A road milling design line translation method and system based on geometric algorithm

Abstract

The present invention provides a method and system for translating a road milling design line based on a geometric algorithm, including: collecting road surface three-dimensional point cloud data; drawing an initial design line based on the road surface direction and road surface markings based on the road surface three-dimensional point cloud data; determining the design line translation spacing, equal division distance and number of design lines of the initial design line based on the on-site construction situation; calculating an offset design line using the design line translation spacing; and equally dividing the offset design line along a section perpendicular to the offset design line based on the equal division distance. The present invention solves the problem of missing points in the design line translation process by optimizing the offset algorithm, the combination of the insertion point spacing and the offset distance, accurately calculating the position of the design line after the offset by a geometric method, ensuring that each design point is perpendicular to the road surface normal direction, and improving the accuracy of the milling design.

Description

Technical Field

[0001] The invention relates to the field of intelligent transportation technology, and in particular to a method and system for translating a road milling design line based on a geometric algorithm. Background Art

[0002] In the milling construction of road engineering, the design line is a key reference line used to guide the operation of milling equipment and ensure construction accuracy and quality. The traditional design line drawing method mainly relies on manual measurement and manual drawing, which is not only time-consuming and laborious, but also lacks in accuracy and efficiency, and is difficult to meet the high standards of modern road construction.

[0003] At present, the drawing and adjustment of milling design lines mostly rely on manual translation operations in the software. Although this method can meet construction needs to a certain extent, the manual translation process is cumbersome and easily affected by human factors, making it difficult to ensure the accuracy and consistency of the design lines. In addition, the manual translation method is difficult to adapt to complex road environments and changing construction conditions, and has obvious shortcomings in terms of efficiency and accuracy.

[0004] In the traditional design line drawing and offset process, designers usually need to perform multiple offset operations according to the road conditions. Each offset operation may cause errors in the design line due to improper handling of densely inserted points. These problems not only increase the complexity of the design, but may also cause errors in the construction process. In addition, when extracting points using design software (such as AutoCAD), the required design points cannot be accurately extracted due to the inconsistent number of points on each design line. This is mainly because cusps or closed curves will be generated during the design line offset process. These abnormal points will make the design line unable to maintain its original structure and accuracy after offset. The so-called cusp refers to the inflection point on the curve that cannot be differentiated, that is, the inflection point where the moving point changes its direction of movement on the curve or straight line. The existence of cusps will cause unpredictable changes in the design line during the offset process, thereby affecting the accuracy of the design.

[0005] In order to ensure that the points corresponding to each pile number are in the same cross section, the design line must be offset each time to ensure that the beginning and end are in the same section. However, since the offset operation produces sharp points or closed curves, the design line will be shortened after each offset, which reduces the distance between the insertion points, especially at the turning points. The existence of these problems not only increases the difficulty of the design work, but also brings many inconveniences during the construction process. For example, when the milling machine is performing variable milling, the milling hub needs to be perpendicular to the normal direction of the road surface, and the change in the number of points during the design line offset process will cause the actual milling position to be inconsistent with the design milling value in the control system, resulting in deviations. These deviations will accumulate during the construction process, especially when the road section is long, which will comprehensively affect the accuracy of the construction.

[0006] Therefore, there is an urgent need for a new design line translation algorithm that can solve the problem of design line translation errors after inserting dense points in the design process, avoid point missing, and improve the accuracy of design and construction. Summary of the invention

[0007] The invention provides a road milling design line translation method and system based on geometric algorithm, which are used to solve the defects of road milling design line in the prior art that point missing and excessive deviation are easy to occur during the drawing and offset process.

[0008] In a first aspect, the present invention provides a method for translating a road milling design line based on a geometric algorithm, comprising:

[0009] Collect 3D point cloud data of road surface;

[0010] Based on the three-dimensional point cloud data of the road surface, an initial design line is drawn according to the road surface direction and road surface markings;

[0011] According to the on-site construction conditions, determine the design line translation spacing, equal division distance and number of design lines of the initial design line;

[0012] Calculating an offset design line using the design line translation distance;

[0013] Based on the equal division distance, the offset design line is equally divided along a section perpendicular to the offset design line.

[0014] According to a road milling design line translation method based on a geometric algorithm provided by the present invention, the offset design line is calculated using the design line translation interval, comprising:

[0015] A section of the design line is translated according to the translation interval of the design line by several meters to determine the coordinate of the intersection point B of the first design line segment and the second design line segment;

[0016] The second designed line segment is translated in a direction perpendicular to the second designed line segment to obtain a third designed line segment, and the coordinate D of the starting point of the third designed line segment is calculated;

[0017] Based on the distance formula between two points, calculate the complete equation of the design line from the intersection point B to the starting point D;

[0018] Draw a perpendicular line through the starting point D to the second designed line segment, and find the coordinates of the intersection point C of the perpendicular line and the second designed line segment;

[0019] The first designed line segment is translated along the vertical direction of the first designed line segment to obtain a fourth designed line segment, and the coordinate of the starting point F of the fourth designed line segment is calculated;

[0020] Based on the distance formula between two points, the perpendicular line from the starting point F to the first designed line segment is calculated, and the coordinates of the intersection point A of the perpendicular line and the first designed line segment are obtained.

[0021] According to a method for translating a road milling design line based on a geometric algorithm provided by the present invention, a section of the design line is translated according to a translation interval of several meters of the design line to determine the coordinate of the intersection point B of the first design line segment and the second design line segment, including:

[0022] According to the design line translation spacing The equation of the first design line segment is determined as , the equation of the second design line segment is ,get:

[0023]

[0024] Get the coordinates of the intersection point B .

[0025] According to a road milling design line translation method based on a geometric algorithm provided by the present invention, the second design line segment is translated in a vertical direction of the second design line segment to obtain a third design line segment, and the coordinate D of the starting point of the third design line segment is calculated, including:

[0026] Determine the third design line segment equation as , the fourth design line segment equation is , the distance between the starting point C of the second design line segment and the starting point D of the third design line segment ;

[0027] Pass Make a vertical line with The intersection point is D, and the vertical line The equation is:

[0028]

[0029] Known and CD is perpendicular to , then point D to The vertical distance is :

[0030]

[0031] Solving for this yields:

[0032]

[0033] The starting point for .

[0034] According to a method for translating a road milling design line based on a geometric algorithm provided by the present invention, a complete equation of a design line from an intersection point B to a starting point D is calculated based on a distance formula between two points, including:

[0035] From the coordinates of the intersection point B and the starting point D, we can get the length of BD, that is, :

[0036]

[0037] Get the third design line segment The complete equation of .

[0038] According to a method for translating a road milling design line based on a geometric algorithm provided by the present invention, a perpendicular line is drawn through a starting point D to a second design line segment, and a coordinate of an intersection point C of the perpendicular line and the second design line segment is calculated, including:

[0039] The second designed line segment equation and the third design line segment equation The slope , determine the slope of the vertical line to be , then passing the starting point The equation of the perpendicular line is:

[0040]

[0041] The simplified vertical line equation is obtained:

[0042]

[0043] and Solve the equations of , and get the coordinates of the intersection point C as: .

[0044] According to a road milling design line translation method based on a geometric algorithm provided by the present invention, the first design line segment is translated along a vertical direction of the first design line to obtain a fourth design line segment, and the coordinate of the starting point F of the fourth design line segment is calculated, including:

[0045] Pass Make a vertical line with The intersection point F of the vertical line The equation is:

[0046]

[0047] Known And AF is perpendicular to , so point F to The vertical distance is :

[0048]

[0049] get:

[0050]

[0051] Points The coordinates are .

[0052] According to a method for translating a road milling design line based on a geometric algorithm provided by the present invention, based on a distance formula between two points, a perpendicular line from a starting point F to the first design line segment is calculated, and a coordinate of an intersection point A of the perpendicular line and the first design line segment is obtained, including:

[0053] Find the length of the line BF connecting the intersection point B and the starting point F, that is :

[0054]

[0055] By the first design line segment equation And the fourth design line segment equation The slope , determine the slope of the vertical line AF to be , the vertical line equation is:

[0056]

[0057] The simplified vertical line equation is:

[0058]

[0059] and Solving the problem together, we get the coordinates of the intersection point A: .

[0060] In a second aspect, the present invention further provides a road milling design line translation system based on a geometric algorithm, comprising:

[0061] Acquisition module, used to collect three-dimensional point cloud data of road surface;

[0062] An initial module, used for drawing an initial design line according to the road surface direction and road surface markings based on the road surface three-dimensional point cloud data;

[0063] A determination module, used to determine the design line translation spacing, the equal division distance and the number of design lines of the initial design line according to the on-site construction conditions;

[0064] A calculation module, used for calculating an offset design line using the design line translation interval;

[0065] The equal division module is used to equally divide the offset design line along a section perpendicular to the offset design line based on the equal division distance.

[0066] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for translating a road milling design line based on a geometric algorithm as described above is implemented.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] The road milling design line translation method and system based on geometric algorithm provided by the present invention solves the problem of missing points in the design line translation process by optimizing the offset algorithm, the combination of the insertion point spacing and the offset distance. The optimized offset algorithm can accurately calculate the coordinates of each design point in the design line offset process, ensuring that all design points have corresponding points in the new position after offset, thereby improving the accuracy of design and construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0070] Figure 1 It is a schematic flow chart of a method for translating a road milling design line based on a geometric algorithm provided by the present invention;

[0071] Figure 2 It is a schematic diagram of calculating the offset design line based on the design line translation spacing provided by the present invention;

[0072] Figure 3 It is a schematic diagram of a flow chart of calculating an offset design line based on a design line translation interval provided by the present invention;

[0073] Figure 4 It is a structural schematic diagram of the road milling design line translation system based on geometric algorithm provided by the present invention;

[0074] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] In view of the limitations of the prior art, the present invention proposes a road milling design line translation method based on a geometric algorithm, which solves the problem of point missing during the design line translation process by optimizing the offset algorithm, the combination of insertion point spacing and offset distance.

[0077] Figure 1 FIG. 1 is a flow chart of a method for translating a road milling design line based on a geometric algorithm provided by an embodiment of the present invention. Figure 1 As shown, including:

[0078] Step 1: Obtain road surface 3D point cloud data based on the vehicle-mounted laser scanning system;

[0079] Step 2: Initial design line drawing. Draw the initial design line according to the road surface direction and road markings;

[0080] Step 3: Determine the design line translation spacing, equal division distance and number of design lines according to the on-site construction conditions;

[0081] Step 4: Calculate the offset design line based on the design line translation distance;

[0082] Step 5: Divide the design line into equal parts based on the equal division distance. During the translation of the design line, divide the design line into equal parts as a whole to ensure that the distance between each equal division point is consistent.

[0083] It should be noted that when processing sharp points and closed curves in the design line, the design line translation method based on the geometric algorithm for road milling is used to calculate the new position of each milling starting point to avoid point loss.

[0084] When the designed line segment is translated along the vertical positive direction in step 3, the offset distance is a predetermined unit length.

[0085] When the design line is divided equally along the cross section in step 5, each cross section is perpendicular to the design line.

[0086] Specifically, in step 4, the offset design line is calculated based on the design line translation distance, including the following sub-steps:

[0087] Step 4-1: Translate a section of the design line according to the design line translation interval of several meters to find the coordinates of the intersection point B;

[0088] Step 4-2: The designed line segment and the designed line segment are translated along the vertical direction to calculate the coordinates of the starting point D;

[0089] Step 4-3: Calculate the complete equation of the design line based on the formula for finding the distance between two points;

[0090] Step 4-4: Draw a perpendicular line through point D to the designed line segment and find the coordinates of the intersection point C;

[0091] Step 4-5: Design the line segment to translate along the vertical direction and find the coordinates of the starting point F;

[0092] Step 4-6: Based on the distance formula between two points, calculate the perpendicular line of the designed line segment and find the coordinates of the starting point A.

[0093] like Figure 2 and Figure 3 As shown, step 4-1 includes:

[0094] According to the design line translation interval, translate a section of the design line every several meters to find the coordinates of the intersection point B. Meters translate a design line. The equation of the known line segment and line segments , we can get the coordinates of the intersection point B ,Right now

[0095]

[0096] Step 4-2 includes:

[0097] The designed line segment and the designed line segment are translated along the specified direction to calculate the coordinates of the starting point D. Design line segment and design line segments Translate along their respective vertical directions to obtain the design line and design line In order to ensure that the translation distance during the downward vertical translation is Meter, design line segment The starting point C and the design line segment The distance between the starting point D is ,Right now Therefore, we need to find the length of line segment BD, that is, the length of BD is the length of the downward translation units and determine the coordinates of point D.

[0098] Let the coordinates of point D be .because Is along The vertical translation is obtained, so and The endpoints are on a vertical line, so the horizontal coordinates of point B and point D are equal, so the coordinates of point D have only one unknown quantity, namely the Y coordinate.

[0099] Pass Draw a straight line in the ordinate direction, The intersection point D is calculated as follows:

[0100] Vertical Line The equation is:

[0101]

[0102] Known and CD is perpendicular to , so point D to The vertical distance is . Then, the equation is:

[0103]

[0104] Solving for this yields:

[0105]

[0106] Therefore, the coordinates of point D are In order to facilitate the following expression, we still use To express.

[0107] Step 4-3 includes:

[0108] Based on the formula for finding the distance between two points, calculate the complete equation of the design line. Given the coordinates of point B and point D, the length of BD can be found, that is, Based on the formula for finding the distance between two points, The expression is:

[0109]

[0110] Therefore, the design line can be obtained In order to divide the line segment into equal parts, it is necessary to determine the design line segment The starting point C.

[0111] Step 4-4 includes:

[0112] Draw a perpendicular line through point D to the designed line segment and find the coordinates of the intersection point C. Draw a perpendicular line with the intersection point C. The calculation process of the coordinates of C is as follows:

[0113] because and Translation and slope are , so the slope of the vertical line is , then the perpendicular line passes through the point , the equation of the vertical line is:

[0114]

[0115] The simplified vertical line equation is:

[0116]

[0117] and Solving the equations of , we get the coordinates of the intersection point C: Therefore, the design line segment and design line segments Take point C and point D as their respective end points, get line segment CD and move it, and divide it into equal parts. and Divide equally.

[0118] Steps 4-5 include:

[0119] The designed line segment is translated vertically along the designed line, and the coordinates of the starting point F are calculated. , design line design Along Vertical translation to get the design line In order to ensure that the vertical translation process , so we need to find the length of line segment BF, that is, the length of BF is the length of the downward translation Units of value, and determine the coordinates of point F. Similarly, let the coordinates of point F be Because it is Depend on Shifting vertically downward, we get and The endpoints are on a vertical line, so the horizontal coordinates of point B and point F are equal, so the coordinates of point F have only one unknown quantity, namely the Y coordinate.

[0120] Pass Make a vertical line with The intersection point F, find the coordinates of point F, the calculation process is as follows:

[0121] Vertical Line The equation is:

[0122]

[0123] Known And AF is perpendicular to , so point F to The vertical distance is . Then, the equation is:

[0124]

[0125] Solving for this yields:

[0126]

[0127] Therefore, the coordinates of point F are For the convenience of expression, we still use To express.

[0128] Steps 4-6 include:

[0129] Based on the distance formula between two points, calculate the perpendicular line of the design line segment and find the coordinates of the starting point A. Given the coordinates of points B and F, the length of BF can be calculated, that is, Based on the distance formula between two points, The expression is:

[0130]

[0131] because and Translation and slope are , so the slope of the vertical line is , then the perpendicular line passes through the point , the equation of the vertical line is:

[0132]

[0133] The simplified vertical line equation is:

[0134]

[0135] The above formula and Solving the equations of , we get the coordinates of the intersection point A: .

[0136] Therefore, the design line and design line segments Take point A and point F as their respective end points, get line segment AF and move it, and divide it into equal parts according to the distance. and Divide equally.

[0137] The road milling design line translation system based on geometric algorithm provided by the present invention is described below. The road milling design line translation system based on geometric algorithm described below and the road milling design line translation method based on geometric algorithm described above can be referenced to each other.

[0138] Figure 4 is a schematic diagram of the structure of the road milling design line translation system based on the geometric algorithm provided by an embodiment of the present invention, such as Figure 4 As shown, it includes: a collection module 41, an initial module 42, a determination module 43, a calculation module 44 and an equal division module 45, wherein:

[0139] The acquisition module 41 is used to acquire road surface three-dimensional point cloud data; the initial module 42 is used to draw the initial design line based on the road surface three-dimensional point cloud data according to the road surface direction and road surface markings; the determination module 43 is used to determine the design line translation spacing, equal division distance and number of design lines of the initial design line according to the on-site construction conditions; the calculation module 44 is used to calculate the offset design line using the design line translation spacing; the equal division module 45 is used to divide the offset design line into equal parts along the section perpendicular to the offset design line based on the equal division distance.

[0140] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the road milling design line translation method based on the geometric algorithm, the method comprising: collecting road surface three-dimensional point cloud data; drawing the initial design line according to the road surface direction and road surface markings based on the road surface three-dimensional point cloud data; determining the design line translation spacing, equal division distance and number of design lines of the initial design line according to the on-site construction situation; calculating the offset design line using the design line translation spacing; and equally dividing the offset design line along the section perpendicular to the offset design line based on the equal division distance.

[0141] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0142] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0143] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for translating a road milling design line based on a geometric algorithm, characterized in that: include: Collect 3D point cloud data of road surface; Based on the three-dimensional point cloud data of the road surface, an initial design line is drawn according to the road surface direction and road surface markings; According to the on-site construction conditions, determine the design line translation spacing, equal division distance and number of design lines of the initial design line; Calculating an offset design line using the design line translation distance; Based on the equal division distance, the offset design line is equally divided along a section perpendicular to the offset design line; Calculating the offset design line using the design line translation interval includes: A section of the design line is translated according to the translation interval of the design line by several meters to determine the coordinate of the intersection point B of the first design line segment and the second design line segment; The second designed line segment is translated in a direction perpendicular to the second designed line segment to obtain a third designed line segment, and the coordinate D of the starting point of the third designed line segment is calculated; Based on the distance formula between two points, calculate the complete equation of the design line from the intersection point B to the starting point D; Draw a perpendicular line through the starting point D to the second designed line segment, and find the coordinates of the intersection point C of the perpendicular line and the second designed line segment; The first designed line segment is translated along the vertical direction of the first designed line segment to obtain a fourth designed line segment, and the coordinate of the starting point F of the fourth designed line segment is calculated; Based on the distance formula between two points, the perpendicular line from the starting point F to the first designed line segment is calculated, and the coordinates of the intersection point A of the perpendicular line and the first designed line segment are obtained.

2. The method for translating a road milling design line based on a geometric algorithm according to claim 1, characterized in that: The design line is translated by a certain number of meters according to the translation interval of the design line to determine the coordinate of the intersection point B of the first design line segment and the second design line segment, including: According to the design line translation spacing The equation of the first design line segment is determined as , the equation of the second design line segment is ,get: Get the coordinates of the intersection point B .

3. The method for translating a road milling design line based on a geometric algorithm according to claim 2, characterized in that: The second designed line segment is translated in a direction perpendicular to the second designed line segment to obtain a third designed line segment, and the coordinate of the starting point D of the third designed line segment is calculated, including: Determine the third design line segment equation as , the fourth design line segment equation is , the distance between the starting point C of the second design line segment and the starting point D of the third design line segment ; Pass Make a vertical line with The intersection point is D, and the vertical line The equation is: Known and CD is perpendicular to , then point D to The vertical distance is : Solving for this yields: The starting point for .

4. The method for translating a road milling design line based on a geometric algorithm according to claim 3 is characterized in that: Based on the distance formula between two points, calculate the complete equation of the design line from the intersection point B to the starting point D, including: From the coordinates of the intersection point B and the starting point D, we can get the length of BD, that is, : Get the third design line segment The complete equation of .

5. The method for translating a road milling design line based on a geometric algorithm according to claim 4 is characterized in that: Draw a perpendicular line through the starting point D to the second designed line segment, and find the coordinates of the intersection point C of the perpendicular line and the second designed line segment, including: The second designed line segment equation and the third design line segment equation The slope , determine the slope of the vertical line to be , then passing the starting point The equation of the perpendicular line is: The simplified vertical line equation is obtained: and Solve the equations of , and get the coordinates of the intersection point C as: .

6. The method for translating a road milling design line based on a geometric algorithm according to claim 5, characterized in that: The first designed line segment is translated along a direction perpendicular to the first designed line to obtain a fourth designed line segment, and the coordinate of a starting point F of the fourth designed line segment is calculated, including: Pass Make a vertical line with The intersection point F of the vertical line The equation is: Known And AF is perpendicular to , so point F to The vertical distance is : get: Points The coordinates are .

7. The method for translating a road milling design line based on a geometric algorithm according to claim 6, characterized in that: Based on the distance formula between two points, calculating the perpendicular line from the starting point F to the first designed line segment, and finding the coordinates of the intersection point A between the perpendicular line and the first designed line segment, including: Find the length of the line BF connecting the intersection point B and the starting point F, that is : By the first design line segment equation And the fourth design line segment equation The slope , determine the slope of the vertical line AF to be , the vertical line equation is: The simplified vertical line equation is: and Solving the problem together, we get the coordinates of the intersection point A: .

8. A road milling design line translation system based on geometric algorithm, characterized in that: include: Acquisition module, used to collect three-dimensional point cloud data of road surface; An initial module, used for drawing an initial design line according to the road surface direction and road surface markings based on the road surface three-dimensional point cloud data; A determination module, used to determine the design line translation spacing, the equal division distance and the number of design lines of the initial design line according to the on-site construction conditions; A calculation module, used for calculating an offset design line using the design line translation interval; An equal division module, used for equally dividing the offset design line along a section perpendicular to the offset design line based on the equal division distance; The calculation module is specifically used for: A section of the design line is translated according to the translation interval of the design line by several meters to determine the coordinate of the intersection point B of the first design line segment and the second design line segment; The second designed line segment is translated in a direction perpendicular to the second designed line segment to obtain a third designed line segment, and the coordinate D of the starting point of the third designed line segment is calculated; Based on the distance formula between two points, calculate the complete equation of the design line from the intersection point B to the starting point D; Draw a perpendicular line through the starting point D to the second designed line segment, and find the coordinates of the intersection point C of the perpendicular line and the second designed line segment; The first designed line segment is translated along the vertical direction of the first designed line segment to obtain a fourth designed line segment, and the coordinate of the starting point F of the fourth designed line segment is calculated; Based on the distance formula between two points, the perpendicular line from the starting point F to the first designed line segment is calculated, and the coordinates of the intersection point A of the perpendicular line and the first designed line segment are obtained.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the road milling design line translation method based on geometric algorithm as claimed in any one of claims 1 to 7 is implemented.

Images