WO2023133772A1

WO2023133772A1 - Obstacle detection methods and apparatus, and device, radar apparatus and movable platform

Info

Publication number: WO2023133772A1
Application number: PCT/CN2022/071892
Authority: WO
Inventors: 张辰宇; 张金明; 郭羿江; 黄淮; 林晟威
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-01-13
Filing date: 2022-01-13
Publication date: 2023-07-20

Abstract

An obstacle detection method, comprising: acquiring a three-dimensional scanning field of view of a radar apparatus (S101); acquiring spatial attribute parameters of a target monitoring area configured by a user in the three-dimensional scanning field of view, and generating a target configuration file according to the spatial attribute parameters (S102); and detecting, according to the target configuration file and spatial information collected by the radar apparatus, whether an obstacle enters the target monitoring area (S103). By means of the method, the accuracy and safety of obstacle detection can be improved.

Description

Obstacle monitoring method, device, equipment, radar device and movable platform

technical field

The present application relates to the field of obstacle monitoring, in particular to an obstacle monitoring method, device, terminal equipment, radar device, movable platform and storage medium.

Background technique

At present, obstacle monitoring is usually achieved through sensors such as visual sensors and radars. However, the detection function of existing radar devices can only monitor obstacles on a plane, and cannot monitor obstacles in three-dimensional space. There will be radar devices. The area that cannot be covered by the scanning field of view, the obstacle detection effect and safety cannot be guaranteed.

Contents of the invention

Based on this, embodiments of the present application provide an obstacle monitoring method, device, terminal equipment, radar device, movable platform, and storage medium, aiming at improving the monitoring effect and safety of obstacles.

In the first aspect, the embodiment of the present application provides an obstacle monitoring method, including:

Obtain the 3D scanning field of view of the radar device;

Obtain the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, and generate a target configuration file according to the spatial attribute parameters, wherein the spatial attribute parameters include the size information and position of the target monitoring area information;

According to the target configuration file and the spatial information collected by the radar device, whether an obstacle enters the target monitoring area is monitored.

In the second aspect, the embodiment of the present application also provides an obstacle monitoring method applied to a terminal device, where the terminal device communicates with a radar device, and the method includes:

Obtaining a three-dimensional scanning field of view of the radar device;

Sending the target configuration file to the radar device, so that the radar device can monitor whether an obstacle has entered the target monitoring area according to the target configuration file.

In the third aspect, the embodiment of the present application also provides an obstacle monitoring method, which is applied to a radar device, and the radar device is communicatively connected to a terminal device, and the method includes:

Acquire the target configuration file sent by the terminal device, the target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device ;

In the fourth aspect, the embodiment of the present application also provides an obstacle monitoring method, which is applied to a mobile platform, the mobile platform is equipped with a radar device, and the mobile platform is connected to a terminal device through communication. The method includes:

The spatial information collected by the radar device is acquired, and according to the target configuration file and the spatial information collected by the radar device, whether an obstacle enters the target monitoring area is monitored.

In the fifth aspect, the embodiment of the present application also provides an obstacle monitoring device, the obstacle monitoring device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtain the 3D scanning field of view of the radar device;

Obtain the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, and generate a target configuration file according to the spatial attribute parameters, wherein the target monitoring area is located in the three-dimensional scanning field of view, and the space The attribute parameters include size information and location information of the target monitoring area;

In the sixth aspect, the embodiment of the present application further provides a terminal device, the terminal device is communicatively connected to the radar device, and the terminal device includes a memory and a processor;

The memory is used to store computer programs;

Obtaining a three-dimensional scanning field of view of the radar device;

Controlling the terminal device to send the target configuration file to the radar device, so that the radar device can monitor whether an obstacle has entered the target monitoring area according to the target configuration file.

In the seventh aspect, the embodiment of the present application further provides a radar device, the radar device is connected to the terminal device in communication, and the radar device includes a memory and a processor;

The memory is used to store computer programs;

Acquire a target configuration file sent by the terminal device, the target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device;

In an eighth aspect, the embodiment of the present application further provides a mobile platform, the mobile platform includes: a memory, a processor, and a radar device;

The memory is used to store computer programs;

In the ninth aspect, the embodiment of the present application further provides a mobile platform, and the mobile platform includes:

Platform ontology;

A power system is provided on the platform body and is used to provide moving power for the movable platform;

The radar device according to the seventh aspect is fixedly or detachably connected to the platform body.

In the tenth aspect, the embodiment of the present application also provides a storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the first aspect, the second aspect, and the first aspect. The obstacle monitoring method described in the third aspect or the fourth aspect.

The embodiment of the present application provides an obstacle monitoring method, device, terminal equipment, radar device, movable platform, and storage medium. By obtaining the three-dimensional scanning field of view of the radar device, and obtaining the user's configuration in the three-dimensional scanning field of view The spatial attribute parameters of the target monitoring area, according to the spatial attribute parameters of the target monitoring area, generate the target configuration file, and according to the target configuration file and the spatial information collected by the radar device, monitor whether obstacles have entered the target monitoring area, so that Obstacle monitoring is carried out for three-dimensional space to improve the accuracy and safety of obstacle monitoring.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

FIG. 1 is a schematic diagram of a scene implementing the obstacle monitoring method provided by the embodiment of the present application;

Fig. 2 is a schematic flowchart of the steps of an obstacle monitoring method provided in an embodiment of the present application;

Fig. 3 is a schematic diagram of the parameter configuration page in the embodiment of the present application;

Fig. 4 is another schematic diagram of the parameter configuration page in the embodiment of the present application;

Fig. 5 is another schematic diagram of the parameter configuration page in the embodiment of the present application;

Fig. 6 is a schematic diagram of the three-dimensional scanning field of view of the radar device in the embodiment of the present application;

Fig. 7 is a schematic flowchart of steps of another obstacle monitoring method provided in the embodiment of the present application;

Fig. 8 is a schematic flow chart of the steps of another obstacle monitoring method provided by the embodiment of the present application;

Fig. 9 is a schematic flow chart of the steps of another obstacle monitoring method provided by the embodiment of the present application;

Fig. 10 is a schematic structural block diagram of an obstacle monitoring device provided by an embodiment of the present application;

FIG. 11 is a schematic structural block diagram of a terminal device provided by an embodiment of the present application;

Fig. 12 is a schematic structural block diagram of a radar device provided by an embodiment of the present application;

Fig. 13 is a schematic structural block diagram of a mobile platform provided by an embodiment of the present application;

Fig. 14 is a schematic structural block diagram of another mobile platform provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

At present, when using the monitoring device to monitor obstacles in the area, the user usually cannot select a specific area in the area for targeted monitoring. For example, in some factories, the user only pays attention to Obstacles that may affect the operation of the equipment, and the field of view of the monitoring device is usually large, requiring the user to select a specific area in the field of view for monitoring, and accurately monitor the specific area.

In order to solve the above problems, an embodiment of the present application provides an obstacle monitoring method, device, terminal equipment, radar device, and storage medium. Scan the spatial attribute parameters of the target monitoring area configured in the field of view, generate the target configuration file according to the spatial attribute parameters of the target monitoring area, and check whether there are obstacles in the target monitoring area according to the target configuration file and the spatial information collected by the radar device Objects can be monitored, so that obstacles can be monitored in three-dimensional space, and the accuracy and safety of obstacle monitoring can be improved.

The obstacle monitoring method provided in the embodiment of the present application may be applied to an obstacle monitoring device, a terminal device or a radar device. The radar device in the obstacle detection method provided by the present application can be fixed on an immovable object such as a wall or a ceiling, or mounted on a movable platform. Please refer to FIG. 1. FIG. 1 is a schematic diagram of a scene implementing the obstacle monitoring method provided by the embodiment of the present application. The movable platform 100 includes a platform body 110, a power system 120, a radar device 130 and a control device (not shown in FIG. 1) , the power system 120 is used to provide mobile power for the movable platform 100, the radar device 130 is fixedly connected or detachably connected to the platform body 110, and the radar device 130 is used to sense the environment around the movable platform 100 to generate sensing data , the control device is used to control the movement of the movable platform 100, the radar device 130 is in communication connection with the terminal device 200, and the radar device 130 can communicate with the terminal device 200 in a wireless or wired manner.

In one embodiment, the terminal device 200 obtains the 3D scanning field of view of the radar device 130; obtains the spatial attribute parameters of the target monitoring area configured by the user in the 3D scanning field of view, and generates the target configuration file according to the spatial attribute parameters, wherein the spatial The attribute parameters include the size information and position information of the target monitoring area; send the target configuration file to the movable platform 100, so that the movable platform 100 can obtain the spatial information collected by the radar device 130, and collect the information according to the target configuration file and the radar device 130. The spatial information of the target monitoring area is monitored to see whether obstacles have entered.

In one embodiment, the terminal device 200 obtains the 3D scanning field of view of the radar device 130; obtains the spatial attribute parameters of the target monitoring area configured by the user in the 3D scanning field of view, and generates the target configuration file according to the spatial attribute parameters, wherein the spatial The attribute parameters include size information and location information of the target monitoring area; the target configuration file is sent to the radar device 130 so that the radar device 130 can monitor whether an obstacle enters the target monitoring area according to the target configuration file.

In one embodiment, the terminal device 200 obtains the 3D scanning field of view of the radar device 130; obtains the spatial attribute parameters of the target monitoring area configured by the user in the 3D scanning field of view, and generates the target configuration file according to the spatial attribute parameters, wherein the spatial The attribute parameters include size information and position information of the target monitoring area; obtain the spatial information collected by the radar device 130, and monitor whether obstacles have entered the target monitoring area according to the target configuration file and the spatial information collected by the radar device 130 .

In one embodiment, the movable platform 100 may include unmanned aerial vehicles, unmanned vehicles, mobile robots, etc., and the unmanned aerial vehicles may include rotor-type unmanned aerial vehicles, such as dual-rotor UAVs, quadrotor UAVs, six-rotor UAVs, etc. Rotary-wing drones, octo-rotor drones, fixed-wing drones, or a combination of rotary-wing and fixed-wing drones are not specifically limited here. Terminal devices 200 may include, but are not limited to: smart phones/cell phones, tablet computers, personal digital assistants (PDAs), desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems, wearable devices (eg, watches, glasses, gloves, headgear (eg, hats, helmets, virtual reality headsets, augmented reality headsets, head-mounted devices (HMD), headbands).

Hereinafter, the obstacle monitoring method provided by the embodiment of the present application will be described in detail with reference to the scene in FIG. 1 . It should be noted that the scene in FIG. 1 is only used to explain the obstacle monitoring method provided by the embodiment of the present application, but does not constitute a limitation on the application scene of the obstacle monitoring method provided by the embodiment of the present application.

Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of steps of an obstacle monitoring method provided in an embodiment of the present application.

As shown in Fig. 2, the obstacle monitoring method includes steps S101 to S103.

Step S101, acquiring a three-dimensional scanning field of view of a radar device.

Exemplarily, the radar device may include one or more radars, and the types of the one or more radars may be the same or different, and the three-dimensional scanning field of view of the radar device may be formed by combining the scanning fields of view of one or more radars . Wherein, the radar may include lidar, millimeter wave radar, and the like.

Step S102. Obtain the spatial attribute parameters of the target monitoring area configured by the user in the 3D scanning field of view, and generate a target configuration file according to the spatial attribute parameters.

Exemplarily, the spatial attribute parameters of the target monitoring area include size information and position information of the target monitoring area, that is, size information and position information of the target monitoring area within the three-dimensional scanning field of view. Wherein, the size information of the target monitoring area includes the length value, width value, and height value of the target monitoring area, and/or, the size information of the target monitoring area includes the inner diameter value, outer diameter value, radian, and height value of the target monitoring area. The position information of the monitoring area includes the three-dimensional position coordinates of the target monitoring area within the three-dimensional scanning field of view of the radar device. The spatial attribute parameter of the target monitoring area also includes a three-dimensional rotation angle of the target monitoring area, and the three-dimensional rotation angle includes roll angle, pitch angle and/or yaw angle.

In one embodiment, the display device is controlled to display the parameter configuration page of the target monitoring area, and the parameter configuration page includes a parameter confirmation icon and a parameter input box; The spatial attribute parameters of are determined as the spatial attribute parameters of the target monitoring area. By artificially configuring the target monitoring area in the entire three-dimensional scanning field of view of the radar device, it is possible to avoid artificially adjusting the position of the radar to aim at a specific area, and to improve the convenience and accuracy of the configuration of the target monitoring area. The target monitoring area needs to be configured arbitrarily, which improves the convenience and flexibility for users to configure the target monitoring area.

In one embodiment, the spatial attribute parameter input by the user in the parameter input box is obtained; according to the spatial attribute parameter input by the user in the parameter input box, the corresponding target monitoring area is displayed in the monitoring area preview window in the parameter configuration page . For example, as shown in Figure 3, the parameter configuration page includes a parameter confirmation icon 11, a parameter input box 12 and a monitoring area preview window 13, and the user inputs the length value Length, width value Widgth and height of the target monitoring area in the parameter input box 12 The value Height is 1, 2 and 3 respectively, and the three-dimensional position coordinates of the target monitoring area are (0,0,0). Therefore, the monitoring area preview window 13 shows that the length value Length, the width value Widgth and the height value Height are respectively 1, 2 and 3, and the target monitoring area 14 whose three-dimensional position coordinates are (0,0,0).

In an embodiment, the monitoring area preview window in the parameter configuration page also displays the three-dimensional scanning field of view of the radar device. Wherein, the display color of the target monitoring area in the monitoring area preview window is different from that of the 3D scanning field of view. Different colors are used to distinguish the target monitoring area and the three-dimensional scanning field of view of the radar device in the monitoring area preview window, which is convenient for users to configure the target monitoring area and improves the configuration convenience and flexibility of the target monitoring area.

In an embodiment, when the target monitoring area partially overlaps with the three-dimensional scanning field of view, an overlapping area and a non-overlapping area are distinguished in the target monitoring area. Wherein, the overlapping area is an area overlapping with the three-dimensional scanning field of view in the target monitoring area, and the non-overlapping area is an area not overlapping with the three-dimensional scanning field of view in the target monitoring area, and the overlapping area and non-overlapping area in the target monitoring area are displayed in different colors. By distinguishing overlapping areas and non-overlapping areas in the target monitoring area, it is convenient for the user to know the positional relationship between the target monitoring area and the three-dimensional scanning field of view, so that the user can accurately adjust the target monitoring area.

In one embodiment, in response to the user's trigger operation on the shape selection icon of the target monitoring area in the parameter configuration page, the target shape is determined from a plurality of preset shapes; according to the target shape, the parameter combination of the parameter input box is adjusted, wherein , different shapes correspond to different parameter combinations. Wherein, the preset shape may include any of the following: cuboid, cylinder. By setting different shapes, it is convenient for the user to choose a suitable shape according to needs to arbitrarily configure the target monitoring area, which improves the convenience and flexibility of configuring the target monitoring area.

In one embodiment, when the target shape is a cuboid, the parameter combination of the parameter input box is adjusted to the first parameter combination, and the first parameter combination includes three-dimensional position coordinates, length value, width value, and height value; when the target shape is a column When the body is in shape, adjust the parameter combination in the parameter input box to the second parameter combination. The second parameter combination includes three-dimensional position coordinates, inner diameter value, outer diameter value, radian, and height value. Wherein, the first parameter combination and/or the second parameter combination further include a three-dimensional rotation angle, and the three-dimensional rotation angle includes a roll angle, a pitch angle, and a yaw angle.

For example, as shown in Figure 4, the parameter configuration page includes the shape selection icon 21 of the target monitoring area. After the user clicks the shape selection icon 21, the shape AreaType of the target monitoring area and the parameter combination of the parameter input box can be adjusted, as shown in Figure 4 As shown, the shape AreaType of the target monitoring area is a cuboid Cuboid, the parameter combination of the parameter input box includes the first parameter combination 30, the first parameter combination 30 includes the three-dimensional position coordinate xyz, the length value Length, the width value Widgth, the height value Height, the rollover Angle Roll, pitch angle Pitch, and yaw angle Yaw, and the length value Length, width value Widgth, and height value Height are 1, 2, and 3 respectively. The three-dimensional position coordinates of the target monitoring area are (0,0,0), and the roll angle Roll, pitch angle Pitch and yaw angle Yaw do not take effect, then the monitoring area preview window 13 shows that the length value Length, width value Widgth and height value Height are 1, 2 and 3 respectively, and the three-dimensional position coordinates are (0, 0,0), the target monitoring area 22 is shaped as a cuboid, and the target monitoring area 22 is a Dangerous area.

After the user clicks the shape selection icon 21 of the target monitoring area as shown in Figure 4, the shape AreaType of the target monitoring area and the parameter combination of the parameter input box can be as shown in Figure 5, the shape AreaType of the target monitoring area is a cylinder Cylinder, and the parameters The parameter combination of the input box includes the second parameter combination 40, the second parameter combination 40 includes the three-dimensional position coordinate xyz, the inner radius value R1, the outer radius value R2, the radian Theta, the height value Height, the roll angle Roll, the pitch angle Pitch and the yaw angle Yaw, and the three-dimensional position coordinates are (0,0,0), the inner diameter value R1 is 1, the outer diameter value R2 is 2, the radian Theta is 180°, and the height value Height is 1, then the monitoring area preview window 13 displays the inner diameter at this time The value R1 is 1, the outer diameter value R2 is 2, the radian Theta is 180°, the height value Height is 1, the three-dimensional position coordinates are (0,0,0), the target monitoring area 23 in the shape of a cylinder, and the target monitoring area 23 is the warning area Warning.

In an embodiment, the target monitoring area includes a target monitoring area composed of one or more cuboids, a target monitoring area composed of one or more columns, and a target monitoring area composed of at least one cuboid and at least one column.

In an embodiment, in response to the user's trigger operation on the type selection icon on the parameter configuration page, the target type is determined from multiple preset types, and the type of the target monitoring area is configured as the target type. Among them, the preset types include Dangerous, Warning, and Shield. As shown in Figure 4, the type Area Priority of the target monitoring area 22 is Dangerous, when the user clicks the type selection icon to switch the type of the target monitoring area, as shown in Figure 5, the type Area Priority of the target monitoring area 23 is Warning.

For example, in an automatic driving scene, if the target monitoring area is a dangerous area, when an obstacle is detected in the target monitoring area, the vehicle will automatically brake and stop running; When an obstacle enters the vehicle, the vehicle decelerates. If the target monitoring area is a shielded area, when an obstacle is detected in the target monitoring area, the vehicle operates normally and the obstacle is shielded.

In one embodiment, the type selection icon includes a dangerous area icon, an early warning area icon, and a shielded area icon. When the dangerous area icon is in the selected state, it is determined that the target monitoring area is a dangerous area; when the early warning area icon is in the selected state, it is determined that the target The monitoring area is an early warning area. When the shielding area icon is selected, the target monitoring area is determined to be a shielding area.

In an embodiment, there are multiple target monitoring areas, and the types of the multiple target monitoring areas are the same or different. Multiple target monitoring areas do not overlap. The user can configure multiple target monitoring areas within the three-dimensional scanning field of view of the radar device. The types of the multiple target monitoring areas can be the same or different, thereby improving the accuracy and flexibility of the configuration of the target monitoring areas.

In an embodiment, the method of generating the target configuration file according to the spatial attribute parameters of the target monitoring area may be: generating a target three-dimensional array according to the spatial attribute parameters of the target monitoring area and the three-dimensional scanning field of view of the radar device. Among them, the target three-dimensional array is used to monitor whether obstacles have entered the target monitoring area with the spatial information collected by the radar device, and the target three-dimensional array is also used to indicate the three-dimensional position of the target monitoring area in the three-dimensional scanning field of view of the radar device information. By generating the target three-dimensional array, the calculation amount required for real-time monitoring of the target monitoring area can be reduced, and the real-time monitoring of the target monitoring area can be ensured.

In one embodiment, the initial three-dimensional array corresponding to the three-dimensional scanning field of view of the radar device is obtained; and the target three-dimensional array is generated according to the initial three-dimensional array and the spatial attribute parameters. For example, the 3D scanning field of view of the radar device is divided into multiple 3D scanning units, and the initial 3D array is generated based on the multiple 3D scanning units; the target scanning unit located in the target monitoring area is determined from the multiple 3D scanning units, and the target The index value of the unit in the initial three-dimensional array is scanned, and then the element value corresponding to the index value in the initial three-dimensional array is modified to obtain a target three-dimensional array.

For example, assuming that the three-dimensional scanning field of view of the radar device is (A ₁ , A ₂ , B ₁ , B ₂ , C ₁ , C ₁ ), the boundary values of the target monitoring area in the three directions of length, width and height (l ₁ , l ₂ , w ₁ ,w ₂ ,h ₁ ,h ₂ ), the length, width and height of the three-dimensional scanning unit are (l ₃ ,w ₃ ,h ₃ ), and the coordinates of the center points of n three-dimensional scanning units are (a ₁ ,b ₁ , c ₁ ), (a ₂ ,b ₂ ,c ₂ ),…,(a _n ,b _n ,c _n ), the number of 3D scanning units in the three directions of length, width and height in the 3D scanning field of view is (A, B,C,), A=(A ₁ -A ₂ )/l ₃ , B=(B ₁ -B ₂ )/w ₃ , C=(C ₁ -C ₂ )/h ₃ , for the three-dimensional scanning unit ( a ₁ , b ₁ , c ₁ ), the corresponding three-dimensional scanning unit position is: α ₁ =(a ₁ -A ₁ )/l ₃ , β ₁ =(b ₁ -B ₁ )/w ₃ , γ1=( c ₁ -C ₁ )/h3, then the index value corresponding to this 3D scanning unit is: Index1=α ₁ *A*C+β ₁ *C+γ ₁ , and the corresponding The index value of , so that different index values can be obtained to form an initial three-dimensional array. For the target monitoring area (l ₁ , l ₂ , w ₁ , w ₂ , h ₁ , h ₂ ), according to the calculation method of the index value provided above, the index value of the 3D scanning unit located in the target monitoring area can be calculated, as The index values corresponding to the target monitoring area can be known, and the target three-dimensional array can be obtained by modifying the element values of the index values corresponding to the target monitoring area to preset values.

In one embodiment, the three-dimensional scanning field of view of the radar device is divided into multiple three-dimensional scanning units; according to the spatial attribute parameters of the target monitoring area, the target scanning unit located in the target monitoring area is determined from the multiple three-dimensional scanning units; according to A plurality of three-dimensional scanning units and target scanning units generate a target three-dimensional array. The multiple 3D scanning units have the same size, and the 3D scanning units may include cubes, cuboids, and cylinders, and the number of elements in the target 3D array is greater than or equal to the number of 3D scanning units.

For example, the three-dimensional scanning field of view of the radar device is divided into multiple cubes of the same size, based on the spatial attribute parameters of the target monitoring area, the target cube located in the target monitoring area is determined from multiple cubes, based on multiple cubes and the target cube , to generate the target three-dimensional array. As shown in Figure 6, the three-dimensional scanning field of view 51 of the radar device is divided into a plurality of cubes of the same size, and the target monitoring area 52 includes four cubes, then based on all the cubes in the three-dimensional scanning field of view 51 and the target monitoring area 52 The 4 cubes of can generate the target three-dimensional array.

For example, assuming that the three-dimensional scanning field of view of the radar device is (A ₁ , A ₂ , B ₁ , B ₂ , C ₁ , C ₁ ), the boundary values of the target monitoring area in the three directions of length, width and height (l ₁ , l ₂ , w ₁ ,w ₂ ,h ₁ ,h ₂ ), the length, width and height of the three-dimensional scanning unit are (l ₃ ,w ₃ ,h ₃ ), and the coordinates of the center points of n three-dimensional scanning units are (a ₁ ,b ₁ , c ₁ ), (a ₂ ,b ₂ ,c ₂ ),…, (a _n ,b _n ,c _n ), the number of 3D scanning units in the three directions of length, width and height in the 3D scanning field of view is (A, B,C,), A=(A ₁ -A ₂ )/l ₃ , B=(B ₁ -B ₂ )/w ₃ , C=(C ₁ -C ₂ )/h ₃ , for the three-dimensional scanning unit ( a ₁ , b ₁ , c ₁ ), the corresponding three-dimensional scanning unit position is: α ₁ =(a ₁ -A ₁ )/l ₃ , β ₁ =(b ₁ -B ₁ )/w ₃ , γ1=( c ₁ -C ₁ )/h3, then the index value corresponding to the three-dimensional scanning unit can be: Index1=α ₁ *A*C+β ₁ *C+γ ₁ , if the three-dimensional scanning unit (a ₁ ,b ₁ ,c ₁ ) Located in the target monitoring area (l ₁ , l ₂ , w ₁ , w ₂ , h ₁ , h ₂ ), the element value corresponding to the index value of the three-dimensional scanning unit is a preset value, if the three-dimensional scanning unit (a ₁ ,b ₁ ,c ₁ ) are not located in the target monitoring area (l ₁ ,l ₂ ,w ₁ ,w ₂ ,h ₁ ,h ₂ ), then the element value corresponding to the index value of the three-dimensional scanning unit is not a preset value, The index value corresponding to each 3D scanning unit and the element value corresponding to the index value can be calculated in the same way, based on the index value corresponding to each 3D scanning unit and the element value corresponding to the index value, a target 3D array can be generated.

Step S103 , according to the target configuration file and the spatial information collected by the radar device, monitor whether an obstacle has entered the target monitoring area.

Exemplarily, the three-dimensional position coordinates collected by the radar device are obtained; the index value corresponding to the three-dimensional position coordinates in the target three-dimensional array is determined; the element value corresponding to the index value is obtained from the target three-dimensional array, and the target monitoring area is calculated according to the element value Whether it has entered an obstacle is monitored. For example, when the element value is a preset value, it is determined that an obstacle has entered the target monitoring area, and when the element value is not a preset value, it is determined that no obstacle has entered the target monitoring area. Wherein, the preset value may be set based on actual conditions, which is not specifically limited in this embodiment.

Exemplarily, the boundary values (l ₁ , l ₂ , w ₁ , w ₂ , h ₁ , h ₂ ) of the target monitoring area in the three directions of length, width and height and the length, width and height (l ₃ , w ₃ ,h ₃ ); according to (l ₁ ,l ₂ ,w ₁ ,w ₂ ,h ₁ ,h ₂ ) and the length, width and height (l ₃ ,w ₃ ,h ₃ ) of the three-dimensional scanning unit, determine the The number of target scanning units in the three directions of length, width and height (L, W, H), the number of target scanning units in the length direction in the target monitoring area is L=(l ₁ -l ₂ )/l ₃ , target monitoring The number of target scanning units in the width direction in the area is W=(w ₁ -w ₂ )/w ₃ , and the number of target scanning units in the height direction in the target monitoring area is H=(h ₁ -h ₂ ) /h ₃ ; Determine the position (l, w, h) of the three-dimensional scanning unit corresponding to the three-dimensional position coordinates (x ₁ , y ₁ , z ₁ ) collected by the radar device in the three directions of length, width and height, l=(x ₁ -l ₁ )/l ₃ , w=(y ₁ -w ₁ )/w ₃ , h=(z ₁ -h ₁ )/h ₃ ; according to the target scanning units in the three directions of length, width and height in the target monitoring area The number of three-dimensional position coordinates (x ₁ , y ₁ , z ₁ ) collected by the radar device corresponds to the position (l, w, h) of the three-dimensional scanning unit in the three directions of length, width and height, and the three-dimensional position coordinates (x ₁ ,y ₁ ,z ₁ ) corresponding index value in the target three-dimensional array, index value corresponding to the three-dimensional position coordinates (x ₁ ,y ₁ ,z ₁ ) in the target three-dimensional array index=l*W*H+w*H +h.

In an embodiment, after the obstacle monitoring result of the target monitoring area is obtained, the display device is controlled to display the obstacle monitoring result. Among them, the result of obstacle monitoring includes the obstacle entering in the target monitoring area or the obstacle not entering in the target monitoring area. By displaying the obstacle monitoring result, it is convenient for the user to know whether the target monitoring area has entered an obstacle.

Exemplarily, when an obstacle is entered in the target monitoring area, the target position of the obstacle in the target monitoring area is determined, and the obstacle is marked in the target monitoring area according to the target position of the obstacle in the target monitoring area. For example, flashing the preset icon or displaying the preset icon at the target position. Or, when an obstacle is entered in the target monitoring area, an alarm sound is played.

In the obstacle monitoring method provided by the above embodiments, by obtaining the three-dimensional scanning field of view of the radar device, and obtaining the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, according to the spatial attribute parameters of the target monitoring area, generate Target configuration file, according to the target configuration file and the spatial information collected by the radar device, monitor whether obstacles have entered the target monitoring area, so that obstacle monitoring can be performed in three-dimensional space, improving the accuracy and safety of obstacle monitoring .

Please refer to FIG. 7 . FIG. 7 is a schematic flowchart of steps of another obstacle monitoring method provided by an embodiment of the present application. The obstacle monitoring method is applied to terminal equipment.

As shown in Fig. 7, the obstacle monitoring method includes steps S201 to S203.

Step S201, acquiring the three-dimensional scanning field of view of the radar device;

Step S202, obtaining the spatial attribute parameters of the target monitoring area configured by the user in the 3D scanning field of view, and generating a target configuration file according to the spatial attribute parameters;

Step S203 , sending the target configuration file to the radar device, so that the radar device can monitor whether an obstacle has entered the target monitoring area according to the target configuration file.

In an embodiment, the obstacle monitoring result sent by the radar device is obtained, and the obstacle monitoring result is displayed through the display device. Wherein, the obstacle monitoring result includes the obstacle entering into the target monitoring area or the obstacle not entering into the target monitoring area. By displaying the obstacle monitoring result, it is convenient for the user to know whether the target monitoring area has entered an obstacle.

In one embodiment, the radar device outputs a high-level signal when it is determined that an obstacle has entered the target monitoring area, and outputs a low-level signal when it is determined that no obstacle has entered the target monitoring area. The radar device notifies the external device whether an obstacle has entered the target monitoring area by outputting high and low level signals, so that the external device can perform corresponding control based on the obstacle monitoring result.

It should be noted that, for the specific implementation process of the embodiment of the present application, reference may be made to the corresponding process in the foregoing embodiments, and details are not described here.

In the obstacle monitoring method provided by the embodiment of the present application, the target configuration file of the target monitoring area is generated by the terminal device, and then the target configuration file is sent to the radar device, so that the radar device can be based on the target configuration file and the collected data collected by the radar device during operation. Spatial information monitors whether obstacles have entered the target monitoring area, which greatly reduces the amount of computation for the radar device to monitor whether the target monitoring area has entered obstacles in real time, ensuring real-time monitoring and safety.

Please refer to FIG. 8 . FIG. 8 is a schematic flowchart of the steps of another obstacle monitoring method provided by an embodiment of the present application. The obstacle monitoring method is applied to a radar device.

As shown in FIG. 8, the obstacle monitoring method includes steps S301 to S302.

Step S301. Obtain the target configuration file sent by the terminal device. The target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device;

Step S302 , according to the target configuration file and the spatial information collected by the radar device, monitor whether an obstacle has entered the target monitoring area.

Exemplarily, the terminal device obtains the three-dimensional scanning field of view of the radar device; obtains the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, generates a target configuration file according to the spatial attribute parameters; and sends the target configuration file to the radar device , the radar device acquires the target configuration file sent by the terminal device; the radar device monitors whether an obstacle enters the target monitoring area according to the target configuration file and the spatial information collected by the radar device. It should be noted that, for the specific implementation process of the embodiment of the present application, reference may be made to the corresponding process in the foregoing embodiments, and details are not described here.

In the obstacle monitoring method provided in the embodiment of the present application, the radar device can monitor whether an obstacle has entered the target monitoring area based on the target configuration file sent by the terminal device and the spatial information collected by the radar device, without the need for external radar Computing resources can complete obstacle monitoring, which not only ensures the real-time performance of obstacle monitoring, but also improves the convenience of obstacle monitoring.

Please refer to FIG. 9 . FIG. 9 is a schematic flowchart of steps of another obstacle monitoring method provided by an embodiment of the present application. The obstacle detection method is applied to a mobile platform.

As shown in FIG. 8, the obstacle monitoring method includes steps S401 to S402.

Step S401. Obtain the target configuration file sent by the terminal device. The target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device;

Step S402, acquiring the spatial information collected by the radar device, and monitoring whether an obstacle has entered the target monitoring area according to the target configuration file and the spatial information collected by the radar device.

Exemplarily, the terminal device obtains the three-dimensional scanning field of view of the radar device; obtains the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, and generates a target configuration file according to the spatial attribute parameters; sends the target configuration to the movable platform file, the mobile platform can obtain the target configuration file sent by the terminal equipment, the mobile platform can obtain the spatial information collected by the radar device, and according to the target configuration file and the spatial information collected by the radar device, check whether obstacles have entered the target monitoring area Monitor. It should be noted that, for the specific implementation process of the embodiment of the present application, reference may be made to the corresponding process in the foregoing embodiments, and details are not described here.

In the obstacle monitoring method provided by the embodiment of the present application, the mobile platform can monitor whether an obstacle has entered the target monitoring area based on the target configuration file sent by the terminal device and the spatial information collected by the radar device, without using a radar device The internal computing resources not only ensure the real-time performance of obstacle monitoring, but also improve the operating efficiency of the radar device.

Please refer to FIG. 10 . FIG. 10 is a schematic structural block diagram of an obstacle monitoring device provided by an embodiment of the present application.

As shown in FIG. 10 , the obstacle monitoring device 500 includes a processor 510 and a memory 520, and the processor 510 and the memory 520 are connected through a bus 530, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 510 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 520 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 510 is configured to run a computer program stored in the memory 520, and implement the following steps when executing the computer program:

Obtain the 3D scanning field of view of the radar device;

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the obstacle monitoring device described above can refer to the corresponding process in the foregoing embodiment of the obstacle monitoring method. This will not be repeated here.

Please refer to FIG. 11 . FIG. 11 is a schematic block diagram of a terminal device provided by an embodiment of the present application.

The terminal device 600 includes a processor 610 and a memory 620, and the processor 610 and the memory 620 are connected through a bus 630, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 610 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 620 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 610 is configured to run a computer program stored in the memory 620, and implement the following steps when executing the computer program:

Obtaining a three-dimensional scanning field of view of the radar device;

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the terminal device described above can refer to the corresponding process in the foregoing embodiment of the obstacle monitoring method, which is not described here. Let me repeat.

Please refer to FIG. 12 . FIG. 12 is a schematic structural block diagram of a radar device provided by an embodiment of the present application.

As shown in FIG. 12 , the radar device 700 includes a processor 710 and a memory 720, and the processor 710 and the memory 720 are connected through a bus 730, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 710 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 720 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 710 is configured to run a computer program stored in the memory 720, and implement the following steps when executing the computer program:

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the radar device described above can refer to the corresponding process in the foregoing embodiment of the obstacle monitoring method, which is not described herein. Let me repeat.

Please refer to FIG. 13 . FIG. 13 is a schematic structural block diagram of a mobile platform provided by an embodiment of the present application.

As shown in Figure 13, the movable platform 800 includes a processor 810, a memory 820 and a radar device 830, and the processor 810, the memory 820 and the radar device 830 are connected by a bus 840, such as an I2C (Inter-integrated Circuit) bus . The mobile platform 800 is communicatively connected with the terminal equipment.

Specifically, the processor 810 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.

Specifically, the memory 820 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 810 is configured to run a computer program stored in the memory 820, and implement the following steps when executing the computer program:

It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the mobile platform described above can refer to the corresponding process in the foregoing embodiment of the obstacle monitoring method. No longer.

Please refer to FIG. 14 . FIG. 14 is a schematic structural block diagram of another mobile platform provided by an embodiment of the present application.

As shown in Figure 14, the movable platform 900 includes a platform body 910, a power system 920 and a radar device 930. The body is fixedly connected or detachably connected. Wherein, the radar device may be the radar device 700 shown in Fig. 11 .

The embodiment of the present application also provides a storage medium, the storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the obstacle monitoring method provided in the above embodiments step.

Wherein, the storage medium may be an internal storage unit of the obstacle monitoring device, terminal device, radar device or movable platform described in any of the foregoing embodiments, for example, the obstacle monitoring device, terminal device, radar device or The hard disk or memory of the mobile platform. The storage medium may also be an external storage device of the obstacle monitoring device, terminal device, radar device or movable platform, such as the plug-in device equipped on the obstacle monitoring device, terminal device, radar device or movable platform Type hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

An obstacle monitoring method, characterized in that, comprising:

Obtain the 3D scanning field of view of the radar device;

Obtain the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, and generate a target configuration file according to the spatial attribute parameters, wherein the spatial attribute parameters include the size information and position of the target monitoring area information;

According to the target configuration file and the spatial information collected by the radar device, whether an obstacle enters the target monitoring area is monitored.
The obstacle monitoring method according to claim 1, wherein said generating a target configuration file according to said spatial attribute parameters comprises:

Generate a target three-dimensional array according to the spatial attribute parameters and the three-dimensional scanning field of view, and the target three-dimensional array is used to monitor whether an obstacle has entered the target monitoring area with the spatial information collected by the radar device .
The obstacle monitoring method according to claim 2, wherein said generating a target three-dimensional array according to said spatial attribute parameters and said three-dimensional scanning field of view comprises:

dividing the three-dimensional scanning field of view of the radar device into a plurality of three-dimensional scanning units;

determining a target scanning unit located in the target monitoring area from a plurality of the three-dimensional scanning units according to the spatial attribute parameter;

A target three-dimensional array is generated according to the plurality of three-dimensional scanning units and the target scanning unit.
The obstacle monitoring method according to claim 2, wherein said generating a target three-dimensional array according to said spatial attribute parameters and said three-dimensional scanning field of view comprises:

Acquiring an initial three-dimensional array corresponding to the three-dimensional scanning field of view of the radar device;

Generate a target three-dimensional array according to the initial three-dimensional array and the spatial attribute parameters.
The obstacle monitoring method according to any one of claims 2-4, characterized in that, according to the target configuration file and the spatial information collected by the radar device, whether an obstacle has entered the target monitoring area monitoring, including:

Obtaining the three-dimensional position coordinates collected by the radar device;

Determine the index value corresponding to the three-dimensional position coordinates in the target three-dimensional array;

The element value corresponding to the index value is obtained from the target three-dimensional array, and whether the target monitoring area enters an obstacle is monitored according to the element value.
The obstacle monitoring method according to claim 5, wherein the monitoring of whether the target monitoring area has entered an obstacle according to the element value includes:

When the element value is a preset value, it is determined that an obstacle has entered the target monitoring area, and when the element value is not a preset value, it is determined that no obstacle has entered the target monitoring area.
The obstacle monitoring method according to any one of claims 1-6, wherein the method further comprises:

controlling the display device to display the parameter configuration page of the target monitoring area, the parameter configuration page including a parameter confirmation icon and a parameter input box;

In response to the user's trigger operation on the parameter confirmation icon, the spatial attribute parameter input by the user in the parameter input box is determined as the spatial attribute parameter of the target monitoring area.
The obstacle monitoring method according to claim 7, wherein the parameter configuration page includes a monitoring area preview window, and the method further includes:

Acquiring the spatial attribute parameters input by the user in the parameter input box;

According to the spatial attribute parameter input by the user in the parameter input box, the corresponding target monitoring area is displayed in the monitoring area preview window.
The obstacle monitoring method according to claim 8, wherein the monitoring area preview window also displays a three-dimensional scanning field of view of the radar device.
The obstacle monitoring method according to claim 9, wherein the display color of the target monitoring area in the monitoring area preview window is different from that of the three-dimensional scanning field of view.
The obstacle monitoring method according to claim 9, further comprising: when the target monitoring area partially overlaps with the three-dimensional scanning field of view, distinguishing between overlapping areas and Non-overlapping areas.
The obstacle monitoring method according to claim 11, wherein the overlapping area and the non-overlapping area in the target monitoring area have different display colors.
The obstacle monitoring method according to claim 7, wherein the parameter configuration page also includes a shape selection icon of the target monitoring area, and the method further includes:

determining a target shape from a plurality of preset shapes in response to a user's trigger operation on the shape selection icon;

According to the target shape, the parameter combination of the parameter input box is adjusted, wherein different shapes correspond to different parameter combinations.
The obstacle monitoring method according to claim 13, wherein the shape includes any one of the following: cuboid, cylinder.
The obstacle monitoring method according to claim 14, wherein the target monitoring area includes a target monitoring area formed by one or more cuboids, and a target monitoring area formed by one or more columns . A target monitoring area formed by at least one cuboid and at least one column.
The obstacle monitoring method according to claim 14, wherein said adjusting the parameter combination of said parameter input box according to said target shape comprises:

When the target shape is the cuboid, adjusting the parameter combination of the parameter input box to a first parameter combination, the first parameter combination includes a three-dimensional position coordinate, a length value, a width value, and a height value;

When the target shape is the cylinder, the parameter combination of the parameter input box is adjusted to a second parameter combination, and the second parameter combination includes three-dimensional position coordinates, inner diameter value, outer diameter value, radian, and height value .
The obstacle monitoring method according to claim 16, wherein the first parameter combination and/or the second parameter combination further include a three-dimensional rotation angle, and the three-dimensional rotation angle includes a roll angle, a pitch angle, and a yaw angle. flight angle.
The obstacle monitoring method according to claim 7, wherein the parameter configuration page also includes a type selection icon of the target monitoring area, and the method further includes:

In response to a user's trigger operation on the type selection icon, a target type is determined from a plurality of preset types, and the type of the target monitoring area is configured as the target type.
The obstacle monitoring method according to claim 18, wherein the type selection icons include icons for dangerous areas, icons for warning areas, and icons for shielding areas.
The obstacle monitoring method according to claim 18, characterized in that there are multiple target monitoring areas, and the types of the multiple target monitoring areas are the same or different.
The obstacle monitoring method according to claim 20, wherein the plurality of target monitoring areas do not overlap.
The obstacle monitoring method according to any one of claims 1-21, further comprising: controlling a display device to display an obstacle monitoring result.
An obstacle monitoring method, characterized in that it is applied to a terminal device, and the terminal device is connected to a radar device in communication, and the method includes:

Obtaining a three-dimensional scanning field of view of the radar device;

Obtain the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view, and generate a target configuration file according to the spatial attribute parameters, wherein the spatial attribute parameters include the size information and position of the target monitoring area information;

Sending the target configuration file to the radar device, so that the radar device can monitor whether an obstacle has entered the target monitoring area according to the target configuration file.
The obstacle monitoring method according to claim 23, wherein said generating a target configuration file according to said spatial attribute parameters comprises:

Generate a target three-dimensional array according to the spatial attribute parameters and the three-dimensional scanning field of view, and the target three-dimensional array is used to monitor whether an obstacle has entered the target monitoring area with the spatial information collected by the radar device .
The obstacle monitoring method according to claim 24, wherein said generating a target three-dimensional array according to said spatial attribute parameters and said three-dimensional scanning field of view comprises:

dividing the three-dimensional scanning field of view of the radar device into a plurality of three-dimensional scanning units;

determining a target scanning unit located in the target monitoring area from a plurality of the three-dimensional scanning units according to the spatial attribute parameter;

A target three-dimensional array is generated according to the plurality of three-dimensional scanning units and the target scanning unit.
The obstacle monitoring method according to claim 24, wherein said generating a target three-dimensional array according to said spatial attribute parameters and said three-dimensional scanning field of view comprises:

Acquiring an initial three-dimensional array corresponding to the three-dimensional scanning field of view of the radar device;

Generate a target three-dimensional array according to the initial three-dimensional array and the spatial attribute parameters.
The obstacle monitoring method according to any one of claims 23-26, wherein the acquiring the spatial attribute parameters of the target monitoring area configured by the user in the three-dimensional scanning field of view includes:

displaying a parameter configuration page of the target monitoring area through a display device, the parameter configuration page including a parameter confirmation icon and a parameter input box;

In response to the user's trigger operation on the parameter confirmation icon, the spatial attribute parameter input by the user in the parameter input box is determined as the spatial attribute parameter of the target monitoring area.
The obstacle monitoring method according to claim 27, wherein the parameter configuration page includes a monitoring area preview window, and the method further includes:

Acquire the spatial attribute parameters input by the user in the parameter input box;

According to the spatial attribute parameter input by the user in the parameter input box, the corresponding target monitoring area is displayed in the monitoring area preview window.
The obstacle monitoring method according to claim 28, wherein the monitoring area preview window also displays a three-dimensional scanning field of view of the radar device.
The obstacle monitoring method according to claim 29, wherein the display color of the target monitoring area in the monitoring area preview window is different from that of the three-dimensional scanning field of view.
The obstacle monitoring method according to claim 29, wherein the method further comprises:

When the target monitoring area partially overlaps with the three-dimensional scanning field of view, an overlapping area and a non-overlapping area are distinguished in the target monitoring area.
The obstacle monitoring method according to claim 31, wherein the overlapping area in the target monitoring area is displayed in a different color from the non-overlapping area.
The obstacle monitoring method according to claim 27, wherein the parameter configuration page also includes a shape selection icon of the target monitoring area, and the method further includes:

determining a target shape from a plurality of preset shapes in response to a user's trigger operation on the shape selection icon;

According to the target shape, the parameter combination of the parameter input box is adjusted, wherein different shapes correspond to different parameter combinations.
The obstacle monitoring method according to claim 33, wherein the shape includes any one of the following: cuboid, cylinder.
The obstacle monitoring method according to claim 34, wherein the target monitoring area includes a target monitoring area formed by one or more cuboids, and a target monitoring area formed by one or more columns , a target monitoring area formed by at least one cuboid and at least one column.
The obstacle monitoring method according to claim 34, wherein said adjusting the parameter combination of said parameter input box according to said target shape comprises:

When the target shape is the cuboid, adjusting the parameter combination of the parameter input box to a first parameter combination, the first parameter combination includes a three-dimensional position coordinate, a length value, a width value, and a height value;

When the target shape is the cylinder, the parameter combination of the parameter input box is adjusted to a second parameter combination, and the second parameter combination includes three-dimensional position coordinates, inner diameter value, outer diameter value, radian, and height value .
The obstacle monitoring method according to claim 36, wherein the first parameter combination and/or the second parameter combination further include a three-dimensional rotation angle, and the three-dimensional rotation angle includes a roll angle, a pitch angle, and a yaw angle. flight angle.
The obstacle monitoring method according to claim 27, wherein the parameter configuration page also includes a type selection icon of the target monitoring area, and the method further includes:

In response to a user's trigger operation on the type selection icon, a target type is determined from a plurality of preset types, and the type of the target monitoring area is configured as the target type.
The obstacle monitoring method according to claim 38, wherein the type selection icons include icons for dangerous areas, icons for warning areas, and icons for shielding areas.
The obstacle monitoring method according to claim 23, further comprising: obtaining the obstacle monitoring result sent by the radar device, and displaying the obstacle monitoring result through a display device.
An obstacle monitoring method, characterized in that it is applied to a radar device, and the radar device is connected to a terminal device in communication, and the method includes:

Acquire the target configuration file sent by the terminal device, the target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device ;

According to the target configuration file and the spatial information collected by the radar device, whether an obstacle enters the target monitoring area is monitored.
The obstacle monitoring method according to claim 41, wherein the target configuration file includes a target three-dimensional array, and the target three-dimensional array is generated based on the spatial attribute parameters of the target monitoring area and the three-dimensional scanning field of view of.
The obstacle monitoring method according to claim 42, wherein, according to the target configuration file and the spatial information collected by the radar device, whether an obstacle has entered the target monitoring area is monitored, include:

Obtaining the three-dimensional position coordinates collected by the radar device;

Determine the index value corresponding to the three-dimensional position coordinates in the target three-dimensional array;

The element value corresponding to the index value is obtained from the target three-dimensional array, and whether the target monitoring area enters an obstacle is monitored according to the element value.
The obstacle monitoring method according to claim 43, wherein the monitoring whether the target monitoring area enters an obstacle according to the element value includes:

When the element value is a preset value, it is determined that an obstacle has entered the target monitoring area, and when the element value is not a preset value, it is determined that no obstacle has entered the target monitoring area.
An obstacle monitoring method, characterized in that it is applied to a movable platform, the movable platform is equipped with a radar device, and the movable platform is connected to a terminal device through communication, the method comprising:

Acquire the target configuration file sent by the terminal device, the target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device ;

Obtain the spatial information collected by the radar device, and monitor whether an obstacle has entered the target monitoring area according to the target configuration file and the spatial information collected by the radar device.
An obstacle monitoring device, characterized in that the obstacle monitoring device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and realize the obstacle monitoring method according to any one of claims 1-22 when executing the computer program.
A terminal device, characterized in that the terminal device is communicatively connected to the radar device, and the terminal device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and realize the obstacle monitoring method according to any one of claims 23-40 when executing the computer program.
A radar device, characterized in that the radar device is communicatively connected to a terminal device, and the radar device includes a memory and a processor;

The memory is used to store computer programs;

The processor is configured to execute the computer program and realize the obstacle monitoring method according to any one of claims 41-44 when executing the computer program.
A mobile platform, characterized in that the mobile platform includes: a memory, a processor and a radar device;

The memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Acquire the target configuration file sent by the terminal device, the target configuration file is generated by the terminal device based on the spatial attribute parameters of the target monitoring area configured by the user, and the target monitoring area is located in the three-dimensional scanning field of view of the radar device ;

The spatial information collected by the radar device is acquired, and according to the target configuration file and the spatial information collected by the radar device, whether an obstacle enters the target monitoring area is monitored.
A mobile platform, characterized in that the mobile platform comprises:

platform body;

A power system is provided on the platform body and is used to provide moving power for the movable platform;

The radar device according to claim 48 is fixedly connected or detachably connected to the platform body.
A storage medium, characterized in that the storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the obstacle monitoring method according to any one of claims 1-45 .