An LED point light source lidar interactive calibration method and system

Abstract

The present invention discloses an interactive calibration method and system for an LED point light source lidar, belonging to the field of calibration technology, which includes designing a lighting layout plan, and installing LED lights and lidars on site according to the lighting layout plan; mapping each LED light to the PC desktop according to the sensing module in the LED light; drawing a rectangular control area on the PC desktop, so that the rectangular control area is the smallest circumscribed rectangle of all point light source pixel points; selecting calibration pixel points from within the rectangular control area; placing an object or a person at the position of the LED light corresponding to the calibration pixel point, and the coordinates of the object or person detected by the lidar are mapped to the PC desktop, and the coordinates are calibrated on the calibration pixel points. The present invention obtains control partitions according to the lighting layout map; obtains calibration pixel points according to the control partitions, makes the calibration points automatically move away from the corners, and accurately calculates the optimal calibration pixel point positions.

Description

Technical Field

[0001] The present invention relates to the field of calibration technology, and in particular to an interactive calibration method and system for an LED point light source lidar. Background Art

[0002] Due to the traditional LED point light source induction interaction, each lamp is equipped with an inductor, resulting in the inability to perform large-area induction human-computer interaction. The emergence of lidar enables the positioning of objects according to lidar sensing, allowing LED point light sources to interact over a large area. However, for large-area and irregular lighting layouts, the determination and calculation of the target calibration pixel positions during LED point light source calibration are very complex, time-consuming, and laborious. If the selected calibration pixel positions are inaccurate, it will also lead to inaccurate induction interaction. Summary of the Invention

[0003] In view of the deficiencies in the above problems, the present invention provides an interactive calibration method and system for an LED point light source lidar.

[0004] To achieve the above object, the present invention provides an interactive calibration method for an LED point light source lidar, including:

[0005] Design a lighting layout plan, and according to the lighting layout plan, wire and install LED lights and lidar on site in a certain order;

[0006] According to the sensing module in the LED lights, map each LED light to the PC desktop, and one LED light corresponds to one pixel point on the PC desktop. The pixel point on the PC desktop corresponding to the LED light is the point light source pixel point;

[0007] Draw a rectangular control area on the PC desktop, such that the rectangular control area is the minimum circumscribed rectangle of all the point light source pixel points;

[0008] Select calibration pixel points from within the rectangular control area;

[0009] Place an object or a person at the position of the LED light corresponding to the calibration pixel point. The lidar detects the coordinates of the object or person and maps them to the PC desktop, and calibrates the coordinates on the calibration pixel point;

[0010] Among them, selecting calibration pixel points from within the rectangular control area includes:

[0011] Shrink the rectangular control area by 10% along its center point to obtain a shrunk rectangular area;

[0012] Traverse the point light source pixel points located within the shrunk rectangular area, and select four point light source pixel points that are respectively the closest to the four vertices of the shrunk rectangular area;

[0013] Connect the four point light source pixels in sequence to form a polygon, and determine whether the polygon is a convex polygon. If so, the four point light source pixels are the calibration pixels; if not, reselect the points located at the concave points until the four point light source pixels are connected to form a convex polygon.

[0014] Preferably, if the range of the rectangular control area exceeds the detection range of the lidar, multiple lidars are set so that all the LED lights are within the detection range of the lidar.

[0015] Preferably, if there are multiple lidars, the rectangular control area is divided according to the recognition range of the lidar and the installation position of the lidar to generate several rectangular sub-control areas.

[0016] Preferably, dividing the rectangular control area to generate several rectangular sub-control areas includes:

[0017] If the height of the rectangular control area is greater than the width and the width is less than the detection radius of the lidar, it is evenly distributed longitudinally, and the number of generated rectangular sub-control areas = the height of the rectangular control area / the detection radius of the lidar;

[0018] If the width of the rectangular control area is greater than the height and the height is less than the detection radius of the lidar, it is evenly distributed horizontally, and the number of generated rectangular sub-control areas = the width of the rectangular control area / the detection radius of the lidar;

[0019] If both the width and height of the rectangular control area are greater than the detection radius of the lidar, it is evenly distributed both horizontally and longitudinally, and the number of generated rectangular sub-control areas = (the width of the rectangular control area / the detection radius of the lidar) * (the height of the rectangular control area / the detection radius of the lidar).

[0020] Preferably, the calibration pixels are selected for each rectangular sub-control area.

[0021] Preferably, if not, reselecting the points located at the concave points until the four point light source pixels are connected to form a convex polygon includes:

[0022] Connect the concave point and its corresponding vertex into a line segment, and rotate with the concave point as the center and the line segment as the radius, and judge the pixels encountered by the line segment in turn until the four point light source pixels are connected to form a convex polygon.

[0023] Preferably, an object or a person is placed at the position of the LED lamp corresponding to the calibration pixel point, and the coordinates of the object or person detected by the lidar are mapped to the PC desktop. Calibrating the coordinates on the calibration pixel point includes:

[0024] Storing the selected calibration pixel points in a queue in sequence;

[0025] Calibrating in sequence according to the queue order;

[0026] And turning on the LED lamp corresponding to the calibration pixel point to be calibrated to green; turning on the LED lamp corresponding to the calibration pixel point waiting for calibration to yellow; turning on the LED lamp corresponding to the calibration pixel point after calibration to red;

[0027] Placing the object or person on the green LED lamp for calibration.

[0028] The present invention also provides an LED point light source lidar interactive calibration system, including:

[0029] A design module, used to design a lighting layout plan, and according to the lighting layout plan, wire and install LED lamps and lidars on site in a certain order;

[0030] A PC desktop module, used to map each LED lamp to the PC desktop according to the sensing module in the LED lamp, and one LED lamp corresponds to one pixel point on the PC desktop, and the pixel point on the PC desktop corresponding to the LED lamp is a point light source pixel point;

[0031] A drawing module, used to draw a rectangular control area on the PC desktop, so that the rectangular control area is the minimum circumscribed rectangle of all the point light source pixel points;

[0032] A selection module, used to select calibration pixel points from the rectangular control area;

[0033] A calibration module, used to place an object or a person at the position of the LED lamp corresponding to the calibration pixel point, map the coordinates of the object or person detected by the lidar to the PC desktop, and calibrate the coordinates on the calibration pixel point;

[0034] Among them, selecting calibration pixel points from the rectangular control area includes:

[0035] Indenting the rectangular control area by 10% along its center point to obtain an indented rectangular area;

[0036] Traverse the point light source pixel points located within the indented rectangular area, and select four point light source pixel points that are respectively the closest to the four vertices of the indented rectangular area;

[0037] Connect the four point light source pixel points in sequence to form a polygon, and determine whether the polygon is a convex polygon. If so, the four point light source pixel points are the calibration pixel points; if not, reselect the points located at the concave points until a convex polygon is formed by connecting the four point light source pixel points.

[0038] Preferably, if the range of the rectangular control area exceeds the detection range of the lidar, multiple lidars are set so that all the LED lights are within the detection range of the lidar; if there are multiple lidars, the rectangular control area is divided according to the recognition range of the lidar and the installation position of the lidar to generate several rectangular sub-control areas.

[0039] Preferably, dividing the rectangular control area to generate several rectangular sub-control areas includes:

[0040] If the height of the rectangular control area is greater than the width and the width is less than the detection radius of the lidar, it is evenly distributed longitudinally, and the number of generated rectangular sub-control areas = the height of the rectangular control area / the detection radius of the lidar;

[0041] If the width of the rectangular control area is greater than the height and the height is less than the detection radius of the lidar, it is evenly distributed horizontally, and the number of generated rectangular sub-control areas = the width of the rectangular control area / the detection radius of the lidar;

[0042] If both the width and height of the rectangular control area are greater than the detection radius of the lidar, it is evenly distributed both horizontally and longitudinally, and the number of generated rectangular sub-control areas = (the width of the rectangular control area / the detection radius of the lidar) * (the height of the rectangular control area / the detection radius of the lidar).

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] The present invention solves the problem of difficult confirmation of the control area for LED point light sources based on PC desktop interaction, and can directly calculate all control partitions according to the lamp layout bitmap; automatically calculate calibration pixel points based on all control partitions, making the calibration points automatically move away from the corners, and accurately calculate the optimal calibration pixel point positions. Description of the Drawings

[0045] Figure 1 It is a flowchart of the LED point light source lidar interaction calibration method in the present invention;

[0046] Figure 2 This is the layout diagram of the lamps in the embodiment of the LED point light source lidar interactive calibration method in the present invention;

[0047] Figure 3 is Figure 2 The sub-control area diagram for dividing the rectangular control area in the embodiment;

[0048] Figure 4 is Figure 3 The indented rectangle diagram ABCD in which a single rectangular sub-control area indents the center point by 10% in ;

[0049] Figure 5 is Figure 4 The calibration point diagram obtained according to the 10%-indented rectangular area in and connected into a convex polygon EFGH diagram;

[0050] Figure 6 is Figure 2 The actual effect diagram after the calibration of the embodiment. Specific embodiments

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0053] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0054] The following will further describe the present invention in detail with reference to the accompanying drawings: Figure 1 That is, the present invention provides an interactive calibration method for an LED point - source lidar, including:

[0055] Referring to Figure 1 , the present invention provides an interactive calibration method for an LED point - source lidar, including:

[0056] Design a lighting layout plan. According to the lighting layout plan, wire and install the LED lights and lidar on - site in a certain order;

[0057] Specifically, design a lighting layout plan on CAD, which can be designed into various patterns, such as a series of graphics like petals, etc., and wire and install according to the designed lighting layout plan.

[0058] According to the sensing module in the LED lights, each LED light is mapped to the PC desktop, and one LED light corresponds to one pixel point on the PC desktop. The pixel point on the PC desktop corresponding to the LED light is a point - source pixel point;

[0059] Specifically, after installation, arrange the positions of the LED point - source lights in the LED lighting control system so that each LED light in reality corresponds to one pixel on the PC desktop. According to the arranged lighting layout map, directly export the lighting layout picture in BMP format. After the lighting layout picture is exported, all white points represent the pixels corresponding to the point - source lamps, and the black positions represent the idle areas. Import the lighting layout map into the lidar interactive system. The lidar interactive system realizes the one - key import of the lighting layout map. After import, draw the lighting layout map in the display window, which is convenient for intuitive browsing and has simple operation. If the lighting layout map is modified later, just re - import it. The lidar interactive system is composed of lidar hardware equipment and lidar interactive software. Among them, the maximum recognition physical distance of the lidar device for interaction is a radius of 30 meters, and it recognizes the coordinates of all objects within a radius of 30 meters. The object coordinates are relative distance coordinates with a lidar as the origin. The lidar interactive software collects the object coordinate data recognized by the lidar, realizes the mutual mapping between the physical coordinates of the objects detected by the lidar and the graphics. At the same time, among all the coordinates obtained by radar induction, any four coordinates that can form the four coordinate points of a convex polygon are subjected to affine transformation mapping with any 4 pixel points corresponding to the PC display desktop, and all the object points sensed by the lidar are mapped one by one to the pixel points in the corresponding area of the PC display desktop.

[0060] Draw a rectangular control area on the PC desktop such that the rectangular control area is the minimum circumscribed rectangle of all point light source pixels, that is, traverse all white pixels in the lighting layout map in the order from left to right and from top to bottom to obtain the minimum and maximum x and y coordinates of each pixel in each row and column, connect all the obtained coordinate points in a clockwise direction, and through geometric algorithms for inclusion and being included, intersection, and point-line relationships, obtain the minimum circumscribed rectangle that includes all the LED point light source lighting image pixels;

[0061] Specifically, if the range of the rectangular control area exceeds the detection range of the lidar, then set multiple lidars so that all the LED lights are within the detection range of the lidar; if there are multiple lidars, then divide the rectangular control area according to the recognition range of the lidar and the installation position of the lidar to generate several rectangular sub-control areas; dividing the rectangular control area to generate several rectangular sub-control areas includes:

[0062] If the height of the rectangular control area is greater than the width and the width is less than the lidar detection radius, then distribute evenly along the longitudinal direction, and the number of generated rectangular sub-control areas = height of the rectangular control area / lidar detection radius;

[0063] If the width of the rectangular control area is greater than the height and the height is less than the lidar detection radius, then distribute evenly horizontally, and the number of generated rectangular sub-control areas = width of the rectangular control area / lidar detection radius;

[0064] If both the width and height of the rectangular control area are greater than the lidar detection radius, then distribute evenly both horizontally and longitudinally, and the number of generated rectangular sub-control areas = (width of the rectangular control area / lidar detection radius) * (height of the rectangular control area / lidar detection radius);

[0065] Select calibration pixels for each rectangular sub-control area;

[0066] Place an object or a person at the position of the LED light corresponding to the calibration pixel, map the coordinates of the object or person detected by the lidar to the PC desktop, and calibrate the coordinates on the calibration pixel;

[0067] Among them, selecting calibration pixels from within the rectangular sub-control area includes:

[0068] Indent the rectangular control area by 10% along its center point to obtain an indented rectangular area;

[0069] Traverse the point light source pixels located within the indented rectangular area, and select four point light source pixels that are respectively the closest to the four vertices of the indented rectangular area;

[0070] Connect four point light source pixels in sequence to form a polygon, and determine whether the polygon is a convex polygon. If it is, the four point light source pixels are calibration pixels; if not, reselect the pixels at the concave points until a convex polygon is formed by connecting the four point light source pixels.

[0071] Specifically, connect the concave point to its corresponding vertex to form a line segment, and rotate the line segment with the concave point as the center and the line segment as the radius. Judge the pixels encountered by the line segment in turn until a convex polygon is formed by connecting the four point light source pixels.

[0072] In this embodiment, place an object or a person at the position of the LED lamp corresponding to the calibration pixel. The coordinates of the object or person detected by the lidar are mapped to the PC desktop. Calibrating the coordinates on the calibration pixel includes:

[0073] Store the selected calibration pixels in the queue in order;

[0074] Perform calibration in sequence according to the queue order;

[0075] And light up the LED lamp corresponding to the calibration pixel to be calibrated as green; light up the LED lamp corresponding to the calibration pixel waiting to be calibrated as yellow; light up the LED lamp corresponding to the calibrated calibration pixel as red;

[0076] Place the object or person on the green LED lamp for calibration.

[0077] By the above method, the present invention solves the problem of difficult confirmation of the interactive control area based on the PC desktop for LED point light sources. All control partitions can be directly calculated according to the lamp layout bitmap, and the calibration pixels can be automatically calculated according to all control partitions, so that the calibration points are automatically away from the corners, and the best calibration pixel positions can be accurately calculated; moreover, the present invention solves the problem of complex interactive calibration process for LED point light sources, distinguishes the colors of the points to be calibrated, the points waiting to be calibrated, and the calibrated points, making it not easy for the operating technicians to make mistakes. During calibration, the calibration points change color to make it easier for users to operate, saving time costs and avoiding misoperations well.

[0078] Embodiment

[0079] Refer to Figure 2 , this embodiment designs a lamp layout scheme for a petal-shaped pattern. The lamp forms a petal shape and 4 lidars are installed around the petals.

[0080] On-site, install the LED lamps and lidars according to the lamp layout scheme in a certain order;

[0081] Then, through the sensing module in the LED lights, each LED light installed on-site is mapped to the PC desktop, and one LED light corresponds to one pixel point on the PC desktop. The pixel point on the PC desktop corresponding to the LED light is the point light source pixel point. That is, in the LED light control system, the positions of the LED point light sources are arranged so that each LED light in reality corresponds to one pixel on the PC desktop, and a light pattern consistent with the on-site installation is displayed on the PC desktop. Then, this light pattern is directly exported as a BMP-format lighting layout picture.

[0082] Import this BMP-format lighting layout picture into the lidar interaction system and draw a rectangular control area so that the rectangular control area is the minimum circumscribed rectangle of all point light source pixel points.

[0083] According to the detection range of the actually installed lidar, 4 lidars are arranged around the petals. If the width and height of the rectangular control area are both greater than the lidar detection radius, then an average distribution is carried out both horizontally and vertically. That is, the rectangular control area is divided into 4 rectangular sub-control areas, as Figure 3 shown.

[0084] Select calibration pixel points in each rectangular sub-control area. That is, the rectangular sub-control area is indented by 10% along its center point to obtain an indented rectangular area ABCD, as Figure 4 shown.

[0085] Traverse the point light source pixel points located within the indented rectangular area ABCD, and select four point light source pixel points that are respectively the closest to the four vertices of the indented rectangular area. Connect the four point light source pixel points in sequence to form a polygon, and determine whether the polygon is a convex polygon. If so, the four point light source pixel points are calibration pixel points, as Figure 5 shown, that is, the calibration pixel points are E, F, G, and H.

[0086] Place an object or a person on the green LED light for calibration.

[0087] After calibration, as Figure 6 shown.

[0088] The present invention also provides an LED point light source lidar interaction calibration system, including:

[0089] A design module for designing a lighting layout plan. According to the lighting layout plan, the LED lights and lidars are wired and installed on-site in a certain order.

[0090] Specifically, design the lighting layout plan on CAD, which can be designed into various patterns, such as a series of graphics like petals, etc., and wire and install according to this designed lighting layout plan.

[0091] The PC desktop module is used to map each LED light to the PC desktop according to the sensing module in the LED light, and one LED light corresponds to one pixel point on the PC desktop. The pixel point on the PC desktop corresponding to the LED light is a point light source pixel point.

[0092] Specifically, after installation, arrange the positions of the LED point light sources in the LED lighting control system so that each LED light in reality corresponds to one pixel on the PC desktop. According to the arranged lighting layout diagram, directly export the lighting picture in BMP format. After the lighting layout diagram is exported, all white points represent the pixels corresponding to the point light source lamps, and the black positions represent the idle areas. Import the lighting layout diagram into the lidar interaction system. The lidar interaction system can achieve one-key import of the lighting layout diagram. After import, draw the lighting layout diagram in the display window, which is convenient for intuitive browsing and has simple operations. If the lighting layout diagram needs to be modified later, just import it again. The lidar interaction system consists of lidar hardware devices and lidar interaction software. Among them, the maximum recognition physical distance of the lidar device for interaction is a radius of 30 meters, and it can identify the coordinates of all objects within a radius of 30 meters. The object coordinates are relative distance coordinates with a lidar as the origin. The lidar interaction software collects the object coordinate data recognized by the lidar and realizes the mutual mapping between the physical coordinates of the objects detected by the lidar and the graphics. At the same time, among all the coordinates obtained by radar induction, any four coordinates that can form the four coordinate points of a convex polygon are subjected to affine transformation mapping with any 4 pixel points corresponding to the PC display desktop, and all the object points sensed by the lidar are mapped to the pixel points in the corresponding area of the PC display desktop one by one.

[0093] The drawing module draws a rectangular control area on the PC desktop, so that the rectangular control area is the minimum circumscribed rectangle of all point light source pixel points, that is, traverse all the white pixel points in the lighting layout diagram in the order from left to right and from top to bottom, obtain the minimum and maximum x and y coordinates in each row and column of pixels, connect all the obtained coordinate points in a clockwise direction, and through geometric algorithms such as inclusion and being included, intersection, and point-line relationship, obtain the minimum circumscribed rectangle that contains all the pixel points of the LED point light source lighting image.

[0094] Specifically, if the range of the rectangular control area exceeds the detection range of the lidar, set multiple lidars so that all the LED lights are within the detection range of the lidar; if there are multiple lidars, divide the rectangular control area according to the recognition range of the lidar and the installation position of the lidar to generate several rectangular sub-control areas; dividing the rectangular control area to generate several rectangular sub-control areas includes:

[0095] If the height of the rectangular control area is greater than the width and the width is less than the lidar detection radius, evenly distribute it longitudinally, and the number of generated rectangular sub-control areas = the height of the rectangular control area / the lidar detection radius;

[0096] If the width of the rectangular control area is greater than the height and the height is less than the detection radius of the lidar, it is evenly distributed horizontally, and the number of generated rectangular sub-control areas = width of the rectangular control area / detection radius of the lidar;

[0097] If both the width and height of the rectangular control area are greater than the detection radius of the lidar, it is evenly distributed both horizontally and vertically, and the number of generated rectangular sub-control areas = (width of the rectangular control area / detection radius of the lidar) * (height of the rectangular control area / detection radius of the lidar);

[0098] A selection module for selecting calibration pixel points from within the rectangular control area;

[0099] A calibration module for placing an object or a person at the position of the LED lamp corresponding to the calibration pixel points, mapping the coordinates of the object or person detected by the lidar to the PC desktop, and calibrating the coordinates on the calibration pixel points;

[0100] Among them, selecting calibration pixel points from within the rectangular sub-control area includes:

[0101] Indenting the rectangular control area by 10% along its center point to obtain an indented rectangular area;

[0102] Traverse the point light source pixel points located within the indented rectangular area, and select four point light source pixel points that are respectively the closest to the four vertices of the indented rectangular area;

[0103] Connect the four point light source pixel points in sequence to form a polygon, and determine whether the polygon is a convex polygon. If so, the four point light source pixel points are calibration pixel points; if not, reselect the points located at the concave points until a convex polygon is formed by connecting the four point light source pixel points.

[0104] Specifically, connect the concave point to its corresponding vertex to form a line segment, and rotate it with the concave point as the center and the line segment as the radius, and sequentially judge the pixel points encountered by the line segment until a convex polygon is formed by connecting the four point light source pixel points.

[0105] In this embodiment, placing an object or a person at the position of the LED lamp corresponding to the calibration pixel points, mapping the coordinates of the object or person detected by the lidar to the PC desktop, and calibrating the coordinates on the calibration pixel points includes:

[0106] Store the selected calibration pixel points in the queue in sequence;

[0107] Calibrate them in sequence according to the queue order;

[0108] And light up the LED corresponding to the calibration pixel point to be calibrated as green; light up the LED corresponding to the calibration pixel point waiting for calibration as yellow; light up the LED corresponding to the calibration pixel point after calibration as red;

[0109] Place an object or a person on the green LED for calibration..

[0110] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An interactive calibration method for an LED point light source lidar, characterized in that, it includes: Design a lighting layout plan. According to the lighting layout plan, connect and install LED lights and lidar on site in a certain order; According to the sensing module in the LED lights, each of the LED lights is mapped to the PC desktop, and one of the LED lights corresponds to one pixel point of the PC desktop. The pixel point of the PC desktop corresponding to the LED light is a point light source pixel point; Draw a rectangular control area on the PC desktop, so that the rectangular control area is the minimum circumscribed rectangle of all the point light source pixel points; Select calibration pixel points from within the rectangular control area; Place an object or a person at the position of the LED light corresponding to the calibration pixel point. The coordinates of the object or person detected by the lidar are mapped to the PC desktop, and the coordinates are calibrated on the calibration pixel point; Among them, selecting calibration pixel points from within the rectangular control area includes: Indent the rectangular control area by 10% along its center point to obtain an indented rectangular area; Traverse the point light source pixel points located within the indented rectangular area, and select four of the point light source pixel points that are respectively the closest to the four vertices of the indented rectangular area; Connect the four point light source pixel points in sequence to form a polygon, and determine whether the polygon is a convex polygon. If so, the four point light source pixel points are the calibration pixel points; if not, reselect the concave points, connect the concave points to their corresponding vertices to form a line segment, and rotate with the concave point as the center and the line segment as the radius, and judge the pixel points encountered by the line segment in turn until the four point light source pixel points are connected to form a convex polygon.

2. The interactive calibration method for an LED point light source lidar according to claim 1, characterized in that, If the range of the rectangular control area exceeds the detection range of the lidar, set multiple lidars so that all the LED lights are within the detection range of the lidar.

3. The interactive calibration method for an LED point light source lidar according to claim 2, characterized in that, If there are multiple lidars, divide the rectangular control area according to the recognition range of the lidar and the installation position of the lidar to generate several rectangular sub-control areas.

4. The interactive calibration method for an LED point light source lidar according to claim 3, characterized in that, Dividing the rectangular control area to generate several rectangular sub-control areas includes: If the height of the rectangular control area is greater than the width and the width is less than the detection radius of the lidar, perform an average distribution longitudinally, and the number of generated rectangular sub-control areas = the height of the rectangular control area / the detection radius of the lidar; If the width of the rectangular control area is greater than the height and the height is less than the detection radius of the lidar, perform an average distribution horizontally, and the number of generated rectangular sub-control areas = the width of the rectangular control area / the detection radius of the lidar; If both the width and height of the rectangular control area are greater than the detection radius of the lidar, perform average distribution both horizontally and vertically, and the number of generated rectangular sub-control areas = (width of the rectangular control area / detection radius of the lidar) * (height of the rectangular control area / detection radius of the lidar).

5. The LED point light source lidar interactive calibration method according to claim 4, characterized in that, select the calibration pixel points for each of the rectangular sub-control areas.

6. The LED point light source lidar interactive calibration method according to claim 5, characterized in that, Place an object or a person at the position of the LED lamp corresponding to the calibration pixel point. The coordinates of the object or person detected by the lidar are mapped to the PC desktop. Calibrating the coordinates on the calibration pixel points includes: Store the selected calibration pixel points in a queue in sequence; Perform calibration in sequence according to the queue order; And light up the LED lamp corresponding to the calibration pixel point to be calibrated as green; light up the LED lamp corresponding to the calibration pixel point waiting for calibration as yellow; light up the LED lamp corresponding to the calibration pixel point after calibration as red; Place the object or person on the green LED lamp for calibration.

7. An LED point light source lidar interactive calibration system, characterized in that, comprising: A design module for designing a lighting layout plan. According to the lighting layout plan, wire and install LED lamps and lidars on site in a certain order; A PC desktop module for mapping each LED lamp to the PC desktop according to the sensing module in the LED lamp, and one LED lamp corresponds to one pixel point on the PC desktop. The pixel point on the PC desktop corresponding to the LED lamp is a point light source pixel point; A drawing module for drawing a rectangular control area on the PC desktop, so that the rectangular control area is the smallest circumscribed rectangle of all the point light source pixel points; A selection module for selecting calibration pixel points from within the rectangular control area; A calibration module for placing an object or a person at the position of the LED lamp corresponding to the calibration pixel point. The coordinates of the object or person detected by the lidar are mapped to the PC desktop, and the coordinates are calibrated on the calibration pixel points; Among them, selecting calibration pixel points from within the rectangular control area includes: Indent the rectangular control area by 10% along its center point to obtain an indented rectangular area; Traverse the point light source pixel points located within the indented rectangular area, and select four point light source pixel points that are respectively the closest to the four vertices of the indented rectangular area; Connect the four point light source pixel points in sequence to form a polygon, and determine whether the polygon is a convex polygon. If so, the four point light source pixel points are the calibration pixel points; if not, reselect the concave points, connect the concave points and their corresponding vertices into a line segment, and rotate the line segment with the concave point as the center and the line segment as the radius. Judge the pixel points encountered by the line segment in turn until the four point light source pixel points are connected to form a convex polygon.

8. The LED point light source lidar interactive calibration system according to claim 7, characterized in that if the range of the rectangular control area exceeds the detection range of the lidar, a plurality of lidars are set so that all the LED lights are within the detection range of the lidar; if there are a plurality of lidars, the rectangular control area is divided according to the recognition range of the lidar and the installation position of the lidar to generate a number of rectangular sub-control areas.

9. The LED point light source lidar interactive calibration system according to claim 8, characterized in that dividing the rectangular control area to generate a number of rectangular sub-control areas includes: if the height of the rectangular control area is greater than the width and the width is less than the lidar detection radius, it is evenly distributed longitudinally, and the number of generated rectangular sub-control areas = the height of the rectangular control area / the lidar detection radius; if the width of the rectangular control area is greater than the height and the height is less than the lidar detection radius, it is evenly distributed horizontally, and the number of generated rectangular sub-control areas = the width of the rectangular control area / the lidar detection radius; if both the width and height of the rectangular control area are greater than the lidar detection radius, it is evenly distributed both horizontally and longitudinally, and the number of generated rectangular sub-control areas = (the width of the rectangular control area / the lidar detection radius) * (the height of the rectangular control area / the lidar detection radius).

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