Safety area configuration method for lidar, electronic device, and storage medium

Abstract

The application provides a safety area configuration method of a laser radar, an electronic device and a storage medium. The method comprises the following steps: generating a two-dimensional grid in a rectangular coordinate system on a display terminal; obtaining a first mapping relationship according to the two-dimensional grid and a field of view angle range of the laser radar; obtaining configuration parameters of at least one planar graph input by a user and a preset monitoring distance corresponding to each planar graph; screening the two-dimensional grid according to the configuration parameters of each planar graph and a grid coverage condition to obtain a plurality of first unit cells corresponding to each planar graph; obtaining a first unit cell set according to the plurality of first unit cells corresponding to each planar graph; obtaining a three-dimensional safety area corresponding to the laser radar according to the first unit cell set, the preset monitoring distance corresponding to each planar graph and the first mapping relationship; and displaying the three-dimensional safety area on the display terminal. The method is beneficial to improving the setting accuracy and the visual effect of the three-dimensional safety area.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of industrial safety, and in particular to a safety area configuration method of a laser radar, an electronic device and a storage medium. BACKGROUND

[0002] The laser radar is a radar system that detects the position, speed and other physical quantities of a target by emitting a laser beam. In the field of industrial safety, the laser radar is usually used for environmental perception or intrusion detection of a factory building or workshop to achieve better safety protection effect.

[0003] There are two common schemes for the safety area configuration method of the laser radar. The first scheme is that multiple single-line laser radars are installed at different heights or different horizontal positions. After the two-dimensional safety area of each single-line laser radar is configured, the two-dimensional safety areas of the multiple single-line laser radars are fused to realize monitoring of a three-dimensional safety area. The use of multiple single-line laser radars increases the hardware cost and the system integration difficulty, and the later maintenance and adjustment are difficult. The second scheme is that an operator directly defines a three-dimensional safety area by adjusting multiple-dimensional parameters in a graphical interface of a display terminal. This configuration method is tedious to operate, difficult to adjust multiple-dimensional parameters, lacks an intuitive preview picture, and is prone to visual deviation in a stereoscopic view, thereby affecting the setting accuracy of the three-dimensional safety area. SUMMARY

[0004] The embodiments of the present application provide a safety area configuration method of a laser radar, which is beneficial to improve the setting accuracy of a three-dimensional safety area and improve the convenience of user operation.

[0005] In a first aspect, the embodiments of the present application provide a safety area configuration method of a laser radar, comprising: generating a two-dimensional grid in a rectangular coordinate system on a display terminal, the two-dimensional grid comprising multiple grid rows arranged in sequence along a longitudinal axis of the rectangular coordinate system, and each grid row comprising multiple unit cells arranged in sequence along a transverse axis of the rectangular coordinate system;

[0006] obtaining a first mapping relationship between the two-dimensional grid and a field of view angle range of the laser radar according to the field of view angle range of the laser radar and the two-dimensional grid;

[0007] obtaining configuration parameters of at least one planar graph input by a user and a preset monitoring distance corresponding to each planar graph;

[0008] screening the two-dimensional grid according to the configuration parameters of each planar graph and a grid coverage condition to obtain multiple first unit cells corresponding to each planar graph, the first unit cell being a unit cell satisfying the grid coverage condition;

[0009] obtaining a first unit cell set according to the multiple first unit cells corresponding to each planar graph;

[0010] obtaining a three-dimensional safety region corresponding to the laser radar according to the first cell set, the preset monitoring distance corresponding to each planar graph, and the first mapping relationship;

[0011] displaying the three-dimensional safety region on the display terminal.

[0012] In some embodiments, the first mapping relationship between the two-dimensional grid and the field of view angle range of the laser radar is obtained according to the field of view angle range of the laser radar and the two-dimensional grid, including: obtaining a horizontal field of view angle sub-range corresponding to each cell according to a horizontal field of view angle range of the laser radar and a number of cells in each grid row; obtaining a vertical field of view angle sub-range corresponding to each cell according to a vertical field of view angle range of the laser radar and a number of grid rows in the two-dimensional grid; obtaining a horizontal field of view angle corresponding to the horizontal coordinate of the vertex of each cell according to the horizontal field of view angle sub-range corresponding to each cell; obtaining a vertical field of view angle corresponding to the vertical coordinate of the vertex of each cell according to the vertical field of view angle sub-range corresponding to each cell; and the first mapping relationship includes the horizontal field of view angle corresponding to the horizontal coordinate of the vertex of each cell and the vertical field of view angle corresponding to the vertical coordinate of the vertex of each cell.

[0013] In some embodiments, the at least one planar graph includes a first planar graph, and when the first planar graph is a circle, the two-dimensional grid is screened according to the configuration parameter of each planar graph and the grid covering condition to obtain a plurality of first cells corresponding to each planar graph, including: obtaining the horizontal coordinate, the vertical coordinate of the center of the circle in the rectangular coordinate system, and the radius of the circle according to the configuration parameter of the first planar graph; obtaining the coordinate range of the circle according to the horizontal coordinate, the vertical coordinate of the center of the circle in the rectangular coordinate system, and the radius of the circle; and when the cell satisfies any one of the following conditions, it is determined that the cell satisfies the grid covering condition: at least one vertex of the cell is located in the coordinate range of the circle; or the center of the circle is located in the coordinate range of the cell; or at least one edge of the cell is located at a distance less than or equal to the radius of the circle from the center of the circle.

[0014] In some embodiments, the at least one planar graph includes a first planar graph, and when the first planar graph is a polygon, the two-dimensional grid is screened according to the configuration parameter of each planar graph and the grid covering condition to obtain a plurality of first cells corresponding to each planar graph, including: obtaining the horizontal coordinate and the vertical coordinate of each vertex of the polygon in the rectangular coordinate system according to the configuration parameter of the first planar graph; obtaining the coordinate range of the polygon according to the horizontal coordinate and the vertical coordinate of each vertex of the polygon in the rectangular coordinate system; and when the cell satisfies any one of the following conditions, it is determined that the cell satisfies the grid covering condition: at least one vertex of the cell is located in the coordinate range of the polygon; or the geometric center of the cell is located in the coordinate range of the polygon.

[0015] In some embodiments, the at least one planar graph includes a first planar graph, when the first planar graph is a rectangle, the two-dimensional grid is screened according to the configuration parameters of each planar graph and the grid covering condition to obtain a plurality of first cells corresponding to each planar graph, including: obtaining the horizontal coordinate and the vertical coordinate of each vertex of the rectangle in the rectangular coordinate system according to the configuration parameters of the first planar graph; obtaining the coordinate range of the rectangle according to the horizontal coordinate and the vertical coordinate of each vertex of the rectangle in the rectangular coordinate system; when the cell satisfies the following conditions, it is determined that the cell satisfies the grid covering condition: the projection of the rectangle in the horizontal axis direction of the rectangular coordinate system overlaps with the projection of the cell in the horizontal axis direction of the rectangular coordinate system, and the projection of the rectangle in the vertical axis direction of the rectangular coordinate system overlaps with the projection of the cell in the vertical axis direction of the rectangular coordinate system.

[0016] In some embodiments, the at least one planar graph includes a first planar graph and a second planar graph, the preset monitoring distance corresponding to the first planar graph and the preset monitoring distance corresponding to the second planar graph are the same; obtaining a first cell set according to the plurality of first cells corresponding to each planar graph, including: comparing the plurality of first cells corresponding to the first planar graph and the plurality of first cells corresponding to the second planar graph to obtain a first cell subset, a second cell subset and a third cell subset; wherein the first cell subset includes the first cells in the plurality of first cells corresponding to the first planar graph that are the same as the plurality of first cells corresponding to the second planar graph; the second cell subset includes the first cells in the plurality of first cells corresponding to the first planar graph that are different from the plurality of first cells corresponding to the second planar graph; the third cell subset includes the first cells in the plurality of first cells corresponding to the second planar graph that are different from the plurality of first cells corresponding to the first planar graph; the first cell set includes the first cell subset, the second cell subset and the third cell subset.

[0017] In some embodiments, according to the first cell set, the preset monitoring distance corresponding to each planar graph and the first mapping relationship, a three-dimensional safety region corresponding to the laser radar is obtained, including: according to each first cell in the first cell set, the first mapping relationship and the preset monitoring distance corresponding to each first cell in the first cell set, a ball cone corresponding to each first cell in the first cell set is obtained; combining the ball cones corresponding to the plurality of first cells in the first cell set to obtain the three-dimensional safety region corresponding to the laser radar.

[0018] In some embodiments, the plurality of first unit cells in the first set of unit cells includes a second unit cell, and the corresponding spherical pyramid of each first unit cell in the first set of unit cells is obtained according to each first unit cell in the first set of unit cells, the first mapping relationship, and the preset monitoring distance corresponding to each first unit cell in the first set of unit cells, including: obtaining the horizontal field of view and the vertical field of view corresponding to each vertex of the second unit cell according to the horizontal coordinate of each vertex of the second unit cell, the vertical coordinate of each vertex of the second unit cell, and the first mapping relationship; obtaining the three-dimensional coordinates of each vertex of the second unit cell in the radar coordinate system according to the preset monitoring distance corresponding to the second unit cell, the horizontal field of view corresponding to each vertex of the second unit cell, and the vertical field of view corresponding to each vertex of the second unit cell; and obtaining the spherical pyramid corresponding to the second unit cell according to the three-dimensional coordinates of the plurality of vertices of the second unit cell and the preset monitoring distance corresponding to the second unit cell, wherein the spherical center of the spherical pyramid is the optical center of the laser radar.

[0019] In a second aspect, the embodiments of the present application provide an electronic device, including: a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method of any one of the first aspect.

[0020] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores computer executable instructions, when the computer executable instructions are executed by an electronic device, the electronic device performs the steps of the method of any one of the first aspect.

[0021] The embodiments of the present application provide a safety region configuration method of a laser radar. The safety region configuration method associates a planar graph input by a user with a scanning field of view of the laser radar, and sets a three-dimensional safety region of the laser radar through parameter setting of the planar graph. Compared with directly defining the three-dimensional safety region through multi-dimensional parameters, the safety region configuration method disclosed in the embodiments of the present application can effectively improve the operation convenience of the user and the setting accuracy of the three-dimensional safety region. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0023] Figure 1 A flowchart of a safety region configuration method of a laser radar disclosed in the embodiments of the present application;

[0024] Figure 2A schematic diagram of a two-dimensional grid under a rectangular coordinate system disclosed by the embodiments of the present application;

[0025] Figure 3 A schematic diagram of a position relationship between a first planar pattern and a two-dimensional grid disclosed by the embodiments of the present application;

[0026] Figure 4 A schematic diagram of a position relationship between a first planar pattern and a two-dimensional grid disclosed by the embodiments of the present application;

[0027] Figure 5 A schematic diagram of a position relationship between a first planar pattern and a two-dimensional grid disclosed by the embodiments of the present application;

[0028] Figure 6 A schematic diagram of a spherical cone disclosed by the embodiments of the present application;

[0029] Figure 7 A schematic diagram of an electronic device disclosed by the embodiments of the present application. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0031] The terms “first”, “second”, “third”, “fourth” and other various terms labels in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0032] In the description of the embodiments of the present application, unless otherwise specified, “ / ” represents the meaning of or, for example, A / B can represent A or B; “and / or” in this document is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, “plural” or “multiple” means two or more than two.

[0033] The specific operation methods in the method embodiments of the present application can also be applied to the device embodiments or system embodiments. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more than two. In various embodiments of the present application, unless otherwise specified and logically conflicting, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship. It can be understood that the various numbers involved in the present application are only for the convenience of differentiation in the description, and are not used to limit the scope of the present application. The size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic.

[0034] In the field of industrial safety, laser radars are usually used to scan a site such as a factory building or a workshop to achieve intrusion detection or safety protection. Existing safety area configuration methods include two common schemes: the first is to configure multiple single-line laser radars. The multiple single-line laser radars are installed at different positions on a mobile carrier or a static platform, such as being installed at different heights or different horizontal positions. After the two-dimensional safety area of each single-line laser radar is configured, the monitoring of the three-dimensional safety area is achieved by fusing the two-dimensional safety areas of the multiple single-line laser radars. This configuration method increases the hardware cost and improves the system integration complexity, and it is difficult to adjust the three-dimensional safety area.

[0035] The present application discloses a configuration method of a three-dimensional safety area of a laser radar, which associates the scanning field of view of a multi-line laser radar with the coordinate range of a planar figure set by a user on a graphical interface of a display terminal. The user can flexibly define and visually adjust the three-dimensional safety area by setting the configuration parameters of the planar figure and the preset monitoring distance, which has the advantages of good visual effect, strong interactivity, high precision, and simple operation. The configuration method can be applied to the field of industrial safety monitoring, such as the anti-collision area configuration of mobile equipment in an intelligent warehouse park, the safety boundary configuration of a collaborative work area of a robot and a person, the obstacle monitoring area configuration of a mobile carrier, and the safety protection area configuration of a robot workstation.

[0036] In one embodiment, the laser radar is a multi-line laser radar, including a solid-state laser radar, a semi-solid-state laser radar, or a mechanical laser radar, etc. Referring to Figure 1 The safety area configuration method of the laser radar includes steps S101 to S107.

[0037] S101, generating a two-dimensional grid under a rectangular coordinate system at a display terminal;

[0038] S102, obtaining a first mapping relationship between the two-dimensional grid and a field of view angle range of the laser radar according to the field of view angle range of the laser radar and the two-dimensional grid;

[0039] S103, obtaining configuration parameters of at least one planar graph input by a user and a preset monitoring distance corresponding to each planar graph;

[0040] S104, screening the two-dimensional grid according to the configuration parameters of each planar graph and a grid covering condition, to obtain a plurality of first unit cells corresponding to each planar graph;

[0041] S105, obtaining a first unit cell set according to the plurality of first unit cells corresponding to each planar graph.

[0042] S106, obtaining a three-dimensional safety area corresponding to the laser radar according to the first unit cell set, the preset monitoring distance corresponding to each planar graph and the first mapping relationship.

[0043] S107, displaying the three-dimensional safety area at the display terminal.

[0044] In one embodiment, step S101 comprises: the two-dimensional grid comprises a plurality of grid rows arranged in sequence along a longitudinal axis of the rectangular coordinate system, and each grid row comprises a plurality of unit cells arranged in sequence along a transverse axis of the rectangular coordinate system. For example, a two-dimensional grid comprising M*N unit cells is generated at a graphical interface of the display terminal, each unit cell has the same or different size, and each unit cell has a rectangular, diamond or triangular shape. M and N are both positive integers greater than 0. A rectangular coordinate system is established with an arbitrary point on the graphical interface as an origin.

[0045] In one embodiment, step S102 comprises: obtaining a horizontal field of view angle sub-range corresponding to each unit cell according to a horizontal field of view angle range of the laser radar and the number of unit cells in each grid row; obtaining a vertical field of view angle sub-range corresponding to each unit cell according to a vertical field of view angle range of the laser radar and the number of grid rows in the two-dimensional grid; obtaining a horizontal field of view angle corresponding to a transverse coordinate of a vertex of each unit cell according to the horizontal field of view angle sub-range corresponding to each unit cell; obtaining a vertical field of view angle corresponding to a longitudinal coordinate of the vertex of each unit cell according to the vertical field of view angle sub-range corresponding to each unit cell; and the first mapping relationship comprises a corresponding relationship between a two-dimensional coordinate of the vertex of each unit cell and the field of view angle of the laser radar. The two-dimensional coordinate refers to a transverse coordinate under the rectangular coordinate system and a longitudinal coordinate under the rectangular coordinate system. The first mapping relationship comprises the horizontal field of view angle corresponding to the transverse coordinate of the vertex of each unit cell under the rectangular coordinate system and the vertical field of view angle corresponding to the longitudinal coordinate of the vertex of each unit cell under the rectangular coordinate system.

[0046] In some embodiments, the scanning field of view of the lidar is represented by a horizontal field of view angle range and a vertical field of view angle range. The horizontal field of view angle range of the lidar can be 0-120 degrees, 0-180 degrees, 0-270 degrees, or 0-360 degrees, etc. The vertical field of view angle range of the lidar can be -25-25 degrees, -45-45 degrees, or -90-90 degrees, etc. The number of cells in the two-dimensional grid can be adjusted according to actual needs. It can be understood that for a lidar with the same scanning field of view size, setting a larger number of cells can achieve a higher precision configuration effect of the three-dimensional safety area.

[0047] In one example, the horizontal field of view angle range of the lidar is 0-360 degrees, and the vertical field of view angle range is -45-45 degrees. Step S101 includes: generating a two-dimensional grid including 12*9 cells on the graphical interface of the display terminal, each cell being of the same size and rectangular in shape. A rectangular coordinate system is established with the lower left corner vertex of the cell in the first row and the first column as the origin. That is, the two-dimensional grid includes 9 grid rows arranged in sequence along the vertical axis Y of the rectangular coordinate system, and each grid row includes 12 cells arranged in sequence along the horizontal axis X of the rectangular coordinate system.

[0048] Step S102 includes: obtaining a horizontal field of view angle sub-range corresponding to each cell according to the horizontal field of view angle range of the lidar and the number of cells in each grid row; and obtaining a vertical field of view angle sub-range corresponding to each cell according to the vertical field of view angle range of the lidar and the number of grid rows in the two-dimensional grid. As shown in Figure 2 For example, according to the horizontal field of view angle range of the lidar and the number of cells in each grid row, the horizontal field of view angle sub-range corresponding to cell A is 30-60 degrees. According to the vertical field of view angle range of the lidar and the number of grid rows in the two-dimensional grid, the vertical field of view angle sub-range corresponding to cell A is -35--25 degrees. Wherein, cell A includes four vertices A1, A2, A3, and A4. According to the horizontal field of view angle sub-range corresponding to cell A, the horizontal field of view angle corresponding to the horizontal coordinates of A1 and A3 is 30 degrees, and the horizontal field of view angle corresponding to the horizontal coordinates of A2 and A4 is 60 degrees. According to the vertical field of view angle sub-range corresponding to cell A, the vertical field of view angle corresponding to the vertical coordinates of A1 and A2 is -25 degrees, and the vertical field of view angle corresponding to the vertical coordinates of A3 and A4 is -35 degrees.

[0049] In one example, the first mapping relationship can include the following expression form: the two-dimensional coordinates (1, 2) of A1 correspond to (30, -25), the two-dimensional coordinates (2, 2) of A2 correspond to (60, -25), the two-dimensional coordinates (1, 1) of A3 correspond to (30, -35), and the two-dimensional coordinates (2, 1) of A4 correspond to (60, -35).

[0050] In one embodiment, step S103 includes: acquiring configuration parameters of at least one planar graphic within a two-dimensional grid input by the user and a preset monitoring distance corresponding to each planar graphic; selecting a corresponding template shape from a preset template library according to the configuration parameters of each planar graphic and drawing the graphic within the two-dimensional grid of the display terminal to obtain at least one planar graphic within the two-dimensional grid input by the user. The configuration parameters of the planar graphic input by the user include the type of the planar graphic and its position information. The template shape includes circles, polygons, sectors, rectangles, etc., and correspondingly, the type of planar graphic includes circles, polygons, sectors, rectangles, etc. The position information of the planar graphic includes the position of vertices, the position of edges, the position of arcs, the position of the center of the circle, etc.

[0051] In one example, step S103 includes: when the type of the planar graphic is a circle, according to the configuration parameters of the circle, selecting the corresponding template shape from the preset template library and drawing the graphic on the display terminal to obtain a circle located in a two-dimensional grid. The configuration parameters of the circle specifically include: the horizontal coordinate of the center in the rectangular coordinate system, the vertical coordinate of the center in the rectangular coordinate system, and the radius of the circle.

[0052] When the planar graphic is a polygon, a corresponding template shape is selected from a preset template library based on the polygon's configuration parameters and drawn on the display terminal to obtain a polygon located within a two-dimensional grid. The polygon's configuration parameters specifically include the x-coordinate and y-coordinate of each vertex in a Cartesian coordinate system. In one example, such as... Figure 5 As shown, the configuration parameters of the hexagon include the two-dimensional coordinates of the six vertices from C1 to C6.

[0053] When the planar graphic type is a sector, the corresponding template shape is selected from the preset template library according to the sector's configuration parameters, and the graphic is drawn on the display terminal to obtain a sector located within a two-dimensional grid. The sector's configuration parameters include: the x-coordinate of the sector's center in a Cartesian coordinate system, the y-coordinate of the sector's center in a Cartesian coordinate system, the sector's radius, and the sector's radian. In one example, such as... Figure 5 As shown, the configuration parameters of the sector may also include: the two-dimensional coordinates of the center O1 of the sector in the rectangular coordinate system, the two-dimensional coordinates of the two vertices B1 and B2 on the arc side of the sector, the distance between O1 and B1 defines the radius of the sector, and the angle between line segments O1B1 and O1B2 defines the radii of the sector.

[0054] In one embodiment, the at least one planar figure includes a first planar figure, and step S104 includes: obtaining a coordinate range of the first planar figure in the rectangular coordinate system according to a configuration parameter of the first planar figure; calculating an intersection and union ratio of each cell with the first planar figure according to the coordinate range of the first planar figure in the rectangular coordinate system and the coordinate range of the two-dimensional grid in the rectangular coordinate system; and determining that the cell satisfies a first preset condition when the intersection and union ratio of the cell with the first planar figure is greater than a first preset threshold, the first preset threshold being greater than or equal to 0, i.e., the first cell is located in the coordinate range of the first planar figure or the first cell partially overlaps the first planar figure. In some embodiments, the first preset threshold is between 0 and 50%.

[0055] In one embodiment, the first preset threshold is 0, as shown in FIG. 1A, the first planar figure is a circle G1, and all cells that partially overlap the circle G1 or are located in the coordinate range of the circle G1 are first cells, which together form a two-dimensional sub-grid S1. Figure 3 As shown in FIG. 1B, when the first planar figure is a rectangle G2, all cells that partially overlap the rectangle G2 or are located in the coordinate range of the rectangle G2 are first cells, which together form a two-dimensional sub-grid S2. Figure 4 As shown in FIG. 1C, when the first planar figure is a rectangle G3, all cells that partially overlap the rectangle G3 or are located in the coordinate range of the rectangle G3 are first cells, which together form a two-dimensional sub-grid S3. Figure 4

[0056] To more accurately identify the plurality of first cells corresponding to the first planar figure, different grid covering conditions are set for different planar figures. In one embodiment, when the first planar figure is a circle, step S104 includes: obtaining a coordinate range of the first planar figure in the rectangular coordinate system according to a two-dimensional coordinate of a center of the circle and a radius of the circle; and wherein the two-dimensional coordinates of a plurality of vertices of each cell in the rectangular coordinate system are known. Taking any one cell A in the two-dimensional grid as an example, when the cell A satisfies any one of the following conditions, it is determined that the cell A satisfies the grid covering condition, i.e., the cell A is a first cell: the first condition, the cell A has at least one vertex whose distance from the center of the circle is less than or equal to the radius of the circle. The second condition, the center of the circle is located in the coordinate range of the cell A, and the coordinate range of the cell A is determined by the plurality of vertices of the cell A. The third condition, the cell A has at least one edge whose distance from the center of the circle is less than or equal to the radius of the circle.

[0057] ​In one embodiment, when the first planar figure is a polygon, a coordinate range of the polygon is obtained according to two-dimensional coordinates of each vertex of the polygon in the rectangular coordinate system, wherein two-dimensional coordinates of a plurality of vertices of each cell in the rectangular coordinate system are known. Taking any one cell A in the two-dimensional grid as an example, when the cell A satisfies any one of the following conditions, it is determined that the cell A satisfies the grid covering condition, that is, the cell A is the first cell: the first condition is that it is determined that the cell A has at least one vertex located in the coordinate range of the polygon based on a ray casting algorithm. The second condition is that at least one side of the polygon intersects at least one side of the cell A. The third condition is that it is determined that the geometric center of the cell A is located in the coordinate range of the polygon based on the ray casting algorithm.

[0058] Specifically, the determination that the cell A has at least one vertex located in the coordinate range of the polygon based on the ray casting algorithm includes: the cell A has at least one vertex P, a ray is emitted from the point P in an arbitrary direction (usually the positive direction of the horizontal axis of the rectangular coordinate system), and the number of intersections of the ray with the boundary of the polygon is counted. If the number of intersections is odd, it is determined that the point P is inside the polygon; if the number of intersections is even, the point P is outside the polygon. The determination that the geometric center of the cell A is located in the coordinate range of the polygon based on the ray casting algorithm includes: a ray is emitted from the geometric center of the cell A in an arbitrary direction (usually the positive direction of the horizontal axis of the rectangular coordinate system), and the number of intersections of the ray with the boundary of the polygon is counted. If the number of intersections is odd, it is determined that the geometric center of the cell A is inside the polygon; if the number of intersections is even, the geometric center of the cell A is outside the polygon.

[0059] The determination that at least one side of the polygon intersects at least one side of the cell A includes: whether the sides of the polygon intersect the sides of the cell A is determined by judging whether each side of the polygon corresponds to a line segment that intersects each side of the cell A corresponds to a line segment. If the line segment corresponding to a side of the polygon intersects the line segment corresponding to a side of the cell A, it is determined that the side of the polygon intersects the side of the cell A; if the line segment corresponding to each side of the polygon does not intersect the line segment corresponding to each side of the cell A, it is determined that the side of the polygon does not intersect the side of the cell A.

[0060] In an embodiment, when the first planar figure is a rectangle, a coordinate range of the rectangle is obtained according to two-dimensional coordinates of each vertex of the rectangle in the rectangular coordinate system. Taking any one cell A in the two-dimensional grid as an example, when the cell A meets the following condition, it is determined that the cell A meets the grid covering condition, that is, the cell A is the first cell: the cell A intersects with the rectangle. Specifically, whether the cell A intersects with the rectangle is determined by an axis-aligned bounding box intersection detection algorithm. The axis-aligned bounding box intersection detection algorithm is an algorithm for quickly judging whether two or more objects can intersect. The detection principle is that if the projection of the rectangle in the X-axis direction of the rectangular coordinate system overlaps with the projection of the cell A in the X-axis direction of the rectangular coordinate system, and the projection of the rectangle in the Y-axis direction of the rectangular coordinate system also overlaps with the projection of the cell A in the Y-axis direction of the rectangular coordinate system, then the rectangle intersects with the cell A.

[0061] In an embodiment, when the first planar figure is a sector, a coordinate range of the sector is obtained according to two-dimensional coordinates of the center of the sector in the rectangular coordinate system, a radius of the sector, and an arc of the sector; the coordinate range of the sector is discretely sampled on a plurality of edges of the sector to obtain a plurality of discretely sampled points; and the plurality of discretely sampled points are connected in a loop to form a fitting polygon. Taking any one cell A in the two-dimensional grid as an example, when the cell A meets any one of the following conditions, it is determined that the cell A meets the grid covering condition, that is, the cell A is the first cell: in a first condition, it is determined that at least one vertex of the cell A is located within the coordinate range of the fitting polygon based on a ray method. In a second condition, an edge of the fitting polygon intersects with an edge of the cell A. In a third condition, it is determined that a center point of the cell A is located within the fitting polygon based on the ray method.

[0062] The edge of the fitting polygon intersects with the edge of the cell A, including: determining whether a line segment corresponding to each edge of the fitting polygon intersects with a line segment corresponding to each edge of the cell A, to determine whether the edge of the fitting polygon intersects with the edge of the cell A. If the line segment corresponding to an edge of the fitting polygon intersects with the line segment corresponding to an edge of the cell A, it is determined that the edge of the fitting polygon intersects with the edge of the cell A. If the line segment corresponding to each edge of the fitting polygon does not intersect with the line segment corresponding to each edge of the cell A, it is determined that the edge of the fitting polygon does not intersect with the edge of the cell A.

[0063] In an embodiment, the at least one planar figure includes a first planar figure, and the step S105 includes that the first cell set includes a plurality of first cells corresponding to the first planar figure.

[0064] In an embodiment, the at least one planar figure includes a first planar figure and a second planar figure, and the step S105 includes: comparing the first unit cells corresponding to the first planar figure and the first unit cells corresponding to the second planar figure to obtain a first unit cell subset, a second unit cell subset, and a third unit cell subset. The first unit cell subset includes the first unit cells corresponding to the first planar figure that are the same as the first unit cells corresponding to the second planar figure. The second unit cell subset includes the first unit cells corresponding to the first planar figure that are different from the first unit cells corresponding to the second planar figure. The third unit cell subset includes the first unit cells corresponding to the second planar figure that are different from the first unit cells corresponding to the first planar figure. The first unit cell set includes the first unit cell subset, the second unit cell subset, and the third unit cell subset.

[0065] In an example, the two-dimensional grid includes unit cells Z1 to Z6. The at least one planar figure input by the user in the two-dimensional grid includes a first planar figure and a second planar figure, and the first unit cells corresponding to the first planar figure include the unit cell Z1, the unit cell Z2, and the unit cell Z3. The first unit cells corresponding to the second planar figure include the unit cell Z2, the unit cell Z3, and the unit cell Z4. The first unit cell subset includes the unit cell Z2 and the unit cell Z3. The second unit cell subset includes the unit cell Z1. The third unit cell subset includes the unit cell Z4. The first unit cell set includes the unit cell Z1, the unit cell Z2, the unit cell Z3, and the unit cell Z4. That is, by comparing the first unit cells corresponding to different planar figures, the unit cells covered by the planar figures in the two-dimensional grid are determined, which can effectively prevent the unit cells in the overlapping area of different planar figures from being repeatedly processed.

[0066] In an embodiment, the step S106 includes: obtaining, according to each first unit cell in the first unit cell subset, the first mapping relationship, and a preset monitoring distance corresponding to each first unit cell in the first unit cell set, a ball cone corresponding to each first unit cell in the first unit cell set; and combining the ball cones corresponding to the plurality of first unit cells in the first unit cell set to obtain the three-dimensional safety area corresponding to the laser radar.

[0067] The preset monitoring distance corresponding to the first unit cell refers to the preset monitoring distance of the planar graph corresponding to the first unit cell. Each first unit cell in the first unit cell sub-set corresponds to two preset monitoring distances, one is the preset monitoring distance of the first planar graph, and the other is the preset monitoring distance of the second planar graph. Therefore, when the preset monitoring distance of the first planar graph is not equal to the preset monitoring distance of the second planar graph, each first unit cell in the first unit cell sub-set corresponds to two spherical pyramids, and the two spherical pyramids need to be rendered respectively in the subsequent step S107. When the preset monitoring distance of the first planar graph is equal to the preset monitoring distance of the second planar graph, each first unit cell in the first unit cell sub-set corresponds to two spherical pyramids that are the same, and only one rendering is needed in the subsequent step S107. Each first unit cell in the second unit cell sub-set corresponds to the preset monitoring distance of the first planar graph. Each first unit cell in the third unit cell sub-set corresponds to the preset monitoring distance of the second planar graph.

[0068] In one embodiment, the plurality of first unit cells in the first unit cell set includes a second unit cell; according to each first unit cell in the first unit cell set, the first mapping relationship and the preset monitoring distance corresponding to each first unit cell in the first unit cell set, the spherical pyramid corresponding to each first unit cell in the first unit cell set is obtained, including: according to the horizontal coordinate of each vertex of the second unit cell, the vertical coordinate of each vertex of the second unit cell and the first mapping relationship, the horizontal field of view angle and the vertical field of view angle corresponding to each vertex of the second unit cell are obtained; according to the preset monitoring distance corresponding to the first planar graph, the horizontal field of view angle and the vertical field of view angle corresponding to each vertex of the second unit cell, the three-dimensional coordinates of each vertex of the second unit cell are obtained; according to the three-dimensional coordinates of the plurality of vertices of the second unit cell and the preset monitoring distance corresponding to the first planar graph, the spherical pyramid corresponding to the second unit cell is obtained, wherein the spherical center of the spherical pyramid is the optical center of the laser radar, and the space region defined by the spherical pyramid corresponding to the second unit cell is the scanning sub-field of view of the laser radar that needs to be monitored.

[0069] In one example, the second unit cell includes A5, A6, A7 and A8, a total of four vertices. Among them, according to the first mapping relationship, the horizontal field of view angle corresponding to the horizontal coordinate of A5 in the rectangular coordinate system is , and the vertical field of view angle corresponding to the vertical coordinate of A5 in the rectangular coordinate system is . Taking the first vertex A5 of the second unit cell as an example, according to the horizontal field of view angle and the vertical field of view angle corresponding to the first vertex A5, the three-dimensional coordinates of the point M1 corresponding to the first vertex A5 in the radar coordinate system are obtained , , , and the radar coordinate system generally takes the optical center of the laser radar as the origin.

[0070]

[0071] wherein, is a preset monitoring distance corresponding to the second unit cell, corresponds to a radius of a sphere as Figure 6 indicated, is also a distance between the sphere center O2 and the point M1, and the sphere center O2 corresponds to an optical center of the laser radar.

[0072] Through the above coordinate conversion formula, the three-dimensional coordinates of M2, M3, and M4 corresponding to A6, A7, and A8 on the spherical surface with the optical center of the laser radar as the sphere center can be calculated, thereby realizing the conversion of the two-dimensional coordinates of each vertex of the second unit cell in the rectangular coordinate system to the three-dimensional coordinates in the radar coordinate system. Based on the sphere center O2 and the points M1 to M4 on the spherical surface, the spherical pyramid O2-M1M2M3M4 corresponding to the second unit cell can be determined. By splicing the spherical pyramids corresponding to multiple first unit cells, the first solid region corresponding to the first planar figure can be determined.

[0073] In an embodiment, the step S107 comprises: displaying the three-dimensional safety region on the display terminal. For example, the three-dimensional safety region of the laser radar is three-dimensionally rendered on the graphical interface of the display terminal. In an example, the three-dimensional safety region comprises at least one spherical pyramid, each of which corresponds to a first unit cell. By three-dimensionally rendering multiple spherical pyramids on the display terminal, the three-dimensional safety region is displayed on the display terminal. Taking the spherical pyramid O2-M1M2M3M4 corresponding to the second unit cell as an example, a sphere with O2 as the center (representing the scanning field of view range of the laser radar within the preset monitoring distance) can be first rendered on the display terminal, and then the spherical pyramid O2-M1M2M3M4 is highlighted for intuitive display of the setting effect of the spherical pyramid corresponding to the second unit cell. This visualization processing enables the user to more intuitively understand the setting effect of the three-dimensional safety region, thereby facilitating the user to adjust the three-dimensional safety region.

[0074] In an embodiment, the step S107 further comprises: when the preset monitoring distance of the planar figure is less than or equal to a preset distance threshold, rendering the three-dimensional safety region corresponding to the planar figure as a forbidden intrusion region on the display terminal; and when the preset monitoring distance of the planar figure is greater than the preset distance threshold, rendering the three-dimensional safety region corresponding to the planar figure as a warning intrusion region on the display terminal. The preset monitoring distance is 5 m, 10 m, or 20 m, etc., and the specific value is adjusted according to the farthest detection distance of the laser radar and the actual safety monitoring demand. On the display terminal, the forbidden intrusion region and the warning intrusion region can be rendered in different colors.

[0075] In one embodiment, the first cell set obtained in step S105 is taken as an initial first cell set, after the configuration parameters of the planar graph input by the user are changed, the safety area configuration method of the laser radar further includes: obtaining an updated first cell set in response to the updated configuration parameters of the planar graph input by the user. Comparing the initial first cell set and the updated first cell set, determining the first cell newly added or the first cell missing in the updated first cell set compared with the initial first cell set. In the graphical interface of the display terminal, the missing first cell corresponding to the spherocylinder is deleted, and the spherocylinder corresponding to the newly added first cell is rendered. Wherein, the same first cell in the updated first cell set and the initial first cell set keeps the rendering effect of the spherocylinder corresponding to the first cell.

[0076] When the coordinate ranges of multiple planar graphs overlap, the problem of repeated processing of a single cell is likely to occur, which further affects the setting efficiency of the three-dimensional safety area. The embodiments of the present application can simplify the rendering process of the three-dimensional safety area while improving the setting efficiency of the three-dimensional safety area by dynamically updating the first cell set.

[0077] In one embodiment, please refer to Figure 7 , Figure 7 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As Figure 7 shown, the electronic device 700 includes one or more processors 701 and a memory 702. Wherein, Figure 7 take one processor 701 as an example. Exemplarily, the electronic device is a vehicle. The processor 701 and the memory 702 can be connected through a bus or other means, Figure 7 take the connection through the bus as an example. The processor 701 is used to provide calculation and control capability to execute the above Figure 1The processor 701 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0078] The memory 702, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the safety area configuration method of the sensor-based laser radar in the embodiments of the present application. The processor 701 can implement the safety area configuration method of the laser radar in any one of the method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 702. Specifically, the memory 702 can include a volatile memory (VM), such as a random access memory (RAM); the memory 702 can also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk (HDD) or a solid state disk (SSD) or other non-transitory solid state storage device; and the memory 702 can further include a combination of the above types of memories.

[0079] The memory 702 can include high-speed random access memory and can also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid-state memory device. In some embodiments, the memory 702 can optionally include memory that is remotely located from the processor 701, such as in a networked environment, and can be connected to the processor 701 via a network. Examples of such networks include, but are not limited to, the Internet, intranet, local area network, mobile communications network, and combinations thereof.

[0080] One or more modules are stored in the memory 702, which, when executed by the one or more processors 701, perform the method of configuring a safety zone of a lidar as described in any of the method embodiments above, such as the method of configuring a safety zone of a lidar as described above. Figure 1 The various steps shown.

[0081] In the embodiments of the present application, the electronic device 700 can also have a wired or wireless network interface, a keyboard, and an input and output interface, and the like, so as to perform input and output. The electronic device 700 can also include other components for implementing device functions, which are not described herein.

[0082] The embodiments of the present application also provide a non-volatile computer readable storage medium, such as a memory including program codes, which can be executed by a processor to complete the method of configuring a safety zone of a lidar in the above embodiments. For example, the non-volatile computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0083] The embodiments of the present application also provide a computer program product, which includes one or more program codes stored in a non-volatile computer readable storage medium. The processor of the electronic device reads the program codes from the non-volatile computer readable storage medium, and the processor executes the program codes to complete the method steps of the method of configuring a safety zone of a lidar provided in the above embodiments.

[0084] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a non-volatile computer readable storage medium, and when the program is executed, it can include the processes of the above embodiments.

[0085] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0086] Those skilled in the art can appreciate that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0087] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / network device and method can be implemented by other manners. For example, the apparatus / network device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0088] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0089] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for configuring a safe zone for a lidar radar, characterized in that, The method comprises: generating a two-dimensional grid under a rectangular coordinate system on a display terminal, the two-dimensional grid comprising a plurality of grid rows arranged in sequence along a longitudinal axis of the rectangular coordinate system, and each of the grid rows comprising a plurality of cells arranged in sequence along a transverse axis of the rectangular coordinate system; obtaining a first mapping relationship between the two-dimensional grid and a field of view angle range of the laser radar according to the field of view angle range of the laser radar and the two-dimensional grid; obtaining configuration parameters of at least one planar figure input by a user and a preset monitoring distance corresponding to each of the planar figures; screening the two-dimensional grid according to the configuration parameters of each of the planar figures and a grid covering condition to obtain a plurality of first cells corresponding to each of the planar figures, the first cells being cells satisfying the grid covering condition; obtaining a first cell set according to the plurality of first cells corresponding to each of the planar figures; obtaining a three-dimensional safety region corresponding to the laser radar according to the first cell set, the preset monitoring distance corresponding to each of the planar figures and the first mapping relationship; displaying the three-dimensional safety region on the display terminal.

2. The method of claim 1, wherein, The obtaining of the first mapping relationship between the two-dimensional grid and the field of view angle range of the laser radar according to the field of view angle range of the laser radar and the two-dimensional grid comprises: obtaining a horizontal field of view angle sub-range corresponding to each of the cells according to a horizontal field of view angle range of the laser radar and the number of the cells in each of the grid rows; obtaining a vertical field of view angle sub-range corresponding to each of the cells according to a vertical field of view angle range of the laser radar and the number of the grid rows in the two-dimensional grid; obtaining a horizontal field of view angle corresponding to a transverse coordinate of a vertex of each of the cells according to the horizontal field of view angle sub-range corresponding to each of the cells; obtaining a vertical field of view angle corresponding to a longitudinal coordinate of the vertex of each of the cells according to the vertical field of view angle sub-range corresponding to each of the cells; the first mapping relationship comprises the horizontal field of view angle corresponding to the transverse coordinate of the vertex of each of the cells and the vertical field of view angle corresponding to the longitudinal coordinate of the vertex of each of the cells.

3. The method of claim 2, wherein, The at least one planar figure comprises a first planar figure, and when the first planar figure is a circle, the screening of the two-dimensional grid according to the configuration parameters of each of the planar figures and the grid covering condition to obtain the plurality of first cells corresponding to each of the planar figures comprises: obtaining a transverse coordinate, a longitudinal coordinate of a circle center in the rectangular coordinate system and a radius of the circle according to the configuration parameters of the first planar figure; obtaining a coordinate range of the circle according to the transverse coordinate, the longitudinal coordinate of the circle center in the rectangular coordinate system and the radius of the circle; when the cell satisfies any one of the following conditions, it is determined that the cell satisfies the grid covering condition: at least one vertex of the cell is located in the coordinate range of the circle; or the circle center is located in the coordinate range of the cell; or at least one side of the cell has a distance from the circle center less than or equal to the radius of the circle.

4. The method of claim 2, wherein, The at least one planar figure includes a first planar figure, when the first planar figure is a polygon, the screening the two-dimensional grid according to the configuration parameter and the grid covering condition of each planar figure obtains a plurality of first cells corresponding to each planar figure, including: According to the configuration parameter of the first planar figure, the horizontal coordinate and the vertical coordinate of each vertex of the polygon in the rectangular coordinate system are obtained; According to the horizontal coordinate and the vertical coordinate of each vertex of the polygon in the rectangular coordinate system, the coordinate range of the polygon is obtained; When the cell satisfies any one of the following conditions, it is determined that the cell satisfies the grid covering condition: At least one vertex of the cell is located in the coordinate range of the polygon; or The geometric center of the cell is located in the coordinate range of the polygon.

5. The method of claim 2, wherein, The at least one planar figure includes a first planar figure, when the first planar figure is a polygon, the screening the two-dimensional grid according to the configuration parameter and the grid covering condition of each planar figure obtains a plurality of first cells corresponding to each planar figure, including: According to the configuration parameter of the first planar figure, the horizontal coordinate and the vertical coordinate of each vertex of the polygon in the rectangular coordinate system are obtained; According to the horizontal coordinate and the vertical coordinate of each vertex of the polygon in the rectangular coordinate system, the coordinate range of the polygon is obtained; When the cell satisfies the following condition, it is determined that the cell satisfies the grid covering condition: The projection of the rectangle in the horizontal axis direction of the rectangular coordinate system overlaps with the projection of the cell in the horizontal axis direction of the rectangular coordinate system, and the projection of the rectangle in the vertical axis direction of the rectangular coordinate system overlaps with the projection of the cell in the vertical axis direction of the rectangular coordinate system.

6. The method of claim 2, wherein, The at least one planar figure includes a first planar figure and a second planar figure, and the obtaining a first cell set according to a plurality of first cells corresponding to each planar figure includes: Comparing a plurality of first cells corresponding to the first planar figure and a plurality of first cells corresponding to the second planar figure obtains a first cell sub-set, a second cell sub-set and a third cell sub-set; The first cell sub-set includes first cells in the plurality of first cells corresponding to the first planar figure that are the same as the plurality of first cells corresponding to the second planar figure; The second cell sub-set includes first cells in the plurality of first cells corresponding to the first planar figure that are different from the plurality of first cells corresponding to the second planar figure; The third cell sub-set includes first cells in the plurality of first cells corresponding to the second planar figure that are different from the plurality of first cells corresponding to the first planar figure; The first cell set includes the first cell sub-set, the second cell sub-set and the third cell sub-set.

7. The method of claim 6, wherein, The obtaining a three-dimensional safety area corresponding to the laser radar according to the first cell set, the preset monitoring distance corresponding to each planar figure and the first mapping relationship includes: According to each first cell in the first cell set, the first mapping relationship and the preset monitoring distance corresponding to each first cell in the first cell set, a spherical pyramid corresponding to each first cell in the first cell set is obtained. The spherical pyramids corresponding to the plurality of first cells in the first cell set are combined to obtain a three-dimensional safety area corresponding to the laser radar.

8. The method of claim 7, wherein, The plurality of first cells in the first cell set includes a second cell, and the obtaining of the spherical pyramid corresponding to each first cell in the first cell set according to each first cell in the first cell set, the first mapping relationship and the preset monitoring distance corresponding to each first cell in the first cell set comprises: According to the horizontal coordinate of each vertex of the second cell, the vertical coordinate of each vertex of the second cell and the first mapping relationship, a horizontal field of view angle and a vertical field of view angle corresponding to each vertex of the second cell are obtained. According to the preset monitoring distance corresponding to the second cell, the horizontal field of view angle and the vertical field of view angle corresponding to each vertex of the second cell, a three-dimensional coordinate of each vertex of the second cell in a radar coordinate system is obtained. According to the three-dimensional coordinates of the plurality of vertices of the second cell and the preset monitoring distance corresponding to the second cell, a spherical pyramid corresponding to the second cell is obtained, wherein a spherical center of the spherical pyramid is an optical center of the laser radar.

9. An electronic device, comprising: The method comprises: A memory and a processor, the memory is connected to the processor, the processor is used for executing one or more computer programs stored in the memory, and the processor makes the electronic device realize the method according to any one of claims 1-8 when executing the one or more computer programs.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions, when the computer executable instructions are executed by the electronic device, the electronic device executes the method according to any one of claims 1-8.

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