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 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; acquiring at least one planar graph in the two-dimensional grid and a preset monitoring distance corresponding to each planar graph input by a user; obtaining a three-dimensional safety area corresponding to the laser radar according to the at least one planar graph, the preset monitoring distance corresponding to each planar graph and the first mapping relationship; and starting the laser radar to scan the three-dimensional safety area and obtaining a safety detection result. The method is beneficial to improving the setting accuracy of the three-dimensional safety area, and further improving the accuracy and reliability of the safety detection result.

Description

Technical Field

[0001] This application relates to the field of industrial safety, and in particular to a method for configuring a safe zone for a lidar, an electronic device, and a storage medium. Background Technology

[0002] LiDAR is a radar system that uses laser beams to detect physical quantities such as target position and velocity. In the field of industrial security, lidar is commonly used for environmental perception or intrusion detection in factories or workshops to achieve better security protection.

[0003] There are two common methods for configuring the safety zone of LiDAR: The first involves installing multiple single-line LiDARs at different heights or horizontal positions. After configuring the two-dimensional safety zone of each single-line LiDAR, the two-dimensional safety zones of multiple single-line LiDARs are merged to achieve three-dimensional safety zone monitoring. Using multiple single-line LiDARs increases hardware costs, raises system integration difficulty, and makes subsequent maintenance and adjustments challenging. The second method involves operators directly defining the three-dimensional safety zone through multi-dimensional parameter adjustments in the graphical interface of a display terminal. This configuration method is cumbersome, difficult to adjust multi-dimensional parameters, lacks an intuitive preview, and is prone to visual biases under stereoscopic views, thus affecting the accuracy of the three-dimensional safety zone setting. Summary of the Invention

[0004] This application provides a method for configuring the safe zone of a LiDAR, which helps to improve the accuracy of setting the three-dimensional safe zone and enhances the convenience of user operation.

[0005] In a first aspect, embodiments of this application provide a method for configuring a safe zone for a lidar, including: generating a two-dimensional grid in a Cartesian coordinate system on a display terminal; Based on the field of view of the lidar and the two-dimensional grid, the first mapping relationship between the two-dimensional grid and the field of view of the lidar is obtained; Acquire at least one planar graphic within a two-dimensional grid input by the user and the preset monitoring distance corresponding to each planar graphic; Based on at least one planar graphic, the preset monitoring distance corresponding to each planar graphic, and the first mapping relationship, the three-dimensional safe area corresponding to the lidar is obtained; The lidar is activated to scan the three-dimensional safe area and obtain the safety detection results.

[0006] In some embodiments, the two-dimensional grid includes multiple grid rows arranged sequentially along the vertical axis of a Cartesian coordinate system, and each grid row includes multiple cells arranged sequentially along the horizontal axis of a Cartesian coordinate system. A first mapping relationship between the two-dimensional grid and the field of view of the LiDAR is obtained based on the LiDAR's field of view range and the two-dimensional grid. This includes: obtaining a horizontal sub-range of the field of view corresponding to each cell based on the LiDAR's horizontal field of view range and the number of cells in each grid row; obtaining a vertical sub-range of the field of view corresponding to each cell based on the LiDAR's vertical field of view range and the number of grid rows in the two-dimensional grid; obtaining the horizontal field of view angle corresponding to the horizontal coordinate of the vertex of each cell based on the horizontal sub-range of the field of view corresponding to each cell; and obtaining the vertical field of view angle corresponding to the vertical coordinate of the vertex of each cell based on the vertical sub-range of the field of view corresponding to each cell. 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.

[0007] In some embodiments, obtaining the three-dimensional safety area corresponding to the lidar based on at least one planar graphic, a preset monitoring distance corresponding to each planar graphic, and a first mapping relationship includes: determining multiple first cells corresponding to each planar graphic based on the coordinate range of each planar graphic in a Cartesian coordinate system, wherein the first cells are cells that satisfy a first preset condition; obtaining at least one first three-dimensional region based on the multiple first cells corresponding to each planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to each planar graphic, wherein one planar graphic corresponds to one first three-dimensional region; and combining at least one first three-dimensional region to obtain the three-dimensional safety area corresponding to the lidar.

[0008] In some embodiments, at least one planar graphic includes a first planar graphic; determining the first cell corresponding to each planar graphic based on the coordinate range of each planar graphic in a rectangular coordinate system includes: calculating the intersection-union ratio of each cell with the first planar graphic based on the coordinate range of the first planar graphic in a rectangular coordinate system; when the intersection-union ratio of the cell with the first planar graphic is greater than a first preset threshold, determining that the cell satisfies a first preset condition.

[0009] In some embodiments, at least one planar graphic includes a first planar graphic; obtaining at least one first three-dimensional region based on a plurality of first cells corresponding to each planar graphic, a first mapping relationship, and a preset monitoring distance corresponding to each planar graphic includes: obtaining a spherical cone corresponding to each first cell based on a plurality of first cells corresponding to the first planar graphic, a first mapping relationship, and a preset monitoring distance corresponding to the first planar graphic; merging the spherical cones corresponding to a plurality of first cells to obtain a first three-dimensional region corresponding to the first planar graphic.

[0010] In some embodiments, the plurality of first cells corresponding to the first planar graphic include second cells; obtaining the spherical cone corresponding to each first cell according to the plurality of first cells corresponding to the first planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to the first planar graphic includes: obtaining the horizontal field of view and the vertical field of view corresponding to each vertex of the second cell 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; obtaining the three-dimensional coordinates of each vertex of the second cell according to the preset monitoring distance corresponding to the first planar graphic, the horizontal field of view and the vertical field of view corresponding to each vertex of the second cell; obtaining the spherical cone corresponding to the second cell according to the three-dimensional coordinates of the plurality of vertices of the second cell and the preset monitoring distance corresponding to the first planar graphic, wherein the center of the spherical cone is the optical center of the lidar.

[0011] In some embodiments, the second cell includes a first vertex. Based on a preset monitoring distance corresponding to the first planar graphic and the horizontal and vertical field of view angles corresponding to each vertex of the second cell, the three-dimensional coordinates of each vertex of the second cell in the radar coordinate system are obtained, including: based on the horizontal field of view angle corresponding to the first vertex... and vertical field of view The three-dimensional coordinates of the first vertex in the radar coordinate system are obtained. , , ):

[0012] in, The preset monitoring distance corresponds to the first planar graphic.

[0013] In some embodiments, the method further includes: when the preset monitoring distance corresponding to the planar graphic is less than or equal to a preset distance threshold, rendering the three-dimensional security area corresponding to the planar graphic as a prohibited intrusion area on the display terminal; when the preset monitoring distance corresponding to the planar graphic is greater than the preset distance threshold, rendering the three-dimensional security area corresponding to the planar graphic as a warning intrusion area on the display terminal.

[0014] In a second aspect, embodiments of this application provide an electronic device, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed as in any of the methods in the first aspect.

[0015] Thirdly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions that, when executed by an electronic device, cause the electronic device to perform the steps of any of the methods in the first aspect.

[0016] This application provides a method for configuring a safe zone for a LiDAR (Light Detection and Ranging) system. This method associates a user-input planar graphic with the LiDAR's scanning field of view, allowing the setting of the LiDAR's three-dimensional safe zone through parameter settings of the planar graphic. Compared to directly defining the three-dimensional safe zone using multi-dimensional parameters, the method disclosed in this application effectively improves user convenience and the accuracy of setting the three-dimensional safe zone. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a method for configuring a secure area for a lidar system, as disclosed in an embodiment of this application. Figure 2 This is a schematic diagram of a two-dimensional mesh in a Cartesian coordinate system disclosed in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the positional relationship between a first planar graphic and a two-dimensional grid, as disclosed in an embodiment of this application. Figure 4 This is a schematic diagram illustrating the positional relationship between a first planar graphic and a two-dimensional grid, as disclosed in an embodiment of this application. Figure 5 This is a schematic diagram illustrating the positional relationship between a first planar graphic and a two-dimensional grid, as disclosed in an embodiment of this application. Figure 6 This is a schematic diagram of a ball-shaped cone disclosed in an embodiment of this application; Figure 7 This is a schematic diagram of an electronic device disclosed in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The terms "first," "second," "third," "fourth," and other various terminology used in the specification, claims, and accompanying drawings of this application are for distinguishing similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0021] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, in the description of the embodiments of this application, "plural" or "multiple" refers to two or more than two.

[0022] The specific operational methods described in the embodiments of this application can also be applied to the device embodiments or system embodiments. In the description of this application, unless otherwise stated, "multiple" means two or more. In the various embodiments of this application, unless otherwise specified or there is a logical conflict, the terminology and / or descriptions between different embodiments are consistent and can be mutually referenced. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships. It is understood that the various numerical designations involved in this application are only for the convenience of description and are not intended to limit the scope of this application. The order of the sequence numbers of the above processes does not imply the order of execution; the execution order of each process should be determined by its function and inherent logic.

[0023] In the field of industrial safety, LiDAR is commonly used to scan factory buildings or workshops to detect intruders or provide security protection. Existing methods for configuring safe zones include two common approaches: The first involves configuring multiple single-line LiDARs. These single-line LiDARs are installed at different locations on mobile vehicles or static platforms, such as at different heights or levels. After configuring the two-dimensional safe zone for each single-line LiDAR, the two-dimensional safe zones of multiple single-line LiDARs are fused to achieve monitoring of the three-dimensional safe zone. This configuration method increases hardware costs and system integration complexity, and adjusting the three-dimensional safe zone is relatively difficult. The second approach involves configuring the scanning field of view of multi-line LiDARs, where operators directly define the three-dimensional safe zone by adjusting multi-dimensional parameters. This configuration method is cumbersome to operate, difficult to adjust multi-dimensional parameters, lacks an intuitive preview screen, and the operator's visual bias can easily affect the accuracy of the three-dimensional safe zone setting from a stereoscopic perspective.

[0024] This application discloses a method for configuring a three-dimensional safety zone for a LiDAR system. This method associates the scanning field of view of a multi-line LiDAR with the coordinate range of a user-defined planar graphic on the graphical interface of a display terminal. By setting the configuration parameters of the planar graphic and the preset monitoring distance, users can flexibly define and visually adjust the three-dimensional safety zone, offering significant advantages such as good visualization, strong interactivity, high accuracy, and ease of operation. This configuration method can be applied to industrial safety monitoring, such as configuring anti-collision zones for mobile devices in smart warehousing parks, configuring safety boundaries in robot-human collaborative work areas, configuring obstacle monitoring zones for mobile vehicles, and configuring safety protection zones for robot workstations.

[0025] In one embodiment, the lidar is a multi-line lidar, including solid-state lidar, semi-solid-state lidar, or mechanical lidar, etc. See also... Figure 1 The method for configuring a safe zone for a lidar includes steps S101 to S105.

[0026] S101. Generate a two-dimensional grid in a Cartesian coordinate system on the display terminal; S102. Based on the field of view of the lidar and the two-dimensional grid, obtain the first mapping relationship between the two-dimensional grid and the field of view of the lidar. S103. Obtain at least one planar graphic within the two-dimensional grid input by the user and the preset monitoring distance corresponding to each planar graphic; S104. Based on at least one planar graphic, the preset monitoring distance corresponding to each planar graphic, and the first mapping relationship, obtain the three-dimensional safety area corresponding to the lidar; S105. Start the lidar to scan the three-dimensional security area and obtain the security detection results.

[0027] In one embodiment, step S101 includes: generating a two-dimensional grid comprising M*N cells in the graphical interface of the display terminal, wherein each cell may be the same or different in size, and each cell may be a rectangle, rhombus, or triangle in shape. M and N are both positive integers greater than 0. A Cartesian coordinate system is established with any point on the graphical interface as the origin.

[0028] In one embodiment, such as Figure 2 As shown, the two-dimensional grid consists of multiple grid rows arranged sequentially along the vertical axis of the Cartesian coordinate system, and each grid row consists of multiple cells arranged sequentially along the horizontal axis of the Cartesian coordinate system.

[0029] In one embodiment, step S102 includes: obtaining the horizontal field of view sub-range corresponding to each cell based on the horizontal field of view range of the lidar and the number of cells in each grid row; obtaining the vertical field of view sub-range corresponding to each cell based on the vertical field of view range of the lidar and the number of grid rows in the two-dimensional grid; obtaining the horizontal field of view angle corresponding to the x-coordinate of the vertex of each cell based on the horizontal field of view sub-range corresponding to each cell; obtaining the vertical field of view angle corresponding to the y-coordinate of the vertex of each cell based on the vertical field of view sub-range corresponding to each cell; the first mapping relationship includes the correspondence between the two-dimensional coordinates of the vertex of each cell and the field of view angle of the lidar. Two-dimensional coordinates refer to the x-coordinate and y-coordinate in a Cartesian coordinate system. The first mapping relationship includes the horizontal field of view angle corresponding to the x-coordinate of the vertex of each cell in a Cartesian coordinate system and the vertical field of view angle corresponding to the y-coordinate of the vertex of each cell in a Cartesian coordinate system.

[0030] In some embodiments, the scanning field of view of the LiDAR is represented by the horizontal field of view range and the vertical field of view range. The horizontal field of view range of the LiDAR can be 0 to 120 degrees, 0 to 180 degrees, 0 to 270 degrees, or 0 to 360 degrees, etc. The vertical field of view range of the LiDAR can be -25 to 25 degrees, -45 to 45 degrees, or -90 to 90 degrees, etc. The number of cells in the two-dimensional grid can be adjusted according to actual needs. It is understood that for LiDARs with the same scanning field of view size, setting more cells can achieve a higher precision configuration effect for the three-dimensional safety area.

[0031] In one example, the lidar has a horizontal field of view of 0 to 360 degrees and a vertical field of view of -45 degrees to 45 degrees. For example... Figure 2As shown, step S101 includes: generating a two-dimensional grid consisting of 12*9 cells in the graphical interface of the display terminal, where each cell is the same size and rectangular in shape. A Cartesian coordinate system is established with the lower left corner of the cell in the first row and first column as the origin. That is, the two-dimensional grid consists of 9 grid rows arranged sequentially along the vertical axis Y of the Cartesian coordinate system, and each grid row consists of 12 cells arranged sequentially along the horizontal axis X of the Cartesian coordinate system.

[0032] Step S102 includes: obtaining the horizontal field of view sub-range corresponding to each cell based on the horizontal field of view range of the lidar and the number of cells in each grid row; obtaining the vertical field of view sub-range corresponding to each cell based on the vertical field of view range of the lidar and the number of grid rows in the two-dimensional grid. For example... Figure 2 As shown, taking cell A as an example, based on the horizontal field of view range of the LiDAR and the number of cells in each grid row, the horizontal field of view sub-range of cell A is 30 to 60 degrees. Based on the vertical field of view range of the LiDAR and the number of grid rows in the two-dimensional grid, the vertical field of view sub-range of cell A is -35 to -25 degrees. Cell A includes four vertices A1, A2, A3, and A4. Based on the horizontal field of view sub-range of cell A, the horizontal field of view corresponding to the x-coordinates of A1 and A3 is 30 degrees, and the horizontal field of view corresponding to the x-coordinates of A2 and A4 is 60 degrees. Based on the vertical field of view sub-range of cell A, the vertical field of view corresponding to the y-coordinates of A1 and A2 is -25 degrees, and the vertical field of view corresponding to the y-coordinates of A3 and A4 is -35 degrees.

[0033] In one example, the first mapping relationship may include the following expressions: 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).

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] In one embodiment, step S104 includes: determining multiple first cells corresponding to each planar graphic based on the coordinate range of each planar graphic in a rectangular coordinate system, wherein the first cell is a cell that satisfies a first preset condition; obtaining at least one first three-dimensional region based on the multiple first cells corresponding to each planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to each planar graphic, wherein one first three-dimensional region corresponds to one planar graphic; and combining at least one first three-dimensional region to obtain the three-dimensional safety area corresponding to the lidar.

[0039] In practical applications, multi-line LiDAR may be used to monitor different areas of the environment, corresponding to multiple planar graphics input by the user. By stitching together the first 3D region corresponding to all the user-input planar graphics, a partitioned configuration of the 3D safe area can be achieved. This partitioned configuration strategy can effectively improve interactive flexibility and ease of operation, thereby improving the configuration efficiency of the 3D safe area.

[0040] In one embodiment, at least one planar graphic includes a first planar graphic; determining the first cell corresponding to each planar graphic based on the coordinate range of each planar graphic in a Cartesian coordinate system includes: obtaining the coordinate range of the first planar graphic in a Cartesian coordinate system based on the configuration parameters of the first planar graphic; calculating the intersection-union ratio (IUR) of each cell with the first planar graphic based on the coordinate range of the first planar graphic in the Cartesian coordinate system and the coordinate range of the two-dimensional grid in the Cartesian coordinate system; when the IUR of the cell with the first planar graphic is greater than a first preset threshold, determining that the cell meets a first preset condition, wherein the first preset threshold is greater than or equal to 0, that is, the first cell is located within the coordinate range of the first planar graphic, or the first cell partially overlaps with the first planar graphic. In some embodiments, the first preset threshold is between 0 and 50%.

[0041] In one embodiment, the first preset threshold is 0, such as Figure 3 As shown, the first planar graphic is a circle G1. All cells that partially overlap with circle G1 or lie within the coordinate range of circle G1 are considered first cells, and these first cells together form a two-dimensional sub-grid S1. Figure 4 As shown, when the first planar graphic is rectangle G2, all cells that partially overlap with rectangle G2 or are located within the coordinate range of rectangle G2 are considered first cells, and these first cells together form the two-dimensional subgrid S2. Figure 4 As shown, when the first planar graphic is a rectangle G3, all cells that partially overlap with or are located within the coordinate range of rectangle G3 are first cells, and these first cells together form a two-dimensional subgrid S3.

[0042] To more accurately identify the multiple first cells corresponding to the first planar graphic, different grid coverage conditions are set for different planar graphics. In one embodiment, determining the first cell corresponding to each planar graphic based on the coordinate range of each planar graphic in the Cartesian coordinate system includes: obtaining the coordinate range of the first planar graphic in the Cartesian coordinate system based on the configuration parameters of the first planar graphic; and filtering multiple cells in the two-dimensional grid based on the grid coverage conditions corresponding to the first planar graphic to obtain multiple first cells.

[0043] The following provides a detailed explanation of how to determine grid coverage conditions: In one example, when the first planar figure is a circle, the coordinate range of the first planar figure in the Cartesian coordinate system is obtained based on the two-dimensional coordinates of the circle's center and the circle's radius; where the two-dimensional coordinates of multiple vertices of each cell in the Cartesian coordinate system are known. Taking any cell A within the two-dimensional grid as an example, cell A is determined to satisfy the grid coverage condition, i.e., cell A is the first cell, when any of the following conditions are met: First, at least one vertex of cell A is less than or equal to the radius of the circle's center. Second, the center of the circle lies within the coordinate range of cell A, and the coordinate range of cell A is determined by multiple vertices of cell A. Third, at least one edge of cell A is less than or equal to the radius of the circle's center.

[0044] In one example, when the first planar figure is a polygon, the coordinate range of the polygon is obtained based on the two-dimensional coordinates of each vertex in the Cartesian coordinate system; where the two-dimensional coordinates of multiple vertices of each cell in the Cartesian coordinate system are known. Taking any cell A in the two-dimensional grid as an example, cell A is determined to satisfy the grid coverage condition, i.e., cell A is the first cell, when cell A satisfies any of the following conditions: First, based on the ray-casting algorithm, it is determined that cell A has at least one vertex located within the coordinate range of the polygon. Second, at least one edge of the polygon intersects at least one edge of cell A. Third, based on the ray-casting algorithm, it is determined that the geometric center of cell A is located within the coordinate range of the polygon.

[0045] Specifically, determining whether cell A has at least one vertex within the coordinate range of a polygon based on the ray casting method includes: cell A has at least one vertex P; a ray is cast from point P in any direction (usually the positive x-axis of the Cartesian coordinate system); the number of intersections between the ray and the polygon boundary is counted; if the number of intersections is odd, point P is inside the polygon; if the number of intersections is even, point P is outside the polygon. Determining whether the geometric center of cell A is within the coordinate range of a polygon based on the ray casting method includes: casting a ray from the geometric center of cell A in any direction (usually the positive x-axis of the Cartesian coordinate system); the number of intersections between the ray and the polygon boundary is counted; if the number of intersections is odd, the geometric center of cell A is inside the polygon; if the number of intersections is even, the geometric center of cell A is outside the polygon.

[0046] The condition that at least one edge of the polygon intersects at least one edge of cell A includes: determining whether the edges of the polygon intersect the edges of cell A by judging whether the line segments corresponding to each edge of the polygon intersect the line segments corresponding to each edge of cell A. If the line segments corresponding to some edge of the polygon intersect the line segments corresponding to some edge of cell A, then the edges of the polygon intersect the edges of cell A; if the line segments corresponding to each edge of the polygon do not intersect the line segments corresponding to each edge of cell A, then the edges of the polygon do not intersect the edges of cell A.

[0047] In one example, when the first planar shape is a rectangle, the coordinate range of the rectangle is obtained based on the two-dimensional coordinates of each vertex in the Cartesian coordinate system. Taking any cell A within the two-dimensional grid as an example, cell A is determined to satisfy the grid coverage condition, i.e., cell A is the first cell, when cell A intersects with the rectangle. Specifically, the Axis-Aligned Bounding Box Intersection Detection Algorithm (AABB) is used to determine whether cell A intersects with the rectangle. AABB is an algorithm for quickly determining whether two or more objects may intersect. Its detection principle is: if the projection of the rectangle onto the X-axis of the Cartesian coordinate system overlaps with the projection of cell A onto the X-axis of the Cartesian coordinate system, and the projection of the rectangle onto the Y-axis of the Cartesian coordinate system also overlaps with the projection of cell A onto the Y-axis of the Cartesian coordinate system, then the rectangle intersects with cell A.

[0048] In one example, when the first planar shape is a sector, the coordinate range of the sector is obtained based on the two-dimensional coordinates of its center in a Cartesian coordinate system, its radius, and its radian. Discrete sampling is then performed on multiple edges of the sector based on this coordinate range, resulting in multiple discretely sampled points. These discretely sampled points are then connected end-to-end to form a fitted polygon. Taking any cell A within a two-dimensional grid as an example, cell A is considered the first cell if it satisfies any of the following conditions: First, based on the ray casting method, at least one vertex of cell A lies within the coordinate range of the fitted polygon. Second, an edge of the fitted polygon intersects an edge of cell A. Third, based on the ray casting method, the center point of cell A lies within the fitted polygon.

[0049] Determining whether the edges of the fitted polygon intersect with the edges of cell A involves: judging whether the line segments corresponding to each edge of the fitted polygon intersect with the line segments corresponding to each edge of cell A, thus determining whether the edges of the fitted polygon intersect with the edges of cell A. If a line segment corresponding to any edge of the fitted polygon intersects with a line segment corresponding to any edge of cell A, then the edges of the fitted polygon intersect with the edges of cell A; if no line segment corresponding to any edge of the fitted polygon intersects with any line segment corresponding to any edge of cell A, then the edges of the fitted polygon do not intersect with the edges of cell A.

[0050] In one embodiment, at least one planar graphic includes a first planar graphic; obtaining a first three-dimensional region corresponding to each planar graphic based on multiple first cells corresponding to each planar graphic, a first mapping relationship, and a preset monitoring distance corresponding to each planar graphic includes: obtaining a spherical cone corresponding to each first cell based on multiple first cells corresponding to the first planar graphic, a first mapping relationship, and a preset monitoring distance corresponding to the first planar graphic; merging the spherical cones corresponding to multiple first cells to obtain the first three-dimensional region corresponding to the first planar graphic.

[0051] In one embodiment, the plurality of first cells corresponding to the first planar graphic include second cells; obtaining the spherical cone corresponding to each first cell based on the plurality of first cells corresponding to the first planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to the first planar graphic includes: obtaining the horizontal field of view and the vertical field of view corresponding to each vertex of the second cell based on 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; obtaining the three-dimensional coordinates of each vertex of the second cell based on the preset monitoring distance corresponding to the first planar graphic, the horizontal field of view and the vertical field of view corresponding to each vertex of the second cell; obtaining the spherical cone corresponding to the second cell based on the three-dimensional coordinates of the plurality of vertices of the second cell and the preset monitoring distance corresponding to the first planar graphic, wherein the center of the spherical cone is the optical center of the lidar, and the spatial area defined by the spherical cone corresponding to the second cell is the scanning sub-field of view of the lidar to be monitored.

[0052] In one example, the second cell includes four vertices: A5, A6, A7, and A8. According to the first mapping relationship, the horizontal field of view corresponding to the x-coordinate of A5 in the Cartesian coordinate system is... The vertical field of view corresponding to the ordinate of A5 in the rectangular coordinate system is: .like Figure 6 As shown, taking the first vertex A5 of the second cell as an example, based on the horizontal field of view corresponding to the first vertex A5... and vertical field of view The three-dimensional coordinates of point M1 corresponding to the first vertex A5 in the radar coordinate system are obtained. , , The radar coordinate system generally takes the optical center of the lidar as its origin.

[0053]

[0054] in, The preset monitoring distance corresponding to the first planar graphic is as follows: Figure 6 The radius of the sphere shown is also the distance between the center O2 and point M1. The center O2 corresponds to the optical center of the lidar.

[0055] Using the coordinate transformation formula described above, the three-dimensional coordinates of A6, A7, and A8 on a sphere centered at the optical center of the lidar, corresponding to M2, M3, and M4 respectively, can be calculated. This allows for the transformation of each vertex of the second cell from its two-dimensional coordinates in the Cartesian coordinate system to its three-dimensional coordinates in the lidar coordinate system. Based on the sphere center O2 and points M1 to M4 on the sphere, the corresponding spherical cones O2-M1M2M3M4 of the second cell can be determined. By piecing together multiple spherical cones corresponding to the first cell, the first three-dimensional region corresponding to the first planar graphic can be determined.

[0056] In one embodiment, step S105: Initiate the LiDAR scan of the three-dimensional security area to obtain security detection results. By using a user-configured planar graphic and a first mapping relationship, the three-dimensional security area can be quickly configured, thereby enabling the scanning and monitoring of the target area.

[0057] In one embodiment, step S105 further includes displaying the three-dimensional safety area on a display terminal. For example, the three-dimensional safety area of ​​the LiDAR is rendered in three dimensions on the graphical interface of the display terminal. In one example, the three-dimensional safety area includes at least one spherical cone, each spherical cone corresponding to a first cell. By rendering multiple spherical cones in three dimensions on the display terminal, the three-dimensional safety area is displayed on the display terminal. Taking the spherical cone O2-M1M2M3M4 corresponding to the second cell as an example, the display terminal can first render a sphere with O2 as its center (representing the scanning field of view of the LiDAR within a preset monitoring distance), and then highlight the spherical cones O2-M1M2M3M4 to intuitively demonstrate the setting effect of the spherical cones corresponding to the second cell. This visualization process allows users to more intuitively understand the setting effect of the three-dimensional safety area, thereby facilitating the adjustment of the three-dimensional safety area.

[0058] In one embodiment, step S105 further includes: when the preset monitoring distance of the planar graphic is less than or equal to a preset distance threshold, rendering the corresponding three-dimensional security area on the display terminal as a prohibited intrusion area; when the preset monitoring distance of the planar graphic is greater than the preset distance threshold, rendering the corresponding three-dimensional security area on the display terminal as a warning intrusion area. The preset monitoring distance is 5m, 10m, or 20m, etc., and the specific value is adjusted according to the maximum detection distance of the lidar and the actual security monitoring requirements. On the display terminal, the prohibited intrusion area and the warning intrusion area can be rendered in different colors.

[0059] In one embodiment, the method for configuring a safe zone for a lidar includes steps S201 to S205.

[0060] S201. Generate a two-dimensional grid in a Cartesian coordinate system on the display terminal; S202. Based on the field of view of the lidar and the two-dimensional grid, obtain the first mapping relationship between the two-dimensional grid and the field of view of the lidar. S203. Obtain at least one planar graphic within the two-dimensional grid input by the user and the preset monitoring distance corresponding to each planar graphic; S204. Based on at least one planar graphic, the preset monitoring distance corresponding to each planar graphic, and the first mapping relationship, obtain the three-dimensional safety area corresponding to the lidar; S205. Render the three-dimensional safety area corresponding to the LiDAR in the graphical interface of the display terminal.

[0061] Steps S201 and S203 are executed with reference to steps S101 to S103. In one embodiment, at least one planar graphic includes a first planar graphic and a second planar graphic. Step S204 includes: determining multiple first cells corresponding to the first planar graphic based on the coordinate range of the first planar graphic in a rectangular coordinate system, wherein the first cells are cells that satisfy a first preset condition; determining multiple first cells corresponding to the second planar graphic based on the coordinate range of the second planar graphic in a rectangular coordinate system; comparing the multiple first cells corresponding to the first planar graphic and the multiple first cells corresponding to the second planar graphic to obtain a first cell set; and obtaining the three-dimensional safety area corresponding to the lidar based on the first cell set, the first mapping relationship, and the preset monitoring distance corresponding to each planar graphic.

[0062] By comparing multiple first cells corresponding to the first planar figure and multiple first cells corresponding to the second planar figure, a set of first cells is obtained. This set includes: a first cell subset, a second cell subset, and a third cell subset. The first cell subset includes the first cells among the multiple first cells corresponding to the first planar figure that are the same as the multiple first cells corresponding to the second planar figure. The second cell subset includes the first cells among the multiple first cells corresponding to the first planar figure that are different from the multiple first cells corresponding to the second planar figure. The third cell subset includes the first cells among the multiple first cells corresponding to the second planar figure that are different from the multiple first cells corresponding to the first planar figure. The set of first cells comprises the first cell subset, the second cell subset, and the third cell subset.

[0063] In one example, the two-dimensional grid includes cells Z1 to Z6. At least one planar graphic within the user-input two-dimensional grid includes a first planar graphic and a second planar graphic. Multiple first cells corresponding to the first planar graphic include cells Z1, Z2, and Z3. Multiple first cells corresponding to the second planar graphic include cells Z2, Z3, and Z4. A subset of first cells includes cells Z2 and Z3. A subset of second cells includes cell Z1. A subset of third cells includes cell Z4. A set of first cells includes cells Z1, Z2, Z3, and Z4. That is, by comparing multiple first cells corresponding to different planar graphics, the cells within the two-dimensional grid covered by the planar graphics can be determined, effectively preventing the repeated processing of cells in overlapping areas of different planar graphics.

[0064] Based on the first set of cells, the first mapping relationship, and the preset monitoring distance corresponding to each planar graphic, the three-dimensional safe area corresponding to the lidar is obtained, including: based on each first cell in the first set of cells, the first mapping relationship, and the preset monitoring distance corresponding to each first cell in the first set of cells, the spherical cone corresponding to each first cell in the first set of cells is obtained; and by combining all the spherical cones corresponding to the first cells in the first set of cells, the three-dimensional safe area corresponding to the lidar is obtained.

[0065] In one embodiment, step S205 includes: rendering the spherical cones corresponding to all the first cells in the first cell set to obtain the three-dimensional safe area corresponding to the LiDAR.

[0066] In one embodiment, the first cell set obtained in step S204 is used as the initial first cell set. After the configuration parameters of the planar graphic input by the user change, step S205 includes: in response to the updated configuration parameters of the planar graphic input by the user, obtaining an updated first cell set. The initial first cell set and the updated first cell set are compared to determine whether the updated first cell set has added or missing first cells compared to the initial first cell set. In the graphical interface of the display terminal, the sphere cone corresponding to the missing first cell is deleted, and the sphere cone corresponding to the newly added first cell is rendered. Specifically, the rendering effect of the corresponding sphere cone is maintained for the same first cell in both the updated and initial first cell sets.

[0067] When the coordinate ranges of multiple planar graphics overlap, individual cells may be processed repeatedly, thus affecting the efficiency of setting up the 3D safe region. This application's embodiment improves the efficiency of setting up the 3D safe region and simplifies the rendering process by dynamically updating the first cell set.

[0068] In one embodiment, see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 7 As shown, the electronic device 700 includes one or more processors 701 and a memory 702. Wherein, Figure 7 Taking a processor 701 as an example. For instance, the electronic device is a vehicle. The processor 701 and the memory 702 can be connected via a bus or other means. Figure 7 Taking a bus connection as an example, processor 701 provides computing and control capabilities to perform the aforementioned tasks. Figure 1The method described herein. 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; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The aforementioned PLD can be a Complex Programmable Logic Device (CPLD), a Field-Programmable Gate Array (FPGA), a Generic Array Logic (GAL), or any combination thereof.

[0069] 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 the program instructions / modules corresponding to the sensor-based lidar safe area configuration method in the embodiments of this application. The processor 701 can implement the lidar safe area configuration method in any of the above method embodiments by running the non-transitory software programs, instructions, and modules stored in the memory 702. Specifically, the memory 702 may include volatile memory (VM), such as random access memory (RAM); the memory 702 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), solid-state drive (SSD), or other non-transitory solid-state storage devices; the memory 702 may also include combinations of the above types of memory.

[0070] Memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 702 may optionally include memory remotely located relative to processor 701, and these remote memories may be connected to processor 701 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0071] One or more modules are stored in memory 702. When executed by one or more processors 701, they perform the safe zone configuration method for the lidar in any of the above method embodiments, for example, the method described above. Figure 1 The steps shown.

[0072] In this embodiment, the electronic device 700 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The electronic device 700 may also include other components for implementing device functions, which will not be described in detail here.

[0073] This application also provides a non-volatile computer-readable storage medium, such as a memory including program code, which can be executed by a processor to complete the secure area configuration method for lidar in the above embodiments. For example, the non-volatile computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0074] This application also provides a computer program product comprising one or more lines of program code stored in a non-volatile computer-readable storage medium. A processor of an electronic device reads the program code from the non-volatile computer-readable storage medium and executes the program code to complete the method steps of the secure area configuration method for lidar provided in the above embodiments.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general-purpose hardware platform, and of course, it can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods.

[0076] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0077] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. 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 this application.

[0078] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0079] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for configuring a safe zone for a lidar radar, characterized in that, The method includes: A two-dimensional grid in a Cartesian coordinate system is generated on the display terminal; Based on the field of view of the lidar and the two-dimensional grid, a first mapping relationship between the two-dimensional grid and the field of view of the lidar is obtained; Obtain at least one planar graphic within the two-dimensional grid input by the user and a preset monitoring distance corresponding to each planar graphic; Based on the at least one planar graphic, the preset monitoring distance corresponding to each planar graphic, and the first mapping relationship, the three-dimensional safety area corresponding to the lidar is obtained; The lidar is activated to scan the three-dimensional security area, and the security detection results are obtained.

2. The method according to claim 1, characterized in that, The two-dimensional grid includes multiple grid rows arranged sequentially along the vertical axis of the Cartesian coordinate system, and each grid row includes multiple cells arranged sequentially along the horizontal axis of the Cartesian coordinate system. The step of obtaining a first mapping relationship between the two-dimensional grid and the field of view of the lidar based on the field of view range of the lidar and the two-dimensional grid includes: Based on the horizontal field of view range of the lidar and the number of cells in each grid row, the horizontal field of view sub-range corresponding to each cell is obtained; Based on the vertical field of view range of the lidar and the number of grid rows in the two-dimensional grid, the vertical field of view sub-range corresponding to each cell is obtained; Based on the horizontal field of view sub-range corresponding to each cell, the horizontal field of view angle corresponding to the x-coordinate of the vertex of each cell is obtained; Based on the vertical field of view sub-range corresponding to each cell, the vertical field of view angle corresponding to the ordinate of the vertex of each cell is obtained; The first mapping relationship includes the horizontal field of view corresponding to the x-coordinate of the vertex of each cell and the vertical field of view corresponding to the y-coordinate of the vertex of each cell.

3. The method according to claim 2, characterized in that, The step of obtaining the three-dimensional safety area corresponding to the lidar based on the at least one planar graphic, the preset monitoring distance corresponding to each planar graphic, and the first mapping relationship includes: Based on the coordinate range of each planar graphic in the rectangular coordinate system, a plurality of first cells corresponding to each planar graphic are determined, wherein the first cell is the cell that satisfies the first preset condition; Based on the multiple first cells corresponding to each planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to each planar graphic, at least one first three-dimensional region is obtained, and one planar graphic corresponds to one first three-dimensional region. By combining the at least one first three-dimensional region, a three-dimensional safe area corresponding to the lidar is obtained.

4. The method according to claim 3, characterized in that, At least one planar figure includes a first planar figure; The step of determining multiple first cells corresponding to each planar graphic based on the coordinate range of each planar graphic in the rectangular coordinate system includes: Based on the coordinate range of the first planar graphic in the rectangular coordinate system and the coordinate range of the two-dimensional grid in the rectangular coordinate system, calculate the intersection-union ratio of each cell with the first planar graphic; When the intersection-union ratio of the cell to the first planar graphic is greater than a first preset threshold, the cell is determined to satisfy the first preset condition.

5. The method according to claim 3, characterized in that, The at least one planar graphic includes a first planar graphic; The step of obtaining at least one first three-dimensional region based on multiple first cells corresponding to each planar graphic, the first mapping relationship, and a preset monitoring distance corresponding to each planar graphic includes: Based on the multiple first cells corresponding to the first planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to the first planar graphic, the spherical cone corresponding to each first cell is obtained; Merge multiple spherical cones corresponding to the first cell to obtain the first three-dimensional region corresponding to the first planar graphic.

6. The method according to claim 5, characterized in that, The first cell corresponding to the first planar graphic includes the second cell; The step of obtaining the spherical cone corresponding to each first cell based on the multiple first cells corresponding to the first planar graphic, the first mapping relationship, and the preset monitoring distance corresponding to the first planar graphic includes: Based on the x-coordinate of each vertex of the second cell, the y-coordinate of each vertex of the second cell, and the first mapping relationship, the horizontal field of view and the vertical field of view corresponding to each vertex of the second cell are obtained; Based on the preset monitoring distance corresponding to the first planar graphic and the horizontal and vertical field of view angles corresponding to each vertex of the second cell, the three-dimensional coordinates of each vertex of the second cell in the radar coordinate system are obtained; Based on the three-dimensional coordinates of multiple vertices of the second cell and the preset monitoring distance corresponding to the first planar graphic, the spherical cone corresponding to the second cell is obtained, wherein the center of the spherical cone is the optical center of the lidar.

7. The method according to claim 6, characterized in that, The second cell includes a first vertex. The step of obtaining the three-dimensional coordinates of each vertex of the second cell in the radar coordinate system based on the preset monitoring distance corresponding to the first planar graphic, and the horizontal and vertical field of view angles corresponding to each vertex of the second cell, includes: Based on the horizontal field of view corresponding to the first vertex and vertical field of view The three-dimensional coordinates of the first vertex in the radar coordinate system are obtained. , , ): in, The preset monitoring distance corresponds to the first planar graphic.

8. The method according to claim 1, characterized in that, The method further includes: When the preset monitoring distance corresponding to the planar graphic is less than or equal to the preset distance threshold, the display terminal renders the three-dimensional security area corresponding to the planar graphic as a prohibited intrusion area. When the preset monitoring distance corresponding to the planar graphic is greater than the preset distance threshold, the three-dimensional security area corresponding to the planar graphic is rendered as a warning intrusion area on the display terminal.

9. An electronic device, characterized in that, include: A memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor, when executing the one or more computer programs, causing the electronic device to perform the method as described in any one of claims 1-8.

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

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