unit 22 based on the first private transmission protocol. The first node 10 may receive the first visual data from the second node 20 via the first transmission unit 12 based on the first private transmission protocol, and perform image signal processing on the first visual data via the first image signal processing unit 11 to obtain second visual data.

[0049] It should be understood that since the second node 20 in the visual processing system 100 can transmit the first visual data based on the first private transmission protocol through the second transmission unit 22, and the first node 10 can receive the first visual data based on the first private transmission protocol through the first transmission unit 12, the visual data is directly transmitted and / or processed based on the physical layer, and there is no need for a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on a high-level protocol above the physical layer, but directly based on the physical layer transmission and processing, which can ensure the reliability of data transmission. In addition, when this solution transmits visual data based on the physical layer, there is no need for a switch to transmit visual data, which also reduces the demand for processors (such as MCUs, etc.) in the networking nodes during visual data transmission, thereby effectively reducing the transmission delay of visual data and being able to further reduce costs by reducing the number of switches and processors (such as MCUs, etc.). Therefore, this solution can further effectively improve the data transmission and processing performance of the visual processing system.

[0050] The physical layer is the lowest layer in network communication. It should be understood that the data in the embodiment of the present disclosure can be transmitted and processed based on the first private transmission protocol, that is, based on physical layer transmission and / or processing, but it does not mean that it only performs the functions that the physical layer defined in the standard protocol can perform. For example, in the standard protocol, the function of the physical layer is to convert the frame signal of the upper layer (such as the data link layer) above the physical layer into an electrical signal or optical signal that can be transmitted on the physical transmission medium, and to convert the electrical signal or optical signal received from the physical transmission medium into a bit stream for processing by the upper layer (such as the data link layer). The data transmission and processing in the visual processing system of the present disclosure is implemented based on the physical layer of the node, which means that the data transmission and processing scheme of the embodiment of the present disclosure does not pass through the upper layer (such as the data link layer, the network layer, etc.) above the physical layer defined in the standard physical communication, but customizes a set of private protocols based on the physical layer, so that it can realize data transmission and processing in addition to certain functions that the physical layer defined in the standard protocol can perform.

[0051] To facilitate explanation of the embodiments of the present disclosure, the first transmission protocol may be described below as a first private transmission protocol.

[0052] In the embodiment of the present disclosure, multiple nodes can be connected to form any type of networking. For example, as shown in Figure 1A, multiple nodes can be connected to form a daisy chain network. The example in Figure 1A is a double daisy chain network, and in other embodiments, it can also be a single daisy chain network. As shown in Figure 1B, multiple nodes can be connected to form a ring network. The visual processing system 100 of the embodiment of the present disclosure adopts a daisy chain network or a ring network, and the data forwarding delay when transmitting visual data based on the first transmission protocol (for example, the first private transmission protocol) is small.

[0053] Optionally, in the visual processing system 100 in the embodiment of the present disclosure, when a node transmits data to be transmitted, including but not limited to visual data, based on a first transmission protocol (e.g., a first private transmission protocol), data transmission and processing can be implemented in real-time streaming. For example, taking the first transmission protocol as the first private transmission protocol, a target node among multiple nodes (e.g., the second node 20 as an example) can perform real-time streaming processing on a data packet (e.g., a target data packet as an example) based on the first private transmission protocol through its transmission unit (e.g., the second transmission unit 22 as an example), and can also write the data to be transmitted (e.g., visual data as an example) into a data packet when necessary, and stream the real-time streamed data packet in real time to the next node adjacent to the target node (e.g., the first node 10 or other node). That is, real-time streaming processing of a data packet means that the data packet is immediately processed in real time when it arrives at the target node, rather than waiting until the entire data packet is completely received before processing or transmitting it.

[0054] It should be understood that since the nodes in the embodiments of the present disclosure can realize data transmission and processing in real-time streaming, for example, the transmission unit of the node can transmit and process the data packets separately in real-time streaming, so that the data in the received data packets can be processed in real time, and data can also be written to the received data packets in real time when needed, that is, after receiving a part of the data in the data packet, it is immediately transmitted and processed, thereby effectively reducing the data transmission delay and ensuring that the data in the data packet can be transmitted and processed in real time. In the related art, the switch-based transmission or other software-based or wireless transmission data packets need to wait until all the data in the data packet is completely received before transmission or processing, which has a large delay. Therefore, compared with the related art, the visual processing system 100 of this solution has better data transmission and processing performance.

[0055] It should be noted that the number of nodes in Figures 1A and 1B is merely for the purpose of illustrating some examples of the embodiments of the present disclosure, and the specific number can be set as needed. In the embodiments of the present disclosure, multiple nodes can be connected via a physical transmission medium (such as a shielded twisted pair, an unshielded twisted pair, a coaxial cable, etc., which is not specifically limited in the embodiments of the present disclosure).

[0056] Optionally, for different types of networks, a master node can be designated among multiple nodes. Nodes other than the master node can be referred to as child nodes. It should be noted that a network can include more than two nodes, namely, a master node and multiple child nodes; or, a network can include only two nodes, namely, a master node and a child node.

[0057] In the embodiment of the present disclosure, the first node 10 among the multiple nodes can be a master node, and the other nodes (including the second node 20) except the first node 10 can all be child nodes (as shown in Figures 1A and 1B. For the convenience of the following description, the various child nodes can be respectively referred to as child nodes a to g). The multiple nodes in the embodiment of the present disclosure may include at least one second node 20. Optionally, as shown in Figures 1A and 1B, the other nodes (child nodes) among the multiple nodes except the first node 10 (master node) can all be second nodes 20.

[0058] In the embodiment of the present disclosure, the second node 20 may include a second transmission unit 22. The second node 20 may obtain the first visual data, and may transmit the first visual data to the first node 10 based on a first transmission protocol (e.g., a first private transmission protocol) through the second transmission unit 22. Optionally, as shown in Figures 1A and 1B, the second node 20 may be connected to a visual acquisition unit 30. The visual acquisition unit 30 may be used to acquire visual data. The visual data may include at least one of image data and video data. For example, the visual acquisition unit 30 may be a camera or a video image sensor, etc. The visual acquisition unit 30 may be exemplified below as a camera. Optionally, the first visual data may be obtained based on the original visual data acquired by the visual acquisition unit 30.

[0059] Optionally, the raw visual data may be in a Bayer RAW format. Each pixel in the Bayer domain data contains only information about one of the three colors: red (R), green (G), and blue (B). Since the raw visual data is in a Bayer RAW format, the visual processing system 100 of this solution can transmit visual data in the Bayer domain, resulting in a smaller amount of data transmitted than traditional RGB data. Under the same bandwidth, it can carry more visual data transmission from the visual acquisition unit 30, or transmit higher-definition visual data.

[0060] In some optional embodiments, the signal sensed by the sensor of the visual acquisition unit 30 (such as a camera) can be an analog signal, which can be converted into a digital signal through analog-to-digital conversion, and then the original visual data in Bayer RAW format can be obtained based on the digital signal.

[0061] In some optional embodiments, the second node 20 can be used to: obtain original visual data from the visual acquisition unit 30, and transmit the original visual data as first visual data to the first node 10 through the second transmission unit 22 based on a first transmission protocol (e.g., a first private transmission protocol).

[0062] As shown in FIG. 2 , in some cases, the second node 20 may directly output the original visual data as the first visual data.

[0063] It should be understood that in the visual processing system 100 in the embodiment of the present disclosure, the second node 20 can transmit the original visual data collected by the visual acquisition unit 30 (such as a camera) as the first visual data to the first node 10 based on the first transmission protocol through the second transmission unit 22. The first image signal processing unit 11 of the first node 10 can perform centralized processing, and the second node 20 does not need to perform excessive processing on the first visual data, so that the transmission of the first visual data is more real-time and the data processing burden of the second node 20 is also smaller. When not necessary, it is not necessary to set an image signal processing unit for one or more nodes including the second node 20 to reduce system costs.

[0064] Optionally, the second node 20 may transmit the raw visual data as the first visual data to the first node 10 based on the first private transmission protocol through the second transmission unit 22. It should be understood that the transmission of the raw visual data (i.e., the first visual data) based on the first private transmission protocol does not require data encapsulation by a processor (e.g., an MCU, etc.) based on a standard protocol, that is, it does not require processing based on a high-level protocol above the physical layer, but can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0065] In some examples, the second node 20 may also include a second image signal processing unit, and the second image signal processing unit may be set to a bypass mode. In the bypass mode, the original visual data is not further processed by the second image signal processing unit. The second node 20 may directly transmit the original visual data as the first visual data to the first node 10 based on a first transmission protocol (e.g., a first private transmission protocol) through the second transmission unit 22.

[0066] In other examples, the second node 20 may not include the second image signal processing unit. The second node 20 may directly transmit the original visual data as the first visual data to the first node 10 through the second transmission unit 22 based on the first transmission protocol (e.g., the first private transmission protocol).

[0067] In other optional embodiments, the second node 20 can be used to: obtain original visual data from the visual acquisition unit 30, compress the original visual data, and transmit the compressed original visual data as first visual data to the first node 10 through the second transmission unit 22 based on a first transmission protocol (for example, a first private transmission protocol).

[0068] As shown in FIG. 2 , in some cases, the second node 20 may compress the original visual data and output the compressed data as the first visual data.

[0069] It should be understood that in the visual processing system 100 in the embodiment of the present disclosure, the second node 20 can compress the original visual data collected by the visual acquisition unit 30 (such as a camera), and then transmit the compressed original visual data as the first visual data to the first node 10 based on the first transmission protocol through the second transmission unit 22. The first image signal processing unit 11 of the first node 10 can be centrally processed, and the second node 20 does not need to perform excessive processing on the first visual data, so that the transmission of the first visual data is more real-time and the data processing burden of the second node 20 is also smaller. When it is not necessary, it is not necessary to set an image signal processing unit for one or more nodes including the second node 20 to reduce system costs. In addition, since the original visual data is compressed before transmission, the transmission efficiency of the first visual data can be further improved.

[0070] Optionally, the second node 20 may transmit the compressed raw visual data as the first visual data to the first node 10 based on the first private transmission protocol through the second transmission unit 22. It should be understood that the transmission of the raw visual data (i.e., the first visual data) based on the first private transmission protocol does not require data encapsulation by a processor (e.g., an MCU, etc.) based on a standard protocol, that is, it does not require processing based on a high-level protocol above the physical layer, but can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0071] In some examples, the second node 20 may also include a second image signal processing unit, and the second image signal processing unit may be set to a mode capable of compressing visual data. In this mode, the original visual data may be compressed by the second image signal processing unit, and the second node 20 may transmit the compressed original visual data as first visual data to the first node 10 through the second transmission unit 22 based on a first transmission protocol (e.g., a first private transmission protocol).

[0072] In other examples, the second node 20 may not include the second image signal processing unit. The second node 20 may compress the original visual data through other compression algorithms. The second node 20 may transmit the compressed original visual data as the first visual data to the first node 10 through the second transmission unit 22 based on the first transmission protocol (e.g., the first private transmission protocol).

[0073] Optionally, as shown in Figure 2, the second node 20 in the embodiment of the present disclosure can, in some cases, directly transmit the original visual data as the first visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22, or in other cases, it can also transmit the compressed original visual data as the first visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22. These two situations can be two non-conflicting functions of the second node 20.

[0074] In an embodiment of the present disclosure, the first node 10 can receive first visual data from the second node 20 based on a first transmission protocol (e.g., a first private transmission protocol) through the first transmission unit 12, and perform image signal processing on the first visual data through the first image signal processing unit 11 to obtain second visual data.

[0075] Optionally, as shown in Figures 1A and 1B , the first node 10 is further connected to a host 40 and can transmit second visual data, obtained by the first image signal processing unit 11 performing image signal processing on the first visual data, to the host 40. The host 40 can apply the second visual data to implement desired functions, such as 360° surround view, reversing image, and autonomous / assisted driving. Accordingly, the host 40 can be part of a 360° surround view system, a reversing image system, an autonomous / assisted driving system, or the like.

[0076] Optionally, the image signal processing may include any processing method that meets the needs. Optionally, the processing method of the image signal processing may include but is not limited to at least one of the following: Black Level Correction (BL) processing (usually used to remove the fixed offset caused by dark current to ensure that the image appears consistent in a completely black state), Lens Shade Correction (LSC) processing (usually used to correct the image edge brightness and color differences caused by the optical characteristics of the lens), White Balance Gain (WB Gain) processing (usually used to adjust the color balance in the image to ensure that photos taken under different lighting conditions can present a natural white), Bad Pixel Correction (BPC) processing (usually used to repair bad pixels or damaged pixels in the image), Denoising processing (usually used to remove noise from noisy signals or images), HDR Fusion (High Dynamic Range Fusion, HDR Fusion, High Dynamic Range Fusion) processing (usually used to merge multiple images with different exposures into a high dynamic range (HDR) image), Chromatic Aberration Correction (Chromatic Aberration) processing (usually used to combine multiple images with different exposures into a high dynamic range (HDR) image), Chromatic Aberration Correction (Chromatic Aberration) processing (usually used to adjust the color balance in the image to ensure that photos taken under different lighting conditions can present a natural white), Bad Pixel Correction (BPC) processing (usually used to repair bad pixels or damaged pixels in the image), Denoising processing (usually used to remove noise from noisy signals or images), HDR Fusion (High Dynamic Range Fusion, HDR Fusion, High Dynamic Range Fusion) processing (usually used to merge multiple images with different exposures into a high dynamic range (HDR) image), Chromatic Aberration Correction (Chromatic Aberration) processing (usually used to adjust the color balance in the image to ensure that photos taken under different lighting conditions can present a natural white), Color Correction (CAC) processing (usually used for image chromatic aberration correction), Debayer processing (usually used to reconstruct a full-color image from a Bayer format), Color Correction processing (usually adjusts the color in an image or video to eliminate color deviation caused by devices (such as cameras, displays, etc.)), Global Tone Mapping (GTM) processing, Local Tone Mapping (LTM) processing (global tone mapping / local tone mapping are usually used to display a wide dynamic range image on a display device that does not have a wide dynamic range), Sharpening processing (usually used to enhance image clarity and details), CNR (Chroma Noise Reduction) processing (usually used to reduce chromatic noise introduced by the image processing process), Gamma Adjustment processing (usually nonlinear adjustment of the pixel values ​​of the image), Format Change processing (usually used to change the size, format and color space of the image, etc.), Image Stabilization processing (usually used to reduce or eliminate jitter or jitter in images or videos), Compression and output (Compress and Output) processing (usually used to compress images for output).It should be understood that the above-mentioned various processing methods can be implemented by algorithms in related technologies or other innovative algorithms, and the embodiments of the present disclosure do not impose any limitation on this.

[0077] Optionally, the image signal processing performed by the first image signal processing unit 11 on the first visual data includes at least one of the following processing methods: black level correction processing, lens shading correction processing, white balance gain processing, bad pixel correction processing, denoising processing, HDR fusion processing, chromatic aberration correction processing, Debayer processing, color correction processing, global tone mapping processing, local tone mapping processing, sharpening processing, CNR processing, gamma correction processing, format change processing, image stabilization processing, compression, and output processing. The above various processing methods can make image signal processing more flexible to meet various visual processing requirements and help improve the processing effect of visual data.

[0078] For example, FIG3A illustrates some schematic diagrams of visual data processing by a first node and a second node. In some embodiments, the first visual data received by the first node 10 is raw visual data. As shown in FIG3A , a predetermined full image signal processing process can be performed on the first visual data (i.e., raw visual data) to obtain second visual data. The full image signal processing process can include one or more arbitrary image signal processing methods (e.g., as described above). For example, the full image signal processing process illustrated in FIG3A can include the following processing methods, which are sequentially executed: black level correction, lens shading correction, white balance gain, bad pixel correction, denoising, HDR fusion, white balance gain, chromatic aberration correction, Debyer processing, color correction, global tone mapping, local tone mapping, denoising, sharpening & CNR, gamma correction, format change, image stabilization, compression, and output. By processing the first visual data according to the full image signal processing process illustrated above, second visual data can be output for transmission to the host 40 for application. As shown in FIG3A , in the aforementioned full image signal processing process, the first six processing methods may be a preprocessing process, which may be part of the full image signal processing process. However, it should be understood that this is only an example, and the preprocessing process may also include fewer or more processing methods.

[0079] Optionally, the preprocessing process can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as parameter setting differences, manufacturer differences, environmental differences, etc. It should be understood that the use of the preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0080] For example, FIG3B illustrates another schematic diagram of visual data processing by the first and second nodes. In some optional embodiments, the first visual data received by the first node 10 is compressed raw visual data. As shown in FIG3B , the first visual data can be decompressed to obtain raw visual data, and then a predetermined full image signal processing flow can be performed on the raw visual data to obtain second visual data. For example, the full image signal processing flow illustrated in FIG3B can include the following sequential processing: black level correction, lens shading correction, white balance gain, bad pixel correction, denoising, HDR fusion, white balance gain, chromatic aberration correction, Debyer processing, color correction, global tone mapping, local tone mapping, denoising, sharpening & CNR, gamma correction, format change, image stabilization, compression, and output. By decompressing the first visual data to obtain raw visual data, and then following the full image signal processing flow illustrated above, the second visual data can be output for transmission to the host 40 for application. As shown in FIG3B , in the aforementioned full image signal processing process, the first six processing methods may be a preprocessing process, which may be part of the full image signal processing process. However, it should be understood that this is only an example, and the preprocessing process may also include fewer or more processing methods.

[0081] Optionally, the preprocessing process can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as parameter setting differences, manufacturer differences, environmental differences, etc. It should be understood that the use of the preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0082] Optionally, the predetermined full image signal processing process may include one or more processing methods mentioned above, and each processing method may be used once or multiple times (as shown in the examples of Figures 3A and 3B, white balance gain processing and denoising processing are used multiple times), as long as the processing requirements of visual data can be met.

[0083] In some optional embodiments, the second node 20 and the first node 10 are adjacent nodes, and the second node 20 is specifically used to: obtain a target data packet based on the first transmission protocol through the second transmission unit 22, write at least part of the first visual data into the target data packet, and transmit the target data packet to the first node 10 based on the first transmission protocol.

[0084] Optionally, the target data packet obtained by the second node 20 may be a data packet generated by the second node 20, or the target data packet may be a data packet received by the second node 20 based on the first transmission protocol, which is not limited in the embodiment of the present disclosure.

[0085] Optionally, the second node 20 may obtain a target data packet based on the first private transmission protocol through the second transmission unit 22, write at least a portion of the first visual data into the target data packet, and transmit the target data packet to the first node 10 based on the first private transmission protocol. Optionally, the target data packet obtained by the second node 20 may be a data packet generated by the second node 20 based on the first private transmission protocol, or the target data packet may be a data packet received by the second node 20 based on the first private transmission protocol, which is not limited in the present embodiment.

[0086] It should be understood that the data in the embodiments of the present disclosure can be transmitted and processed based on the first private transmission protocol, that is, based on physical layer transmission and / or processing, but it does not mean that it only performs the functions that the physical layer defined in the standard protocol can perform. For example, in the standard protocol, the function of the physical layer is to convert the frame signal of the upper layer above the physical layer (such as the data link layer) into an electrical signal or optical signal that can be transmitted on the physical transmission medium, and to convert the electrical signal or optical signal received from the physical transmission medium into a bit stream for the upper layer (such as the data link layer) to be processed. The data transmission and processing in the visual processing system of the present disclosure are implemented based on the physical layer of the target node, which means that the data transmission and processing scheme in the visual processing system of the embodiment of the present disclosure does not pass through the upper layer above the physical layer defined in the standard physical communication (such as the data link layer, the network layer, etc.), but customizes a set of private protocols based on the physical layer, so that it can realize data transmission and processing in addition to certain functions that the physical layer defined in the standard protocol can perform.

[0087] For example, in some optional embodiments, the second node 20 is a data packet initiating node, and the second node 20 can generate a target data packet based on the first transmission protocol via the second transmission unit 22. Alternatively, in other optional embodiments, the second node 20 is not a data packet initiating node, and the second node 20 can obtain a target data packet transmitted from a neighboring node other than the first node 10 via the second transmission unit 22 based on the first transmission protocol. Thus, the second node 20 can effectively obtain the target data packet based on the first transmission protocol, so as to send the first visual data to the first node 10 via the target data packet based on the first transmission protocol.

[0088] For example, assuming the first transmission protocol is a first private transmission protocol, and optionally, the second node 20 is a packet initiating node, the second node 20 can generate a target data packet based on the first private transmission protocol via the second transmission unit 22. Alternatively, if the second node 20 is not a packet initiating node, the second node 20 can obtain a target data packet transmitted from a neighboring node other than the first node 10 via the second transmission unit 22 based on the first private transmission protocol. Thus, the second node 20 can effectively obtain the target data packet based on the first private transmission protocol, thereby facilitating the transmission of the first visual data to the first node 10 via the target data packet based on the first private transmission protocol, thereby achieving physical layer-based transmission of the visual data.

[0089] The packet initiation node of the target data packet can be selected according to the situation. In different situations, the packet initiation node of the target data packet can be set to any node among the multiple nodes except the first node 10, so as to meet the requirements of visual data transmission in different situations (such as different networking forms, different numbers of nodes, etc.).

[0090] For example, optionally, referring to the daisy-chain network formed by connecting multiple nodes as shown in FIG1A , the data packet initiating node can be the end node of the daisy chain. As shown in FIG1A , there is a double daisy chain, which includes a right chain (the right chain includes the main node, sub-nodes a, b, c, d) and a left chain (the left chain includes the main node, sub-nodes g, f, e). Then, there can be two data packet initiating nodes, and the data packet initiating nodes of the right chain and the left chain are sub-nodes d and e, respectively. The two data packet initiating nodes are used to meet the visual data transmission requirements of each node in the daisy chain network on both sides. Of course, if multiple nodes are connected as a single daisy chain network, then one node can be set as the target data packet initiating node.

[0091] For another example, referring to the ring network formed by connecting multiple nodes as shown in FIG1B , the data packet initiating node can be set to any one or two nodes other than the first node 10 (master node). In one example, the data packet initiating node can be set to one node, such as a subnode a or a subnode g, and the initiated target data packet can be transmitted to the first node in one transmission direction (taking the data packet initiating node as the subnode g as an example, the transmission direction can be: subnode g → subnode f → subnode e → subnode d → subnode c → subnode b → subnode a → master node (i.e., the first node 10). If the data packet initiating node is set to the subnode a, then it is subnode a → subnode b → subnode c → subnode d → subnode e → subnode f → subnode g → master node). In other examples, the data packet initiating nodes can be set to two nodes, for example, they can be child node d or child node e, and the transmission directions between the target data packet initiated by child node d and the target data packet initiated by child node e can be different (for example, the transmission direction of the target data packet initiated by child node d is: child node d → child node c → child node b → child node a → main node (i.e., the first node 10), and the transmission direction of the target data packet initiated by child node e is: child node e → child node f → child node g → main node (i.e., the first node 10)), so as to adapt to the visual data transmission requirements of each node in the ring network. Of course, the above description of Figures 1A and 1B is only for ease of understanding and is not a limitation on the embodiments of the present disclosure.

[0092] For example, taking the first transmission protocol as the first private transmission protocol as an example, referring to the daisy chain network shown in Figure 1A, in the right chain, child node a (second node 20) and the main node (first node 10) are adjacent nodes, and child node a may not be the data packet initiating node of the target data packet. Child node a can obtain the target data packet from the downstream node of the right chain, that is, child node b, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating child node d), and write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the first visual data therein. For another example, in the left chain, the child node g (the second node 20) and the main node (the first node 10) are adjacent nodes. The child node g may not be the data packet initiating node of the target data packet. The child node g can obtain the target data packet from the downstream node, namely the child node f, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating the child node e), and write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to the main node (the first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (the first node 10), and the main node (the first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol, and reads the first visual data therein.

[0093] For another example, taking the first transmission protocol as the first private transmission protocol as an example, as shown in Figure 1A, assuming that there are no child nodes b, c, d, e, and f in the network, and there are only child nodes a, child node g, and the main node (first node 10), then in the right chain, child node a (second node 20) and the main node (first node 10) are adjacent nodes, and child node a is the end node. Child node a can be the data packet initiating node of the target data packet. Child node a can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, then the target data packet can be obtained, and at least part of the first visual data can be written into the target data packet, and the target data packet can be transmitted upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the first visual data therein. In the left chain, the child node g (second node 20) and the main node (first node 10) are adjacent nodes, and the child node g is the end node. The child node g can be the data packet initiating node of the target data packet. The child node g can initiate the data packet based on the first private transmission protocol through its second transmission unit 22, and then obtain the target data packet, and can write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the first visual data therein.

[0094] It should be understood that other situations can be inferred based on the above examples and will not be elaborated here.

[0095] It can be understood that in the embodiment of the present disclosure, when the second node 20 and the first node 10 are adjacent nodes, at least part of the first visual data can be written into the target data packet obtained based on the first transmission protocol through the second transmission unit 22, and the target data packet can be transmitted to the first node 10 based on the first transmission protocol, so that the first visual data can be effectively transmitted to the first node 10.

[0096] Optionally, in an embodiment of the present disclosure, when the second node 20 and the first node 10 are adjacent nodes, at least part of the first visual data can be written into a target data packet obtained based on the first private transmission protocol through the second transmission unit 22, and by transmitting the target data packet to the first node 10 based on the first private transmission protocol, the first visual data can be effectively transmitted to the first node 10 based on the first private transmission protocol, thereby realizing direct transmission of visual data based on the physical layer, and there is no need for a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it is directly transmitted and processed based on the physical layer, which can ensure the reliability of data transmission.

[0097] In other optional embodiments, the second node 20 and the first node 10 are not adjacent nodes, and the second node 20 is specifically used to: obtain a target data packet based on the first transmission protocol through the second transmission unit 22, write at least part of the first visual data into the target data packet, and transmit the target data packet to the first node 10 based on the first transmission protocol through at least one node between the second node 20 and the first node 10.

[0098] Optionally, the second node 20 can obtain the target data packet based on the first private transmission protocol through the second transmission unit 22, write at least part of the first visual data into the target data packet, and transmit the target data packet to the first node 10 through at least one node between the second node 20 and the first node 10 based on the first private transmission protocol.

[0099] For example, taking the first transmission protocol as the first private transmission protocol as an example, referring to the daisy chain network shown in Figure 1A, in the right chain, child node a is connected between child node b (second node 20) and the main node (first node 10), so child node b and the main node are not adjacent nodes, and child node b may not be the packet initiating node of the target data packet. Child node b can obtain the target data packet from the downstream node, namely child node c, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating child node d), and write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to child node a based on the first private transmission protocol, for example, it can be transmitted to the physical layer of child node a, and then transmitted to the main node (first node 10) through child node a through its second transmission unit 22 based on the first private transmission protocol, for example, it can be forwarded to be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the first visual data therein. For another example, in the left chain, a child node g is connected between the child node f (the second node 20) and the main node (the first node 10), so the child node f and the main node are not adjacent nodes, and the child node f may not be the data packet initiating node of the target data packet. The child node f can obtain the target data packet from the downstream node, namely the child node e, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating the child node e), and write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to the child node g based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the child node g, and then forwarded by the child node g through its second transmission unit 22 based on the first private transmission protocol to the main node (the first node 10), for example, it can be forwarded to be transmitted to the physical layer of the main node (the first node 10), and the main node (the first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the first visual data therein.

[0100] For another example, taking the first transmission protocol as the first private transmission protocol as an example, referring to the daisy chain network shown in Figure 1A, in the right chain, child node d (second node 20) and the main node (first node 10) are connected with child nodes a, b, and c, so child node d and the main node are not adjacent nodes, and child node d is the end node. Child node d can be the data packet initiating node of the target data packet, and child node d can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, then the target data packet can be obtained, and at least part of the first visual data can be written into the target data packet, and the target data packet can be written based on the first private There is a transmission protocol that is transmitted upstream to the physical layer of child node c, and then transmitted to the physical layer of child node b through the second transmission unit 22 of child node c based on the forwarding of the first private transmission protocol, and then transmitted to the physical layer of child node a through the second transmission unit 22 of child node b based on the forwarding of the first private transmission protocol, and then transmitted to the physical layer of the main node (first node 10) through the second transmission unit 22 of child node a based on the forwarding of the first private transmission protocol. The main node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the first visual data therein. For another example, in the left chain, child nodes f and g are connected between child node e (second node 20) and the main node (first node 10), so child node e and the main node are not adjacent nodes, and child node e is the end node. Child node e can be the data packet initiating node of the target data packet. Child node e can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, then obtain the target data packet, and can write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to the physical layer of child node f based on the first private transmission protocol, and then transmit it to the physical layer of child node g through forwarding of the first private transmission protocol by child node f through its second transmission unit 22, and then transmit it to the physical layer of the main node (first node 10) through forwarding of the first private transmission protocol by child node g through its second transmission unit 22. The main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12 and reads the first visual data therein.

[0101] For another example, assuming that the first transmission protocol is the first private transmission protocol, referring to the ring network shown in FIG1B , and assuming that child node d and child node e are packet initiating nodes for two target data packets, respectively, child node d (second node 20) and the master node (first node 10) are not adjacent nodes, child node d can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, thereby obtaining the target data packet, and can write at least a portion of the first visual data into the target data packet. The target data packet is then transmitted upstream to the physical layer of child node c based on the first private transmission protocol, and then forwarded by child node c through its second transmission unit 22 based on the first private transmission protocol to the physical layer of child node b. Then, child node b forwards the data packet through its second transmission unit 22 based on the first private transmission protocol to the physical layer of child node a. Then, child node a forwards the data packet through its second transmission unit 22 based on the first private transmission protocol to the physical layer of the master node (first node 10). The master node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the first visual data therein. The child node e (the second node 20) and the main node (the first node 10) are not adjacent nodes. The child node e can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, and then obtain the target data packet, and can write at least part of the first visual data into the target data packet, and transmit the target data packet upstream to the physical layer of the child node f based on the first private transmission protocol, and then transmit it to the physical layer of the child node g through the forwarding of the first private transmission protocol by the child node f through its second transmission unit 22, and then transmit it to the physical layer of the main node (the first node 10) through the forwarding of the first private transmission protocol by the child node g through its second transmission unit 22. The main node (the first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the first visual data therein.

[0102] It should be understood that other situations can be inferred based on the above examples and will not be elaborated here.

[0103] It can be understood that in the embodiment of the present disclosure, when the second node 20 and the first node 10 are not adjacent nodes, at least part of the first visual data can be written into the target data packet obtained based on the first transmission protocol through the second transmission unit 22, and the first visual data can be effectively transmitted to the first node by transmitting the target data packet to the first node 10 through at least one node in sequence based on the first transmission protocol.

[0104] Optionally, in an embodiment of the present disclosure, when the second node 20 and the first node 10 are not adjacent nodes, the first visual data can be effectively transmitted to the first node based on the first private transmission protocol by writing at least part of the first visual data into a target data packet obtained based on the first private transmission protocol, and by transmitting the target data packet to the first node 10 through at least one node in sequence based on the first private transmission protocol. Therefore, the visual data is directly transmitted based on the physical layer, and there is no need for a processor (such as an MCU, etc.) to encapsulate the data based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it is directly transmitted and processed based on the physical layer, which can ensure the reliability of data transmission.

[0105] In some optional embodiments, as shown in FIG2 , if the second node 20 is disconnected from the vision acquisition unit 30 or the vision acquisition unit 30 to which the second node 20 is connected is not enabled, the second node 20 enters a low power consumption mode.

[0106] The second node 20 is disconnected from the visual acquisition unit 30, that is, the connection between the visual acquisition unit 30 and the second node 20 has been severed, and the visual acquisition unit 30 is not connected to the second node 20. In this case, the second node 20 cannot obtain raw visual data. The visual acquisition unit 30 to which the second node 20 is connected is not enabled. At this time, although the visual acquisition unit 30 is connected to the second node 20, it does not collect visual data. For example, the visual acquisition unit 30 may be in a disabled state, a shut-down state, a faulty state, etc., so in this case, the second node 20 cannot obtain raw visual data. In both cases, the second node 20 enters a low-power mode, which helps reduce the overall power consumption of the visual processing system 100.

[0107] Optionally, when the second node 20 is in low power consumption mode, if the second node 20 receives visual data from an adjacent node based on the first transmission protocol via the second transmission unit 22, the second node 20 forwards the visual data from the adjacent node to the next adjacent node along a first direction via the second transmission unit 22 based on the first transmission protocol, where the first direction is from the second node 20 to the first node 10. Thus, the nodes in the embodiments of the present disclosure can effectively achieve visual data transmission while reducing power consumption in low power consumption mode.

[0108] For example, assuming the first transmission protocol is a first private transmission protocol, when the second node 20 is in low-power mode, if the second node 20 receives visual data from an adjacent node via the second transmission unit 22 based on the first private transmission protocol, the second node 20 forwards the visual data from the adjacent node to the next adjacent node along the first direction via the second transmission unit 22 based on the first private transmission protocol. Thus, in the embodiments of the present disclosure, the second node 20 can effectively reduce power consumption in low-power mode while achieving visual data transmission based on the physical layer, thereby ensuring the reliability of data transmission.

[0109] For example, taking the first transmission protocol as the first private transmission protocol as an example, taking the daisy chain network of Figure 1A as an example, taking the child node a (second node 20) of the right chain as an example, if it is not connected to the visual acquisition unit 30 (that is, disconnected from the visual acquisition unit 30) or the visual acquisition unit 30 to which it is connected is not enabled, then if the child node a obtains visual data from the adjacent child node b based on the first private transmission protocol through the second transmission unit 22 (for example, it may be a target data packet received from the child node b and recording the first visual data), then the visual data can be forwarded to the next adjacent node, that is, the master node (first node 10), along the first direction, and the first transmission unit 12 of the master node (first node 10) can receive the visual data based on the first private transmission protocol. For another example, taking the child node b (second node 20) of the right link as an example, if it is not connected to the visual acquisition unit 30 (that is, disconnected from the visual acquisition unit 30) or the visual acquisition unit 30 to which it is connected is not enabled, then if the child node b obtains the visual data from the adjacent child node c based on the first private transmission protocol through the second transmission unit 22 (for example, it may be a target data packet recorded with the first visual data received from the child node b), then the visual data can be forwarded along the first direction to the next adjacent node, that is, the child node a, so that it can be forwarded via the child node a to be transmitted to the main node (first node 10) for processing.

[0110] The first transmission protocol is a first private transmission protocol. In some optional embodiments, the second node 20 can be assigned at least one node identifier, and the target data packet records the target identifier; the second node 20 can be used to: after obtaining the target data packet based on the first private transmission protocol through the second transmission unit 22, determine the target identifier in the target data packet, and in response to the presence of a node identifier identical to the target identifier in at least one node identifier, write at least part of the first visual data into the target data packet based on the first private transmission protocol through the second transmission unit 22.

[0111] Therefore, in the embodiment of the present disclosure, by assigning at least one node identifier to the second node 20, and when there is a node identifier in at least one node identifier that is the same as the target identifier recorded in the obtained target data packet, at least part of the first visual data is written into the target data packet through the second transmission unit 22 based on the first private transmission protocol. This makes it more orderly for the second node 20 to transmit visual data to the first node 10 through the second transmission unit 22 based on the first private transmission protocol, and also facilitates the first node 10 to schedule and process visual data from multiple nodes.

[0112] Optionally, different nodes receiving data packets from the same packet initiating node are assigned different node identifiers. This ensures that the visual data written into each target data packet is the visual data of a single node, thereby ensuring the orderly transmission of visual data and facilitating the scheduling and processing of visual data from multiple nodes by the first node 10.

[0113] The target identifier and the node identifier in the embodiment of the present disclosure may be embodied in any form, for example, including but not limited to a text identifier, a symbol identifier, etc.

[0114] In some optional embodiments, the node identifier is the frame number of the node, and the target identifier is the frame number of the data packet, wherein the frame numbers recorded for data packets sent by the same data packet initiating node in different time slots divided by the same preset period are different.

[0115] Optionally, the lengths of the multiple time slots divided by the same preset period are equal. The preset period can be set as needed, for example, it can be 1 second.

[0116] Optionally, different nodes receiving data packets from the same packet initiating node are assigned different frame numbers. This ensures that the visual data written into each target data packet is the visual data of a single node, thereby ensuring the orderly transmission of visual data and facilitating the scheduling and processing of visual data from multiple nodes by the first node 10.

[0117] In order to solve the problem of delay jitter (delay jitter can mean that when a data packet is transmitted in the network, the time interval for it to reach the receiving end is not fixed, but varies. This variation can cause problems when the receiving end processes the data, such as discontinuous video images, which can easily affect the user experience.), in the embodiment of the present disclosure, each child node (which can be the second node 20) other than the main node (the first node 10) can be allocated a predetermined time slot for transmitting visual data. For example, a preset period (for example, 1 second) can be divided into N equal time slots, and N can be preset, for example, N is preset to 256, 512, 1024, and so on. The following example can be taken as N=1024. The packet initiating node can then initiate one data packet in each time slot. The data packet contains the data packet's frame number, which increases in chronological order. For example, the frame number of a data packet initiated in the first time slot of the N = 1024 time slots in the preset period is 1, the frame number of a data packet initiated in the second time slot is 2, and so on. The frame number of a data packet initiated in the 1024th time slot is 1024. In other words, data packets sent in different time slots within the same preset period have different frame numbers. Each child node can be assigned at least one frame number, and different child nodes are assigned different frame numbers.

[0118] For example, for the right chain of the daisy-chain network in FIG1A , which includes four sub-nodes, namely, sub-node a, sub-node b, sub-node c, and sub-node d (in this example, the four sub-nodes are all second nodes 20), the preset period can be divided into N=1024 time slots. The frame number allocation table in Table 1 below and the schematic diagram of time slot division of the preset period and frame number allocation to the sub-nodes shown in FIG4 can be referred to to understand the frame number allocation of the node:

[0119] Table 1

[0120] As mentioned above, the right chain of the daisy-chain network in Figure 1A can be initiated by the last child node d as the data packet initiating node. Then, within a preset period of N = 1024 time slots, the child node periodically initiates the target data packet including the frame number in the order of the frame numbers 1 to 1024 of the data packet, and the frame number automatically increases. For example, Figure 5 shows a schematic diagram of an example visual data transmission process. As shown in Figure 5, if the current time is the 5th time slot, the frame number of the target data packet currently initiated is 5, and according to Table 1, there is no "5" in the frame number of the child node d, then the child node d can determine that the target data packet is not a data packet for transmitting its own visual data, and then the first visual data is not written into the target data packet through the second transmission unit 22, and only an empty data packet is sent to the child node c through its second transmission unit 22 based on the first private transmission protocol; the child node c receives the empty target data packet with a frame number of 5 through its second transmission unit 22 based on the first private transmission protocol, and also finds that the target data packet is not a data packet for transmitting its own visual data, then the first visual data is not written into the target data packet through its second transmission unit 22, but the target data packet is forwarded through its second transmission unit 22 based on the first private transmission protocol to be transmitted to the physical layer of the child node b; the child node b receives the frame number through its second transmission unit 22 based on the first private transmission protocol If the target data packet is an empty data packet with a frame number of 5, the child node b can determine that there is a node identifier "5" that is the same as the target identifier in its node identifier, and can write at least part of the first visual data into the target data packet through its second transmission unit 22 based on the first private transmission protocol, and then transmit the target data packet to the physical layer of the child node a based on the first private transmission protocol; the child node a receives the empty target data packet with a frame number of 5 through its second transmission unit 22 based on the first private transmission protocol and finds that the target data packet is not a data packet for transmitting its own visual data, then it does not write the first visual data into the target data packet through its second transmission unit 22, but forwards the target data packet through its second transmission unit 22 based on the first private transmission protocol to transmit it to the physical layer of the master node (first node 10); after the master node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol, it can determine the visual data of the child node b transmitted by the target packet according to the frame number recorded in the target data packet, and can then perform corresponding processing. According to a similar process as described above, target data packets with frame numbers 1 to 1024 are respectively sent out in the N=1024 time slots of the preset cycle. After the maximum value of 1024 is reached, the next preset cycle begins. In the first time slot of the next preset cycle, the frame number of the target data packet returns to 1, and the transmission of visual data continues.

[0121] It should be understood that the transmission mode of the left chain of the daisy chain network in Figure 1A is understood in the same way as the above-mentioned right chain. The difference is that the data packet initiating node is the child node e, and the frame number allocation of each node can be different from that of the right chain.

[0122] It should also be understood that the ring network of Figure 1B can also be understood in the same way as the transmission mode of the right chain of the daisy-chain network of Figure 1A. For example, the ring network of Figure 1B can include two data packet initiating nodes, such as child nodes d and e, and can actually be disassembled into the right chain and left chain of the daisy-chain network of Figure 1A.

[0123] Based on this, in the disclosed embodiment, through the above-mentioned optional solution, each node of the visual processing system 100 (including the second node 20) can transmit its visual data within a predetermined time slot of a preset cycle, thereby ensuring the processing delay and transmission timeliness of the visual data of each node, allowing the main node of the visual processing (first node 10) to conveniently perform scheduling processing of multiple channels of visual data. In addition, because each time slot of the preset cycle corresponds to the visual data transmission of a node, it is not only easier to achieve high-precision synchronization of visual data, but also effectively improves the delay jitter problem of visual data transmission.

[0124] As shown in Table 1, the transmission of other information also corresponds to a frame number. That is, the transmission of other information by the child node must be transmitted to the master node (first node 10) via data packets with corresponding frame numbers during certain time slots in a preset cycle. This ensures the orderly transmission of visual data and other information. In the disclosed embodiments, other information can be information other than visual data. For example, other information can include, but is not limited to, audio data, control data for reading and writing registers, debugging data, and so on.

[0125] In some optional embodiments, the data packet includes a frame header and a data block, and the frame number of the data packet is recorded in the frame header. Thus, the second node 20 can read the frame header of the target data packet to determine the frame number of the target data packet and, when necessary, write at least part of the first visual data into the data block via the second transmission unit 22 to facilitate transmission of the visual data.

[0126] In some optional embodiments, the second node 20 is also used to: in response to each node identifier being different from the target identifier, transmit the target data packet along the first direction to the next adjacent node of the second node 20 based on the first private transmission protocol through the second transmission unit 22, wherein the first direction is the direction from the second node 20 to the first node 10.

[0127] This optional embodiment can be understood with reference to the example of the left link in FIG. 1A , and will not be further described here. Alternatively, if the second node 20 determines that the frame numbers of each node are different from the frame number of the data packet, the target data packet may be transmitted in the first direction to the next node adjacent to the second node 20 based on the first private transmission protocol.

[0128] Based on this, in the disclosed embodiment, through the above-mentioned optional solution, each node of the visual processing system 100 (including the second node 20) can transmit its visual data within a predetermined time slot of a preset cycle, thereby ensuring the processing delay and transmission timeliness of the visual data of each node, allowing the main node of the visual processing (first node 10) to conveniently perform scheduling processing of multiple channels of visual data. In addition, because each time slot of the preset cycle corresponds to the visual data transmission of a node, it is not only easier to achieve high-precision synchronization of visual data, but also effectively improves the delay jitter problem of visual data transmission.

[0129] In some optional embodiments, the first node 10 is further used to: transmit frame number configuration information to the second node 20 based on the first private transmission protocol through the first transmission unit 12; the second node 20 is further used to: receive the frame number configuration information based on the first private transmission protocol through the second transmission unit 22, and perform frame number configuration of the node according to the frame number configuration information.

[0130] Thus, the first node 10 can transmit frame number configuration information to the second node 20 through its first transmission unit 12 based on the first private transmission protocol, so that the second node 20 can receive the frame number configuration information through its second transmission unit 22 based on the first private transmission protocol, and then the second node 20 can effectively configure the node frame number according to the frame number configuration information, so that the second node 20 can transmit its visual data within a predetermined time slot of a preset period, thereby ensuring the processing delay and transmission timeliness of the visual data of each node, so that the first node 10 can schedule the visual data transmission of the second node 20 and improve the delay jitter problem of visual data transmission; and, based on the transmission of frame number configuration information based on the first private transmission protocol, it is also possible to not need to use a processor (such as MCU, etc.) to perform data encapsulation based on a standard protocol, that is, it is not necessary to process based on high-level protocols above the physical layer, but can be directly transmitted and processed based on the physical layer, which can ensure the reliability of data transmission.

[0131] For example, a user can perform configuration at the first node 10, and the first node 10 initiates a downlink data packet including frame number configuration information based on the first private transmission protocol, and transmits the downlink data packet to the second node 20 based on the first private transmission protocol, so that the second node 20 obtains the frame number configuration information to perform the frame number configuration of the node.

[0132] Alternatively, the advantages of the visual processing system 100 of this solution in transmitting visual data based on the first private transmission protocol will be described below in conjunction with Figures 6A and 6B. Currently, the mainstream solution for in-vehicle visual data transmission is based on Ethernet and Controller Area Network (CAN) bus transmission. However, with the development of intelligence, the CAN bus cannot meet the requirements of transmission rate and latency. The current in-vehicle Ethernet uses traditional switch-based communication. Although mature and reliable, it requires a large number of switches to connect multiple electronic control units (ECUs) in the vehicle. Obviously, the cost is high and the implementation is complex. It cannot support more flexible node interconnection scenarios and the application of complex communication structures, and the transmission delay is also large. As shown in Figure 6A, the in-vehicle ECU is generally composed of a microcontroller unit (MCU), memory (such as read-only memory (ROM), random access memory (RAM)), input / output interface (I / O interface), analog-to-digital converter (A / D converter) and large-scale integrated circuits such as shaping and driving. For example, refer to Figure 6A, which shows a simplified schematic diagram of an example in-vehicle visual transmission system in the related art. It shows multiple ECUs connected to a switch (Ethernet switch), with the structure of one ECU simplified. The MCU in the ECU is responsible for local data processing. For example, it collects visual data from cameras, encapsulates it into Ethernet packets, and sends it to a remote regional central processing unit via the switch (which can be used for data forwarding). Conversely, the MCU receives data from the switch, parses it according to the Ethernet protocol, and performs local control. As shown in Figure 6A, both sending and receiving data must pass through the Ethernet physical layer and be processed by the MCU. Data is transmitted using the standard Ethernet protocol, and the data processing introduces significant latency. With the rapid development of smart cars, the number of ECUs in vehicles is increasing, with high-end vehicles with higher intelligence having as many as dozens or even hundreds of ECUs. Obviously, the increasing number of ECUs will lead to a significant increase in costs and latency.

[0133] For another example, referring to FIG6B , an example data packet format is shown. FIG6A above is an example of an ECU transmitting collected visual data to a remote central processing unit, and following the standard Ethernet transmission protocol, the data needs to be encapsulated into the data packet format shown in FIG6B (the example data packet format in FIG6B includes a Media Access Control (MAC) header, an Internet Protocol (IP) header, a User Datagram Protocol / Transmission Control Protocol (UDP / TCP) header, an application layer protocol header, visual data, and a Cyclic Redundancy Check (CRC) 32 check data.). In other words, data transmitted in accordance with standard Ethernet usually undergoes multi-layer protocol processing, including a physical layer, a MAC layer, an IP layer, a UDP / TCP layer, and an application layer, thereby encapsulating the original visual data into the data packet format shown in FIG6B . This will result in a large overhead when the amount of visual data is small. First, network bandwidth utilization is significantly reduced because visual data accounts for a very small proportion of the entire data packet. Second, transmission latency is large. For example, a typical transmission latency is divided into: the latency for the MCU to receive visual data (about 1us), the latency for the MCU to encapsulate the visual data into a data packet (the data packet in this example is a standard Ethernet data packet) (about 10us), the latency for the data packet to be transmitted between the two switches (about 500us), and the latency for the regional central processing unit to parse the data packet and obtain the visual data (about 5us). Such a large transmission latency is increasingly difficult to meet the needs of today's in-vehicle visual data transmission.

[0134] It can be understood that, through the visual processing system 100 provided by the above first aspect embodiment of the present disclosure, since the second node 20 in the visual processing system 100 can transmit the first visual data based on the first private transmission protocol through the second transmission unit 22, and the first node 10 can receive the first visual data based on the first private transmission protocol through the first transmission unit 12, the visual data is directly transmitted and / or processed based on the physical layer, and there is no need to perform data encapsulation based on a standard protocol through a processor (such as an MCU, etc.), that is, there is no need to process based on a high-level protocol above the physical layer, but directly based on the physical layer transmission and processing, which can ensure the reliability of data transmission. In addition, when this solution transmits visual data based on the physical layer, there is no need for a switch to transmit visual data, which also reduces the demand for processors (such as MCUs, etc.) in the networking nodes during visual data transmission, thereby effectively reducing the transmission delay of the visual data and being able to further reduce costs by reducing the number of switches and processors (such as MCUs, etc.). As a result, this solution can further effectively improve the data transmission and processing performance of the visual processing system.

[0135] According to the second aspect of the embodiment of the present disclosure, a visual processing system 100 is provided. Referring to Figures 7A and 7B, the visual processing system 100 includes: a plurality of nodes connected to form a network, the plurality of nodes including at least a first node 10 and a second node, wherein: the second node 20 includes a second image signal processing unit 21 and a second transmission unit 22, and the second node 20 is used to: perform corresponding functional configuration on the second image signal processing unit 21 according to functional configuration information; obtain original visual data, and obtain third visual data through the functionally configured second image signal processing unit 21, and transmit the third visual data to the first node 10 based on the first transmission protocol through the second transmission unit 22; the first node 10 includes a first transmission unit 12, and the first node 10 is used to: receive the third visual data from the second node 20 based on the first transmission protocol through the first transmission unit 12.

[0136] The visual processing system 100 provided in the embodiment of the present disclosure includes a plurality of nodes connected to form a network, and the plurality of nodes include at least a first node 10 and a second node 20. The second node 20 can perform corresponding functional configuration on its second image signal processing unit 21 according to the functional configuration information. The second node 20 can obtain the original visual data and obtain the third visual data through the second image signal processing unit 21 after the functional configuration, and can transmit the third visual data to the first node 10 based on the first transmission protocol through the second transmission unit 22. The first node 10 can receive the third visual data through the first transmission unit 12, thereby effectively realizing the transmission and processing of visual data. The processing function of the second image signal processing unit 21 can be configured as needed, making the function of the visual processing system more flexible and able to meet various different visual data processing requirements. Therefore, this solution can effectively improve the data transmission and processing performance of the visual processing system.

[0137] It should be understood that the visual processing system 100 of the second aspect of the embodiments of the present disclosure can be applied to any scenario. For example, it can be adapted to scenarios where visual data is transmitted and processed by multiple cameras. As an example, it can be applied to scenarios where visual data is transmitted and processed in a vehicle, or in scenarios such as home or security.

[0138] In the embodiment of the present disclosure, the image signal processing unit and the transmission unit can be independent chips or devices and integrated into the node at the same time. The transmission unit can also be an independent chip or device and integrated with the functions of the image signal processing unit. The image signal processing unit can also be an independent chip or device and integrated with the functions of the transmission unit. The node can be an entity concept such as a module, electronic device, integrated chip, etc. The embodiment of the present disclosure does not limit the entities of the node, transmission unit, and image signal processing unit.

[0139] In some optional embodiments, the image signal processing unit can be implemented as an image signal processor (ISP). In some embodiments, the node can be any module, device, or chip that can implement the embodiments of the present disclosure. For example, in some embodiments, each of the multiple nodes includes at least one chip for data transmission in the network. In some embodiments, the node can also be a chip, that is, the chip can be directly used as a node.

[0140] In the embodiment of the present disclosure, the visual data may include at least one of image data and video data. For example, the visual data may be understood as video data in the following text.

[0141] In the disclosed embodiment, the first transmission protocol may be any suitable data transmission protocol. The first transmission protocol may be an existing standard protocol, such as the Ethernet protocol or any other existing protocol. Alternatively, the first transmission protocol may be a proprietary protocol.

[0142] In some optional embodiments, the first transmission protocol is a first proprietary transmission protocol that implements data transmission and / or processing based on a physical layer. For example, the second node 20 may transmit the third visual data to the first node 10 via the second transmission unit 22 based on the first proprietary transmission protocol, and the first node 10 may receive the third visual data from the second node 20 via the first transmission unit 12 based on the first proprietary transmission protocol.

[0143] It should be understood that since the second node 20 in the visual processing system 100 can transmit the third visual data based on the first private transmission protocol through the second transmission unit 22, and the first node 10 can receive the third visual data based on the first private transmission protocol through the first transmission unit 12, the visual data is directly transmitted and / or processed based on the physical layer, and there is no need for a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on a high-level protocol above the physical layer, but directly based on the physical layer transmission and processing, which can ensure the reliability of data transmission. In addition, when this solution transmits visual data based on the physical layer, there is no need for a switch to transmit visual data, which also reduces the demand for processors (such as MCUs, etc.) in the networking nodes during visual data transmission, thereby effectively reducing the transmission delay of visual data and being able to further reduce costs by reducing the number of switches and processors (such as MCUs, etc.). Therefore, this solution can further effectively improve the data transmission and processing performance of the visual processing system.

[0144] The physical layer is the lowest layer in network communication. It should be understood that the data in the embodiment of the present disclosure can be transmitted and processed based on the first private transmission protocol, that is, based on physical layer transmission and / or processing, but it does not mean that it only performs the functions that the physical layer defined in the standard protocol can perform. For example, in the standard protocol, the function of the physical layer is to convert the frame signal of the upper layer (such as the data link layer) above the physical layer into an electrical signal or optical signal that can be transmitted on the physical transmission medium, and to convert the electrical signal or optical signal received from the physical transmission medium into a bit stream for processing by the upper layer (such as the data link layer). The data transmission and processing in the visual processing system of the present disclosure is implemented based on the physical layer of the node, which means that the data transmission and processing scheme of the embodiment of the present disclosure does not pass through the upper layer (such as the data link layer, the network layer, etc.) above the physical layer defined in the standard physical communication, but customizes a set of private protocols based on the physical layer, so that it can realize data transmission and processing in addition to certain functions that the physical layer defined in the standard protocol can perform.

[0145] To facilitate explanation of the embodiments of the present disclosure, the first transmission protocol may be described below as a first private transmission protocol.

[0146] In the embodiment of the present disclosure, multiple nodes can be connected to form any type of networking. For example, as shown in Figure 7A, multiple nodes can be connected to form a daisy chain network. The example in Figure 7A is a double daisy chain network. In other embodiments, it can also be a single daisy chain network. As shown in Figure 7B, multiple nodes can be connected to form a ring network. The visual processing system 100 of the embodiment of the present disclosure adopts a daisy chain network or a ring network, and the data forwarding delay when transmitting visual data based on the first transmission protocol (e.g., the first private transmission protocol) is small.

[0147] Optionally, in the visual processing system 100 in the embodiment of the present disclosure, when a node transmits data to be transmitted, including but not limited to visual data, based on a first transmission protocol (e.g., a first private transmission protocol), data transmission and processing can be implemented in real-time streaming. For example, taking the first transmission protocol as the first private transmission protocol, a target node among multiple nodes (e.g., the second node 20 as an example) can perform real-time streaming processing on a data packet (e.g., a target data packet as an example) based on the first private transmission protocol through its transmission unit (e.g., the second transmission unit 22 as an example), and can also write the data to be transmitted (e.g., visual data as an example) into a data packet when necessary, and stream the real-time streamed data packet in real time to the next node adjacent to the target node (e.g., the first node 10 or other node). That is, real-time streaming processing of a data packet means that the data packet is immediately processed in real time when it arrives at the target node, rather than waiting until the entire data packet is completely received before processing or transmitting it.

[0148] It should be understood that since the nodes in the embodiments of the present disclosure can realize data transmission and processing in real-time streaming, for example, the transmission unit of the node can transmit and process the data packets separately in real-time streaming, so that the data in the received data packets can be processed in real time, and data can also be written to the received data packets in real time when needed, that is, after receiving a part of the data in the data packet, it is immediately transmitted and processed, thereby effectively reducing the data transmission delay and ensuring that the data in the data packet can be transmitted and processed in real time. In the related art, the switch-based transmission or other software-based or wireless transmission data packets need to wait until all the data in the data packet is completely received before transmission or processing, which has a large delay. Therefore, compared with the related art, the visual processing system 100 of this solution has better data transmission and processing performance.

[0149] It should be noted that the number of nodes in Figures 7A and 7B is merely for the purpose of illustrating some examples of the embodiments of the present disclosure, and the specific number can be set as needed. In the embodiments of the present disclosure, multiple nodes can be connected via a physical transmission medium (such as a shielded twisted pair, an unshielded twisted pair, a coaxial cable, etc., which is not specifically limited in the embodiments of the present disclosure).

[0150] Optionally, for different types of networks, a master node can be designated among multiple nodes. Nodes other than the master node can be referred to as child nodes. It should be noted that a network can include more than two nodes, namely, a master node and multiple child nodes; or, a network can include only two nodes, namely, a master node and a child node.

[0151] In the embodiment of the present disclosure, the first node 10 among the multiple nodes can be a master node, and the other nodes (including the second node 20) except the first node 10 can all be child nodes (as shown in Figures 7A and 7B. For the convenience of the following description, the various child nodes can be respectively referred to as child nodes a to g). The multiple nodes in the embodiment of the present disclosure may include at least one second node 20. Optionally, as shown in Figures 1A and 1B, the other nodes (child nodes) among the multiple nodes except the first node 10 (master node) can all be second nodes 20.

[0152] In the embodiment of the present disclosure, the second node 20 may include a second image signal processing unit 21 and a second transmission unit 22. The second node 20 may obtain raw visual data. Optionally, as shown in Figures 7A and 7B, the second node 20 may be connected to a visual acquisition unit 30. The visual acquisition unit 30 may be used to acquire raw visual data. The visual data may include at least one of image data and video data. The second node 20 may obtain raw visual data from the visual acquisition unit 30. For example, the visual acquisition unit 30 may be a camera or a video image sensor, etc. The visual acquisition unit 30 may be used as an example to illustrate the camera below. After the raw visual data is input into the second image signal processing unit 21 of the second node 20, third visual data may be obtained according to the functional configuration of the second image signal processing unit 21.

[0153] Optionally, the raw visual data may be in a Bayer RAW format. Each pixel in the Bayer domain data contains only information about one of the three colors: red (R), green (G), and blue (B). Since the raw visual data is in a Bayer RAW format, the visual processing system 100 of this solution can transmit visual data in the Bayer domain, resulting in a smaller amount of data transmitted than traditional RGB data. Under the same bandwidth, it can carry more visual data transmission from the visual acquisition unit 30, or transmit higher-definition visual data.

[0154] In some optional embodiments, the signal sensed by the sensor of the visual acquisition unit 30 (such as a camera) can be an analog signal, which can be converted into a digital signal through analog-to-digital conversion, and then the original visual data in Bayer RAW format can be obtained based on the digital signal.

[0155] In the disclosed embodiment, the second node 20 can configure the second image signal processing unit 21 based on the functional configuration information, enabling the second image signal processing unit 21 to implement different processing functions, or even to implement a function that does not process visual data. Optionally, the functional configuration information can be stored locally on the second node 20. The functional configuration information can be obtained in any suitable manner, for example, online, through user configuration on the second node 20, or through other means. Alternatively, the functional configuration information can be transmitted from the first node 10 to the second node 20.

[0156] For example, in some optional embodiments, the first node 10 is further used to: transmit functional configuration information to the second node 20 based on the first transmission protocol through the first transmission unit 12; the second node 20 is further used to: receive functional configuration information based on the first transmission protocol through the second transmission unit 22.

[0157] Thus, the first node 10 can transmit functional configuration information to the second node 20 based on the first transmission protocol through the first transmission unit 12, and the second node 20 can receive the functional configuration information based on the first transmission protocol through the second transmission unit 22, so that the second node 20 can effectively perform functional configuration of the second image signal processing unit 21 according to the functional configuration information, thereby effectively scheduling the visual data processing of the second node 20 through the first node 10, so as to realize flexible transmission and processing of visual data, making the function of the visual processing system more flexible and able to meet various different visual data processing requirements.

[0158] For example, in some optional embodiments, the first node 10 is further configured to: transmit functional configuration information to the second node 20 based on the first private transmission protocol via the first transmission unit 12; and the second node 20 is further configured to: receive the functional configuration information based on the first private transmission protocol via the second transmission unit 22. Thus, the first node 10 can transmit the functional configuration information to the second node 20 based on the first private transmission protocol via the first transmission unit 12, and the second node 20 can receive the functional configuration information based on the first private transmission protocol via the second transmission unit 22, so that the second node 20 can effectively perform the functional configuration of the second image signal processing unit 21 according to the functional configuration information, thereby effectively scheduling the visual data processing of the second node 20 through the first node 10, so as to achieve flexible transmission and processing of visual data, making the functions of the visual processing system more flexible and able to meet various different visual data processing requirements. In addition, in the embodiment of the present disclosure, the transmission of functional configuration information based on the first private transmission protocol does not require the processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, it does not require processing based on a high-level protocol above the physical layer, but directly processes and transmits based on the physical layer, which can ensure the reliability of data transmission.

[0159] For example, a user can perform configuration at the first node 10, and the first transmission unit 12 of the first node 10 initiates a downlink data packet including functional configuration information based on a first transmission protocol (for example, a first private transmission protocol), and transmits the downlink data packet to the second node 20 based on the first private transmission protocol, so that the second transmission unit 22 of the second node 20 receives the functional configuration information based on the first transmission protocol (for example, the first private transmission protocol), so that the second node 20 can perform corresponding functional configuration on the second image signal processing unit 21 according to the functional configuration information.

[0160] In the embodiment of the present disclosure, the first node 10 receives the third visual data from the second node 20 based on the first transmission protocol (e.g., the first private transmission protocol). In some optional embodiments, the first node 10 may perform image signal processing on the third visual data through the first image signal processing unit 11 to obtain fourth visual data.

[0161] Optionally, referring to Figures 7A and 7B, the first node 10 may further include a first image signal processing unit 11 on the basis of including the first transmission unit 12. Optionally, referring to Figures 7A and 7B, the first node 10 is also connected to the host 40, and can transmit the processed visual data (such as the fourth visual data below) obtained by the first image signal processing unit 11 to the host 40. The host 40 can apply the processed visual data to achieve the required functions. For example, 360° surround view of the vehicle body, reversing image, automatic driving / assisted driving and other functions. Correspondingly, the host 40 may be part of the 360° surround view system of the vehicle body, the reversing image system, the automatic driving / assisted driving system, etc.

[0162] Optionally, the image signal processing may include any processing method that meets the needs. Optionally, the processing method of image signal processing may include but is not limited to at least one of the following: black level correction (BL) processing, lens shading correction (LSC) processing, white balance gain (WB Gain) processing, bad pixel correction (BPC) processing, denoising processing, HDR fusion (HDR Fusion, high dynamic range fusion) processing, chromatic aberration correction (CAC) processing, Debayer processing, color correction (Color Correction) processing, global tone mapping (GTM) processing, local tone mapping (LTM) processing, sharpening (Sharpen) processing, CNR (Chroma Noise Reduction, chromatic noise reduction) processing, gamma correction (Gamma Adjustment) processing, format change (Format Change) processing, image stabilization (Image Stabilization) processing, compression and output (Compress And Output) processing. It should be understood that the above-mentioned various processing methods can be implemented by algorithms in related technologies or other innovative algorithms, and the embodiments of the present disclosure do not impose any limitation on this.

[0163] In the embodiment of the present disclosure, the function configuration information may include one or more items, which may be arbitrarily selected to perform function configuration on the second image signal processing unit 21 of the second node 20. Some examples of function configuration information are described below.

[0164] In some optional embodiments, the functional configuration information may include first functional configuration information; the second node 20 is specifically used to: configure the second image signal processing unit 21 to be able to perform compression processing on the visual data according to the first functional configuration information; compress the original visual data through the second image signal processing unit 21 to obtain third visual data; as shown in Figures 7A and 7B, the first node 10 also includes a first image signal processing unit 11, and the first node 10 is further used to: decompress the third visual data through the first image signal processing unit 11 to obtain original visual data, and perform a predetermined full image signal processing process on the original visual data to obtain fourth visual data.

[0165] As shown in FIG8 , in some cases, the second node 20 may compress the original visual data through the second image signal processing unit 21 and output the compressed data as the third visual data.

[0166] It should be understood that the second node 20 in the embodiment of the present disclosure can configure the second image signal processing unit 21 to be able to perform compression processing on the visual data according to the first function configuration information, so that the processing function of the second image signal processing unit 21 can be effectively configured on demand, making the function of the visual processing system 100 more flexible; the original visual data is then compressed by the second image signal processing unit 21 to obtain third visual data, and the third visual data can be transmitted to the first node 10 based on the first transmission protocol through the second transmission unit 22. After the first transmission unit 12 of the first node 10 receives the third visual data based on the first transmission protocol, the first node 10 can then transmit the third visual data to the first node 10 through the first image signal processing unit 21. The signal processing unit 11 decompresses the third visual data to obtain the original visual data, and performs a predetermined full image signal processing process on the original visual data to obtain the fourth visual data, thereby effectively realizing the transmission and processing of the visual data; in addition, in this optional scheme, since the second image signal processing unit 21 of the second node 20 only compresses the original visual data and outputs it as the third visual data, the first node 10 can undertake more processing of the third visual data from the second node 20, and the second node 20 does not need to perform excessive processing on the original visual data, so that the transmission of the third visual data is more real-time and the data processing burden of the second node 20 is also smaller.

[0167] Optionally, when the first transmission protocol is a first private transmission protocol, the compressed original visual data (i.e., the third visual data) transmitted based on the first private transmission protocol may not need to be encapsulated by a processor (such as an MCU, etc.) based on a standard protocol, that is, it does not need to be processed based on high-level protocols above the physical layer, but can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0168] Optionally, the predetermined full image signal processing flow may include at least one of the following image signal processing methods: black level correction processing, lens shading correction processing, white balance gain processing, bad pixel correction processing, denoising processing, HDR fusion processing, chromatic aberration correction processing, Debayer processing, color correction processing, global tone mapping processing, local tone mapping processing, sharpening processing, CNR processing, gamma correction processing, format change processing, image stabilization processing, compression and output processing. The above various processing methods can make image signal processing more flexible to meet various visual processing requirements and help improve the processing effect of visual data. In the embodiment of the present disclosure, the predetermined full image signal processing flow may include one or more arbitrary image signal processing methods (for example, refer to the processing methods described above for understanding), and each processing method can be used once or multiple times (as shown in the example of Figure 9A, white balance gain processing and denoising processing are both used multiple times), as long as the processing requirements of the visual data can be met, and there is no limitation on this in the embodiment of the present disclosure.

[0169] For example, FIG9A illustrates some schematic diagrams of visual data processing by a first node and a second node. As shown in FIG9A , the third visual data received by the first node 10 is compressed raw visual data. As shown in FIG9A , the third visual data can be decompressed to obtain raw visual data, and then a predetermined full image signal processing flow can be performed on the raw visual data to obtain fourth visual data. For example, the full image signal processing flow illustrated in FIG9A can include the following sequential processing: black level correction, lens shading correction, white balance gain, bad pixel correction, denoising, HDR fusion, white balance gain, chromatic aberration correction, Debyer processing, color correction, global tone mapping, local tone mapping, denoising, sharpening & CNR, gamma correction, format change, image stabilization, compression, and output. By decompressing the third visual data to obtain raw visual data, and then following the full image signal processing flow illustrated above, fourth visual data can be output for transmission to the host 40 for application. As shown in FIG9A , in the aforementioned full image signal processing process, the first six processing methods may be a preprocessing process, which may be part of the full image signal processing process. However, it should be understood that this is only an example, and the preprocessing process may also include fewer or more processing methods.

[0170] Optionally, the preprocessing process can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as parameter setting differences, manufacturer differences, environmental differences, etc. It should be understood that the use of the preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0171] In some optional embodiments, the functional configuration information may include second functional configuration information; the second node 20 is specifically used to: configure the second image signal processing unit 21 to be able to perform image signal preprocessing on the visual data according to the second functional configuration information; perform the image signal preprocessing process on the original visual data through the second image signal processing unit 21 to obtain third visual data; the first node 10 also includes a first image signal processing unit 11, and the first node 10 is further used to: perform the first image signal processing process on the third visual data through the first image signal processing unit 11 to obtain fourth visual data; wherein, the union of the image signal preprocessing process and the first image signal processing process is equal to the predetermined full image signal processing process.

[0172] As shown in FIG8 , in some cases, the second node 20 may pre-process the original visual data through the second image signal processing unit 21 and output the pre-processed data as the third visual data.

[0173] It should be understood that the second node 20 in the embodiment of the present disclosure can configure the second image signal processing unit 21 to be able to perform image signal preprocessing on the visual data according to the second function configuration information, so that the processing function of the second image signal processing unit 21 can be effectively configured on demand, making the function of the visual processing system 100 more flexible; the second image signal processing unit 21 then performs an image signal preprocessing process on the original visual data to obtain third visual data, and the third visual data can be transmitted to the first node 10 based on the first transmission protocol through the second transmission unit 22. After the first transmission unit 12 of the first node 10 receives the third visual data based on the first transmission protocol, the first node 10 can then transmit the third visual data to the first node 10 through the first transmission unit 12. The first image signal processing unit 11 continues to perform the first image signal processing process on the third visual data to obtain the fourth visual data, thereby effectively realizing the transmission and processing of the visual data; in addition, in this optional scheme, since the second image signal processing unit 21 of the second node 20 only pre-processes the original visual data and can output it as the third visual data, the third visual data from the second node 20 can be further processed at the first node 10 to realize the complete full-process processing of the original visual data, so that the second node 20 does not need to perform excessive processing on the original visual data, so that the transmission of the third visual data is more real-time and the data processing burden of the second node 20 is also smaller.

[0174] Optionally, when the first transmission protocol is a first private transmission protocol, the third visual data is transmitted based on the first private transmission protocol, and there is no need for a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0175] In any embodiment of the present disclosure, the image signal preprocessing process and the first image signal processing process may include one or more arbitrary image signal processing methods (for example, reference may be made to the processing methods described above), and each processing method may be used once or multiple times. As long as the image signal preprocessing process and the first image signal processing process can constitute a predetermined full image signal processing process, the present disclosure does not impose any restrictions on this.

[0176] Optionally, the image signal preprocessing process (i.e., preprocessing process) can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as differences in parameter settings, manufacturer differences, environmental differences, etc. It should be understood that the use of the image signal preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0177] In some optional embodiments, the image signal preprocessing process includes at least one of the following image signal processing methods: black level correction, lens shading correction, white balance gain processing, bad pixel correction, denoising, and HDR fusion processing. These various processing methods can make image signal preprocessing more flexible to meet various visual processing requirements and improve the processing effect of visual data.

[0178] For example, Figure 9B illustrates further schematic diagrams of visual data processing by the first and second nodes. As shown in Figure 9B , the third visual data received by the first node 10 is preprocessed raw visual data. As shown in Figure 9B , the first image signal processing flow can be performed on the third visual data to obtain fourth visual data. For example, as shown in Figure 9B , the image signal preprocessing flow performed by the second image signal processing unit 21 of the second node 20 during preprocessing can include the following processing methods, performed in sequence: black level correction, lens shading correction, white balance gain processing, bad pixel correction processing, denoising, and HDR fusion processing. The first image signal processing flow performed by the first image signal processing unit 11 of the first node 10 can include the following processing methods, performed in sequence: white balance gain processing, chromatic aberration correction, Debyer processing, color correction processing, global tone mapping processing, local tone mapping processing, denoising, sharpening & CNR processing, gamma correction processing, format change processing, image stabilization processing, compression, and output processing. The image signal preprocessing flow and the first image signal processing flow in Figure 9B can constitute the predetermined full image signal processing flow exemplified above. After completing the above processing, the first node 10 can output the fourth visual data to be transmitted to the host 40 for application. It should be understood that the various processing flows herein are merely examples and do not constitute any limitation to the embodiments of the present disclosure.

[0179] In some optional embodiments, the functional configuration information may include third functional configuration information; the second node 20 is specifically used to: configure the second image signal processing unit 21 to be able to perform image signal preprocessing and compression processing on the visual data according to the third functional configuration information; perform an image signal preprocessing process on the original visual data through the second image signal processing unit 21 to obtain a preprocessing result, and compress the preprocessing result to obtain third visual data; the first node 10 also includes a first image signal processing unit 11, and the first node 10 is also used to: decompress the third visual data through the first image signal processing unit 11 to obtain a preprocessing result, and perform the first image signal processing process on the preprocessing result to obtain fourth visual data; wherein, the union of the image signal preprocessing process and the first image signal processing process is equal to the predetermined full image signal processing process.

[0180] As shown in FIG8 , in some cases, the second node 20 may pre-process and compress the original visual data through the second image signal processing unit 21 and output the data as the third visual data.

[0181] It should be understood that the second node 20 in the embodiment of the present disclosure can configure the second image signal processing unit 21 to be able to perform image signal preprocessing and compression processing on the visual data according to the third function configuration information, so that the processing function of the second image signal processing unit 21 can be effectively configured on demand, making the function of the visual processing system 100 more flexible; then the second image signal processing unit 21 performs an image signal preprocessing process on the original visual data, and compresses the obtained preprocessing results to obtain third visual data, and the third visual data can be transmitted to the first node 10 based on the first transmission protocol. After the first transmission unit 12 of the first node 10 receives the third visual data based on the first transmission protocol, the first node 10 can then transmit the third visual data to the first node 10 through the third transmission protocol. An image signal processing unit 11 continues to decompress the third visual data to obtain a preprocessing result, executes the first image signal processing process, and obtains the fourth visual data, thereby effectively realizing the transmission and processing of the visual data; in addition, in this optional scheme, since the second image signal processing unit 21 of the second node 20 only preprocesses and compresses the original visual data and can output it as the third visual data, the preprocessing result from the second node 20 can be further processed at the first node 10 to realize complete full-process processing of the original visual data, so that the second node 20 does not need to perform excessive processing on the original visual data, so that the transmission of the third visual data is more real-time and the data processing burden of the second node 20 is also smaller.

[0182] Optionally, when the first transmission protocol is a first private transmission protocol, the third visual data is transmitted based on the first private transmission protocol, and there is no need to use a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0183] For example, Figure 9C illustrates further schematic diagrams of visual data processing by the first and second nodes. As shown in Figure 9C , the third visual data received by the first node 10 is preprocessed and compressed raw visual data. As shown in Figure 9C , the first image signal processing flow can be performed on the preprocessed result obtained by decompressing the third visual data to obtain fourth visual data. For example, as shown in Figure 9C , the image signal preprocessing flow performed by the second image signal processing unit 21 of the second node 20 during preprocessing can include the following processing methods, which are sequentially performed: black level correction, lens shading correction, white balance gain processing, bad pixel correction processing, denoising, and HDR fusion processing. The first image signal processing flow performed by the first image signal processing unit 11 of the first node 10 can include the following processing methods, which are sequentially performed: white balance gain processing, chromatic aberration correction processing, Debyer processing, color correction processing, global tone mapping processing, local tone mapping processing, denoising, sharpening & CNR processing, gamma correction processing, format change processing, image stabilization processing, compression, and output processing. The image signal preprocessing process and the first image signal processing process in Figure 9C constitute the predetermined full image signal processing process described above. After completing the above processing, the first node 10 can output fourth visual data for transmission to the host 40 for application. It should be understood that the various processing processes described herein are merely examples and do not constitute any limitation of the presently disclosed embodiments.

[0184] Optionally, the image signal preprocessing process (i.e., preprocessing process) can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as differences in parameter settings, manufacturer differences, environmental differences, etc. It should be understood that the use of the image signal preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0185] In some optional embodiments, the functional configuration information may include fourth functional configuration information; the second node 20 is specifically used to: configure the second image signal processing unit 21 to be able to perform full-process image signal processing on the visual data according to the fourth functional configuration information; and perform a predetermined full-process image signal processing process on the original visual data through the second image signal processing unit 21 to obtain third visual data.

[0186] As shown in Figure 8, in some cases, the second node 20 can process the raw visual data through the second image signal processing unit 21, then output it as third visual data. The second node 20 can then transmit the third visual data to the first node 10 via the second transmission unit 22 based on the first proprietary transmission protocol. Alternatively, after receiving the third visual data via the first transmission unit 12, the first node 10 can bypass processing by the first image signal processing unit 11 and directly output the third visual data as fourth visual data to the host 40 for application.

[0187] It should be understood that the second node 20 in the embodiment of the present disclosure can configure the second image signal processing unit 21 to be able to perform a full-process image processing signal process on the visual data according to the fourth function configuration information, so that the processing function of the second image signal processing unit 21 can be effectively configured on demand, making the function of the visual processing system 100 more flexible; then the second image signal processing unit 21 performs a predetermined full image signal processing process on the original visual data to obtain the third visual data, and the third visual data can be transmitted to the first node 10 based on the first transmission protocol through the second transmission unit 22. The first transmission unit 12 of the first node 10 can receive the third visual data based on the first transmission protocol, thereby effectively realizing the transmission and processing of the visual data; in addition, in this optional scheme, since the second image signal processing unit 21 of the second node 20 performs full-process image signal processing on the original visual data, the data processing burden of the first node 10 can be reduced, so that the first node 10 can focus more on data scheduling.

[0188] Optionally, when the first transmission protocol is a first private transmission protocol, the third visual data is transmitted based on the first private transmission protocol, and there is no need to use a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0189] For example, Figure 9D illustrates further schematic diagrams of visual data processing by the first and second nodes. As shown in Figure 9D , the third visual data received by the first node 10 is the raw visual data after full image signal processing. For example, the full image signal processing flow illustrated in Figure 9D may include the following processing steps, performed sequentially: black level correction, lens shading correction, white balance gain, bad pixel correction, denoising, HDR fusion, white balance gain, chromatic aberration correction, Debyer processing, color correction, global tone mapping, local tone mapping, denoising, sharpening & CNR, gamma correction, format change, image stabilization, compression, and output. The first node 10 may transmit the third visual data to the host 40 for application. As shown in Figure 9D , the first six processing steps in the aforementioned full image signal processing flow may be pre-processing steps, which may be part of the full image signal processing flow. However, it should be understood that this is merely an example, and the pre-processing flow may include fewer or more processing steps.

[0190] Optionally, the preprocessing process can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as parameter setting differences, manufacturer differences, environmental differences, etc. It should be understood that the use of the preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0191] In some optional embodiments, the functional configuration information may include fifth functional configuration information; the second node 20 is further used to: configure the second image signal processing unit 21 to not perform image signal processing on the visual data according to the fifth functional configuration information; and use the original visual data as the third visual data; the first node 10 also includes a first image signal processing unit 11, and the first node 10 is further used to: perform a predetermined full image signal processing process on the third visual data through the first image signal processing unit 11 to obtain fourth visual data.

[0192] As shown in FIG. 8 , in some cases, the second node 20 may directly output the original visual data as the third visual data.

[0193] It should be understood that in the embodiment of the present disclosure, the second node 20 can configure the second image signal processing unit 21 to not perform image signal processing on the visual data based on the fifth function configuration information, thereby effectively configuring the processing function of the second image signal processing unit 21 on demand, making the function of the visual processing system 100 more flexible; then the original visual data is transmitted to the first node 10 as the third visual data based on the first transmission protocol. After the first transmission unit 12 of the first node 10 receives the third visual data based on the first transmission protocol, the first image signal processing unit 11 of the first node 10 can perform a predetermined full image signal processing process on the original visual data, thereby effectively realizing the transmission and processing of the visual data; in addition, in this optional scheme, the original visual data collected by the visual acquisition unit 30 (such as a camera) can be transmitted to the first node 10 as the third visual data based on the first transmission protocol through the second node 20. The first image signal processing unit 11 of the first node 10 can perform centralized processing, and the second node 20 does not need to perform excessive processing on the original visual data, so that the transmission of the original visual data is more real-time and the data processing burden of the second node 20 is also smaller.

[0194] Optionally, when the first transmission protocol is a first private transmission protocol, the transmission of the third visual data based on the first private transmission protocol may not require data encapsulation based on a standard protocol by a processor (such as an MCU, etc.), that is, it does not need to be processed based on high-level protocols above the physical layer, but can be directly transmitted and processed based on the physical layer, thereby ensuring the reliability of data transmission.

[0195] In some examples, the second image signal processing unit 21 can be set to bypass mode according to the fifth functional configuration information. In bypass mode, the original visual data is not further processed by the second image signal processing unit 21. The second node 20 can directly use the original visual data as the third visual data and transmit it to the first node 10 through the second transmission unit 22 based on the first transmission protocol (e.g., the first private transmission protocol).

[0196] For example, FIG9E illustrates further schematic diagrams of visual data processing by the first and second nodes. As shown in FIG9E , the third visual data received by the first node 10 is raw visual data. As shown in FIG9E , a predetermined full image signal processing flow can be performed on the third visual data to obtain fourth visual data. For example, the full image signal processing flow illustrated in FIG9E may include the following sequential processing: black level correction, lens shading correction, white balance gain, bad pixel correction, denoising, HDR fusion, white balance gain, chromatic aberration correction, Debyer processing, color correction, global tone mapping, local tone mapping, denoising, sharpening & CNR, gamma correction, format change, image stabilization, compression, and output. By processing the raw visual data (here, the third visual data) according to the full image signal processing flow illustrated above, the processed raw visual data (here, the fourth visual data) can be output for transmission to the host 40 for application. As shown in FIG9E , in the aforementioned full image signal processing process, the first six processing methods may be a preprocessing process, which may be part of the full image signal processing process. However, it should be understood that this is only an example, and the preprocessing process may also include fewer or more processing methods.

[0197] Optionally, the preprocessing process can be used to pre-correct and balance physical differences between different visual acquisition units 30 (e.g., cameras), such as parameter setting differences, manufacturer differences, environmental differences, etc. It should be understood that the use of the preprocessing process in any embodiment of the present disclosure is conducive to improving the processing effect of visual data.

[0198] Optionally, as shown in Figure 8, in some cases, the second node 20 in the embodiment of the present disclosure can directly transmit the original visual data as the third visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22, or in other cases, the compressed original visual data can be transmitted as the third visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22, or in some other cases, the preprocessed original visual data can be transmitted as the third visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22, or in some other cases, the preprocessed and compressed original visual data can be transmitted as the third visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22, or in some other cases, the original visual data after full-process image signal processing can be transmitted as the third visual data to the first node 10 based on the first transmission protocol (for example, the first private transmission protocol) through the second transmission unit 22. These situations can be several non-conflicting functions of the second node 20.

[0199] Optionally, in the visual processing system 100 of the disclosed embodiment, the master node for visual processing, i.e., the first node 10, can schedule the visual data and corresponding ISP function configuration information of the visual acquisition unit 30 of each child node (which may include the second node 20), so that the first image signal processing unit 11 in the first node 10, located at the remote end of the visual acquisition unit 30 (e.g., a camera), properly schedules and processes the visual data of different child nodes, and then sends the processed visual data to the host 40 for application. As shown in FIG10 , it illustrates a schematic diagram of the master node (first node 10) scheduling the visual data of multiple child nodes in the right chain of the dual daisy-chain network of FIG7A . As shown in Figure 10, the main node (first node 10) can obtain data, obtain the visual data of child node a (corresponding to the original visual data collected by the visual acquisition unit 30 (denoted as camera 1) connected to child node a, such as the third visual data obtained based on the original visual data), the visual data of child node b (corresponding to the original visual data collected by the visual acquisition unit 30 (denoted as camera 2) connected to child node b, such as the third visual data obtained based on the original visual data), the visual data of child node c (corresponding to the original visual data collected by the visual acquisition unit 30 (denoted as camera 3) connected to child node c, such as the third visual data obtained based on the original visual data), the visual data of child node d (corresponding to the original visual data collected by the visual acquisition unit 30 (denoted as camera 4) connected to child node d, such as the third visual data obtained based on the original visual data), and the ISP function configuration information corresponding to child nodes a~d (i.e., the function configuration information of the second image signal processing unit 21). Since the ISP function configuration information of each child node in child nodes a~d can be different from each other, the main node (first node 10) can process the visual data of each child node differently. For example, assuming that the ISP function configuration information corresponding to child node a is that its second image signal processing unit 21 can be configured to perform compression processing on visual data, then when the main node (first node 10) processes the visual data of child node a, it can determine that its first image signal processing unit 11 needs to decompress the visual data of child node a and execute a predetermined full image signal processing process based on the ISP function configuration information corresponding to child node a, and then the visual data of child node a can be accurately processed by the first image signal processing unit 11.Similarly, assuming that the ISP function configuration information corresponding to child node b is that its second image signal processing unit 21 can be configured to perform image signal preprocessing on visual data, when the main node (first node 10) processes the visual data of child node b, it can determine that its first image signal processing unit 11 needs to perform the first full image signal processing process on the visual data of child node b based on the ISP function configuration information corresponding to child node b, so as to complete the predetermined full image signal processing process for the original visual data collected by camera 2. Child nodes c and child nodes d can be similarly deduced according to the relevant introduction of child nodes a and child node b, and will not be repeated here. It is understandable that the above exemplary description of Figure 10 does not constitute any limitation to the embodiments of the present disclosure.

[0200] In some optional embodiments, the second node 20 and the first node 10 are adjacent nodes, and the second node 20 is specifically used to: obtain a target data packet based on the first transmission protocol through the second transmission unit 22, write at least part of the third visual data into the target data packet, and transmit the target data packet to the physical layer of the first node 10 based on the first transmission protocol.

[0201] Optionally, the target data packet obtained by the second node 20 may be a data packet generated by the second node 20 based on the first transmission protocol, or the target data packet may be a data packet received by the second node 20 based on the first transmission protocol. This embodiment of the present disclosure is not limited to this.

[0202] Optionally, the second node 20 may obtain a target data packet based on the first private transmission protocol through the second transmission unit 22, write at least a portion of the third visual data into the target data packet, and transmit the target data packet to the first node 10 based on the first private transmission protocol. Optionally, the target data packet obtained by the second node 20 may be a data packet generated by the second node 20 based on the first private transmission protocol, or the target data packet may be a data packet received by the second node 20 based on the first private transmission protocol, which is not limited in the present embodiment.

[0203] It should be understood that the data in the embodiments of the present disclosure can be transmitted and processed based on the first private transmission protocol, that is, based on physical layer transmission and / or processing, but it does not mean that it only performs the functions that the physical layer defined in the standard protocol can perform. For example, in the standard protocol, the function of the physical layer is to convert the frame signal of the upper layer above the physical layer (such as the data link layer) into an electrical signal or optical signal that can be transmitted on the physical transmission medium, and to convert the electrical signal or optical signal received from the physical transmission medium into a bit stream for the upper layer (such as the data link layer) to be processed. The data transmission and processing in the visual processing system of the present disclosure are implemented based on the physical layer of the target node, which means that the data transmission and processing scheme in the visual processing system of the embodiment of the present disclosure does not pass through the upper layer above the physical layer defined in the standard physical communication (such as the data link layer, the network layer, etc.), but customizes a set of private protocols based on the physical layer, so that it can realize data transmission and processing in addition to certain functions that the physical layer defined in the standard protocol can perform.

[0204] For example, in some optional embodiments, the second node 20 is a data packet initiating node, and the second node 20 can generate a target data packet based on the first transmission protocol via the second transmission unit 22. Alternatively, in other optional embodiments, the second node 20 is not a data packet initiating node, and the second node 20 can obtain a target data packet transmitted from a neighboring node other than the first node 10 via the second transmission unit 22 based on the first transmission protocol. Thus, the second node 20 can effectively obtain the target data packet based on the first transmission protocol, so as to send the third visual data to the first node 10 via the target data packet based on the first transmission protocol.

[0205] For example, assuming the first transmission protocol is a first private transmission protocol, and optionally, the second node 20 is a packet initiating node, the second node 20 can generate a target data packet based on the first private transmission protocol via the second transmission unit 22. Alternatively, if the second node 20 is not a packet initiating node, the second node 20 can obtain a target data packet transmitted from a neighboring node other than the first node 10 via the second transmission unit 22 based on the first private transmission protocol. Thus, the second node 20 can effectively obtain the target data packet based on the first private transmission protocol, thereby facilitating the transmission of the first visual data to the first node 10 via the target data packet based on the first private transmission protocol, thereby achieving physical layer-based transmission of the visual data.

[0206] The packet initiation node of the target data packet can be selected according to the situation. In different situations, the packet initiation node of the target data packet can be set to any node among the multiple nodes except the first node 10, so as to meet the requirements of visual data transmission in different situations (such as different networking forms, different numbers of nodes, etc.).

[0207] For example, optionally, with reference to the daisy-chain networking formed by connecting multiple nodes as shown in FIG7A , the data packet initiating node can be the end node of the daisy chain. As shown in FIG7A , there is a double daisy chain, which includes a right chain (the right chain includes the main node and child nodes a, b, c, d) and a left chain (the left chain includes the main node and child nodes g, f, e). There can be two data packet initiating nodes, and the data packet initiating nodes of the right chain and the left chain are child nodes d and e, respectively. The two data packet initiating nodes are used to meet the visual data transmission needs of each node in the daisy chain networking on both sides. Of course, if multiple nodes are connected as a single daisy chain networking, it is also possible to set one node as the target data packet initiating node.

[0208] For another example, referring to the ring network formed by connecting multiple nodes as shown in FIG7B , the data packet initiating node can be set to any one or two nodes other than the first node 10 (master node). In one example, the data packet initiating node can be set to one node, such as a subnode a or a subnode g, and the initiated target data packet can be transmitted to the first node in one transmission direction (taking the data packet initiating node as the subnode g as an example, the transmission direction can be: subnode g → subnode f → subnode e → subnode d → subnode c → subnode b → subnode a → master node (i.e., the first node 10). If the data packet initiating node is set to the subnode a, then it is subnode a → subnode b → subnode c → subnode d → subnode e → subnode f → subnode g → master node). In other examples, the data packet initiating nodes can be set to two nodes, for example, they can be child node d or child node e, and the transmission directions between the target data packet initiated by child node d and the target data packet initiated by child node e can be different (for example, the transmission direction of the target data packet initiated by child node d is: child node d → child node c → child node b → child node a → main node (i.e., the first node 10), and the transmission direction of the target data packet initiated by child node e is: child node e → child node f → child node g → main node (i.e., the first node 10)), so as to adapt to the visual data transmission requirements of each node in the ring network. Of course, the above description of Figures 7A and 7B is only for ease of understanding and is not a limitation on the embodiments of the present disclosure.

[0209] For example, taking the first transmission protocol as the first private transmission protocol as an example, referring to the daisy chain network shown in Figure 7A, in the right chain, child node a (second node 20) and the main node (first node 10) are adjacent nodes, and child node a may not be the data packet initiating node of the target data packet. Child node a can obtain the target data packet from the downstream node of the right chain, namely child node b, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating child node d), and write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the third visual data therein. For another example, in the left chain, the child node g (second node 20) and the main node (first node 10) are adjacent nodes. The child node g may not be the data packet initiating node of the target data packet. The child node g can obtain the target data packet from the downstream node, namely the child node f, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating the child node e), and write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol, and reads the third visual data therein.

[0210] For another example, taking the first transmission protocol as the first private transmission protocol as an example, as shown in Figure 7A, assuming that there are no child nodes b, c, d, e, and f in the network, and there are only child nodes a, child node g, and the main node (first node 10), then in the right chain, child node a (second node 20) and the main node (first node 10) are adjacent nodes, and child node a is the end node. Child node a can be the data packet initiating node of the target data packet. Child node a can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, then the target data packet can be obtained, and at least part of the third visual data can be written into the target data packet, and the target data packet can be transmitted upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the third visual data therein. In the left chain, the child node g (second node 20) and the main node (first node 10) are adjacent nodes, and the child node g is the end node. The child node g can be the data packet initiating node of the target data packet. The child node g can initiate the data packet based on the first private transmission protocol through its second transmission unit 22, and then obtain the target data packet, and can write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to the main node (first node 10) based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12, and reads the third visual data therein.

[0211] It should be understood that other situations can be inferred based on the above examples and will not be elaborated here.

[0212] It can be understood that in the embodiment of the present disclosure, when the second node 20 and the first node 10 are adjacent nodes, at least part of the third visual data can be written into the target data packet obtained based on the first transmission protocol through the second transmission unit 22, and the target data packet can be transmitted to the first node 10 based on the first transmission protocol, so that the third visual data can be effectively transmitted to the first node 10.

[0213] Optionally, in an embodiment of the present disclosure, when the second node 20 and the first node 10 are adjacent nodes, at least part of the third visual data can be written into a target data packet obtained based on the first private transmission protocol through the second transmission unit 22, and by transmitting the target data packet to the first node 10 based on the first private transmission protocol, the third visual data can be effectively transmitted to the first node 10 based on the first private transmission protocol, thereby realizing direct transmission of visual data based on the physical layer, and there is no need for a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it is directly transmitted and processed based on the physical layer, which can ensure the reliability of data transmission.

[0214] In other optional embodiments, the second node 20 and the first node 10 are not adjacent nodes, and the second node 20 is specifically used to: obtain the target data packet based on the first transmission protocol through the second transmission unit 22, write at least part of the third visual data into the target data packet, and transmit the target data packet to the first node 10 based on the first transmission protocol through at least one node between the second node 20 and the first node 10.

[0215] Optionally, the second node 20 obtains the target data packet based on the first private transmission protocol through the second transmission unit 22, writes at least part of the third visual data into the target data packet, and transmits the target data packet to the first node 10 through at least one node between the second node 20 and the first node 10 based on the first private transmission protocol.

[0216] For example, taking the first transmission protocol as the first private transmission protocol as an example, referring to the daisy chain network shown in Figure 7A, in the right chain, child node a is connected between child node b (second node 20) and the main node (first node 10), so child node b and the main node are not adjacent nodes, and child node b may not be the packet initiating node of the target data packet. Child node b can obtain the target data packet from the downstream node, namely child node c, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating child node d), and write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to child node a based on the first private transmission protocol, for example, it can be transmitted to the physical layer of child node a, and then transmitted to the main node (first node 10) through child node a through its second transmission unit 22 based on the first private transmission protocol, for example, it can be forwarded to be transmitted to the physical layer of the main node (first node 10), and the main node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the third visual data therein. For another example, in the left chain, a child node g is connected between the child node f (the second node 20) and the main node (the first node 10), so the child node f and the main node are not adjacent nodes, and the child node f may not be the data packet initiating node of the target data packet. The child node f can obtain the target data packet from the downstream node, namely the child node e, through its second transmission unit 22 based on the first private transmission protocol (for example, the target data packet can be generated by initiating the child node e), and write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to the child node g based on the first private transmission protocol, for example, it can be transmitted to the physical layer of the child node g, and then forwarded by the child node g through its second transmission unit 22 based on the first private transmission protocol to the main node (the first node 10), for example, it can be forwarded to be transmitted to the physical layer of the main node (the first node 10), and the main node (the first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the third visual data therein.

[0217] For another example, taking the first transmission protocol as the first private transmission protocol as an example, referring to the daisy chain network shown in Figure 7A, in the right chain, child nodes a, b, and c are connected between child node d (second node 20) and the main node (first node 10), so child node d and the main node are not adjacent nodes, and child node d is the end node. Child node d can be the data packet initiating node of the target data packet, and child node d can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, then the target data packet can be obtained, and at least part of the third visual data can be written into the target data packet, and the target data packet can be written based on the first private There is a transmission protocol that is transmitted upstream to the physical layer of child node c, and then transmitted to the physical layer of child node b through the second transmission unit 22 of child node c based on the forwarding of the first private transmission protocol, and then transmitted to the physical layer of child node a through the second transmission unit 22 of child node b based on the forwarding of the first private transmission protocol, and then transmitted to the physical layer of the main node (first node 10) through the second transmission unit 22 of child node a based on the forwarding of the first private transmission protocol. The main node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the third visual data therein. For another example, in the left chain, child nodes f and g are connected between child node e (second node 20) and the main node (first node 10), so child node e and the main node are not adjacent nodes, and child node e is the end node. Child node e can be the data packet initiating node of the target data packet. Child node e can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, then obtain the target data packet, and can write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to the physical layer of child node f based on the first private transmission protocol, and then transmit it to the physical layer of child node g through forwarding of the first private transmission protocol by child node f through its second transmission unit 22, and then transmit it to the physical layer of the main node (first node 10) through forwarding of the first private transmission protocol by child node g through its second transmission unit 22. The main node (first node 10) receives the target data packet based on the first private transmission protocol through its first transmission unit 12 and reads the third visual data therein.

[0218] For another example, assuming that the first transmission protocol is the first private transmission protocol, referring to the ring network shown in FIG7B , and assuming that child nodes d and e are packet initiating nodes for two target data packets, respectively, child node d (second node 20) and the master node (first node 10) are not adjacent nodes, child node d can initiate a data packet based on the first private transmission protocol via its second transmission unit 22, thereby obtaining the target data packet, writing at least a portion of the third visual data into the target data packet, and transmitting the target data packet upstream to the physical layer of child node c based on the first private transmission protocol. The target data packet is then forwarded by child node c through its second transmission unit 22 based on the first private transmission protocol to the physical layer of child node b. The target data packet is then forwarded by child node b through its second transmission unit 22 based on the first private transmission protocol to the physical layer of child node a. The target data packet is then forwarded by child node a through its second transmission unit 22 based on the first private transmission protocol to the physical layer of the master node (first node 10). The master node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol and reads the third visual data therein. The child node e (second node 20) and the main node (first node 10) are not adjacent nodes. The child node e can initiate a data packet based on the first private transmission protocol through its second transmission unit 22, and then obtain the target data packet, and can write at least part of the third visual data into the target data packet, and transmit the target data packet upstream to the physical layer of the child node f based on the first private transmission protocol, and then transmit it to the physical layer of the child node g through the forwarding of the first private transmission protocol by the child node f through its second transmission unit 22, and then transmit it to the physical layer of the main node (first node 10) through the forwarding of the first private transmission protocol by the child node g through its second transmission unit 22. The main node (first node 10) receives the target data packet based on the first private transmission protocol and reads the third visual data therein.

[0219] It should be understood that other situations can be inferred based on the above examples and will not be elaborated here.

[0220] It can be understood that in the embodiment of the present disclosure, when the second node 20 and the first node 10 are not adjacent nodes, at least part of the third visual data can be written into the target data packet obtained based on the first transmission protocol through the second transmission unit 22, and the target data packet can be transmitted to the first node 10 through at least one node in sequence based on the first transmission protocol, so that the third visual data can be effectively transmitted to the first node.

[0221] Optionally, in an embodiment of the present disclosure, when the second node 20 and the first node 10 are not adjacent nodes, at least part of the third visual data can be written into a target data packet obtained based on the first private transmission protocol through the second transmission unit 22, and the target data packet can be transmitted to the first node 10 through at least one node in sequence based on the first private transmission protocol. The third visual data can be effectively transmitted to the first node based on the first private transmission protocol, thereby realizing direct transmission of visual data based on the physical layer, and there is no need for a processor (such as an MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but it is directly transmitted and processed based on the physical layer, which can ensure the reliability of data transmission.

[0222] Optionally, the second node 20 is connected to the vision acquisition unit 30 and obtains raw visual data from the vision acquisition unit 30 .

[0223] In some optional embodiments, as shown in FIG8 , if the second node 20 is disconnected from the vision acquisition unit 30 or the vision acquisition unit 30 to which the second node 20 is connected is not enabled, the second node 20 enters a low power consumption mode.

[0224] The second node 20 is disconnected from the visual acquisition unit 30, that is, the connection between the visual acquisition unit 30 and the second node 20 has been severed, and the visual acquisition unit 30 is not connected to the second node 20. In this case, the second node 20 cannot obtain raw visual data. The visual acquisition unit 30 to which the second node 20 is connected is not enabled. At this time, although the visual acquisition unit 30 is connected to the second node 20, it does not collect visual data. For example, the visual acquisition unit 30 may be in a disabled state, a shut-down state, a faulty state, etc., so in this case, the second node 20 cannot obtain raw visual data. In both cases, the second node 20 enters a low-power mode, which helps reduce the overall power consumption of the visual processing system 100.

[0225] Optionally, when the second node 20 is in low power consumption mode, if the second node 20 receives visual data from an adjacent node based on the first transmission protocol via the second transmission unit 22, the second node 20 forwards the visual data from the adjacent node to the next adjacent node along a first direction via the second transmission unit 22 based on the first transmission protocol, where the first direction is from the second node 20 to the first node 10. Thus, the nodes in the embodiments of the present disclosure can effectively achieve visual data transmission while reducing power consumption in low power consumption mode.

[0226] For example, assuming the first transmission protocol is a first private transmission protocol, when the second node 20 is in low-power mode, if the second node 20 receives visual data from an adjacent node via the second transmission unit 22 based on the first private transmission protocol, the second node 20 forwards the visual data from the adjacent node to the next adjacent node along the first direction via the second transmission unit 22 based on the first private transmission protocol. Thus, in the embodiments of the present disclosure, the second node 20 can effectively reduce power consumption in low-power mode while achieving visual data transmission based on the physical layer, thereby ensuring the reliability of data transmission.

[0227] For example, taking the first transmission protocol as the first private transmission protocol as an example, taking the daisy chain network of Figure 7A as an example, taking the child node a (second node 20) of the right chain as an example, if it is not connected to the visual acquisition unit 30 (that is, disconnected from the visual acquisition unit 30) or the visual acquisition unit 30 to which it is connected is not enabled, then if the child node a obtains visual data from the adjacent child node b based on the first private transmission protocol through the second transmission unit 22 (for example, it may be a target data packet received from the child node b and recording the third visual data), then the visual data can be forwarded to the next adjacent node, that is, the master node (first node 10), along the first direction, and the first transmission unit 12 of the master node (first node 10) can receive the visual data based on the first private transmission protocol. For another example, taking the child node b (second node 20) of the right link as an example, if it is not connected to the visual acquisition unit 30 (that is, disconnected from the visual acquisition unit 30) or the visual acquisition unit 30 to which it is connected is not enabled, then if the child node b obtains the visual data from the adjacent child node c based on the first private transmission protocol through the second transmission unit 22 (for example, it may be a target data packet recorded with the third visual data received from the child node b), then the visual data can be forwarded along the first direction to the next adjacent node, that is, the child node a, so that it can be forwarded via the child node a to be transmitted to the main node (first node 10) for processing.

[0228] The first transmission protocol is a first private transmission protocol. In some optional embodiments, the second node 20 is assigned at least one node identifier, and the target data packet records the target identifier; the second node 20 can be used to: after obtaining the target data packet based on the first private transmission protocol through the second transmission unit 22, determine the target identifier in the target data packet, and in response to the presence of a node identifier identical to the target identifier in at least one node identifier, write at least part of the third visual data into the target data packet based on the first private transmission protocol through the second transmission unit 22.

[0229] Therefore, in the embodiment of the present disclosure, by assigning at least one node identifier to the second node 20, and when there is a node identifier in at least one node identifier that is the same as the target identifier recorded in the obtained target data packet, at least part of the third visual data is written into the target data packet through the second transmission unit 22 based on the first private transmission protocol. This makes it more orderly for the second node 20 to transmit visual data to the first node 10 through the second transmission unit 22 based on the first private transmission protocol, and also facilitates the first node 10 to schedule and process visual data from multiple nodes.

[0230] Optionally, different nodes receiving data packets from the same packet initiating node are assigned different node identifiers. This ensures that the visual data written into each target data packet is the visual data of a single node, thereby ensuring the orderly transmission of visual data and facilitating the scheduling and processing of visual data from multiple nodes by the first node 10.

[0231] The target identifier and the node identifier in the embodiment of the present disclosure may be embodied in any form, for example, including but not limited to a text identifier, a symbol identifier, etc.

[0232] In some optional embodiments, the node identifier is the frame number of the node, and the target identifier is the frame number of the data packet, wherein the frame numbers recorded for data packets sent by the same data packet initiating node in different time slots divided by the same preset period are different.

[0233] Optionally, the lengths of the multiple time slots divided by the same preset period are equal. The preset period can be set as needed, for example, it can be 1 second.

[0234] Optionally, different nodes receiving data packets from the same packet initiating node are assigned different frame numbers. This ensures that the visual data written into each target data packet is the visual data of a single node, thereby ensuring the orderly transmission of visual data and facilitating the scheduling and processing of visual data from multiple nodes by the first node 10.

[0235] In order to solve the problem of delay jitter (delay jitter can mean that when a data packet is transmitted in the network, the time interval for it to reach the receiving end is not fixed, but varies. This variation can cause problems when the receiving end processes the data, such as discontinuous video images, which can easily affect the user experience.), in the embodiment of the present disclosure, each child node (which can be the second node 20) other than the main node (the first node 10) can be allocated a predetermined time slot for transmitting visual data. For example, a preset period (for example, 1 second) can be divided into N equal time slots, and N can be preset, for example, N is preset to 256, 512, 1024, and so on. The following example can be taken as N=1024. The packet initiating node can then initiate one data packet in each time slot. The data packet contains the data packet's frame number, which increases in chronological order. For example, the frame number of a data packet initiated in the first time slot of the N = 1024 time slots in the preset period is 1, the frame number of a data packet initiated in the second time slot is 2, and so on. The frame number of a data packet initiated in the 1024th time slot is 1024. In other words, data packets sent in different time slots within the same preset period have different frame numbers. Each child node can be assigned at least one frame number, and different child nodes are assigned different frame numbers.

[0236] For example, for the right chain of the daisy-chain network in FIG7A, which includes four sub-nodes, namely, sub-node a, sub-node b, sub-node c, and sub-node d (in this example, the four sub-nodes are all second nodes 20), the preset period can be divided into N = 1024 time slots. Referring to the frame number allocation table in Table 1 above and the schematic diagram of time slot division of the preset period and frame number allocation to the sub-nodes shown in FIG4, the frame number allocation of the node can be understood:

[0237] As mentioned above, the right chain of the daisy chain network in Figure 7A can be initiated by the last child node d as the data packet initiating node. Then, within a preset period of N = 1024 time slots, the child node periodically initiates the target data packet including the frame number in the order of the frame numbers 1 to 1024 of the data packet, and the frame number automatically increases. For example, FIG11 shows a schematic diagram of an example visual data transmission process. As shown in FIG11 , if the current time is the 5th time slot, the frame number of the target data packet currently initiated is 5. According to Table 1, there is no "5" in the frame number of the child node d. The child node d can determine that the target data packet is not a data packet for transmitting its own visual data, and does not write the third visual data into the target data packet through the second transmission unit 22. Instead, it sends an empty data packet to the child node c through its second transmission unit 22 based on the first private transmission protocol; the child node c receives the empty target data packet with a frame number of 5 through its second transmission unit 22 based on the first private transmission protocol, and also finds that the target data packet is not a data packet for transmitting its own visual data, and does not write the third visual data into the target data packet through its second transmission unit 22. Instead, it forwards the target data packet through its second transmission unit 22 based on the first private transmission protocol to transmit it to the physical layer of the child node b; the child node b receives the frame data packet through its second transmission unit 22 based on the first private transmission protocol. If the child node a receives an empty target data packet with frame number 5 through its second transmission unit 22 and finds that the target data packet is not a data packet for transmitting its own visual data, it does not write the third visual data into the target data packet through its second transmission unit 22, but forwards the target data packet through its second transmission unit 22 based on the first private transmission protocol to the physical layer of the master node (first node 10) based on the first private transmission protocol; after the master node (first node 10) receives the target data packet through its first transmission unit 12 based on the first private transmission protocol, it can determine the visual data of the child node b transmitted by the target packet according to the frame number recorded in the target data packet, and then perform corresponding processing. According to a similar process as described above, target data packets with frame numbers 1 to 1024 are respectively sent out in the N=1024 time slots of the preset cycle. After the maximum value of 1024 is reached, the next preset cycle begins. In the first time slot of the next preset cycle, the frame number of the target data packet returns to 1, and the transmission of visual data continues.

[0238] It should be understood that the transmission mode of the left chain of the daisy chain network in Figure 7A is understood in the same way as the above-mentioned right chain. The difference is that the data packet initiating node is the child node e, and the frame number allocation of each node can be different from that of the right chain.

[0239] It should also be understood that the ring network of Figure 7B can also be understood in the same way as the transmission mode of the right chain of the daisy-chain network of Figure 7A. For example, the ring network of Figure 7B can include two data packet initiating nodes, such as child nodes d and e, and can actually be disassembled into the right chain and left chain of the daisy-chain network of Figure 7A.

[0240] Based on this, in the disclosed embodiment, through the above-mentioned optional solution, each node of the visual processing system 100 (including the second node 20) can transmit its visual data within a predetermined time slot of a preset cycle, thereby ensuring the processing delay and transmission timeliness of the visual data of each node, allowing the main node of the visual processing (first node 10) to conveniently perform scheduling processing of multiple channels of visual data. In addition, because each time slot of the preset cycle corresponds to the visual data transmission of a node, it is not only easier to achieve high-precision synchronization of visual data, but also effectively improves the delay jitter problem of visual data transmission.

[0241] As shown in Table 1, the transmission of other information also corresponds to a frame number. That is, the transmission of other information by the child node must be transmitted to the master node (first node 10) via data packets with corresponding frame numbers during certain time slots in a preset cycle. This ensures the orderly transmission of visual data and other information. In the disclosed embodiments, other information can be information other than visual data. For example, other information can include, but is not limited to, audio data, control data for reading and writing registers, debugging data, and so on.

[0242] In some optional embodiments, the data packet includes a frame header and a data block, and the frame number of the data packet is recorded in the frame header. Thus, the second node 20 can read the frame header of the target data packet to determine the frame number of the target data packet and, when necessary, write at least a portion of the third visual data into the data block via the second transmission unit 22 to facilitate transmission of the visual data.

[0243] In some optional embodiments, the second node 20 is also used to: in response to each node identifier being different from the target identifier, transmit the target data packet along the first direction to the next adjacent node of the second node 20 based on the first private transmission protocol through the second transmission unit 22, wherein the first direction is the direction from the second node 20 to the first node 10.

[0244] This optional embodiment can be understood with reference to the example of the left link in FIG. 7A , and will not be further described here. Alternatively, if the second node 20 determines that the frame numbers of each node are different from the frame number of the data packet, the target data packet can be transmitted in the first direction to the next node adjacent to the second node 20 based on the first private transmission protocol.

[0245] Based on this, in the disclosed embodiment, through the above-mentioned optional solution, each node of the visual processing system 100 (including the second node 20) can transmit its visual data within a predetermined time slot of a preset cycle, thereby ensuring the processing delay and transmission timeliness of the visual data of each node, allowing the main node of the visual processing (first node 10) to conveniently perform scheduling processing of multiple channels of visual data. In addition, because each time slot of the preset cycle corresponds to the visual data transmission of a node, it is not only easier to achieve high-precision synchronization of visual data, but also effectively improves the delay jitter problem of visual data transmission.

[0246] In some optional embodiments, the first node 10 is further used to: transmit frame number configuration information to the second node 20 based on the first private transmission protocol through the first transmission unit 12; the second node 20 is further used to: receive the frame number configuration information based on the first private transmission protocol through the second transmission unit 22, and perform frame number configuration of the node according to the frame number configuration information.

[0247] Therefore, the first node 10 can transmit frame number configuration information to the second node 20 based on the first private transmission protocol through its first transmission unit 12, so that the second node 20 can receive the frame number configuration information based on the first private transmission protocol through its second transmission unit 22, and then the second node 20 can effectively configure the node frame number according to the frame number configuration information, so that the second node 20 can transmit its visual data within a predetermined time slot of a preset period, thereby ensuring the processing delay and transmission timeliness of the visual data of each node, so that the first node 10 can schedule the visual data transmission of the second node 20 and improve the delay jitter problem of visual data transmission; and, based on the first private transmission protocol, the frame number configuration information is transmitted, and there is no need to use a processor (such as MCU, etc.) to perform data encapsulation based on a standard protocol, that is, there is no need to process based on high-level protocols above the physical layer, but directly transmit and process based on the physical layer, which can ensure the reliability of data transmission.

[0248] For example, a user can perform configuration at the first node 10, and the first node 10 initiates a downlink data packet including frame number configuration information based on the first private transmission protocol, and transmits the downlink data packet to the second node 20 based on the first private transmission protocol, so that the second node 20 obtains the frame number configuration information to perform the frame number configuration of the node.

[0249] Optionally, in combination with the relevant contents of Figures 6A and 6B above, it can be understood that, through the visual processing system 100 provided in the above second aspect embodiment of the present disclosure, since the second node 20 in the visual processing system 100 can transmit the third visual data based on the first private transmission protocol through the second transmission unit 22, and the first node 10 can receive the third visual data based on the first private transmission protocol through the first transmission unit 12, the visual data is directly transmitted and / or processed based on the physical layer, and there is no need to perform data encapsulation based on the standard protocol through the processor (such as MCU, etc.), that is, there is no need to process based on the high-level protocol above the physical layer, but directly based on the physical layer transmission and processing, which can ensure the reliability of data transmission. In addition, when this solution transmits visual data based on the first private transmission protocol, there is no need for a switch to transmit visual data, which also reduces the demand for processors (such as MCU, etc.) in the networking node during visual data transmission, thereby effectively reducing the transmission delay of the visual data and being able to further reduce costs by reducing the number of switches and processors (such as MCU, etc.). As a result, this solution can effectively further improve the data transmission and processing performance of the visual processing system.

[0250] It can be understood that the above description of the visual processing system 100 in the embodiments of the present disclosure are merely some optional embodiments of the embodiments of the present disclosure, and are not any limitations on the embodiments of the present disclosure.

[0251] According to a third aspect of an embodiment of the present disclosure, a visual data processing method is provided, which is used to connect a second node 20 among a plurality of nodes in a network, wherein the plurality of nodes further includes a first node 10, the second node 20 includes a second transmission unit 22, and the first node 10 includes a first image signal processing unit 11 and a first transmission unit 12. Referring to the flowchart shown in FIG12 , the method includes steps S102 and S104, specifically:

[0252] S102: Obtaining first visual data;

[0253] S104: Transmit the first visual data to the first node based on the first transmission protocol through the second transmission unit, so that the first node receives the first visual data through the first transmission unit based on the first transmission protocol, and performs image signal processing on the first visual data through the first image signal processing unit to obtain second visual data.

[0254] It should be understood that the visual data processing method of the third aspect in the embodiments of the present disclosure has been specifically described in the visual processing system 100 embodiment of the first aspect above. Its various optional implementation schemes and beneficial effects can be understood with reference to the system embodiments above and will not be repeated here.

[0255] According to a fourth aspect of an embodiment of the present disclosure, a visual data processing method is provided, which is used to connect a first node 10 among a plurality of nodes in a network, wherein the plurality of nodes further includes a second node 20, the second node 20 includes a second transmission unit 22, and the first node 10 includes a first image signal processing unit 11 and a first transmission unit 12. Referring to the flowchart shown in FIG13 , the method includes steps S202 and S204, specifically:

[0256] S202: receiving first visual data from a second node through a first transmission unit based on a first transmission protocol, wherein the first visual data is transmitted from the second node to the first node through the second transmission unit based on the first transmission protocol;

[0257] S204: Performing image signal processing on the first visual data by the first image signal processing unit to obtain second visual data.

[0258] It should be understood that the visual data processing method of the fourth aspect of the embodiments of the present disclosure has been specifically described in the visual processing system 100 embodiment of the first aspect above. Its various optional implementation schemes and beneficial effects can be understood with reference to the system embodiment above and will not be repeated here.

[0259] According to a fifth aspect of an embodiment of the present disclosure, a visual data processing method is provided, which is used to connect a second node 20 among a plurality of nodes in a network, wherein the plurality of nodes also include a first node 10, and the second node 20 includes a second transmission unit 22 and a second image signal processing unit 21. Referring to the flowchart shown in FIG14 , the method includes steps S302, S304, and S306. Specifically,

[0260] S302: Perform corresponding functional configuration on the second image signal processing unit according to the functional configuration information;

[0261] S304: Obtaining original visual data, and obtaining third visual data through the functionally configured second image signal processing unit;

[0262] S306: Transmit the third visual data to the first node based on the first transmission protocol through the second transmission unit.

[0263] It should be understood that the visual data processing method of the fifth aspect in the embodiments of the present disclosure has been specifically described in the visual processing system 100 embodiment of the second aspect above. Its various optional implementation schemes and beneficial effects can be understood with reference to the system embodiment above and will not be repeated here.

[0264] According to the sixth aspect of the embodiment of the present disclosure, a chip 1000 is provided. Figure 15 is a schematic block diagram of a chip provided in the embodiment of the present disclosure. The specific embodiment of the present disclosure does not limit the specific implementation of the chip. As shown in Figure 15, the chip 1000 may include: a processor (processor) 1002 and a memory (memory) 1006. Among them: the processor 1002 and the memory 1006 communicate with each other. The processor 1002 is used to execute the program 1010, and specifically can execute the relevant steps in any of the aforementioned visual data processing method embodiments.

[0265] Specifically, the program 1010 may include program codes, which include computer operation instructions.

[0266] Processor 1002 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0267] RISC-V is an open-source instruction set architecture based on the principles of the Reduced Instruction Set (RISC). It can be applied to various fields, including microcontrollers and FPGA chips. Specifically, it has applications in areas such as IoT security, industrial control, mobile phones, and personal computers. Designed with small size, high speed, and low power consumption in mind, it is particularly suitable for modern computing devices such as warehouse-scale cloud computers, high-end mobile phones, and tiny embedded systems. With the rise of the artificial intelligence (AI) Internet of Things (AIoT), the RISC-V instruction set architecture has also received increasing attention and support, and is expected to become the next generation of widely used CPU architecture.

[0268] The computer operating instructions in the embodiments of the present disclosure may be computer operating instructions based on the RISC-V instruction set architecture. Accordingly, the processor 1002 may be designed based on the RISC-V instruction set. Specifically, the chip provided in the embodiments of the present disclosure may be a chip designed using the RISC-V instruction set. The chip may execute executable code based on the configured instructions, thereby implementing the visual data processing method in the above-described embodiments.

[0269] The memory 1006 is used to store the program 1010. The memory 1006 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0270] The program 1010 can be specifically used to enable the processor 1002 to execute the visual data processing method in any of the aforementioned embodiments.

[0271] The specific implementation of each step in program 1010 can be found in the corresponding description of the corresponding steps and units in any of the aforementioned visual data processing method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0272] According to a seventh aspect of the embodiments of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the computer program implements any of the aforementioned visual data processing methods. The computer storage medium includes, but is not limited to, a compact disc read-only memory (CD-ROM), a random access memory (RAM), a floppy disk, a hard disk, or a magneto-optical disk.

[0273] According to an eighth aspect of the embodiments of the present disclosure, a computer program product is also provided, which includes a computer program, and when the computer program is executed by a processor, it implements any of the visual data processing methods as described above.

[0274] The chip 1000, computer storage medium, and computer program product embodiments in the embodiments of the present disclosure have been described in detail in the aforementioned visual processing system 100 embodiment. Therefore, their relevant contents and beneficial effects can be understood with reference to the aforementioned embodiments and will not be repeated here.

[0275] In addition, it should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used to train the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of the present disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0276] It should be noted that, depending on the needs of implementation, the various components / steps described in the embodiments of the present disclosure may be split into more components / steps, or two or more components / steps or partial operations of components / steps may be combined into new components / steps to achieve the objectives of the embodiments of the present disclosure. It should be understood that the various technical features in the technical solutions of the embodiments of the present disclosure may be combined or split in any appropriate manner.

[0277] The above-mentioned method according to the embodiment of the present disclosure can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor or programmable or dedicated hardware (such as an application-specific integrated circuit (ASIC) or a field programmable gate array (FPGA)). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., random access memory (RAM), read-only memory (ROM), flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown here.

[0278] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for specific applications, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure.

[0279] The above implementation methods are only used to illustrate the embodiments of the present disclosure, and are not intended to limit the embodiments of the present disclosure. Ordinary technicians in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the embodiments of the present disclosure. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present disclosure, and the scope of patent protection of the embodiments of the present disclosure should be defined by the claims.

[0280] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". It should be noted that the concepts of "first", "second", etc. mentioned in the embodiments of the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units. It should be noted that the modifications of "one" and "a plurality of" mentioned in the embodiments of the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0281] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present disclosure, rather than to limit them. Although the embodiments of the present disclosure have been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A visual processing system comprising: A plurality of nodes connected to form a network, wherein the plurality of nodes include at least a first node and a second node, wherein: The second node includes a second transmission unit, and the second node is configured to: obtain first visual data, and transmit the first visual data to the first node based on a first transmission protocol through the second transmission unit; The first node includes a first image signal processing unit and a first transmission unit. The first node is used to: receive first visual data from the second node based on a first transmission protocol through the first transmission unit, and perform image signal processing on the first visual data through the first image signal processing unit to obtain second visual data.

2. The system according to claim 1, wherein: The second node is connected to the vision acquisition unit; The second node is specifically configured to: Obtaining original visual data from the visual acquisition unit, and transmitting the original visual data as the first visual data to the first node through the second transmission unit based on a first transmission protocol; and / or, Original visual data is obtained from the visual acquisition unit, the original visual data is compressed, and the compressed original visual data is transmitted to the first node through the second transmission unit as the first visual data based on a first transmission protocol.

3. The system according to claim 2, wherein: The original visual data is visual data in Bayer RAW format.

4. The system according to claim 2, wherein: If the second node is disconnected from the visual acquisition unit, or the visual acquisition unit to which the second node is connected is not enabled, the second node enters a low power consumption mode; In the low power consumption mode, if the second node receives visual data from an adjacent node through the second transmission unit based on the first transmission protocol, the second node forwards the visual data from the adjacent node to the next adjacent node along the first direction through the second transmission unit based on the first transmission protocol, wherein the first direction is the direction of transmission from the second node to the first node.

5. The system according to claim 1, wherein The image signal processing performed by the first image signal processing unit on the first visual data includes at least one of the following processing methods: black level correction processing, lens shading correction processing, white balance gain processing, bad pixel correction processing, denoising processing, HDR fusion processing, chromatic aberration correction processing, Debayer processing, color correction processing, global tone mapping processing, local tone mapping processing, sharpening processing, CNR processing, gamma correction processing, format change processing, image stabilization processing, compression and output processing.

6. The system according to any one of claims 1 to 5, wherein: The second node and the first node are adjacent nodes, and the second node is specifically configured to: obtain a target data packet based on a first transmission protocol through the second transmission unit, write at least part of the first visual data into the target data packet, and transmit the target data packet to the first node based on the first transmission protocol; or, The second node and the first node are not adjacent nodes, and the second node is specifically used to: obtain a target data packet based on a first transmission protocol through the second transmission unit, write at least part of the first visual data into the target data packet, and transmit the target data packet to the first node based on the first transmission protocol through at least one node between the second node and the first node.

7. The system according to claim 6, wherein: The second node is a data packet initiating node, and the second node generates the target data packet based on the first transmission protocol through the second transmission unit; or, If the second node is not a data packet initiating node, the second node obtains the target data packet transmitted from an adjacent node other than the first node through the second transmission unit based on the first transmission protocol.

8. The system according to claim 6, wherein: The first transmission protocol is a first private transmission protocol, wherein the first private transmission protocol implements data transmission and / or processing based on a physical layer.

9. The system according to claim 8, wherein: The second node is assigned at least one node identifier, and the target data packet is recorded with a target identifier; The second node is specifically used to: after obtaining the target data packet through the second transmission unit based on the first private transmission protocol, determine the target identifier in the target data packet, and in response to the presence of a node identifier that is identical to the target identifier in the at least one node identifier, write at least part of the first visual data into the target data packet through the second transmission unit based on the first private transmission protocol.

10. The system according to claim 9, wherein: The node identifier is the frame number of the node, and the target identifier is the frame number of the data packet, wherein the frame numbers recorded for data packets sent by the same data packet initiating node in different time slots divided by the same preset period are different.

11. The system according to claim 9, wherein: The second node is also used to: in response to each node identifier being different from the target identifier, transmit the target data packet along the first direction to the next adjacent node of the second node based on the first private transmission protocol through the second transmission unit, wherein the first direction is the direction of transmission from the second node to the first node.

12. The system according to claim 10, wherein: The first node is further configured to: transmit frame number configuration information to the second node based on the first private transmission protocol through the first transmission unit; The second node is further configured to: receive the frame number configuration information based on the first private transmission protocol through the second transmission unit, and perform frame number configuration of the node according to the frame number configuration information.

13. A visual processing system comprising: A plurality of nodes connected to form a network, wherein the plurality of nodes include at least a first node and a second node, wherein: The second node includes a second image signal processing unit and a second transmission unit, and the second node is configured to: perform corresponding functional configuration on the second image signal processing unit according to the functional configuration information; obtain original visual data, and obtain third visual data through the functionally configured second image signal processing unit; and transmit the third visual data to the first node through the second transmission unit based on the first transmission protocol; The first node includes a first transmission unit, and the first node is configured to receive the third visual data from the second node based on the first transmission protocol through the first transmission unit.

14. The system according to claim 13, wherein: The function configuration information includes first function configuration information; The second node is specifically configured to: configure the second image signal processing unit to be capable of performing compression processing on visual data according to the first function configuration information; compressing the original visual data by the second image signal processing unit to obtain the third visual data; The first node also includes a first image signal processing unit, and the first node is further used to: decompress the third visual data through the first image signal processing unit to obtain the original visual data, and perform a predetermined full image signal processing process on the original visual data to obtain fourth visual data.

15. The system according to claim 13, wherein: The function configuration information includes second function configuration information; The second node is specifically configured to: configure the second image signal processing unit to perform image signal preprocessing on the visual data according to the second function configuration information; and perform an image signal preprocessing process on the original visual data by the second image signal processing unit to obtain the third visual data; The first node further includes a first image signal processing unit, and the first node is further configured to: perform a first image signal processing process on the third visual data through the first image signal processing unit to obtain fourth visual data; The union of the image signal preprocessing process and the first image signal processing process is equal to a predetermined full image signal processing process.

16. The system of claim 13, wherein: The function configuration information includes third function configuration information; The second node is specifically configured to: configure the second image signal processing unit to perform image signal preprocessing and compression processing on the visual data according to the third function configuration information; performing an image signal preprocessing process on the original visual data by the second image signal processing unit to obtain a preprocessing result, and compressing the preprocessing result to obtain the third visual data; The first node further includes a first image signal processing unit, and the first node is further configured to: decompress the third visual data through the first image signal processing unit to obtain the preprocessing result, and perform the first image signal processing process on the preprocessing result to obtain fourth visual data; The union of the image signal preprocessing process and the first image signal processing process is equal to a predetermined full image signal processing process.

17. The system of claim 13, wherein: The function configuration information includes fourth function configuration information; The second node is specifically used to: configure the second image signal processing unit to be able to perform full-process image signal processing on the visual data according to the fourth functional configuration information; and perform a predetermined full-process image signal processing process on the original visual data through the second image signal processing unit to obtain the third visual data.

18. The system of claim 13, wherein: The function configuration information includes fifth function configuration information; The second node is further configured to: configure the second image signal processing unit to not perform image signal processing on the visual data according to the fifth function configuration information; and use the original visual data as the third visual data; The first node further includes a first image signal processing unit, and the first node is further configured to: execute a predetermined full image signal processing flow on the third visual data through the first image signal processing unit to obtain fourth visual data.

19. The system of claim 13, wherein: The first node is further configured to: transmit function configuration information to the second node based on the first transmission protocol through the first transmission unit; The second node is further configured to: receive the function configuration information based on the first transmission protocol through the second transmission unit.

20. The system of claim 13, wherein: The original visual data is visual data in Bayer RAW format.

21. The system of claim 13, wherein: The second node is connected to the vision acquisition unit and obtains raw visual data from the vision acquisition unit; If the second node is disconnected from the visual acquisition unit, or the visual acquisition unit to which the second node is connected is not enabled, the second node enters a low power consumption mode; In the low power consumption mode, if the second node receives visual data from an adjacent node through the second transmission unit based on the first transmission protocol, the second node forwards the visual data from the adjacent node to the next adjacent node along the first direction through the second transmission unit based on the first transmission protocol, wherein the first direction is the direction of transmission from the second node to the first node.

22. The system according to any one of claims 14 to 18, wherein: The predetermined full image signal processing flow includes at least one of the following image signal processing methods: black level correction processing, lens shading correction processing, white balance gain processing, bad pixel correction processing, denoising processing, HDR fusion processing, chromatic aberration correction processing, Debayer processing, color correction processing, global tone mapping processing, local tone mapping processing, sharpening processing, CNR processing, gamma correction processing, format change processing, image stabilization processing, compression and output processing.

23. The system according to claim 15 or 16, wherein: The image signal preprocessing process is used to pre-correct and balance the physical differences between different visual acquisition units.

24. The system of claim 23, wherein: The image signal preprocessing process includes at least one of the following image signal processing methods: black level correction processing, lens shading correction processing, white balance gain processing, bad pixel correction processing, denoising processing, and HDR fusion processing.

25. The system according to any one of claims 13 to 21, wherein: The second node and the first node are adjacent nodes, and the second node is specifically configured to: obtain a target data packet based on a first transmission protocol through the second transmission unit, write at least part of the third visual data into the target data packet, and transmit the target data packet to the first node based on the first transmission protocol; or, The second node and the first node are not adjacent nodes, and the second node is specifically used to: obtain a target data packet based on the first transmission protocol through the second transmission unit, write at least part of the third visual data into the target data packet, and transmit the target data packet to the first node based on the first transmission protocol through at least one node between the second node and the first node.

26. The system of claim 25, wherein: The second node is a data packet initiating node, and the second node generates the target data packet based on the first transmission protocol through the second transmission unit; or, If the second node is not a data packet initiating node, the second node obtains the target data packet transmitted from an adjacent node other than the first node through the second transmission unit based on the first transmission protocol.

27. The system of claim 25, wherein: The first transmission protocol is a first private transmission protocol, wherein the first private transmission protocol implements data transmission and / or processing based on a physical layer.

28. The system of claim 27, wherein: The second node is assigned at least one node identifier, and the target data packet is recorded with a target identifier; The second node is specifically used to: after obtaining the target data packet through the second transmission unit based on the first private transmission protocol, determine the target identifier in the target data packet, and in response to the presence of a node identifier that is identical to the target identifier in the at least one node identifier, write at least part of the third visual data into the target data packet through the second transmission unit based on the first private transmission protocol.

29. The system of claim 28, wherein: The node identifier is the frame number of the node, and the target identifier is the frame number of the data packet, wherein the frame numbers recorded for data packets sent by the same data packet initiating node in different time slots divided by the same preset period are different.

30. The system of claim 28, wherein: The second node is also used to: in response to each node identifier being different from the target identifier, transmit the target data packet along the first direction to the next adjacent node of the second node based on the first private transmission protocol through the second transmission unit, wherein the first direction is the direction of transmission from the second node to the first node.

31. The system of claim 29, wherein: The first node is further configured to: transmit frame number configuration information to the second node based on the first private transmission protocol through the first transmission unit; The second node is further configured to: receive the frame number configuration information based on the first private transmission protocol through the second transmission unit, and perform frame number configuration of the node according to the frame number configuration information.

32. A visual data processing method, for connecting a second node among a plurality of nodes in a network, wherein the plurality of nodes also include a first node, the second node includes a second transmission unit, and the first node includes a first image signal processing unit and a first transmission unit, the method comprising: obtaining first visual data; The first visual data is transmitted to the first node based on a first transmission protocol through the second transmission unit, so that the first node receives the first visual data through the first transmission unit based on the first transmission protocol, and performs image signal processing on the first visual data through the first image signal processing unit to obtain second visual data.

33. A visual data processing method, for connecting a first node among a plurality of nodes in a network, wherein the plurality of nodes further includes a second node, the second node includes a second transmission unit, and the first node includes a first image signal processing unit and a first transmission unit, the method comprising: receiving, by the first transmission unit, first visual data from the second node based on a first transmission protocol, wherein the first visual data is transmitted by the second node to the first node by the second transmission unit based on the first transmission protocol; The first image signal processing unit performs image signal processing on the first visual data to obtain second visual data.

34. A visual data processing method, for connecting a second node among a plurality of nodes in a network, wherein the plurality of nodes also include the first node, the second node including a second transmission unit and a second image signal processing unit, the method comprising: Performing corresponding functional configuration on the second image signal processing unit according to the functional configuration information; Obtaining original visual data, and obtaining third visual data through the functionally configured second image signal processing unit; The third visual data is transmitted to the first node through the second transmission unit based on the first transmission protocol.

35. A chip comprising: a processor and a memory, the processor and the memory communicating with each other; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as described in any one of claims 32-34.

36. A computer storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method according to any one of claims 32 to 34 is implemented.

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