Method, apparatus, terminal device and storage medium for generating a laser parking area

Abstract

The embodiments of the present application are applicable to the field of laser technology, and provide a method, a device, a terminal device, and a storage medium for generating a laser parking area. The generation method includes: in response to a received start instruction, obtaining terrain data through a laser ranging unit; the terrain data is used to determine the terrain information of the projection surface of the laser parking line; inputting the terrain data into a preset attitude function to generate attitude information; the attitude information is used to determine the corresponding projection attitude when the laser guiding unit projects the laser parking line onto the projection surface; and according to the attitude information, turning on the laser guiding unit so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude to generate a parking area. Through the method provided by the embodiments of the present application, a laser parking line can be generated on a ship, which helps a vehicle to reverse onto the ship.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of laser technology, and in particular, relate to a method, apparatus, terminal device, and storage medium for generating a laser parking area. Background Art

[0002] In the prior art, when a vehicle is backing up to board a ship, it is mainly assisted by two auxiliary tools, namely, reversing images and reversing radars. Among them, reversing images are mostly obtained by installing a camera at the rear of the vehicle, and the backing up of the vehicle to board a ship often occurs in an open-air environment. Therefore, when the vehicle is backing up to board a ship in foggy, rainy or nighttime conditions, the reversing audio and video often have problems such as unclear images and a small camera range, and the effect of assisting the backing up to board a ship is not good. The reversing radar measures the distance between the vehicle and the boundary obstacles by continuously emitting ultrasonic radar to the outside world to achieve the effect of assisting reversing. However, when the vehicle is backing up to board a ship, since the hull deck is relatively open and there are not enough boundary obstacles, the assistance effect of the reversing radar is also not good. It can be seen that in the prior art, there is still a lack of effective reversing assistance tools for the scenario of backing up a vehicle to board a ship. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a method for generating a laser parking area to assist vehicles in reversing onto a ship.

[0004] A first aspect of an embodiment of the present application provides a method for generating a laser stop line, comprising:

[0005] In response to the received start instruction, terrain data is acquired through a laser ranging unit; the terrain data is used to determine terrain information of a projection surface of the laser parking line;

[0006] Inputting the terrain data into a preset posture function to generate posture information; the posture information is used to determine the corresponding projection posture when the laser guidance unit projects the laser parking line onto the projection surface;

[0007] The laser guiding unit is turned on according to the posture information, so that the laser guiding unit projects the laser parking line onto the projection surface in the projection posture to generate a parking area.

[0008] A second aspect of an embodiment of the present application provides a device for generating a laser parking area, comprising:

[0009] A terrain data acquisition module, used to acquire terrain data through a laser ranging unit in response to a received start instruction; the terrain data is used to determine terrain information of a projection surface of the laser parking line;

[0010] An attitude information generation module, configured to input the terrain data into a preset attitude function to generate attitude information; the attitude information is used to determine the projection attitude corresponding to when the laser guiding unit projects the laser parking line onto the projection surface;

[0011] A parking area generation module, configured to turn on the laser guiding unit according to the attitude information, so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude to generate a parking area.

[0012] A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for generating a laser parking line as described in the first aspect above is implemented.

[0013] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for generating a laser parking line as described in the first aspect above is implemented.

[0014] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the method for generating a laser parking line as described in the first aspect above.

[0015] Compared with the prior art, the embodiments of the present application have the following advantages:

[0016] In the embodiments of the present application, the laser guiding device may include a laser ranging unit and a laser guiding unit; after receiving a start instruction, the laser guiding device can turn on the laser ranging unit in the laser guiding device in response to the received start instruction; through the laser ranging unit, the laser guiding device can obtain the terrain data of the projection surface of the laser parking line; the laser guiding device can input the obtained terrain data into a preset attitude function and generate attitude information about the laser guiding unit; according to the generated attitude information, the laser guiding device can turn on the laser guiding unit, so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude and generates a parking area. In the embodiments of the present application, since the parking area is generated by the laser parking line, effective reverse assistance can be provided for vehicles in various weather conditions. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for use in the embodiments or the description of the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of a method for generating a laser parking area provided by an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of terrain data detection provided by an embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of a projection surface provided by an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of calculating a rotation angle provided by an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the actual use of a laser guiding device provided by an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of the working process of a laser guiding device provided by an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the system of a laser guiding device provided by an embodiment of the present application;

[0025] Figure 8 It is a schematic diagram of a device for generating a laser parking area provided by an embodiment of the present application;

[0026] Figure 9 It is a schematic diagram of a terminal device provided by an embodiment of the present application. Specific Embodiments

[0027] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are put forward in order to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0028] The following uses specific embodiments to illustrate the technical solutions of the present application.

[0029] Refer to Figure 1, showing a schematic diagram of a method for generating a laser parking area provided by an embodiment of the present application. This generation method can be applied to an electronic device equipped with a laser ranging unit and a laser guiding unit. Specifically, the electronic device can be a laser guiding device with a laser ranging unit and a laser guiding unit. In the generation method provided by the embodiment of the present application, the laser guiding device can be installed on the dock or at a designated position at the stern of the ship. The installed laser guiding device can generate a laser parking area on the hull by projecting laser parking lines onto the hull of the ship docked at the dock. Users can control the vehicle to reverse onto the ship to the designated parking area according to the laser parking area, achieving the purpose of parking guidance. The above method for generating a laser parking area can specifically include the following steps:

[0030] S101. In response to the received start instruction, obtain terrain data through the laser ranging unit; the terrain data is used to determine the terrain information of the projection surface of the laser parking line;

[0031] In the embodiment of the present application, when the ship is moored at the dock and the user needs to park the vehicle, a start instruction can be sent to the laser guiding device. The user can send a start instruction to the laser guiding device through the start button installed on the laser guiding device, can send a start instruction to the laser guiding device through the vehicle-mounted terminal connected to the laser guiding device, can also send a start instruction to the laser guiding device through the mobile phone device connected to the laser guiding device, and the user can also send a start instruction to the laser guiding device through the control terminal on the ship. Among them, the laser guiding device can include a laser ranging unit. In response to the received start instruction, the laser guiding device can activate its associated laser ranging unit, and the laser ranging unit can be installed inside the laser guiding device or can be an external device, such as connected through a serial port or wireless communication. Through the laser ranging unit, the laser guiding device can obtain the terrain data of the projection surface of the laser parking line. Specifically, the projection surface can be the deck of a large hull or can also include the gangway connecting the hull and the dock. According to the obtained terrain data, the laser guiding device can determine the terrain information of the projection surface of the laser parking line, such as terrain information such as the slope and length of the projection surface.

[0032] In the embodiments of the present application, since the position where the ship docks each time has a certain degree of randomness, and factors such as the tides of the sea level, the slope of the beach where it docks, and the docking attitude of the hull will also affect the docking attitude of the ship. Therefore, each time the ship docks, the angle between the hull deck and the horizontal plane is different, resulting in inconsistent topographic information of the projection surface. If the laser guiding device emits the laser parking line towards the projection surface with the same projection attitude each time, it is easy to cause the projected parking areas to be different each time. Therefore, the laser guiding device needs to obtain the topographic information of the projection surface before emitting the laser parking line each time. In the embodiments of the present application, the laser guiding device may include a pitching turntable, a laser ranging unit, and a main control system. Among them, the laser ranging unit may be installed on the pitching turntable of the laser guiding device. The laser guiding device may sequentially emit ranging lasers to a plurality of ranging points on the projection surface of the laser parking line through the laser ranging unit. The main control system may be used to control other units in the laser guiding device and perform data calculations.

[0033] The laser guiding device may control the pitching turntable to rotate according to a preset step size and angle through the main control system in the device. By controlling the pitching turntable to rotate according to the preset step size, direction, and angle, the laser guiding device can make the ranging lasers emitted by the laser ranging unit fall on a plurality of different ranging points. After the main control system controls the pitching turntable to rotate once according to the preset step size and direction each time, it can record the current angle of the pitching turntable and control the laser ranging unit to emit a ranging laser once. The angle of the pitching turntable recorded by the main control unit can be used as the pitch angle of the ranging point corresponding to this angle. After the laser guiding device controls the laser ranging unit to emit a ranging laser each time, it can receive the feedback laser reflected by the projection surface based on the ranging laser. According to the feedback lasers reflected by each ranging point on the projection surface, the laser ranging unit can determine the slant range corresponding to each ranging point. Among them, the slant range corresponding to a certain ranging point may be the distance between the laser ranging unit that emits the ranging laser and this ranging point. The pitch angle corresponding to a certain ranging point may be the angle between the ranging laser emitted by the laser ranging unit to this ranging point and the perpendicular line to the horizontal plane where the laser ranging unit is located. According to the slant ranges and pitch angles of all the ranging points fed back by the laser ranging unit, the main control system in the laser guiding device can generate attitude information.

[0034] As Figure 2 shown, it is a schematic diagram of topographic data detection provided by the embodiments of the present application. To more clearly describe the topographic data detection method provided by the embodiments of the present application, a rectangular coordinate system is established with the installation position of the laser guiding device as the origin O in the schematic diagram. In Figure 2In this case, the plane of the coordinate system OXYZ can pass through the measurement center of the laser guiding device. That is, the OXY plane in the coordinate system can be parallel to the horizontal plane where the laser guiding device is located, and the OXY plane can pass through the center of the laser ranging unit. The coordinate system OXYZ can have the measurement center of the laser guiding device as the origin, the horizontal line parallel to the horizontal plane where the laser guiding device is located as the X-axis, the vertical line perpendicular to the horizontal plane where the laser guiding device is located as the Z-axis, and the Y-axis can be determined by the right-hand rule. In the coordinate system OXYZ, the direction in which the laser ranging unit emits laser can be the positive direction. Refer to Figure 2 , Figure 2 The dotted lines in it can represent multiple ranging lasers emitted by the laser ranging unit on the laser guiding device. By projecting the ranging lasers onto multiple different ranging points on the projection plane, the laser guiding device can determine the slant ranges and elevation angles of multiple ranging points on the projection plane, thereby generating topographic information about the projection plane.

[0035] In the embodiment of the present application, the laser guiding device emits ranging lasers to multiple ranging points on the projection plane through the laser ranging unit, and can determine the slant ranges and elevation angles of the multiple ranging points. Based on the slant ranges and elevation angles of all the ranging points, the laser guiding device can determine the attitude information of the laser guiding unit when projecting the laser parking line. Since the laser guiding device can determine the topographic information of the projection plane according to the slant ranges and elevation angles of all the ranging points, generating the attitude information of the laser guiding unit through the slant ranges and elevation angles of multiple ranging points can enable the laser guiding unit to project the same parking area on different projection planes. Generating the laser parking line through the method provided in this embodiment can ensure that the projected parking area meets the parking standards preset by the user each time. Therefore, the method provided in this embodiment has strong environmental adaptability.

[0036] S102. Input the topographic data into a preset attitude function to generate attitude information; the attitude information is used to determine the projection attitude corresponding to when the laser guiding unit projects the laser parking line onto the projection plane;

[0037] In the embodiment of the present application, the laser guiding device may further include a laser guiding unit, and the laser guiding unit can be used to project a laser parking line onto the projection plane. After the main control system of the laser guiding device obtains the topographic data of the projection plane, it can input the obtained topographic data into a pre-set attitude function. Through the attitude function, the main control system can generate the attitude information of the laser guiding unit when projecting the laser parking line, such as the elevation angle and azimuth angle when the laser guiding unit projects. According to the attitude information, the main control system can determine the projection attitude of the laser guiding unit when projecting the laser parking line onto the projection plane.

[0038] In the embodiments of the present application, the main control system of the laser guiding device may generate a projection function regarding the projection surface according to the slant range and pitch angle of all ranging points on the projection surface. As Figure 3 shown, it is a schematic diagram of the projection surface provided by the embodiments of the present application. To more clearly describe the projection surface detection method provided by the embodiments of the present application, a rectangular coordinate system is established with the installation position of the laser guiding device as the origin O in the schematic diagram. In Figure 3 , the plane of the coordinate system OXYZ may pass through the measurement center of the laser guiding device, that is, the OXY plane in the coordinate system may be parallel to the horizontal plane where the laser guiding device is located and the OXY plane may pass through the center of the laser ranging unit. The coordinate system OXYZ may take the measurement center of the laser guiding device as the origin, take the horizontal line parallel to the horizontal plane where the laser guiding device is located as the X-axis, take the vertical line perpendicular to the horizontal plane where the laser guiding device is located as the Z-axis, and the Y-axis may be determined by the right-hand rule. In the coordinate system OXYZ, the direction in which the laser ranging unit emits laser may be the positive direction. As Figure 3 shown, the angle θ in the coordinate system XOZ may represent the inclination angle between the projection surface and the horizontal plane where the laser guiding device is located; H may represent the suspension height corresponding to the laser guiding unit, that is, the height of the laser guiding unit from the projection surface; L represents the projection length of the laser stop line emitted by the laser guiding unit on the projection surface. Among them, the suspension height corresponding to the laser guiding unit may be pre-input by the user into the main control system of the laser guiding device according to the actual installation height of the laser guiding unit; the projection length of the laser stop line emitted by the laser guiding unit on the projection surface may also be pre-set by the user in the main control system according to actual needs. Refer to Figure 3 , by inputting the slant range and pitch angle of each ranging point into a pre-set ranging point calculation formula, the main control system may calculate the coordinates P i (x, y, z) of each ranging point in the coordinate system XOZ. Among them, the ranging point calculation formula may be as follows:

[0039]

[0040]

[0041]

[0042] In the above ranging point calculation formula, S may represent the slant range of the ranging point, that is, the distance between the laser ranging unit and this ranging point; α may represent the azimuth angle of the laser ranging unit when measuring this ranging point. Since in the actual application process, the azimuth angle of the laser ranging unit during measurement does not need to take the actual true north direction as the reference angle, so α may be 0 in actual application; It can represent the pitch angle of the ranging point, that is, the angle between the ranging laser corresponding to a certain ranging point and the perpendicular line to the horizontal plane where the laser ranging unit is located.

[0043] In the embodiment of the present application, according to the coordinates P i (x, y, z) of all ranging points in the coordinate system XOZ, the main control system can fit the projection function of the projection plane in the coordinate system XOZ. In a possible implementation manner, the main control system can fit the projection function of the projection plane in the coordinate system XOZ through a linear equation of one variable, and use the fitted projection function as the approximate inclination line of the projection plane in the coordinate system XOZ. Among them, the approximate inclination line of the projection plane in the coordinate system XOZ can be expressed by the following formula:

[0044] y = kx + B

[0045] In the above formula, k can represent the slope of the inclination line in the coordinate system XOZ, and B can represent the intercept of the inclination line in the coordinate system XOZ.

[0046] According to the slope k of the inclination line in the coordinate system XOZ, the main control system can calculate the inclination angle of the inclination line in the coordinate system XOZ, that is, the main control system can determine the inclination angle between the projection plane and the horizontal plane where the laser guiding device is located. Refer to Figure 3 , the angle θ in the coordinate system XOZ can represent the inclination angle between the projection plane and the horizontal plane where the laser guiding device is located.

[0047] In the embodiment of the present application, after the main control system determines the inclination angle between the projection plane and the horizontal plane where the laser guiding device is located through the slant range and pitch angle of all ranging points, it can generate corresponding attitude information according to the preset laser stop line length, the suspension height corresponding to the laser guiding unit, and the inclination angle of the projection plane.

[0048] In the embodiment of the present application, the laser guiding device may include an attitude adjustment unit, and the laser guiding unit may be installed on the attitude adjustment unit. By controlling the rotation angle of the attitude adjustment unit, the main control system of the laser guiding device can adjust the attitude of the laser guiding unit. Therefore, the attitude information generated by the main control system may include the rotation angle of the attitude adjustment unit. As Figure 4 shown, it is a schematic diagram of the calculation of the rotation angle provided by the embodiment of the present application. As Figure 4 shown, H can represent the suspension height corresponding to the laser guiding unit, that is, the height of the laser guiding unit from the projection plane; L can represent the projection length of the laser stop line emitted by the laser guiding unit on the projection plane; v TIt can represent the rotation angle of the attitude adjustment unit; since the inclination angle between the projection plane and the horizontal plane where the laser guiding device is located is known as θ, the included angle between the projection plane and the Z-axis in the triangle can be 90 - θ. The main control system knows the lengths of two sides of the triangle and the angle of one of the interior angles, and can calculate the rotation angle v of the attitude adjustment unit by finding the interior angles of the triangle. T .

[0049] S103. Turn on the laser guiding unit according to the attitude information, so that the laser guiding unit projects the laser parking line onto the projection plane in the projection attitude to generate a parking area.

[0050] In the embodiment of the present application, after the main control system of the laser guiding device inputs the terrain data into the attitude function to generate attitude information, it can turn on the laser guiding unit according to the generated attitude information. According to the attitude information, the main control system can adjust the projection attitude of the laser guiding unit so that the laser guiding unit projects the laser parking line onto the projection plane on the ship. By projecting the laser parking line onto the projection plane on the ship, the laser guiding device can generate a parking area on the ship.

[0051] In a possible implementation manner, the laser guiding unit can also generate a parking area by projecting a laser light curtain onto the projection plane. The laser light curtain projected by the laser guiding unit can be a blue laser light curtain or a green laser light curtain.

[0052] In the embodiment of the present application, the laser guiding device can also include an adaptive adjustment function. The laser guiding device can also include an inclinometer, which can be used to measure the inclination angle between the laser guiding unit and the horizontal plane of the installation position of the laser guiding unit. Before adjusting the projection attitude of the laser guiding unit according to the attitude information, the laser guiding device can first adjust the laser guiding unit to the horizontal state. Before adjusting the laser guiding unit to the projection attitude, the laser guiding device can first obtain the inclination angle between the laser guiding unit and the horizontal plane of the installation position of the laser guiding unit through the inclinometer. According to the inclination angle between the laser guiding unit and the horizontal plane of the installation position of the laser guiding unit, the main control system can determine the adjustment angle required for the attitude adjustment unit to adjust the laser guiding unit to the horizontal state. The main control system can control the attitude adjustment unit to adjust the attitude of the laser guiding unit according to the corresponding adjustment angle until the emission direction of the laser emitted by the laser guiding unit is parallel to the horizontal plane of the installation position of the laser guiding unit. At this time, the main control unit can determine that the laser guiding unit has been adjusted to the horizontal state. After adjusting the laser guiding unit to the horizontal state, the main control unit can control the attitude adjustment unit to adjust the attitude of the laser guiding unit according to the attitude information until the laser guiding unit reaches the projection attitude indicated by the attitude information.

[0053] In a possible implementation, the attitude information generated by the main control system may include the rotation angle required for the attitude adjustment unit to adjust the laser guiding unit to the projection attitude. The main control system can control the attitude adjustment unit to rotate according to the rotation angle until the laser guiding unit reaches the projection attitude.

[0054] In the embodiment of the present application, the laser guiding device can first adjust the laser guiding unit to the horizontal state through the attitude adjustment unit, and then the laser guiding device can control the attitude adjustment unit to adjust the attitude of the laser guiding unit according to the attitude information until the laser guiding unit reaches the projection attitude. Through the method provided by the embodiment of the present application, the laser guiding device can automatically adjust the attitude of the laser guiding unit according to the terrain data of the projection surface until the laser guiding unit reaches the projection attitude, so that the laser parking line projected by the laser guiding unit each time can meet the parking line length requirement needed by the user. The method provided by the embodiment of the present application is applicable to various different application scenarios, especially application scenarios such as docks and tidal sea levels with different environmental forms. Therefore, the laser parking line generation method provided by the embodiment of the present application has high environmental adaptability.

[0055] In the embodiment of the present application, the laser guiding device may further include a visual protection function. Before the laser guiding device controls the laser guiding unit to project the laser parking line, it can first obtain the environmental brightness information of the environment where the laser guiding unit is located. The laser guiding device may also include an ambient light sensing unit. Through the ambient light sensing unit, the laser guiding device can obtain the environmental brightness information of the environment where the laser guiding unit is located. After the laser guiding device receives the start instruction, the main control system can activate the ambient light sensing unit in response to the start instruction. The ambient light sensing unit can send the obtained environmental brightness information to the main control system of the laser guiding device. After the main control system receives the environmental brightness information fed back by the ambient light sensor, it can determine the projection brightness of the laser parking line according to a pre-set projection brightness algorithm. The main control system can control the laser guiding unit to project the laser parking line onto the projection surface to generate a parking area according to the projection brightness. The main control system can control the laser guiding unit to slowly increase the brightness of the projected laser parking line until the brightness of the laser parking line reaches the projection brightness.

[0056] In the embodiment of the present application, the main control unit of the laser guiding device may determine the projection brightness of the laser parking line according to the ambient brightness of the environment where the laser guiding unit is located. The main control unit may control the laser guiding unit to slowly increase the brightness of the laser parking line until the projection brightness is reached. In the embodiment of the present application, the laser guiding device may dynamically adjust the brightness of the projected laser parking line according to the ambient brightness. Therefore, by generating the laser parking line through the method provided in the embodiment of the present application, it can be ensured that the projected laser parking line is clearly visible in various environments such as rainy days and foggy days. In addition, since the projection brightness of the laser parking line is determined according to the ambient brightness, it can be ensured that the visual experience of the user when observing the laser parking line is comfortable, which helps the user to more accurately determine the parking area and improve the parking efficiency of the user.

[0057] In the embodiment of the present application, the laser guiding device may further include a safety monitoring function. As Figure 5 shown, it is a schematic diagram of the actual use of the laser guiding device provided in the embodiment of the present application. Refer to Figure 5, the parking area generated by the laser guiding device may include a warning area, a guiding area, and an actual parking area. The shaded area in the figure may represent the actual parking area of the vehicle; behind the actual parking area of the vehicle may be the guiding area, where the staff can guide the vehicle to park; the area from 0.1 meter to 2 meters outside the guiding area may be the warning area of the laser guiding device. The laser guiding device may also include a warning radar. Before the laser guiding device controls the laser guiding unit to project the laser parking line, it may first perform a safety detection on the parking area. After the laser guiding device receives the start instruction, the main control system may turn on the warning radar in response to the start instruction. The warning radar may perform a safety detection on the parking area by sending millimeter waves to the parking area. After the warning radar sends millimeter waves to the parking area, it may receive the feedback waves reflected by multiple targets in the parking area. By analyzing the signal characteristics of the feedback waves, the warning radar may determine the target types of the multiple targets in the parking area. If the warning radar detects an abnormal target, such as a person, in the warning area, it may generate an abnormal warning message and feedback the abnormal warning message to the main control system of the laser guiding device. After receiving the abnormal warning message, the main control may control the laser guiding unit not to project the laser parking line and send a warning message by voice. If the warning radar does not detect an abnormal target in the warning area, it may generate a working message and feedback the working message to the main control system of the laser guiding device. After receiving the working message, the main control system may control the laser guiding unit to start projecting the laser parking line. After the laser guiding unit starts projecting the laser parking line, the main control system may control the warning radar to continuously send millimeter waves to the parking area. Once the warning radar detects that an abnormal target enters the warning area, it may generate an abnormal warning message and feedback the abnormal warning message to the main control system. During the projection of the laser parking line, if the main control system receives the abnormal warning message fed back by the warning radar, the main control system may control the laser guiding unit to stop projecting the laser parking line and control the speaker to issue a voice warning. During the projection of the laser parking line, if the warning radar detects that a target enters the guiding area, it may generate a normal working message and feedback the normal working message to the main control system. If the main control system receives the normal working message fed back by the warning radar, the main control system may maintain the laser guiding unit to continue projecting the laser parking line onto the projection surface.

[0058] In the embodiment of the present application, the laser guiding device can obtain target information in the guiding area and the warning area through the warning radar. If the warning radar detects that a target enters the guiding area, it can send an abnormal warning message to the main control system. The main control system can control the laser guiding unit to stop projecting the laser parking line according to the received abnormal warning message. By generating the laser parking line through the method provided in the embodiment of the present application, safety accidents caused by personnel accidentally entering the parking area can be avoided. In addition, since the parking area also includes a guiding area, the staff guiding the vehicle to park can also enter the guiding area to work with the assistance of the laser parking line. Therefore, the laser parking line generation method provided in the embodiment of the present application can perform safety detection on the parking area, and at the same time provide a working area for the guiding personnel, which can provide the safety of the vehicle when reversing and effectively assist the vehicle in reversing.

[0059] As Figure 6 shown, it is a schematic diagram of the working process of the laser guiding device provided in the embodiment of the present application. Refer to Figure 6 , after receiving the start instruction, the main control system of the laser guiding device can, in response to the start instruction, turn on the ambient light sensing unit, the attitude adjustment unit, the laser ranging unit, and the warning radar in the laser guiding device. Through the ambient light sensing unit, the laser guiding device can obtain the ambient brightness data of the position where the laser guiding unit is located; through the laser ranging unit, the laser guiding device can obtain the terrain data of the projection surface for projecting the laser parking line; through the warning radar, the laser guiding device can perform safety detection on the warning area. As Figure 6As shown in the figure, after receiving the start instruction, the main control system of the laser guiding device can first start the warning radar to establish a warning area and obtain the terrain data measured by the laser ranging unit. According to the obtained terrain data, the main control system can generate corresponding attitude information and control the attitude adjustment unit to adjust the attitude of the laser guiding unit. If the main control system determines that the laser guiding unit has not reached the projection attitude, it can control the attitude adjustment unit to re-adjust the attitude of the laser guiding unit according to the attitude information. If the main control system determines that the laser guiding unit has reached the projection attitude, it can obtain the ambient brightness information measured by the ambient light sensor. After reading the ambient brightness information, the main control system can determine whether there is a person intrusion according to the information fed back by the warning radar. If the main control system determines that there is a person intrusion in the warning area, it can issue a voice warning through the speaker. If the main control system determines that there is no person intrusion in the warning area, it can control the laser guiding unit to project the laser parking line at the lowest brightness and slowly adjust the laser parking line emitted by the laser guiding unit until it reaches the projection brightness. During the process of projecting the laser parking line, the warning radar can continuously scan the parking area through millimeter waves and send the scanning results to the main control system. If the main control unit determines that there is a person intrusion in the warning area during the process of projecting the laser parking line, it can control the laser guiding unit to stop projecting the laser parking line and control the speaker to issue a voice warning. If the main control unit determines that there is no person intrusion in the warning area during the process of projecting the laser parking line, it can maintain the laser guiding unit to project the laser parking line onto the projection surface.

[0060] In the embodiment of the present application, the laser guiding device can generate a parking area on the projection surface by projecting a laser parking line or a laser light curtain onto the projection surface. Since users can accurately identify the laser parking area in various environments with poor visibility such as rainy days or foggy days, the laser guiding device can help the driver successfully reverse onto the ship at night, in foggy days, rainy days and other harsh environments. In addition, since the laser guiding device provided in the embodiment of the present application can automatically adjust the projection attitude according to the terrain information of the projection surface, the laser guiding device can accurately project a parking area with a size meeting the requirements on each projection surface.

[0061] As Figure 7 shown, it is a system schematic diagram of a laser guiding device provided by an embodiment of the present application. Refer to Figure 7, the system of the laser guiding device can be composed of an early warning radar unit, a laser guiding unit, an attitude adjustment unit, and a main control system. In the main control system, it can include a micro control unit, an attitude sensor, an ambient light sensor, and a power management module. The micro control unit in the main control system can control the attitude sensor, the ambient light sensor, and the power management module in the main control system. The micro control unit can also receive the information fed back by the attitude sensor, the ambient light sensor, and the power management module. The attitude sensor can be used to measure the attitude of the laser guiding unit; the ambient light sensor can be used to measure the ambient light brightness of the environment where the laser guiding device is located; the power management module can be used to control the power supply of the laser guiding device.

[0062] See Figure 7 , the early warning radar unit can include a first millimeter wave radar, a second millimeter wave radar, a voice warning module, and a millimeter wave radar control module. The micro control unit in the main control system can control the first millimeter wave radar and the second millimeter wave radar through the millimeter wave radar control module. The millimeter wave control module can generate early warning information based on the information fed back by the first millimeter wave radar and the second millimeter wave radar and send the early warning information to the micro control unit of the main control system. After receiving the early warning information fed back by the millimeter wave control module, the micro control unit can control the voice warning module in the early warning radar unit to emit a warning sound.

[0063] See Figure 7 , the laser guiding unit can include a laser control module, a laser, a temperature control module, a laser rangefinder, a galvanometer driving board, and a galvanometer. The micro control unit of the main control system can control the laser rangefinder to measure the distance to the projection surface in the TTL level mode. The micro control unit can also control the laser to emit laser light through the laser control module. The micro control unit can also drive the galvanometer to form laser light through the galvanometer driving board. The micro control unit can also control the temperature of the laser guiding unit through the temperature control module.

[0064] See Figure 7 , the attitude adjustment unit can include a turntable control module, a pitch turntable, and a roll turntable. The micro control unit in the main control system can control the turntable control module in the attitude adjustment unit through the RS422 interface. The turntable control module can adjust the pitch turntable and the roll turntable according to the control information sent by the micro control unit to adjust the attitude of the laser guiding unit.

[0065] It should be noted that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0066] Refer to Figure 8, which shows a schematic diagram of a laser parking area generation device provided by an embodiment of the present application. Specifically, it may include a terrain data acquisition module 801, an attitude information generation module 802, and a parking area generation module 803, where:

[0067] The terrain data acquisition module 801 is configured to acquire terrain data through a laser ranging unit in response to a received start instruction; the terrain data is used to determine the terrain information of the projection plane of the laser parking line.

[0068] The attitude information generation module 802 is configured to input the terrain data into a preset attitude function to generate attitude information; the attitude information is used to determine the corresponding projection attitude when the laser guiding unit projects the laser parking line onto the projection plane.

[0069] The parking area generation module 803 is configured to turn on the laser guiding unit according to the attitude information, so that the laser guiding unit projects the laser parking line onto the projection plane in the projection attitude to generate a parking area.

[0070] The terrain data acquisition module 801 may also be configured to control the laser ranging unit to sequentially emit ranging lasers to a plurality of ranging points on the projection plane; respectively determine the slant range and pitch angle corresponding to each ranging point according to the feedback laser after the ranging laser is reflected by the projection plane; the slant range is the distance between the laser ranging unit and the ranging point; the pitch angle is the angle between the ranging laser and the perpendicular line perpendicular to the horizontal plane; based on the slant ranges and the pitch angles of all the ranging points, generate the attitude information.

[0071] The attitude information generation module 802 may also be configured to generate a projection function about the projection plane according to the slant ranges and the pitch angles of all the ranging points on the projection plane; determine the tilt angle of the projection plane according to the projection function; generate the attitude information according to the suspension height corresponding to the laser guiding unit and the tilt angle; the suspension height is the height of the laser guiding unit from the projection plane.

[0072] The parking area generation module 803 may also be configured to acquire the tilt angle between the laser guiding unit and the horizontal plane of the installation position of the laser guiding unit; adjust the laser guiding unit according to the tilt angle until the emission direction of the laser emitted by the laser guiding unit is parallel to the horizontal plane; control the attitude adjustment unit to adjust the attitude of the laser guiding unit according to the attitude information until the laser guiding unit reaches the projection attitude.

[0073] The parking area generation module 803 can also be used to obtain the ambient brightness information of the environment where the laser guiding unit is located; determine the projection brightness of the laser parking line according to the ambient brightness information; and control the laser guiding unit to project the laser parking line onto the projection surface according to the projection brightness to generate a parking area.

[0074] The parking area generation module 803 can also be used to, if receiving abnormal warning information fed back by the warning radar, control the laser guiding unit to stop projecting the laser parking line and issue a warning message; the abnormal warning information is generated when the warning radar detects that an abnormal target enters the warning area.

[0075] The parking area generation module 803 can also be used to, if receiving normal operation information fed back by the warning radar, maintain the laser guiding unit to project the laser parking line onto the projection surface; the normal operation information is generated when the warning radar detects that a target enters the guiding area.

[0076] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For related parts, refer to the description in the method embodiment section.

[0077] Refer to Figure 9 , which shows a schematic diagram of a terminal device provided by an embodiment of the present application. As Figure 9 shown, the terminal device 900 in the embodiment of the present application includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and executable on the processor 910. When the processor 910 executes the computer program 921, it implements the steps in each embodiment of the above-mentioned method for generating a laser parking line, such as Figure 1 the steps S101 to S103 shown. Alternatively, when the processor 910 executes the computer program 921, it implements the functions of each module / unit in each device embodiment above, such as Figure 8 the functions of the modules 801 to 805 shown.

[0078] Exemplarily, the computer program 921 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 920 and executed by the processor 910 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments can be used to describe the execution process of the computer program 921 in the terminal device 900. For example, the computer program 921 can be divided into a terrain data acquisition module, an attitude information generation module, and a parking area generation module. The specific functions of each module are as follows:

[0079] A terrain data acquisition module, configured to obtain terrain data through a laser ranging unit in response to a received start instruction; the terrain data is used to determine the terrain information of the projection plane of the laser stop line;

[0080] An attitude information generation module, configured to input the terrain data into a preset attitude function to generate attitude information; the attitude information is used to determine the corresponding projection attitude when the laser guiding unit projects the laser stop line onto the projection plane;

[0081] A parking area generation module, configured to turn on the laser guiding unit according to the attitude information, so that the laser guiding unit projects the laser stop line onto the projection plane in the projection attitude to generate a parking area.

[0082] The terminal device 900 may be the laser guiding device in the foregoing various embodiments. The terminal device 900 may include, but is not limited to, a processor 910 and a memory 920. Those skilled in the art can understand that Figure 9 This is only an example of the terminal device 900 and does not constitute a limitation on the terminal device 900. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the terminal device 900 may further include input / output devices, network access devices, buses, etc.

[0083] The processor 910 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0084] The memory 920 may be an internal storage unit of the terminal device 900, such as a hard disk or memory of the terminal device 900. The memory 920 may also be an external storage device of the terminal device 900, such as a plug-in hard disk equipped on the terminal device 900, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, and so on. Further, the memory 920 may also include both the internal storage unit of the terminal device 900 and the external storage device. The memory 920 is used to store the computer program 921 and other programs and data required by the terminal device 900. The memory 920 may also be used to temporarily store data that has been output or will be output.

[0085] An embodiment of the present application also discloses a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for generating a laser parking area as described in the foregoing embodiments is implemented.

[0086] An embodiment of the present application also discloses a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the method for generating a laser parking area as described in the foregoing embodiments is implemented.

[0087] An embodiment of the present application also discloses a computer program product. When the computer program product runs on a computer, the computer is caused to execute the method for generating a laser parking area as described in the foregoing embodiments.

[0088] The foregoing 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for generating a laser parking area, characterized in that, Applied to a laser guiding device installed on a dock or the stern, the laser guiding device is used to generate a laser parking area on the hull to guide a vehicle to reverse onto the ship. The laser guiding device includes a laser ranging unit, a laser guiding unit, and a warning radar, and includes: In response to the received start instruction, obtain terrain data through the laser ranging unit; the terrain data is used to determine the terrain information of the projection surface of the laser parking line; the projection surface includes the deck of the hull, or the projection surface includes the deck and the gangplank connecting the hull and the dock; Input the terrain data into a preset attitude function to generate attitude information; the attitude information is used to determine the projection attitude corresponding to when the laser guiding unit projects the laser parking line onto the projection surface; Turn on the laser guiding unit according to the attitude information, so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude to generate a parking area; the parking area includes a warning area, a guiding area, and an actual parking area; the guiding area is the area behind the actual parking area, and the staff guides the vehicle to park in the guiding area; the warning area is the area outside the guiding area; If the abnormal warning information fed back by the warning radar is received, control the laser guiding unit to stop projecting the laser parking line and issue a warning message; the abnormal warning information is generated when the warning radar detects that an abnormal target enters the warning area; If the normal working information fed back by the warning radar is received, maintain the laser guiding unit to project the laser parking line onto the projection surface; the normal working information is generated when the warning radar detects that a target enters the guiding area.

2. The generation method according to claim 1, wherein The terrain data includes the slant range and the pitch angle. The step of obtaining terrain data through the laser ranging unit in response to the received start instruction includes: Control the laser ranging unit to sequentially emit ranging lasers to a plurality of ranging points on the projection surface; According to the feedback lasers after the ranging lasers are reflected by the projection surface, respectively determine the slant range and the pitch angle corresponding to each ranging point; the slant range is the distance between the laser ranging unit and the ranging point; the pitch angle is the angle between the ranging laser and the perpendicular line perpendicular to the horizontal plane; Generate the attitude information based on the slant ranges and the pitch angles of all the ranging points.

3. The generation method according to claim 2, wherein The step of inputting the terrain data into a preset attitude function to generate attitude information includes: Generate a projection function about the projection surface according to the slant ranges and the pitch angles of all the ranging points on the projection surface; Determine the inclination angle of the projection surface according to the projection function; Generate the attitude information according to the suspension height corresponding to the laser guiding unit and the inclination angle; the suspension height is the height of the laser guiding unit from the projection surface.

4. The generation method according to claim 1, characterized in that, The step of turning on the laser guiding unit according to the attitude information, so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude to generate a parking area, includes: Obtain the inclination angle between the laser guiding unit and the horizontal plane of the installation position of the laser guiding unit; Adjust the laser guiding unit according to the inclination angle until the emission direction of the laser emitted by the laser guiding unit is parallel to the horizontal plane; Control the attitude adjustment unit to adjust the attitude of the laser guiding unit according to the attitude information until the laser guiding unit reaches the projection attitude.

5. The generation method according to claim 1, wherein The step of turning on the laser guiding unit according to the attitude information so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude to generate a parking area includes: Obtain the ambient brightness information of the environment where the laser guiding unit is located; Determine the projection brightness of the laser parking line according to the ambient brightness information; Control the laser guiding unit to project the laser parking line onto the projection surface according to the projection brightness to generate a parking area.

6. A generating device for a laser parking area, characterized in that, Applied to a laser guiding device installed on a dock or the stern of a ship, the laser guiding device is used to generate a laser parking area on the hull to guide a vehicle to reverse onto the ship. The laser guiding device includes a laser ranging unit, a laser guiding unit, and an early warning radar, and includes: A terrain data acquisition module, configured to acquire terrain data through the laser ranging unit in response to a received start instruction; the terrain data is used to determine the terrain information of the projection surface of the laser parking line; the projection surface includes the deck of the hull, or the projection surface includes the deck and a gangplank connecting the hull and the dock; An attitude information generation module, configured to input the terrain data into a preset attitude function to generate attitude information; the attitude information is used to determine the projection attitude corresponding to when the laser guiding unit projects the laser parking line onto the projection surface; A parking area generation module, configured to turn on the laser guiding unit according to the attitude information so that the laser guiding unit projects the laser parking line onto the projection surface in the projection attitude to generate a parking area; the parking area includes a warning area, a guiding area, and an actual parking area; the guiding area is the area behind the actual parking area, and staff guide the vehicle to park in the guiding area; the warning area is the area outside the guiding area; The parking area generation module is further configured to maintain the laser guiding unit to project the laser parking line onto the projection surface if the normal working information fed back by the early warning radar is received; the normal working information is generated when the early warning radar detects that a target enters the guiding area; The parking area generation module is further configured to control the laser guiding unit to stop projecting the laser parking line and issue a warning message if the abnormal warning information fed back by the early warning radar is received; the abnormal warning information is generated when the early warning radar detects that an abnormal target enters the warning area.

7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for generating a laser parking area according to any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method for generating a laser parking area according to any one of claims 1-5.

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