A three-dimensional area protection method, system and device based on laser radar

Abstract

The present application provides a three-dimensional area protection method, system, and device based on laser radar, which relates to the field of laser radar technology. The method includes: establishing a three-dimensional space coordinate system in the target area with the laser radar location as the origin of the coordinate system; using a preset three-dimensional graphic to draw a three-dimensional graphic area in the three-dimensional space coordinate system, and determining the area attributes of each three-dimensional graphic area to obtain a three-dimensional graphic area set; determining at least one three-dimensional protection area in the target area based on the three-dimensional graphic area set and the scanning range of the laser radar; determining a target protection area from at least one three-dimensional protection area based on a monitoring event configuration table; and implementing an intrusion protection function for the target protection area based on the protection strategy corresponding to the target protection area. This method can effectively improve the drawing efficiency of the three-dimensional protection area, especially the drawing efficiency in complex environments, and flexibly implement protection planning for the three-dimensional protection area through monitoring event configuration.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a three-dimensional area protection method, system and equipment based on laser radar. Background Art

[0002] With the rapid development of LiDAR and automated control technologies, LiDAR is increasingly being used for collision and obstacle avoidance in production and everyday situations, such as machinery operation, cargo dispatching, and vehicle driving. A single two-dimensional protection zone often cannot adapt to complex and changing scenarios. However, establishing a three-dimensional zone provides comprehensive intrusion protection, significantly improving the safety of personnel and cargo. The establishment of a three-dimensional zone and its early warning strategy are directly related to the effectiveness and timeliness of three-dimensional protection.

[0003] Currently, three-dimensional area protection is applied to specific scenarios or preset configuration parameters such as angle, distance and direction to complete the protection of simple areas. Each scene area needs to be manually calculated and configured, which reduces the efficiency of drawing the protection area and is not intuitive and flexible enough. Summary of the Invention

[0004] The embodiments of the present application provide a three-dimensional area protection method, system and device based on lidar, which can effectively improve the drawing efficiency of the three-dimensional protection area, especially the drawing efficiency in complex environments, and flexibly realize the protection planning of the three-dimensional protection area through monitoring event configuration.

[0005] In the first aspect, the present application provides a three-dimensional area protection method based on laser radar, comprising: establishing a three-dimensional space coordinate system in the target area with the location of the above-mentioned laser radar as the origin of the coordinate system; using a preset three-dimensional graphic, drawing a three-dimensional graphic area in the above-mentioned three-dimensional space coordinate system, and determining the area attributes of each three-dimensional graphic area to obtain a three-dimensional graphic area set; determining at least one three-dimensional protection area in the above-mentioned target area based on the above-mentioned three-dimensional graphic area set and the scanning range of the above-mentioned laser radar; determining a target protection area from the above-mentioned at least one three-dimensional protection area according to a monitoring event configuration table; and realizing the intrusion protection function of the above-mentioned target protection area according to the protection strategy corresponding to the above-mentioned target protection area.

[0006] The embodiment of the present application utilizes preset three-dimensional graphics to draw a three-dimensional graphic area in the three-dimensional spatial coordinate system where the target area is located. After obtaining a set of three-dimensional graphic areas in the target area, at least one three-dimensional protection area is determined in combination with the scanning range of the laser radar, and a target protection area is determined from the at least one determined three-dimensional protection area through a monitoring event configuration table. Then, according to the protection strategy corresponding to the target protection area, an intrusion protection function is implemented for the target protection area. This can effectively improve the drawing efficiency of the three-dimensional protection area, especially the drawing efficiency in complex environments, and flexibly implement protection planning for the three-dimensional protection area through monitoring event configuration.

[0007] In an optional manner provided in the first aspect, the above-mentioned three-dimensional graphics are used to draw three-dimensional graphic regions in the three-dimensional space coordinate system, and the region attributes of each three-dimensional graphic region are determined to obtain a three-dimensional graphic region set, including:

[0008] Preprocessing the preset three-dimensional graphic to obtain a first three-dimensional graphic that meets the regional shape requirements, wherein the preprocessing includes any one or more operations of enlarging, reducing, segmenting, and combining;

[0009] Placing the first three-dimensional graphic at a corresponding area to obtain the three-dimensional graphic area;

[0010] According to the protection strategy of the three-dimensional protection area, the area attribute of the corresponding three-dimensional graphic area is determined.

[0011] In another optional manner provided in the first aspect, the above-mentioned use of the preset three-dimensional graphics to draw three-dimensional graphic regions in the above-mentioned three-dimensional space coordinate system, and determining the region attributes of each three-dimensional graphic region to obtain a three-dimensional graphic region set includes:

[0012] When the preset three-dimensional graphics cannot obtain the first three-dimensional graphics that meet the regional shape requirements, the laser radar is used to perform an environmental scan of the target area to obtain first three-dimensional point cloud data;

[0013] Establishing a three-dimensional graphic model based on the first three-dimensional point cloud data;

[0014] The three-dimensional graphic model is placed at the corresponding area to obtain the corresponding three-dimensional graphic area.

[0015] In another optional manner provided by the first aspect, after placing the three-dimensional graphic model at the corresponding area position to obtain the corresponding three-dimensional graphic area, the method further includes:

[0016] The three-dimensional graphic model is stored as a preset three-dimensional graphic in a three-dimensional area graphic library.

[0017] In another optional manner provided in the first aspect, before using the preset three-dimensional graphics to draw three-dimensional graphic regions in the three-dimensional space coordinate system and determining the region attributes of each three-dimensional graphic region to obtain the three-dimensional graphic region set, the method includes:

[0018] Construct a three-dimensional regional graphics library using basic graphics, where the basic graphics are used as preset three-dimensional graphics, including any one or more of a sphere, a cube, a cone, a cylinder, and a rotational surface;

[0019] The basic graphics are segmented and combined to obtain different three-dimensional graphics as preset three-dimensional graphics and stored in the three-dimensional area graphics library.

[0020] In another optional manner provided in the first aspect, determining the target protection area from the at least one three-dimensional protection area according to the monitoring event configuration table includes:

[0021] Obtaining a currently activated monitoring event table from the monitoring event configuration table, wherein the monitoring event configuration table includes at least one monitoring event table;

[0022] Obtaining monitoring events contained in a currently activated monitoring event table, wherein the monitoring event table includes at least one monitoring event;

[0023] The three-dimensional protection area included in the monitoring event is set as the target protection area, and the monitoring event includes at least one three-dimensional protection area in the three-dimensional protection area set.

[0024] In another optional manner provided in the first aspect, before obtaining the currently activated monitoring event table from the monitoring event configuration table, the following steps are included:

[0025] Acquire monitoring event configuration parameters, including the event identifier and three-dimensional protection area of the monitoring event;

[0026] According to the above monitoring event configuration parameters, complete the configuration of the above monitoring event and update the above monitoring event configuration table.

[0027] In a second aspect, the present application provides a three-dimensional area protection system based on laser radar, comprising:

[0028] A three-dimensional space coordinate system establishing unit is used to establish a three-dimensional space coordinate system in the target area with the position of the above-mentioned laser radar as the origin of the coordinate system;

[0029] A three-dimensional graphic region drawing unit is used to draw a three-dimensional graphic region in the three-dimensional space coordinate system using a preset three-dimensional graphic, and determine the region attribute of each three-dimensional graphic region to obtain a three-dimensional graphic region set;

[0030] a three-dimensional protection area determination unit, configured to determine at least one three-dimensional protection area within the target area based on the three-dimensional graphic area set and the scanning range of the laser radar;

[0031] a target protection area determination unit, configured to determine a target protection area from the at least one three-dimensional protection area according to a monitoring event configuration table;

[0032] The regional protection unit is used to implement the intrusion protection function of the above-mentioned target protection area according to the protection strategy corresponding to the above-mentioned target protection area.

[0033] In an optional manner provided in the second aspect, the three-dimensional graphics area drawing unit includes:

[0034] A graphics preprocessing subunit, configured to preprocess the preset three-dimensional graphics to obtain a first three-dimensional graphics meeting the regional shape requirements, wherein the preprocessing includes any one or more operations of enlarging, reducing, segmenting, and combining;

[0035] A first graphic placement subunit is configured to place the first three-dimensional graphic at a corresponding area position to obtain the three-dimensional graphic area;

[0036] The area attribute determination subunit is used to determine the area attribute of the corresponding three-dimensional graphic area according to the protection strategy of the three-dimensional protection area.

[0037] In another optional manner provided in the second aspect, the three-dimensional graphic area drawing unit includes:

[0038] a three-dimensional point cloud data acquisition subunit, configured to, when a first three-dimensional graphic that meets the regional shape requirements cannot be obtained by using a preset three-dimensional graphic, perform an environmental scan of the target area using the laser radar to obtain first three-dimensional point cloud data;

[0039] A three-dimensional graphics model building subunit, configured to build a three-dimensional graphics model based on the first three-dimensional point cloud data;

[0040] The second graphic placement subunit is used to place the three-dimensional graphic model at a corresponding area position to obtain a corresponding three-dimensional graphic area.

[0041] In another optional manner provided in the second aspect, the three-dimensional graphic area rendering unit further includes:

[0042] The graphics storage subunit is used to store the above three-dimensional graphics model as a preset three-dimensional graphic in a three-dimensional area graphics library.

[0043] In another optional embodiment of the second aspect, the system further includes:

[0044] A three-dimensional area graphics library construction unit is used to construct a three-dimensional area graphics library using basic graphics, wherein the basic graphics are used as preset three-dimensional graphics, including any one or more of a sphere, a cube, a cone, a cylinder, and a rotation surface;

[0045] The graphics operation unit is used to segment and combine the basic graphics to obtain different three-dimensional graphics as preset three-dimensional graphics and store them in the three-dimensional area graphics library.

[0046] In another optional manner provided in the second aspect, the target protection area determination unit is configured to:

[0047] Obtaining a currently activated monitoring event table from the monitoring event configuration table, wherein the monitoring event configuration table includes at least one monitoring event table;

[0048] Obtaining monitoring events contained in a currently activated monitoring event table, wherein the monitoring event table includes at least one monitoring event;

[0049] The three-dimensional protection area included in the monitoring event is set as the target protection area, and the monitoring event includes at least one three-dimensional protection area in the three-dimensional protection area set.

[0050] In another optional manner provided in the second aspect, the target protection area determination unit is further configured to:

[0051] Acquire monitoring event configuration parameters, including the event identifier and three-dimensional protection area of the monitoring event;

[0052] According to the above monitoring event configuration parameters, complete the configuration of the above monitoring event and update the above monitoring event configuration table.

[0053] In the third aspect, the present application provides a three-dimensional area protection device based on laser radar, including a processor, a memory, and a computer program stored in the above memory and runnable on the above processor. When the above processor executes the above computer program, it implements the above method as described in the first aspect or any optional method of the first aspect.

[0054] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method described in the first aspect or any optional method of the first aspect.

[0055] In the fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a three-dimensional area protection device based on laser radar, the three-dimensional area protection device based on laser radar performs the steps of the three-dimensional area protection method based on laser radar mentioned above in the first aspect.

[0056] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0058] Figure 1 This is a flow chart of a three-dimensional area protection method based on laser radar provided in an embodiment of the present application;

[0059] Figure 2 is an image schematic diagram of a target area provided in an embodiment of the present application;

[0060] Figure 3 This embodiment of the present application provides a method based on Figure 2 An image schematic diagram of a three-dimensional graphic model obtained from the target area shown;

[0061] Figure 4 This embodiment of the present application provides a method for Figure 3 A schematic diagram of an image of a three-dimensional graphic obtained by segmenting the three-dimensional graphic model shown;

[0062] Figure 5 This is a schematic diagram of an image of a three-dimensional graphic area set provided in an embodiment of the present application;

[0063] Figure 6 This embodiment of the present application provides a method based on Figure 5 A schematic diagram of an image of a target protection area obtained by combining the three-dimensional graphic areas shown;

[0064] Figure 7 This is a flow chart of a method for determining a three-dimensional graphic area set provided in an embodiment of the present application;

[0065] Figure 8 This is a schematic structural diagram of a three-dimensional area protection system based on laser radar provided in an embodiment of the present application;

[0066] Figure 9 This is a structural diagram of a three-dimensional area protection device based on laser radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known devices, systems, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0068] It should be understood that the term "and / or" used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations. In addition, in the description of this specification and the appended claims, the terms "first," "second," "third," etc. are used only to distinguish descriptions and are not to be understood as indicating or implying relative importance.

[0069] It should also be understood that references to "one embodiment" or "some embodiments" in the present specification mean that one or more embodiments of the present application include a particular feature, structure, or characteristic described in conjunction with that embodiment. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0070] See Figure 1 , Figure 1 This is a flow chart of a three-dimensional area protection method based on LiDAR provided by the present application, which is described in detail as follows:

[0071] Step S101: within the target area, a three-dimensional space coordinate system is established with the position of the laser radar as the origin of the coordinate system.

[0072] In an embodiment of the present application, the target protection area is an area in the current environment that requires intrusion protection. A laser radar 1 is set up in this area. The laser radar 1 can scan the surrounding environment and monitor objects that invade the area to achieve intrusion protection for the area.

[0073] In some embodiments of the present application, the position of the laser radar 1 is taken as the origin of the coordinate system, and the right hand is placed at the origin, so that the thumb, index finger and middle finger are at right angles to each other, and the thumb points to the positive direction of the x-axis, and the index finger points to the positive direction of the y-axis, and the direction pointed by the middle finger is the positive direction of the z-axis. Figure 2A three-dimensional space coordinate system is established in the target area shown, and the established three-dimensional space coordinate system is also called a right-handed space rectangular coordinate system.

[0074] Step S102 : using a preset three-dimensional graphic, drawing a three-dimensional graphic region in the three-dimensional space coordinate system, and determining the region attribute of each three-dimensional graphic region to obtain a three-dimensional graphic region set.

[0075] In an embodiment of the present application, after establishing a three-dimensional space coordinate system, a three-dimensional graphic area is drawn within the target area using a preset three-dimensional graphic. After the three-dimensional graphic area is drawn, the area attribute configuration parameters are obtained to determine the area attributes of each three-dimensional graphic area.

[0076] The regional attributes in the embodiment of the present application include but are not limited to monitoring areas and shielding areas. Within the target area, there are multiple areas with different regional attributes, and these areas constitute a three-dimensional graphic area set.

[0077] In an embodiment of the present application, the preset three-dimensional graphics are three-dimensional graphics stored in a three-dimensional area graphics library. Before using the preset three-dimensional graphics to draw a three-dimensional graphic area, it is necessary to build a three-dimensional area graphics library so that a suitable three-dimensional graphic can be selected from the three-dimensional area graphics library to draw the three-dimensional graphic area, thereby improving the drawing efficiency of the three-dimensional graphic area.

[0078] In some embodiments of the present application, a three-dimensional area graphics library is constructed through basic graphics, or the above-mentioned basic graphics are divided and combined to obtain different three-dimensional graphics as preset three-dimensional graphics and stored in the above-mentioned three-dimensional area graphics library to enrich the resources in the three-dimensional area graphics library.

[0079] In the embodiment of the present application, the basic graphics include but are not limited to any one or a combination of a sphere, a cube, a cone, a cylinder, and a rotation surface.

[0080] It can be understood that the basic graphics in the embodiments of the present application are not limited to the existing known basic graphics, but also include other graphics that can be used as basic graphics in the future, such as prisms. The basic graphics in the embodiments of the present application are not specifically limited.

[0081] Due to the complexity of the environment, when the target area cannot be drawn with a single fixed three-dimensional graphic, in order to quickly and effectively construct a complex target protection area, the embodiment of the present application uses a laser radar to scan and model the surrounding environment to obtain a corresponding three-dimensional graphic model in the current environment, and then divides and combines the three-dimensional graphic model to obtain different three-dimensional graphics and store them in a three-dimensional area graphic library, which greatly enriches the resources in the three-dimensional area graphic library, modularizes the surrounding environment area, greatly reduces the workload of manually drawing three-dimensional graphics, and improves the drawing efficiency of the three-dimensional graphic area.

[0082] Before using lidar to scan and model the surrounding environment and obtain the corresponding three-dimensional graphic model in the current environment, it is necessary to fix a three-dimensional data acquisition device such as a lidar to scan the specified area, that is, the target area, and obtain the three-dimensional point cloud data within the scanning range of the lidar in the target area. Then, the distribution probability of the point cloud in each confidence interval in the current environment is statistically analyzed. According to the preset confidence value, the probability limit of each point cloud falling into each confidence interval is determined, thereby obtaining a valid point cloud after filtering out noise, and then modeling is performed based on the point cloud features of the valid point cloud to obtain the above-mentioned three-dimensional graphic model.

[0083] Since the same lidar may have different resolutions, the confidence interval in the embodiment of the present application refers to the range of ranging values distributed at the ranging points of the lidar at each resolution, and the confidence level refers to the probability that the ranging value is within this confidence interval.

[0084] In some specific embodiments of the present application, a preset 3D graphic is selected from a 3D region graphic library and placed in a 3D spatial coordinate system. Then, user operations on the preset 3D graphic placed in the spatial coordinate system, such as dragging, scaling, moving, and rotating, are captured, and region attributes are added to the final 3D graphic to obtain a final 3D graphic region. Once all preset 3D graphics selected by the user have been added, a set of 3D graphic regions within the target region is obtained.

[0085] In other embodiments of the present application, after establishing a three-dimensional space coordinate system, the target area is scanned and modeled by a laser radar, and the following is obtained: Figure 3 The three-dimensional graphics model shown.

[0086] In some specific embodiments of the present application, through key nodes, Figure 3 The three-dimensional graphics model shown in the figure is segmented to obtain Figure 4 The two basic graphics shown, one of which is Figure 4 The part of the figure marked as 1, the other basic figure is Figure 4 The part of the figure marked as 2, the two figures are connected by Figure 4 The two basic graphics obtained by segmentation are stored in a three-dimensional region graphic library, and the three-dimensional graphic area corresponding to the two basic graphics obtained by segmentation is marked as a monitoring area.

[0087] like Figure 5As shown, a preset three-dimensional graphic, such as a cylinder, is placed in any one of the two three-dimensional graphic areas obtained by segmentation, such as the three-dimensional graphic area 1, which is the partial graphic marked as 1. The cylinder is scaled and moved and then placed in the three-dimensional graphic area 1 as the shielding area 3. At this time, the target area is a three-dimensional graphic area set consisting of a three-dimensional graphic area 1, a three-dimensional graphic area 2, which is the partial graphic marked as 2, and the shielding area 3.

[0088] Step S103: Determine at least one three-dimensional protection area within the target area based on the three-dimensional graphic area set and the scanning range of the laser radar.

[0089] In an embodiment of the present application, since the scanning distance of the laser radar is limited, only objects within the scanning range of the laser radar can be detected. In order to accurately determine the target protection area and reduce unnecessary interference, the three-dimensional graphic area set and the scanning range of the laser radar are combined to determine the effective three-dimensional protection area. The number of determined three-dimensional protection areas is related to the number of three-dimensional graphic areas in the target area and the scanning range of the laser radar, and is generally less than or equal to the number of three-dimensional graphic areas in the three-dimensional graphic area set.

[0090] like Figure 6 As shown, Figure 5 The intersection of the three-dimensional graphic area set shown and the pixels within the scanning range of the laser radar is taken to obtain the final three-dimensional protection area, which can be used as the target protection area.

[0091] In some embodiments of the present application, before determining the final three-dimensional protection area, the user can add the three-dimensional graphic area to different monitoring events according to actual needs, and flexibly configure and manage the three-dimensional graphic area through monitoring events. Each monitoring event includes at least one three-dimensional graphic area.

[0092] It is understandable that the three-dimensional graphic area added to the monitoring event can also be deleted according to actual needs. Through the monitoring event management method, flexible management of the three-dimensional graphic area can be achieved, and the parameters of each monitoring event, that is, the three-dimensional graphic area, can be quickly modified. The protection configuration of the three-dimensional graphic area can be achieved through monitoring events, which is simple and flexible.

[0093] In other embodiments of the present application, in order to further improve the flexibility of parameter configuration, simplify the operation of parameter configuration, and improve the efficiency of parameter configuration and management efficiency, multiple monitoring events are added to the monitoring event table, and different monitoring event tables constitute a monitoring event configuration table. By managing different monitoring event tables accordingly through the monitoring event configuration table, the planning efficiency of the protection area can be effectively improved, and the protection needs of different scenarios can be quickly responded to.

[0094] In some specific embodiments of the present application, multiple three-dimensional protection areas under the same monitoring event have the same regional attributes, but different protection levels. The entire monitoring area has upper and lower intrusion levels, and intrusions at the same protection level also have an upper limit.

[0095] Using point counts, such as the number of intruding objects or the total number of pixels, as intrusion detection criteria, a monitoring event has three three-dimensional protection areas: A1, A2, and B. A1 and A2 have the same protection level, for example, if the number of intrusion points exceeds 5, an object intrusion has occurred. B has a lower protection level than A1 and A2, for example, if the number of intrusion points exceeds 8, an object intrusion has occurred. A1, A2, and B represent the entire monitoring area. When the number of intrusion points exceeds 5, an intrusion is detected, or a three-dimensional protection area is invaded. In this case, the entire monitoring area is also considered invaded.

[0096] During the actual protection process, different monitoring event tables or monitoring events can be activated according to actual protection needs, so that intrusion protection can be performed on the three-dimensional protection area in the monitoring event table or monitoring event. The three-dimensional protection areas under other inactivated monitoring event tables or monitoring events do not need to be intrusion protected, which reduces unnecessary protection data and improves protection efficiency.

[0097] In an embodiment of the present application, different monitoring event tables constitute a monitoring event configuration table, and different monitoring events constitute a monitoring event table. The three-dimensional graphic area included in each monitoring event can be manually added by the user, or it can be a monitoring event table obtained by random allocation according to predetermined rules. The actual configuration operation of the monitoring event table is not specifically limited here.

[0098] In an embodiment of the present application, the monitoring event configuration table includes at least one monitoring event table, each monitoring event table includes at least one monitoring event, each monitoring event table includes at least one monitoring event, and each monitoring event includes at least one three-dimensional protection area in the above-mentioned three-dimensional protection area set.

[0099] Step S104: determining a target protection area from the at least one three-dimensional protection area according to the monitoring event configuration table.

[0100] In an embodiment of the present application, the target protection area is the area that currently requires intrusion protection, that is, the three-dimensional protection area included in the monitoring event activated in the monitoring event configuration table. The target protection area is any one or several areas in the three-dimensional protection area and is included in the activated monitoring event or monitoring event table.

[0101] In some embodiments of the present application, an activated monitoring event table or monitoring event in a monitoring event configuration table is obtained, and a target protection area is determined based on the activated monitoring event table or monitoring event.

[0102] Step S105 : implementing an intrusion protection function of the target protection area according to the protection strategy corresponding to the target protection area.

[0103] In the embodiments of the present application, a protection strategy is a strategy for assigning protection alarm levels to three-dimensional protection areas and determining the scope of the area based on the regional attributes of the three-dimensional protection area. For example, the protection strategy implements corresponding protection measures such as alarm mode and alarm level based on the regional attributes of the target protection area. Based on the protection strategy corresponding to the target protection area, the intrusion protection function of the target protection area can be implemented, and the intrusion area and intrusion level can be determined through the protection strategy. The specific implementation method of the intrusion protection function of the target protection area can be referred to the existing regional protection implementation method, and no specific limitation is made here.

[0104] In an embodiment of the present application, when using a preset three-dimensional graphic, drawing a three-dimensional graphic area in the above-mentioned three-dimensional space coordinate system, and determining the area attributes of each three-dimensional graphic area to obtain a three-dimensional graphic area set, in order to improve the fit between the three-dimensional graphic area and the actual area and ensure the accuracy of area protection, it is necessary to preprocess the preset three-dimensional graphic and place it in the corresponding area position to obtain the three-dimensional graphic area that actually needs to be protected.

[0105] See Figure 7 , Figure 7 This is a flow chart of a method for determining a three-dimensional graphic area set provided in an embodiment of the present application, which is described in detail as follows:

[0106] Step S701 : pre-processing the above-mentioned preset three-dimensional graphic to obtain a first three-dimensional graphic that meets the regional shape requirements.

[0107] The preprocessing of the embodiment of the present application includes any one or more operations of enlarging, reducing, splitting and combining. The regional shape is the shape of the area that needs to be protected. Generally speaking, when drawing a graphic area using a preset three-dimensional graphic, the user can select a three-dimensional graphic of a suitable shape from the three-dimensional regional graphic library, and then perform certain processing on the three-dimensional graphic to make it conform to the regional shape, such as adjusting the size. When the regional shape in the actual environment only requires a part of the three-dimensional graphic, the user can perform segmentation processing on the three-dimensional graphic. When the user's segmentation operation on the three-dimensional graphic is received, the three-dimensional graphic is segmented into a three-dimensional graphic of a predetermined shape. When the regional shape in the actual environment requires a combination of multiple three-dimensional graphics, the user's combination operation on the three-dimensional graphic is obtained, and the multiple three-dimensional graphics are combined into a three-dimensional graphic of a predetermined shape, thereby obtaining a three-dimensional graphic that meets the regional shape requirements.

[0108] Step S702: placing the first three-dimensional graphic at a corresponding area position to obtain the three-dimensional graphic area.

[0109] In the embodiments of the present application, after obtaining a three-dimensional graphic that meets the region shape requirements, adjustments, such as moving or rotating the three-dimensional graphic, are made so that its position and angle are consistent with those of the region in the actual environment, thereby obtaining the corresponding three-dimensional graphic region. When a target region contains multiple three-dimensional graphic regions, the collection of these three-dimensional graphic regions is referred to as a three-dimensional graphic region collection, specifically referring to all three-dimensional graphic regions within the target region.

[0110] It is understandable that moving or rotating the three-dimensional graphic may be performed manually by the user, or the three-dimensional graphic may be moved or rotated according to adjustment parameters, and this embodiment of the present application does not specifically limit this.

[0111] Step S703: determining the area attributes corresponding to the three-dimensional graphic area according to the protection strategy of the three-dimensional protection area.

[0112] In an embodiment of the present application, the protection strategy of each three-dimensional protection area is obtained, and the area attributes of the corresponding three-dimensional graphic area are determined according to the protection strategy of each three-dimensional protection area, that is, it is determined whether the three-dimensional graphic area belongs to a monitoring area or a shielding area. The monitoring area indicates that the area allows regional intrusion monitoring; the shielding area indicates that the area prohibits regional intrusion monitoring, and no alarm response will be generated when an object enters the area.

[0113] In some embodiments of the present application, when the first three-dimensional graphic that meets the regional shape requirements cannot be obtained by the preset three-dimensional graphic, the above-mentioned target area is scanned by the above-mentioned laser radar to obtain first three-dimensional point cloud data; based on the above-mentioned first three-dimensional point cloud data, a three-dimensional graphic model is established; the above-mentioned three-dimensional graphic model is placed in the corresponding area position to obtain the corresponding three-dimensional graphic area.

[0114] When the three-dimensional graphics in the existing three-dimensional area graphics library cannot meet the requirements of the shapes of various areas in the current environment, that is, when there is no three-dimensional graphics matching the shape of the current area in the existing three-dimensional area graphics library, the target area can be scanned by laser radar to obtain the three-dimensional point cloud data corresponding to the target area, and then a three-dimensional graphics model is constructed based on the point cloud features of the three-dimensional point cloud data to obtain a three-dimensional graphics that meets the shape of the current area. The three-dimensional graphics model is placed in the corresponding area position to obtain the corresponding three-dimensional graphics area.

[0115] In some embodiments of the present application, after obtaining the 3D graphic model, the 3D graphic model is stored as a preset 3D graphic in a 3D region graphic library, and the 3D graphic in the 3D region graphic library is updated.

[0116] In other embodiments of the present application, if the three-dimensional area graphics library is empty, that is, no three-dimensional graphics are stored in the three-dimensional area graphics library, before using preset three-dimensional graphics to draw three-dimensional graphic areas in the above-mentioned three-dimensional space coordinate system and determine the area attributes of each three-dimensional graphic area to obtain a three-dimensional graphic area set, it is necessary to use basic graphics to construct a three-dimensional area graphics library.

[0117] In some specific embodiments of the present application, a three-dimensional area graphics library is constructed through basic graphics. These basic graphics serve as preset three-dimensional graphics in the three-dimensional area graphics library, including but not limited to spheres, cubes, cones, cylinders, hexagonal prisms, triangles, and rotation surfaces.

[0118] In other specific embodiments of the present application, in order to further increase the shapes of preset three-dimensional graphics, meet the requirements of different area shapes, and improve the efficiency of drawing three-dimensional protection areas, the above-mentioned basic graphics can also be divided and combined to obtain different three-dimensional graphics as preset three-dimensional graphics, and stored in the above-mentioned three-dimensional area graphics library.

[0119] In the implementation of this application, after determining the three-dimensional protection area, it is not necessary to protect all three-dimensional protection areas at the same time according to different protection needs. For example, area A needs to be monitored during the day, while area B needs to be monitored at night. At this time, through the monitoring event configuration table, the protection needs of different scenarios can be subdivided by activating the monitoring event table, and the protection needs of different scenarios can be quickly switched, which can effectively improve the planning efficiency of the protection area and quickly respond to the protection needs of different scenarios.

[0120] In some embodiments of the present application, the currently activated monitoring event table is obtained from the above-mentioned monitoring event configuration table, the monitoring events contained in the currently activated monitoring event table are obtained, and the three-dimensional protection area contained in the above-mentioned monitoring event is set as the target protection area.

[0121] In other embodiments of the present application, before obtaining the currently activated monitoring event table from the above-mentioned monitoring event configuration table, the monitoring event configuration parameters are obtained, and the above-mentioned monitoring event configuration parameters include the event identifier and three-dimensional protection area of the above-mentioned monitoring event; according to the above-mentioned monitoring event configuration parameters, the configuration of the above-mentioned monitoring event is completed, and the above-mentioned monitoring event configuration table is updated.

[0122] The monitoring event configuration parameters in the embodiment of the present application can be manually input by the user, such as adding a three-dimensional graphic area to a certain event.

[0123] In an embodiment of the present application, by utilizing preset three-dimensional graphics, a three-dimensional graphic area is drawn in the three-dimensional space coordinate system where the target area is located. After obtaining a set of three-dimensional graphic areas in the target area, combined with the scanning range of the laser radar, at least one three-dimensional protection area is determined, and through the monitoring event configuration table, the target protection area is determined from the at least one determined three-dimensional protection area, and then according to the protection strategy corresponding to the target protection area, the intrusion protection function of the target protection area is realized, which can effectively improve the drawing efficiency of the three-dimensional protection area, especially the drawing efficiency in complex environments, and flexibly realize the protection planning of the three-dimensional protection area through the monitoring event configuration.

[0124] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0125] Based on the three-dimensional area protection method based on laser radar provided in the above embodiment, the embodiment of the present application further provides a system embodiment for implementing the above method embodiment.

[0126] See Figure 8 , Figure 8 This is a schematic diagram of a three-dimensional area protection system based on laser radar provided in an embodiment of the present application. The units included are used to execute Figure 1 Each step in the corresponding embodiment. Please refer to Figure 1 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 8 , the three-dimensional area protection system 8 based on laser radar includes:

[0127] A three-dimensional space coordinate system establishing unit 81 is used to establish a three-dimensional space coordinate system in the target area with the position of the laser radar as the origin of the coordinate system;

[0128] A three-dimensional graphic region drawing unit 82 is configured to draw a three-dimensional graphic region in the three-dimensional space coordinate system using a preset three-dimensional graphic, and determine the region attributes of each three-dimensional graphic region to obtain a set of three-dimensional graphic regions;

[0129] a three-dimensional protection area determination unit 83, configured to determine at least one three-dimensional protection area within the target area based on the three-dimensional graphic area set and the scanning range of the laser radar;

[0130] a target protection area determination unit 84, configured to determine a target protection area from the at least one three-dimensional protection area according to the monitoring event configuration table;

[0131] The area protection unit 85 is used to implement the intrusion protection function of the target protection area according to the protection strategy corresponding to the target protection area.

[0132] In some implementations of the present application, the three-dimensional graphic area rendering unit 82 includes:

[0133] A graphics preprocessing subunit, configured to preprocess the preset three-dimensional graphics to obtain a first three-dimensional graphics meeting the regional shape requirements, wherein the preprocessing includes any one or more operations of enlarging, reducing, segmenting, and combining;

[0134] A first graphic placement subunit is configured to place the first three-dimensional graphic at a corresponding area position to obtain the three-dimensional graphic area;

[0135] The area attribute determination subunit is used to determine the area attribute of the corresponding three-dimensional graphic area according to the protection strategy of the three-dimensional protection area.

[0136] In some other implementations of the present application, the three-dimensional graphic area rendering unit 82 includes:

[0137] a three-dimensional point cloud data acquisition subunit, configured to, when a first three-dimensional graphic that meets the regional shape requirements cannot be obtained by using a preset three-dimensional graphic, perform an environmental scan of the target area using the laser radar to obtain first three-dimensional point cloud data;

[0138] A three-dimensional graphics model building subunit, configured to build a three-dimensional graphics model based on the first three-dimensional point cloud data;

[0139] The second graphic placement subunit is used to place the three-dimensional graphic model at a corresponding area position to obtain a corresponding three-dimensional graphic area.

[0140] In some other implementations of the present application, the three-dimensional graphic area rendering unit 82 further includes:

[0141] The graphics storage subunit is used to store the above three-dimensional graphics model as a preset three-dimensional graphic in a three-dimensional area graphics library.

[0142] In some other implementations of the present application, the system further includes:

[0143] A three-dimensional area graphics library construction unit is used to construct a three-dimensional area graphics library using basic graphics, wherein the basic graphics are used as preset three-dimensional graphics, including any one or more of a sphere, a cube, a cone, a cylinder, and a rotation surface;

[0144] The graphics operation unit is used to segment and combine the basic graphics to obtain different three-dimensional graphics as preset three-dimensional graphics and store them in the three-dimensional area graphics library.

[0145] In some other implementations of the present application, the target protection area determination unit 84 is configured to:

[0146] Obtaining a currently activated monitoring event table from the monitoring event configuration table, wherein the monitoring event configuration table includes at least one monitoring event table;

[0147] Obtaining monitoring events contained in a currently activated monitoring event table, wherein the monitoring event table includes at least one monitoring event;

[0148] The three-dimensional protection area included in the monitoring event is set as the target protection area, and the monitoring event includes at least one three-dimensional protection area in the three-dimensional protection area set.

[0149] In some other implementations of the present application, the target protection area determination unit 84 is further configured to:

[0150] Acquire monitoring event configuration parameters, including the event identifier and three-dimensional protection area of the monitoring event;

[0151] According to the above monitoring event configuration parameters, complete the configuration of the above monitoring event and update the above monitoring event configuration table.

[0152] In an embodiment of the present application, by utilizing preset three-dimensional graphics, a three-dimensional graphic area is drawn in the three-dimensional space coordinate system where the target area is located. After obtaining a set of three-dimensional graphic areas in the target area, combined with the scanning range of the laser radar, at least one three-dimensional protection area is determined, and through the monitoring event configuration table, the target protection area is determined from the at least one determined three-dimensional protection area, and then according to the protection strategy corresponding to the target protection area, the intrusion protection function of the target protection area is realized, which can effectively improve the drawing efficiency of the three-dimensional protection area, especially the drawing efficiency in complex environments, and flexibly realize the protection planning of the three-dimensional protection area through the monitoring event configuration.

[0153] It should be noted that the information interaction, execution process and other contents between the above modules are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0154] Figure 9 Schematic diagram of a three-dimensional area protection device based on laser radar provided in an embodiment of the present application. Figure 9As shown, the laser radar-based three-dimensional area protection device 9 of this embodiment includes: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90, such as a three-dimensional area protection program. When the processor 90 executes the computer program 92, the steps in the above-mentioned embodiments of the laser radar-based three-dimensional area protection method are implemented, such as Figure 1 Alternatively, when the processor 90 executes the computer program 92, the functions of each module / unit in the above-mentioned system embodiments are realized, for example Figure 8 The functions of units 81-85 are shown.

[0155] Exemplarily, the computer program 92 can be divided into one or more modules / units, one or more modules / units are stored in the memory 91 and executed by the processor 90 to complete the present application. One or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 92 in the three-dimensional area protection device 9 based on the laser radar. For example, the computer program 92 can be divided into a three-dimensional space coordinate system establishment unit 81, a three-dimensional graphic area drawing unit 82, a three-dimensional protection area determination unit 83, a target protection area determination unit 84, and an area protection unit 85. For the specific functions of each unit, please refer to Figure 1 The relevant descriptions in the corresponding embodiments are not repeated here.

[0156] The three-dimensional area protection device based on laser radar may include, but is not limited to, a processor 90 and a memory 91. It will be understood by those skilled in the art that Figure 9 It is only an example of the three-dimensional area protection device 9 based on laser radar and does not constitute a limitation of the three-dimensional area protection device 9 based on laser radar. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the three-dimensional area protection device based on laser radar may also include input and output devices, network access devices, buses, etc.

[0157] The processor 90 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0158] The memory 91 can be an internal storage unit of the three-dimensional area protection device 9 based on laser radar, such as a hard disk or memory of the three-dimensional area protection device 9 based on laser radar. The memory 91 can also be an external storage device of the three-dimensional area protection device 9 based on laser radar, such as a plug-in hard disk equipped on the three-dimensional area protection device 9 based on laser radar, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card, etc. Furthermore, the memory 91 can also include both the internal storage unit of the three-dimensional area protection device 9 based on laser radar and an external storage device. The memory 91 is used to store computer programs and other programs and data required by the three-dimensional area protection device based on laser radar. The memory 91 can also be used to temporarily store data that has been output or is about to be output.

[0159] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the above-mentioned three-dimensional area protection method based on laser radar.

[0160] An embodiment of the present application provides a computer program product. When the computer program product runs on a three-dimensional area protection device based on a laser radar, the three-dimensional area protection device based on a laser radar can implement the above-mentioned three-dimensional area protection method based on a laser radar when executing.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0162] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0163] Those skilled in the art will appreciate that the units and algorithm 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. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0164] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has 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. 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 various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A three-dimensional area protection method based on laser radar, characterized in that: The method comprises: In the target area, a three-dimensional space coordinate system is established with the position of the laser radar as the origin of the coordinate system; Using a preset three-dimensional graphic, drawing a three-dimensional graphic region in the three-dimensional space coordinate system, and determining the region attribute of each three-dimensional graphic region to obtain a three-dimensional graphic region set; Determining at least one three-dimensional protection area within the target area according to the three-dimensional graphic area set and the scanning range of the laser radar; determining a target protection area from the at least one three-dimensional protection area according to the monitoring event configuration table; According to the protection strategy corresponding to the target protection area, the intrusion protection function of the target protection area is realized.

2. The three-dimensional area protection method based on laser radar according to claim 1, characterized in that: The method of using the preset three-dimensional graphics to draw a three-dimensional graphic area in the three-dimensional space coordinate system and determining the area attribute of each three-dimensional graphic area to obtain a three-dimensional graphic area set includes: Preprocessing the preset three-dimensional graphic to obtain a first three-dimensional graphic that meets the regional shape requirements, wherein the preprocessing includes any one or more operations of enlarging, reducing, segmenting, and combining; Placing the first three-dimensional graphic at a corresponding area position to obtain the three-dimensional graphic area; According to the protection strategy of the three-dimensional protection area, the area attribute of the corresponding three-dimensional graphic area is determined.

3. The three-dimensional area protection method based on laser radar according to claim 2, characterized in that: The method of drawing a three-dimensional graphic region in the three-dimensional space coordinate system by using a preset three-dimensional graphic and determining the region attribute of each three-dimensional graphic region to obtain a three-dimensional graphic region set includes: When the first three-dimensional graphic that meets the area shape requirement cannot be obtained by the preset three-dimensional graphic, the laser radar is used to perform an environmental scan on the target area to obtain first three-dimensional point cloud data; Establishing a three-dimensional graphics model based on the first three-dimensional point cloud data; The three-dimensional graphic model is placed at a corresponding area position to obtain a corresponding three-dimensional graphic area.

4. The three-dimensional area protection method based on laser radar according to claim 3, characterized in that: After placing the three-dimensional graphic model at the corresponding area position to obtain the corresponding three-dimensional graphic area, the method further includes: The three-dimensional graphic model is stored as a preset three-dimensional graphic in a three-dimensional area graphic library.

5. The three-dimensional area protection method based on laser radar according to any one of claims 1 to 4, characterized in that: Before drawing a three-dimensional graphic region in the three-dimensional space coordinate system using the preset three-dimensional graphic and determining the region attribute of each three-dimensional graphic region to obtain a set of three-dimensional graphic regions, the method includes: Constructing a three-dimensional regional graphics library through basic graphics, wherein the basic graphics are used as preset three-dimensional graphics, including any one or more of a sphere, a cube, a cone, a cylinder, and a rotation surface; The basic graphics are segmented and combined to obtain different three-dimensional graphics as preset three-dimensional graphics and stored in the three-dimensional area graphics library.

6. The three-dimensional area protection method based on laser radar according to any one of claims 1 to 4, characterized in that: Determining the target protection area from the at least one three-dimensional protection area according to the monitoring event configuration table includes: Acquire a currently activated monitoring event table from the monitoring event configuration table, wherein the monitoring event configuration table includes at least one monitoring event table; Acquire monitoring events contained in a currently activated monitoring event table, wherein the monitoring event table includes at least one monitoring event; The three-dimensional protection area included in the monitoring event is set as a target protection area, wherein the monitoring event includes at least one three-dimensional protection area in the three-dimensional protection area set.

7. The three-dimensional area protection method based on laser radar according to claim 6, characterized in that: Before obtaining the currently activated monitoring event table from the monitoring event configuration table, the method includes: Acquire monitoring event configuration parameters, wherein the monitoring event configuration parameters include an event identifier and a three-dimensional protection area of the monitoring event; According to the monitoring event configuration parameters, the configuration of the monitoring event is completed, and the monitoring event configuration table is updated.

8. A three-dimensional area protection system based on laser radar, characterized in that: The system comprises: A three-dimensional space coordinate system establishing unit, configured to establish a three-dimensional space coordinate system within a target area with the position of the laser radar as the origin of the coordinate system; a three-dimensional graphic region drawing unit, configured to draw a three-dimensional graphic region in the three-dimensional space coordinate system using a preset three-dimensional graphic, and determine a region attribute of each three-dimensional graphic region to obtain a three-dimensional graphic region set; a three-dimensional protection area determination unit, configured to determine at least one three-dimensional protection area within the target area according to the three-dimensional graphic area set and the scanning range of the laser radar; a target protection area determination unit, configured to determine a target protection area from the at least one three-dimensional protection area according to a monitoring event configuration table; The area protection unit is used to implement the intrusion protection function of the target protection area according to the protection strategy corresponding to the target protection area.

9. A three-dimensional area protection device based on laser radar, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the three-dimensional area protection method based on laser radar as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the three-dimensional area protection method based on laser radar as described in any one of claims 1 to 7 is implemented.

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