Three-dimensional space monitoring method and system

Abstract

The invention relates to a three-dimensional space monitoring method and a three-dimensional space monitoring system, which are used for preventing swinging dangerous cases of hoisting operation of a crane and high-altitude operation of a lift truck in a complex environment and near an electrified area. According to the space monitoring layout instruction, the boundary coordinates of the space position monitoring coordinate area in the space position algorithm database are analyzed, so that monitoring personnel can establish a safety danger-informing area, namely the space position monitoring coordinate area, in advance before a crane and a lift truck enter the low-altitude space of the transformer substation. The method comprises the following steps: receiving three-dimensional point cloud echoes, analyzing the three-dimensional point cloud echoes based on an echo analysis function in a spatial position algorithm database, generating three-dimensional point cloud layout area spatial data, receiving the three-dimensional point cloud echoes, and performing spatial area position comparison so as to execute a three-dimensional space monitoring task, thereby accurately judging the distance of a crane and the distance of a lift truck. The defects that the visual field is limited and selectivity is neglected are overcome, the protection time is timely, and the monitoring capability of monitoring protection measures is improved.

Description

Technical Field

[0001] The present application relates to the field of low-altitude monitoring technology, and in particular to a three-dimensional space monitoring method and system. Background Art

[0002] The maintenance procedures of crane hoisting operations and high-altitude operations of lift trucks are maintenance procedures with high risks, difficult control, and easy to cause major safety accidents in substation operations. There are many unfavorable factors in the low-domain space of the substation, such as limited space, complex environment, and proximity to live areas. There are no effective technical defense measures for crane operations and high-altitude operations of lift trucks. Conventional safety control measures still rely on human surveillance and auxiliary physical fence shielding. However, physical fences cannot protect large-scale mechanical construction and cannot provide three-dimensional protection at high altitudes. For high-altitude safety protection, human surveillance cannot accurately judge the distance, and there are limited fields of view and human subjective bias, which may cause problems such as missing, misreading, and selective neglect. And there is a delay in the protection time when shouting with a walkie-talkie after judgment. To this end, it is necessary to propose a three-dimensional space monitoring method and system to address the defects of weak monitoring capabilities of traditional monitoring and protection measures. Summary of the invention

[0003] Based on this, it is necessary to propose a three-dimensional space monitoring method and system to address the shortcomings of traditional monitoring and protection measures in terms of their weak monitoring capabilities.

[0004] The present application relates to a three-dimensional space monitoring method, comprising: Calling the spatial position algorithm database to receive spatial monitoring deployment instructions; According to the spatial monitoring layout instructions, the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database are parsed; Receive 3D point cloud echo; Analyze the 3D point cloud echo based on the echo analysis function in the spatial position algorithm database; Generate three-dimensional point cloud layout area spatial data; Incorporate the boundary coordinates of the spatial position monitoring coordinate area into the spatial data of the three-dimensional point cloud layout area; forming a detection area; Returning the received three-dimensional point cloud echo, performing spatial area position comparison to perform a three-dimensional space monitoring task; Receive shutdown instructions to complete the three-dimensional space monitoring task.

[0005] The present application relates to a three-dimensional space monitoring system, comprising: A monitoring body, used to execute the three-dimensional space monitoring method; The memory is communicatively connected with the monitoring body.

[0006] The present application relates to a three-dimensional space monitoring method and system, which calls a spatial position algorithm database to receive spatial monitoring layout instructions, determines the area to be monitored in the limited space of the substation by receiving the spatial monitoring layout instructions, and prevents the swing danger of crane hoisting operations and lift trucks in complex environments and adjacent live areas. According to the spatial monitoring layout instructions, the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database are parsed, so that the monitoring personnel can establish a safe warning area in advance, that is, the spatial position monitoring coordinate area, before the crane and lift truck enter the low-altitude space of the substation. Receive the three-dimensional point cloud echo, parse the three-dimensional point cloud echo based on the echo parsing function in the spatial position algorithm database, generate the spatial data of the three-dimensional point cloud layout area, receive the three-dimensional point cloud echo, and compare the spatial area position to perform the three-dimensional space monitoring task, and accurately judge the distance of the crane and the distance of the lift truck. It solves the defects of limited field of view and selective neglect, the protection time is timely, and the monitoring capability of the monitoring protection measures is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 A method flow chart of a three-dimensional space monitoring method provided in one embodiment of the present application.

[0008] Figure 2 A schematic diagram of the structural connection of a three-dimensional space monitoring system provided in another embodiment of the present application.

[0009] Reference numerals: 100-monitoring body; 200-memory. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0011] The present application provides a three-dimensional space monitoring method.

[0012] like Figure 1 As shown, in one embodiment of the present application, a three-dimensional space monitoring method includes: S100, calling a spatial position algorithm database to receive a spatial monitoring deployment instruction.

[0013] S200, parsing the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database according to the spatial monitoring deployment instruction.

[0014] S300, receiving a three-dimensional point cloud echo.

[0015] S400, parses the 3D point cloud echo based on the echo parsing function in the spatial position algorithm database.

[0016] S500, generating three-dimensional point cloud layout area spatial data.

[0017] Specifically, executing the three-dimensional point cloud computing function can improve the communication of the space monitoring system of the three-dimensional space monitoring method. It can also improve the communication capability of the processor and the memory, and further improve the complex light wave environment handling capability of the space monitoring system combining vision and light waves.

[0018] S600, incorporating the boundary coordinates of the spatial position monitoring coordinate area into the three-dimensional point cloud layout area spatial data.

[0019] S700: forming a detection area.

[0020] S800, returning the received three-dimensional point cloud echo, and performing spatial area position comparison to perform a three-dimensional space monitoring task.

[0021] Specifically, when a foreign object appears in the monitoring area, such as a person entering the monitoring area, the light waves emitted by the local device will generate echoes, and by receiving the superimposed echoes, the basic light waves of the environment can be analyzed.

[0022] Under normal circumstances, the basic light waves of the environment will not fluctuate. When people enter the monitoring area, the basic light waves of the environment will fluctuate.

[0023] At this time, after the echo data is queried in the echo characteristic feedback assignment table, it can be determined that the echo characteristic data is 1.

[0024] Furthermore, when no foreign matter enters the monitoring area, the echo characteristic data can be determined to be 0 after searching the echo characteristic feedback value table.

[0025] S900, receiving a shutdown instruction to complete the three-dimensional space monitoring task.

[0026] This embodiment relates to a three-dimensional space monitoring method, calling a spatial position algorithm database to receive a spatial monitoring layout instruction, and determining the area to be monitored in the limited space of the substation by receiving the spatial monitoring layout instruction, so as to prevent the swing danger of crane hoisting operations and lift trucks in complex environments and adjacent live areas. According to the spatial monitoring layout instruction, the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database are parsed, so that the monitoring personnel can establish a safe danger area, that is, the spatial position monitoring coordinate area, in advance before the crane and lift truck enter the low-altitude space of the substation. Receive the three-dimensional point cloud echo, parse the three-dimensional point cloud echo based on the echo parsing function in the spatial position algorithm database, generate the spatial data of the three-dimensional point cloud layout area, receive the three-dimensional point cloud echo, and compare the spatial area position to perform the three-dimensional space monitoring task, and accurately judge the distance of the crane and the distance of the lift truck. Solve the defects of limited field of view and selective neglect, the protection time is timely, and the monitoring capability of monitoring protection measures is improved.

[0027] In one embodiment of the present application, S100 includes: S111, establishing a virtual three-dimensional space coordinate system based on the map library function of the spatial position algorithm database.

[0028] S112, determining an original coordinate point of a virtual three-dimensional space coordinate system.

[0029] S113, matching the origin of the virtual three-dimensional space coordinate system with the original coordinate point.

[0030] S114, forming a virtual three-dimensional space with orthogonal three-dimensional space vectors.

[0031] Specifically, marker.msg is a visualization algorithm, and the map library function of the spatial position algorithm database is based on the visualization algorithm marker.ms.

[0032] The establishment of a virtual three-dimensional space coordinate system can rely on various types of markers of the visualization algorithm, such as arrows, cubes, balls, cylinders, lines, line sequences, etc. Based on various types of markers, a virtual three-dimensional space coordinate system is established. The virtual three-dimensional space coordinate system can reversely model the parametric data included later to form a visualization image.

[0033] An original coordinate point of a virtual three-dimensional space coordinate system is determined so that the origin of the established virtual three-dimensional space coordinate system coincides with the original coordinate point to form a virtual three-dimensional space with orthogonal three-dimensional space vectors.

[0034] More specifically, the original coordinate point of the virtual three-dimensional space coordinate system is the intersection point of the three vectors in the three-dimensional space, and can also be understood as the origin of the three-dimensional space coordinate system itself.

[0035] The original coordinate point is the initialization origin of the virtual three-dimensional space coordinate system given by the computer program.

[0036] The original coordinate points match the original coordinate points of the virtual three-dimensional space coordinate system, and the virtual three-dimensional space coordinate system can be positioned at the target position given by the computer program, so that the virtual three-dimensional space coordinate system serves as the reference coordinate system of the virtual space established in the computer program.

[0037] The virtual three-dimensional space with orthogonal three-dimensional space vectors is the layout three-dimensional space and mapping three-dimensional space of the entire visualization space.

[0038] In one embodiment of the present application, S100 further includes: S121, receiving space monitoring deployment instructions.

[0039] S122, parsing the virtual three-dimensional space calling instruction in the space monitoring layout instruction.

[0040] S123, calling the virtual three-dimensional space based on the virtual three-dimensional space calling instruction.

[0041] S124, defining the called virtual three-dimensional space as the three-dimensional space for laying out the boundary coordinates of the spatial position monitoring coordinate area.

[0042] S125, defining the called virtual three-dimensional space as the mapped three-dimensional space of the three-dimensional point cloud echo.

[0043] Specifically, the space monitoring layout instructions include instructions such as virtual three-dimensional space calling instructions. After parsing the virtual three-dimensional space calling instructions in the space monitoring layout instructions, the virtual three-dimensional space can be called based on the virtual three-dimensional space calling instructions.

[0044] The virtual three-dimensional space is used as the three-dimensional space for laying out the boundary coordinates of the spatial position monitoring coordinate area.

[0045] The virtual three-dimensional space can be used as a mapping three-dimensional space of the three-dimensional point cloud echo.

[0046] Based on the virtual three-dimensional space, the three-dimensional point cloud computing function can be called to analyze the echo data obtained by analysis. The analysis of the echo data can determine whether there is a foreign object in the light wave monitoring area.

[0047] In one embodiment of the present application, S200 includes: S210, receiving a first deployment instruction in the space monitoring deployment instructions.

[0048] S220: Based on the first deployment instruction, determine whether the real-time deployment environment is normal.

[0049] S221, call the echo wave equation.

[0050] S222, receiving the superimposed echo data.

[0051] The echo wave equation is: in, is the echo after superposition, is the basic light wave of the environment, is the light wave emitted by the local device, is the environmental regulation constant, is the amplitude of the basic light wave of the environment, is the inverse of the frequency of the basic light wave of the environment, is the amplitude of the light wave emitted by the local device, is the inverse of the frequency of the light wave emitted by the local device, is the superimposed damping.

[0052] S223, based on the amplitude and frequency in the superimposed echo data, determine the amplitude and frequency of the light wave emitted by the local device corresponding to the echo data.

[0053] S224, using the amplitude and frequency in the superimposed echo data and the amplitude and frequency of the light wave emitted by the local device, calculate the amplitude and frequency of the basic light wave of the environment.

[0054] S225, defining the amplitude and frequency of the basic light wave of the environment as echo data.

[0055] S226, judging whether the real-time deployment environment is normal based on the amplitude and frequency of the basic light wave of the environment.

[0056] S227, if the amplitude and frequency of the basic light wave do not fluctuate, it is determined that the real-time deployment environment is normal.

[0057] S228, if the amplitude and frequency of the basic light wave fluctuate, it is determined that the real-time deployment environment is abnormal.

[0058] S230: If the real-time deployment environment is abnormal, the alarm characteristic data is fed back to issue an alarm message.

[0059] S240: If the real-time deployment environment is normal, parse the second deployment instruction in the space monitoring deployment instruction. The second deployment instruction includes data of the boundary coordinates of the space position monitoring coordinate area.

[0060] S251, calling the three-dimensional data analysis function of the spatial position algorithm database.

[0061] S252, parsing the data of the boundary coordinates of the spatial position monitoring coordinate area in the second layout instruction.

[0062] S253, forming boundary coordinate points of the spatial position monitoring coordinate area.

[0063] S254, mapping the boundary coordinate points of the spatial position monitoring coordinate area into the virtual three-dimensional space.

[0064] S255, forming a spatial position monitoring coordinate area.

[0065] Specifically, superimposed damping is related to the attenuation rate of vibration, and the attenuation rate is often expressed as Calculated by the method.

[0066] There is a linear relationship between superposition damping and the attenuation rate of vibration with a constant coefficient. When the fuzzy algorithm is used, the constant coefficient is ignored in this embodiment, thereby improving the effectiveness of light wave analysis in complex environments.

[0067] In fact, in the working state of large monitoring data volume, due to the superposition between light waves, the superposition damping is small and approaches zero, so the superposition damping can take a non-zero constant. When the superposition damping takes a constant less than 1, the high-frequency light in the basic light wave of the stronger environment can be adjusted.

[0068] When the superposition damping takes a constant greater than 1, the low-frequency light in the fundamental light wave of the weaker environment can be adjusted.

[0069] More specifically, receive the superimposed echo data. Based on the amplitude and frequency in the superimposed echo data, determine the amplitude and frequency of the light wave emitted by the local device corresponding to the echo data. Utilize the amplitude and frequency in the superimposed echo data and the amplitude and frequency of the light wave emitted by the local device to calculate the amplitude and frequency of the basic light wave of the environment. Define the amplitude and frequency of the basic light wave of the environment as the echo data. Call the echo feature feedback assignment table. According to the amplitude and frequency of the echo data, search the echo feature feedback assignment table. Determine the echo feature data.

[0070] Simply put, when a foreign object appears in the monitoring area, such as a person entering the monitoring area, the light wave emitted by the local device will produce an echo, and by receiving this superimposed echo, the basic light wave of the environment can be analyzed.

[0071] Under normal circumstances, the basic light waves of the environment will not fluctuate. When people enter the monitoring area, the basic light waves of the environment will fluctuate.

[0072] At this time, after the echo data is queried in the echo characteristic feedback assignment table, it can be determined that the echo characteristic data is 1.

[0073] Furthermore, when no foreign matter enters the monitoring area, the echo characteristic data can be determined to be 0 after searching the echo characteristic feedback value table.

[0074] In one embodiment of the present application, S400 includes: S411, creating a plane divider in the virtual three-dimensional space.

[0075] S412, setting parameters of the splitter.

[0076] S413: segment the virtual three-dimensional space to generate at least two segmented areas.

[0077] S414, select a segmentation area.

[0078] S415, receiving the superimposed echo.

[0079] S416, determining the basic light wave of the environment based on the echo wave equation.

[0080] S417, returning to the step of selecting a segmented area until all segmented areas are selected.

[0081] Specifically, a plane segmenter is created in the virtual 3D space, ensuring that the functions that introduce point cloud data and parameters have the necessary header files. For example, the pcl / point_types.h function can be used for the point type of the point cloud data, and the pcl / segmentation / sac_segmentation.h function can be used for SAC segmentation of the virtual 3D space.

[0082] Based on the function of introducing point cloud data and parameters, it has the necessary header files to create SACSegmentation objects, orthogonal 3D space vectors based on virtual 3D space, pcl::SACCegmentation <pcl::pointxyz>The function can create a point cloud instance for PointXYZ type.

[0083] In the process of setting the parameters of the segmenter, you can use the index pointer to point to the pcl::pointIndice object, which can be used to save the index of the internal point found by the segmentation algorithm.

[0084] The superimposed echoes can be used to parse out the basic light waves of the environment. Projecting the reflection point distance of the basic light waves of the environment corresponding to each segmented area into the virtual three-dimensional space can visualize the objects in the space monitoring area in the virtual three-dimensional space.

[0085] S421, receiving the echo analysis function in the spatial position algorithm database.

[0086] S422, determining the distance of the target object in the environment based on the echo analysis function and the basic light wave of the environment.

[0087] S423, incorporating the distance parameters of the target objects in the environment into the virtual three-dimensional space.

[0088] S424, forming a three-dimensional point cloud in a virtual three-dimensional space.

[0089] Specifically, based on the distance of the target object in the environment and the structural definition of the reflection point, the approximate spatial position of the reflection point can be determined. In the virtual three-dimensional space, using any vector in the orthogonal three-dimensional space vector, the relative position of this reflection point relative to the three three-dimensional space vectors in the orthogonal three-dimensional space vector can be calculated. The expression of the calculated vector can be PointType vector_DP, PointType vector_EP, and PointType vector_DE.

[0090] More specifically, vector_DE.x = m_points8_[7].x - m_points8_[4].x.

[0091] vector_DE.y=m_points8_[7].y-m_points8_[4].y.

[0092] vector_DE.z=m_points8_[7].z-m_points8_[4].z.

[0093] This step is to calculate the vector DP.

[0094] vector_DPx=px-m_points8_[4].x.

[0095] vector_DP.y= py-m_points8_[4].y.

[0096] vector_DP.z=pz-m_points8_[4].z.

[0097] This step is to calculate the vector EP.

[0098] vector_EP.x=px-m_points8_[7].x.

[0099] vector_EP.y=py-m_points8_[7].y.

[0100] vector_EP.z=pz-m_points8_[7].z.

[0101] This step calculates the result of the vector dot product.

[0102] Based on PointType vector_DP, PointType vector_EP, and PointType vector_DE, the specific position of the reflection point in the virtual three-dimensional space can be obtained.

[0103] The distance of the target object in the environment is actually the distance between the target object and the monitoring body. The target object receives the light wave from the monitoring body and reflects the light wave. Based on the information of the basic light wave at the reflection point of the target object, the distance between the target object and the monitoring body can be determined. By mapping this distance to the virtual three-dimensional space, the monitoring area can be visualized.

[0104] The present application provides a three-dimensional space monitoring system.

[0105] like Figure 2 As shown, in one embodiment of the present application, the three-dimensional space monitoring system includes a monitoring body 100 and a memory 200. The monitoring body 100 is used to execute the three-dimensional space monitoring method mentioned in any one of the above embodiments.

[0106] The memory 200 is in communication connection with the monitoring body 100 .

[0107] Specifically, the monitoring body 100 includes a sensor module, a tripod, a main box, and a smart bracelet. The sensor module includes a three-dimensional laser radar, a camera, and a waterproof shell. The tripod is used to fix the sensor module, and the sensor placement height and angle can be adjusted. The main box includes a waterproof shell, a data processing module, a data display module, a data interaction module, a switch, a battery, a power management module, an audio module, and a wireless communication module. The smart bracelet communicates with the main box via wireless lora to receive and display alarm information. The sensor module and the main box are connected by a cable.

[0108] The sensor module is connected to the tripod by mechanical buckle. The sensor module is connected to the main chassis by a two-in-one cable with a network cable and a power cable. The main chassis is connected to the smart bracelet by wireless lora.

[0109] The sensor module is used to collect real-time 3D point cloud data and video image data, and transmit the collected data to the main box through the connecting cable. The tripod is used to fix the sensor module and is used as a support.

[0110] The host case provides power for the sensor module, processes and analyzes the data collected and transmitted by the sensor module in real time, detects anomalies, transmits the analysis results to the data display module in the form of dynamic images, and transmits the analysis results to the smart bracelet through wireless lora in the form of voice, vibration, and text reminders to achieve an early warning effect.

[0111] The smart bracelet is used to receive alarm information sent by the host case, and display alarms through voice, vibration, and text to achieve a safety warning effect.

[0112] The sensor module includes a 3D laser radar and a camera. The 3D laser radar collects 3D point cloud data in real time, and the camera collects video image data in real time. The tripod is a fixed support. The sensor is fixed by snap screws and the angle is adjusted by a universal joint. The main box includes a waterproof shell, a data processing module, a data display module, a data interaction module, a switch, a battery, a power management module, an audio module, and a wireless communication module. The data processing module processes the real-time 3D point cloud and video image data transmitted by the sensor module through the connecting cable. The data display module displays the data processed by the data processing module. The data interaction module realizes dynamic data interaction. The switch realizes data exchange within the device. The battery provides power for the entire device. The power management module intelligently manages the power supply and charging and discharging of the entire device. The audio module plays the audio output by the data display module. The wireless communication module is used to send the alarm information processed by the data processing module to the smart bracelet through wireless lora. The smart bracelet contains a buzzer, a vibration motor, and a display screen, which can display alarm sound, vibration, and text information respectively.

[0113] The sensor module transmits the collected real-time 3D point cloud data to the main box. After the main box performs three-dimensional analysis and processing, the alarm information is transmitted to the smart bracelet via wireless lora for early warning display, and the entire device realizes the early warning function.

[0114] This embodiment relates to a three-dimensional space monitoring system. The monitoring body 100 calls the spatial position algorithm database of the memory 200 to receive the spatial monitoring layout instruction. By receiving the spatial monitoring layout instruction, the area to be monitored in the limited space of the substation is determined to prevent the swing danger of the crane hoisting operation and the high-altitude operation of the lifting vehicle in a complex environment and adjacent to the live area. According to the spatial monitoring layout instruction, the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database are parsed, so that the monitoring personnel can establish a safe danger area in advance before the crane and the lifting vehicle enter the low-altitude space of the substation, that is, the spatial position monitoring coordinate area. Receive the three-dimensional point cloud echo, parse the three-dimensional point cloud echo based on the echo parsing function in the spatial position algorithm database, generate the spatial data of the three-dimensional point cloud layout area, receive the three-dimensional point cloud echo, and compare the spatial area position to perform the three-dimensional space monitoring task, and accurately judge the distance of the crane and the distance of the lifting vehicle. Solve the defects of limited field of view and selective neglect, the protection time is timely, and the monitoring capability of the monitoring protection measures is improved.

[0115] The technical features of the above-described embodiments may be arbitrarily combined, and the execution order of the method steps is not limited. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.< / pcl::pointxyz>

Claims

1. A three-dimensional space monitoring method, characterized in that: include: Calling the spatial position algorithm database to receive spatial monitoring deployment instructions; According to the spatial monitoring layout instructions, the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database are parsed; Receive 3D point cloud echo; Analyze the 3D point cloud echo based on the echo analysis function in the spatial position algorithm database; Generate three-dimensional point cloud layout area spatial data; Incorporate the boundary coordinates of the spatial position monitoring coordinate area into the spatial data of the three-dimensional point cloud layout area; forming a detection area; Returning the received three-dimensional point cloud echo, performing spatial area position comparison to perform a three-dimensional space monitoring task; Receive shutdown instructions to complete the three-dimensional space monitoring task.

2. The three-dimensional space monitoring method according to claim 1, characterized in that: The calling of the spatial position algorithm database to receive the spatial monitoring deployment instruction includes: Based on the map library function of the spatial position algorithm database, a virtual three-dimensional space coordinate system is established; Determine an original coordinate point of a virtual three-dimensional space coordinate system; Match the origin of the virtual three-dimensional space coordinate system with the original coordinate point; A virtual three-dimensional space is formed with orthogonal three-dimensional space vectors.

3. The three-dimensional space monitoring method according to claim 2, characterized in that: The calling of the spatial position algorithm database to receive the spatial monitoring deployment instruction also includes: Receive space monitoring deployment instructions; Analyze the virtual three-dimensional space calling instructions in the space monitoring layout instructions; Based on the virtual three-dimensional space calling instruction, calling the virtual three-dimensional space; The virtual three-dimensional space after the call is defined as the three-dimensional space for laying out the boundary coordinates of the spatial position monitoring coordinate area; The virtual three-dimensional space after definition is called as the mapping three-dimensional space of the three-dimensional point cloud echo.

4. The three-dimensional space monitoring method according to claim 3, characterized in that: The step of parsing the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database according to the spatial monitoring layout instruction includes: receiving a first deployment instruction among space monitoring deployment instructions; Based on the first deployment instruction, determining whether the real-time deployment environment is normal; If the real-time deployment environment is abnormal, the alarm characteristic data is fed back to issue an alarm message; If the real-time deployment environment is normal, the second deployment instruction in the space monitoring deployment instruction is parsed; the second deployment instruction includes data of boundary coordinates of the space position monitoring coordinate area.

5. The three-dimensional space monitoring method according to claim 4, characterized in that: The determining, based on the first deployment instruction, whether the real-time deployment environment is normal includes: Invoke the echo wave equation; receiving the superimposed echo data; Determine the amplitude and frequency of the light wave emitted by the local device corresponding to the echo data based on the amplitude and frequency in the superimposed echo data; The amplitude and frequency of the basic light waves of the environment are calculated by using the amplitude and frequency in the superimposed echo data and the amplitude and frequency of the light waves emitted by the local device; The amplitude and frequency of the basic light waves of the environment are defined as echo data; Based on the amplitude and frequency of the basic light waves in the environment, determine whether the real-time deployment environment is normal; If the amplitude and frequency of the basic light wave do not fluctuate, it is determined that the real-time deployment environment is normal; If the amplitude and frequency of the basic light wave fluctuate, it is determined that the real-time deployment environment is abnormal.

6. The three-dimensional space monitoring method according to claim 5, characterized in that: The step of analyzing the boundary coordinates of the spatial position monitoring coordinate area in the spatial position algorithm database according to the spatial monitoring layout instruction also includes: Call the three-dimensional data analysis function of the spatial position algorithm database; Parsing the data of the boundary coordinates of the spatial position monitoring coordinate area in the second layout instruction; Forming boundary coordinate points of the spatial position monitoring coordinate area; Mapping the boundary coordinate points of the spatial position monitoring coordinate area into a virtual three-dimensional space; A spatial position monitoring coordinate area is formed.

7. The three-dimensional space monitoring method according to claim 6, characterized in that: Before receiving the three-dimensional point cloud echo, the echo wave equation is called: The echo wave equation is: in, is the echo after superposition, is the basic light wave of the environment, is the light wave emitted by the local device, is the environmental regulation constant, is the amplitude of the basic light wave of the environment, is the inverse of the frequency of the basic light wave of the environment, is the amplitude of the light wave emitted by the local device, is the inverse of the frequency of the light wave emitted by the local device, is the superimposed damping.

8. The three-dimensional space monitoring method according to claim 7, characterized in that: The echo analysis function based on the spatial position algorithm database analyzes the three-dimensional point cloud echo, including: Creating a plane divider in a virtual three-dimensional space; Set the parameters of the splitter; Segmenting the virtual three-dimensional space to generate at least two segmented areas; Select a segmentation area; Receive the superimposed echo; Based on the echo wave equation, determine the fundamental light wave of the environment; Return to the step of selecting a segmented area until all segmented areas are selected.

9. The three-dimensional space monitoring method according to claim 8, characterized in that: The echo analysis function in the spatial position algorithm database is used to analyze the three-dimensional point cloud echo, and further includes: Receiving echo analysis functions in the spatial position algorithm database; Determine the distance of the target object in the environment based on the echo analysis function and the basic light waves of the environment; Incorporate the distance parameters of the target objects in the environment into the virtual three-dimensional space; A three-dimensional point cloud is formed in a virtual three-dimensional space.

10. A three-dimensional space monitoring system, characterized in that: include: A monitoring body, used to execute the three-dimensional space monitoring method according to any one of claims 1 to 9; The memory is communicatively connected with the monitoring body.

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