Method and device for generating retaining wall boundary line, program product and electronic device

Abstract

The present disclosure relates to a retaining wall boundary line generation method and device, computer program product and electronic equipment, and relates to the technical field of mine construction. The method comprises: acquiring point cloud data on a vehicle travel path of an unmanned vehicle; acquiring non-ground data from the point cloud data; extracting a plurality of obstacles from the non-ground data; dividing each obstacle to obtain an obstacle block, determining a first slope of the obstacle block, and determining a second slope of a grid block corresponding to each obstacle block; determining whether the obstacle is a retaining wall based on the first slope and the second slope; if the obstacle is a retaining wall, determining a first set based on the obstacle blocks included in the obstacle, interpolating the first set to determine a second set, and obtaining a third set based on the second set, so as to take the third set as the retaining wall boundary line. The present disclosure can accurately generate a retaining wall boundary line.

Description

Technical Field

[0001] This disclosure relates to the field of mining construction technology, and more specifically, to a method for generating retaining wall boundary lines, a device for generating retaining wall boundary lines, a computer program product, and an electronic device. Background Technology

[0002] In unmanned transportation operations in open-pit mines, there are generally loading and unloading areas. Whether the unmanned vehicles in these areas can accurately park in the designated positions is the key to the success or failure of the operation.

[0003] In related technologies, the stopping position can be obtained in the following ways: taking the point closest to the retaining wall on the center line of the vehicle's driving path as the stopping point; or obtaining retaining wall information and calculating the stopping point through radar, laser, or ultrasonic waves.

[0004] Due to the complexity of mining operations, the above methods are costly to implement, have a high probability of false detection, and pose safety risks. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method for generating retaining wall boundary lines, a device for generating retaining wall boundary lines, a computer program product, and an electronic device, thereby overcoming, to at least some extent, the problem of a high probability of false detection caused by limitations and defects in related technologies.

[0006] According to one aspect of this disclosure, a method for generating a retaining wall boundary line is provided, comprising: Obtain point cloud data along the travel path of the unmanned operation vehicle, and obtain non-ground data based on the point cloud data; Multiple obstacles are extracted from the non-ground data, and each obstacle is divided into blocks to obtain obstacle blocks. A first slope of the obstacle blocks is determined, and a second slope of the grid blocks corresponding to each obstacle block is determined. Based on the first slope and the second slope, determine whether the obstacle is a retaining wall; If the obstacle is a retaining wall, a first set is determined based on the obstacle blocks contained in the obstacle, a second set is determined by interpolation of the first set, and a third set is obtained based on the second set, so as to use the third set as the boundary line of the retaining wall.

[0007] In one exemplary embodiment of this disclosure, obtaining non-terrestrial data based on the point cloud data includes: Point cloud data is projected onto a horizontal plane to generate multiple sets within that plane. Find the lowest point in each set and determine its height; Traverse all point cloud data within each set and treat points whose heights meet the height criteria as non-ground data; the height criteria are determined based on the height of the lowest point and the ground thickness used for ground segmentation.

[0008] In one exemplary embodiment of this disclosure, the step of dividing each of the obstacles into blocks to obtain obstacle blocks includes: Project the obstacle into a horizontal plane; By dividing the width horizontally, the projection plane containing the point cloud is divided horizontally to obtain multiple horizontally segmented regions; The obstacles are divided into blocks using the boundaries of the lateral segmentation region.

[0009] In one exemplary embodiment of this disclosure, determining the first slope of the obstacle block includes: For each obstacle, all obstacles are divided into blocks and sorted from near to far according to their longitudinal coordinate values ​​to determine the near point and the far point; The first slope is determined based on the near point and the far point.

[0010] In one exemplary embodiment of this disclosure, determining the second slope of the grid block corresponding to each obstacle block includes: Using the width of the vertical division as the side length, the horizontally divided region is vertically segmented to obtain a grid, thereby determining the grid blocks; Within each grid block, determine the highest and lowest points, and calculate the second slope between the highest and lowest points.

[0011] In one exemplary embodiment of this disclosure, determining whether an obstacle is a retaining wall based on the first slope, the second slope, and the number of obstacle blocks contained in each obstacle includes: The number of valid grid blocks contained in each obstacle is determined based on the second slope; The obstacle contains an obstacle block with a number of obstacles greater than or equal to a first quantity threshold, the average of the first slopes of all obstacle blocks in the obstacle satisfies the legal slope of a retaining wall, the obstacle contains an effective grid block with a number of obstacles greater than or equal to a second quantity threshold, and the obstacle is a retaining wall.

[0012] In one exemplary embodiment of this disclosure, the steps of determining a first set based on obstacle blocks included in the obstacle, interpolating the first set to determine a second set, and obtaining a third set based on the second set include: For each obstacle block, the first set is determined based on the nearest points of the obstacle blocks; The first set is interpolated at equal intervals to determine the second set, which represents the intersection line between the retaining wall and the ground dividing plane; Based on the interpolation slope of each point in the second set, a third set is determined, which represents the set of intersection points between the retaining wall and the actual ground plane.

[0013] According to one aspect of this disclosure, an apparatus for generating a retaining wall boundary line is provided, comprising: The point cloud data acquisition module is used to acquire point cloud data along the vehicle's travel path and to acquire non-ground data based on the point cloud data. An obstacle processing module is used to extract multiple obstacles from the non-ground data, divide each obstacle into blocks to obtain obstacle blocks, determine a first slope of the obstacle blocks, and determine a second slope of the grid blocks corresponding to each obstacle block. The retaining wall determination module is used to determine whether an obstacle is a retaining wall based on the first slope, the second slope, and the number of obstacle blocks contained in each obstacle. The boundary line determination module is used to determine a first set based on the obstacle blocks contained in the obstacle if the obstacle is a retaining wall, to determine a second set by interpolation on the first set, and to obtain a third set based on the second set, so as to use the third set as the boundary line of the retaining wall.

[0014] According to one aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method for generating retaining wall boundary lines as described in any of the preceding claims.

[0015] According to one aspect of this disclosure, an electronic device is provided, comprising: processor; and memory for storing the executable instructions of the processor; The processor is configured to execute the retaining wall boundary line generation method described above by executing the executable instructions.

[0016] In the technical solution provided in this disclosure, on the one hand, non-ground data is obtained through point cloud data on the travel path of an unmanned vehicle; multiple obstacles are extracted from the non-ground data, and obstacles are determined as retaining walls based on the first slope of the obstacle blocks and the second slope of the corresponding grid blocks; a first set is determined based on the obstacle blocks contained in the obstacles; a second set is determined by interpolation of the first set; and a third set is obtained based on the second set, which is used as the boundary line of the retaining wall. This avoids the probability of false detection caused by the complexity of mining operations in related technologies, improves the accuracy and reliability of determining the boundary line of the retaining wall, and reduces safety risks. On the other hand, it reduces the cost of generating the retaining wall boundary line, supports multiple scenarios, and improves versatility and parallel operation efficiency.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0019] Figure 1 The flowchart illustrates a method for generating a retaining wall boundary line according to an embodiment of the present disclosure.

[0020] Figure 2 A schematic diagram of point cloud data is shown in an embodiment of this disclosure.

[0021] Figure 3 The diagram illustrates a top view of the obstacle blocks in an embodiment of this disclosure.

[0022] Figure 4 The schematic diagram shows a side view of the obstacle block in an embodiment of this disclosure.

[0023] Figure 5 The diagram illustrates a top view of a grid-based segmentation in an embodiment of this disclosure.

[0024] Figure 6 The schematic diagram shows a side view of the grid segmentation in an embodiment of this disclosure.

[0025] Figure 7 The schematic diagram shows a side view of a single grid block in an embodiment of this disclosure.

[0026] Figure 8A schematic diagram illustrating a second set of embodiments of this disclosure is shown.

[0027] Figure 9 This illustration shows a schematic diagram of determining the mapping points corresponding to the target points in the second set according to an embodiment of the present disclosure.

[0028] Figure 10 A schematic block diagram of the device for generating retaining wall boundary lines in an embodiment of this disclosure is shown.

[0029] Figure 11 A schematic block diagram of an electronic device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0030] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced with one or more of the specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0031] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0032] In some embodiments, determining the stopping position may include: using the point on the centerline of the vehicle's travel path closest to the retaining wall as the stopping point; or, acquiring retaining wall information using radar, laser, or ultrasonic sensors and calculating the stopping point. Mining operations are complex due to frequent route changes, significant differences between the actual construction and standards of retaining walls, and interference from other engineering vehicles or personnel in the work area. This complex working environment leads to extremely high implementation costs for the above methods; a high probability of false detection; and potential safety risks.

[0033] To address the aforementioned technical problems, this disclosure provides a method for generating retaining wall boundary lines, which can be applied to unmanned transportation operations in open-pit mines. (Reference) Figure 1 As shown, the method for generating the boundary line of the retaining wall mainly includes the following steps: In step S110, point cloud data on the vehicle's travel path of the unmanned operation vehicle is acquired, and non-ground data is obtained based on the point cloud data; In step S120, multiple obstacles are extracted from the non-ground data, each obstacle is divided into blocks to obtain obstacle blocks, a first slope of the obstacle blocks is determined, and a second slope of the grid blocks corresponding to each obstacle block is determined. In step S130, it is determined whether the obstacle is a retaining wall based on the first slope and the second slope. In step S140, if the obstacle is a retaining wall, a first set is determined based on the obstacle blocks contained in the obstacle, a second set is determined by interpolation of the first set, and a third set is obtained based on the second set, so as to use the third set as the boundary line of the retaining wall.

[0034] The technical solution provided in this disclosure, on the one hand, acquires non-ground data through point cloud data along the travel path of an unmanned vehicle; extracts multiple obstacles from the non-ground data; determines obstacles as retaining walls based on the first slope of obstacle blocks and the second slope of the corresponding grid blocks; determines a first set based on the obstacle blocks contained within the obstacles; interpolates the first set to determine a second set; and obtains a third set based on the second set, using the third set as the retaining wall boundary line. This method only requires point cloud data to identify obstacles, and the retaining wall boundary line can be generated by determining the set through block segmentation. This avoids the probability of false detection caused by the complexity of mining operations in related technologies, improving the accuracy and reliability of determining the retaining wall boundary line and reducing safety risks. On the other hand, it reduces the cost of generating retaining wall boundary lines, supports multiple scenarios, and improves versatility and parallel operation efficiency.

[0035] Next, refer to Figure 1 The method for generating the retaining wall boundary line in the embodiments of this disclosure is described in detail below.

[0036] In step S110, point cloud data on the travel path of the unmanned vehicle is acquired, and non-ground data is obtained based on the point cloud data.

[0037] In this embodiment of the disclosure, the unmanned operating vehicle can be any type of unmanned vehicle operating in the mining area, such as an unmanned transport wire-controlled dump truck in the mining area. In the unmanned transport operation scenario of open-pit mines, there are generally loading and unloading areas. The unmanned operating vehicles in the loading and unloading areas can have vehicle travel paths to travel along the vehicle travel paths and stop at designated locations to realize the loading and unloading of materials.

[0038] Unmanned vehicles can be equipped with vehicle-mounted LiDAR, which can be installed at any suitable location on the vehicle. Point cloud data along the vehicle's path can be acquired using the vehicle-mounted LiDAR.

[0039] After obtaining point cloud data along the vehicle's travel path, non-ground data can be extracted from the point cloud data. Non-ground data refers to data of other types besides ground data. For example, the ground in the point cloud data can be segmented, and the ground and any soil or rocks contained on it can be removed to obtain non-ground data.

[0040] In some embodiments, obtaining non-ground data based on point cloud data specifically includes the following steps: projecting point cloud data onto a horizontal plane to generate multiple sets in the horizontal plane; finding the lowest point of each set and determining the height of the lowest point; traversing all point cloud data in each set and taking points with heights greater than a height condition as non-ground data; the height condition is determined based on the height of the lowest point and the ground thickness used for ground segmentation.

[0041] The horizontal plane can be an xy-plane, onto which point cloud data can be projected vertically, with the vertical direction being the z-axis. Furthermore, multiple sets can be generated within the xy-plane represented by the horizontal plane. The number of sets is determined by the number of points projected from the point cloud data onto the horizontal plane, which is... The number of sets in a plane corresponds one-to-one with the number of points. The points included in each set are determined as follows: in the horizontal plane, any two points that satisfy the set condition belong to the same set. The set condition can be that the difference between the x-coordinates of two points is less than the width of the vertical division. The difference between the ordinates of the two points is less than the width of the horizontal division. ,Right now Simultaneously satisfying in the plane and Any two points belong to the same set. Divide the width vertically. This refers to the vertical width used to divide the grid into sections. The horizontal width is also relevant. This refers to the horizontal width used to divide obstacles into blocks.

[0042] Point cloud data can be like Figure 2As shown, for example, when , When = 1.0, for Figure 2 The point cloud data shown can generate four sets based on the set conditions, denoted as follows: , , , The generated set is specifically represented as follows: .

[0043] Next, we can find the lowest point of each set and set the height of the lowest point. Represented as Iterate through all point cloud data in each set, and treat points whose height meets the height criteria as non-ground data. The height criteria can be based on the height of the lowest point and the ground thickness used for ground segmentation. The sum is determined. The height condition can be satisfied if the height is greater than the height of the lowest point and the thickness of the ground used for ground segmentation. The sum of all point cloud data. Based on this, the height of all point cloud data can be... The points are used as non-ground data.

[0044] Step S120: Extract multiple obstacles from the non-ground data, divide each obstacle into blocks to obtain obstacle blocks, determine the first slope of the obstacle blocks, and determine the second slope of the grid blocks corresponding to each obstacle block.

[0045] In this embodiment of the disclosure, multiple obstacles are extracted from non-ground data using methods such as clustering and bounding box construction. Each obstacle contains at least the following geometric information: location, length, width, and height. For example, for non-ground data, clustering algorithms such as DBSCAN or Euclidean clustering are used to group points that are close together into the same cluster, resulting in one cluster representing one obstacle. A bounding box is constructed for each cluster based on an axis-aligned bounding box or an oriented bounding box. The location, length, width, and height of each obstacle are then obtained based on the bounding boxes.

[0046] After extracting multiple obstacles, each obstacle can be divided into blocks to obtain obstacle blocks. For example, each obstacle can be projected onto a horizontal plane, such as by projecting it vertically onto the horizontal plane, where the vertical direction can be the z-axis. Further, from the top view, the projection plane containing the obstacle's point cloud data can be divided horizontally by dividing the width, resulting in multiple horizontally segmented regions; here, the horizontal direction can be perpendicular to the vehicle's forward direction. The horizontally segmented regions can be elongated regions, which can be represented as... Specifically, the projection plane containing the point cloud data of the obstacle is horizontally divided into a series of elongated strip regions, so that all point clouds spatially belong to a specific region. Each obstacle must fall within one or more lateral segmentation regions. Based on this, the boundaries of these lateral segmentation regions can be used to laterally divide each obstacle, resulting in obstacle blocks. These obstacle blocks can be called... The vehicle is divided into sections. The horizontal direction refers to the direction perpendicular to the vehicle's forward movement, while the vertical direction is the same as the vehicle's forward movement.

[0047] Each obstacle is laterally divided using the boundaries of the lateral segmentation regions, resulting in obstacle blocks. A top-down view of the obstacle blocks can be found here. Figure 3 As shown in the image. A side view of the obstacle blocks can be referenced. Figure 4 As shown in the image.

[0048] After identifying the obstacle blocks, retaining walls can be defined. First, the first slope of each obstacle block can be calculated; this slope is used to determine the validity of the obstacle block. For all obstacle blocks of each obstacle, they are sorted from near to far by their longitudinal coordinate values ​​to determine the near and far points. The longitudinal direction refers to the vehicle's forward direction, with the direction away from the vehicle being considered far. The first point is defined as the near point. The last point is defined as the far point. When each obstacle block is near its nearest point and far point First slope If the first slope condition is met, the obstacle segmentation can be considered valid. The first slope condition can be: .

[0049] Further, the second slope of the grid block corresponding to each obstacle block can be determined. Grid block refers to the segmentation of obstacles into blocks. The blocks are obtained by vertical segmentation. Specifically, the width is divided vertically. Using the side length as an example, each obstacle block is longitudinally divided to obtain grid blocks. In this way, each obstacle block can be obtained. Subdivided into multiple grid blocks The top view of the resulting grid blocks can be as follows: Figure 5 As shown, the side view of the resulting grid blocks can be as follows: Figure 6 As shown in the image. A side view of a single grid block can be as follows: Figure 7 As shown in the image.

[0050] For each grid block, a second slope can be calculated for the highest and lowest points. This second slope is used to measure the effectiveness of the grid block. The second slope can be expressed as... When the second slope satisfies the second slope condition, the resulting mesh partitions can be considered valid. The second slope condition can be expressed as: .

[0051] In step S130, it is determined whether the obstacle is a retaining wall based on the first slope and the second slope.

[0052] In this embodiment of the disclosure, whether an obstacle is a retaining wall is determined based on a first slope and a second slope. For example, since the first slope can be used to evaluate the validity of obstacle blocks obtained by lateral division, the number of valid obstacle blocks contained in each obstacle can be determined based on the first slope. The number of valid obstacle blocks contained in each obstacle can be expressed as... In addition, the average value of the first slope can be determined based on the first slope of all obstacle blocks within each obstacle. The average value of the first slope can be expressed as... .

[0053] Since the second slope can be used to evaluate the validity of the grid blocks obtained from the vertical division, the number of valid grid blocks contained in each obstacle can be determined based on the second slope. The number of valid grid blocks contained in each obstacle can be expressed as... .

[0054] An obstacle can be considered a retaining wall if the number of obstacle blocks it contains is greater than or equal to a first threshold, the average of the first slopes of all obstacle blocks in the obstacle satisfies the legal slope of a retaining wall, and the number of valid grid blocks it contains is greater than or equal to a second threshold. An obstacle cannot be considered a retaining wall if the number of obstacle blocks it contains is less than the first threshold, or if the average of the first slopes of all obstacle blocks in the obstacle does not satisfy the legal slope of a retaining wall, or if the number of valid grid blocks it contains is less than the second threshold. The first threshold can be expressed as... The second quantity threshold can be expressed as The legal slope of a retaining wall can include its upper and lower boundaries. A legal retaining wall slope is defined as the average of the first slopes of all obstacle blocks within the obstacle group being greater than the lower boundary and less than the upper boundary. Specifically, this can be expressed as... .

[0055] Specifically, the number of valid obstacle blocks contained in each obstacle. satisfy The average of the first slopes of all obstacle blocks in the obstacle set satisfies The number of valid grid tiles contained in each obstacle satisfy Under certain conditions, obstacles can be considered as retaining walls. Obstacles that are not retaining walls are treated as ordinary obstacles such as people and vehicles.

[0056] Step S140: If the obstacle is a retaining wall, determine a first set based on the obstacle blocks contained in the obstacle, interpolate the first set to determine a second set, and obtain a third set based on the second set, so as to use the third set as the boundary line of the retaining wall.

[0057] In this embodiment of the disclosure, the retaining wall can be a retaining wall. For each retaining wall, multiple obstacle blocks are obtained, which can be, for example, [missing information - likely related to obstacle blocks]. There are several obstacle blocks. On each obstacle block, a near point is known. Closer is possible Figure 3 and Figure 4 As shown in the figure. Based on this, a result including A nearby point The first set That is, the first set Including A nearby point .

[0058] Furthermore, the first set can be interpolated at equal intervals to determine the second set. The second set represents the intersection line between the retaining wall and the ground dividing plane. Following a left-to-right order, the first set is interpolated at equal intervals to obtain a set of smooth, dense points as the second set. The second set This represents the plane dividing the retaining wall from the ground. The intersection at the elevation. The second set can be referenced. Figure 8 As shown in the image.

[0059] Based on this, after obtaining the second set, a third set is determined according to the interpolation slope of each point in the second set. The third set is the set of intersection points between the retaining wall and the actual ground plane. For example, the second set... This represents the plane dividing the retaining wall from the ground. The intersection of the elevation (where the actual ground level is). Assume the true ground level is at... Among them It is a positive number less than 1. Given the coordinates of each point in the second set and the slope of the retaining wall, the coordinates of the mapped point corresponding to each point in the second set can be determined using trigonometric functions. The slope of the retaining wall is determined by the angle α between the retaining wall and the actual ground plane. Specifically, refer to... Figure 9 As shown, the coordinates of the target point in the second set are known to be... Given the angle α between the retaining wall and the actual ground plane, the target point in the second set can be determined. The coordinates of the corresponding mapping point The target point can be any point in the second set.

[0060] Furthermore, based on the aforementioned trigonometric functions, mapping points corresponding to all points in the second set are determined, and a third set is formed from these mapping points. The third set can be as follows: Figure 8 As shown in the diagram. The third set here is the final retaining wall line, which is the final determined current boundary line.

[0061] In this embodiment, point cloud data along the vehicle's travel path is acquired using an onboard LiDAR. Non-ground data is obtained through processes such as ground segmentation, feature segmentation, equal-interval interpolation, and spline smoothing. Obstacles are then extracted from the non-ground data. The obstacles are divided into blocks to obtain a first slope for each obstacle block and a second slope for the corresponding grid blocks. When an obstacle is determined to be a retaining wall based on the first and second slopes, a first set is determined based on the obstacle blocks contained within the obstacle. The first set is interpolated to obtain a second set, and then the second set is mapped to obtain a third set. A series of point sets describing the retaining wall boundary line are generated, and the retaining wall boundary line is determined.

[0062] The technical solutions provided in this disclosure offer a wider range of paths for unmanned transportation operations in open-pit mines. They also support static and dynamic routes, forward and backward retaining wall detection, improving applicability and reducing migration costs. Furthermore, they enable support for multiple scenarios, such as independent unmanned transportation operations and mixed manned and unmanned operations, thereby improving the efficiency of parallel operations.

[0063] This disclosure also provides an apparatus for generating retaining wall boundary lines. (Reference) Figure 10 As shown, the retaining wall boundary line generation device 1000 mainly includes the following modules: The point cloud data acquisition module 1001 is used to acquire point cloud data along the vehicle's travel path and acquire non-ground data based on the point cloud data. The obstacle processing module 1002 is used to extract multiple obstacles from the non-ground data, divide each obstacle into blocks to obtain obstacle blocks, determine the first slope of the obstacle blocks, and determine the second slope of the grid blocks corresponding to each obstacle block. The retaining wall determination module 1003 is used to determine whether an obstacle is a retaining wall based on the first slope, the second slope, and the number of obstacle blocks contained in each obstacle. The boundary line determination module 1004 is used to determine a first set based on the obstacle blocks contained in the obstacle if the obstacle is a retaining wall, to determine a second set by interpolation on the first set, and to obtain a third set based on the second set, so as to use the third set as the boundary line of the retaining wall.

[0064] In one exemplary embodiment of this disclosure, obtaining non-terrestrial data based on the point cloud data includes: Point cloud data is projected onto a horizontal plane to generate multiple sets within that plane. Find the lowest point in each set and determine its height; Traverse all point cloud data within each set and treat points whose heights meet the height criteria as non-ground data; the height criteria are determined based on the height of the lowest point and the ground thickness used for ground segmentation.

[0065] In one exemplary embodiment of this disclosure, the step of dividing each of the obstacles into blocks to obtain obstacle blocks includes: Project the obstacle into a horizontal plane; By dividing the width horizontally, the projection plane containing the point cloud is divided horizontally to obtain multiple horizontally segmented regions; The obstacles are divided into blocks using the boundaries of the lateral segmentation region.

[0066] In one exemplary embodiment of this disclosure, determining the first slope of the obstacle block includes: For each obstacle, all obstacles are divided into blocks and sorted from near to far according to their longitudinal coordinate values ​​to determine the near point and the far point; The first slope is determined based on the near point and the far point.

[0067] In one exemplary embodiment of this disclosure, determining the second slope of the grid block corresponding to each obstacle block includes: Using the width of the vertical division as the side length, the horizontally divided region is vertically segmented to obtain a grid, thereby determining the grid blocks; Within each grid block, determine the highest and lowest points, and calculate the second slope between the highest and lowest points.

[0068] In one exemplary embodiment of this disclosure, determining whether an obstacle is a retaining wall based on the first slope, the second slope, and the number of obstacle blocks contained in each obstacle includes: The number of valid grid blocks contained in each obstacle is determined based on the second slope; The obstacle contains an obstacle block with a number of obstacles greater than or equal to a first quantity threshold, the average of the first slopes of all obstacle blocks in the obstacle satisfies the legal slope of a retaining wall, the obstacle contains an effective grid block with a number of obstacles greater than or equal to a second quantity threshold, and the obstacle is a retaining wall.

[0069] In one exemplary embodiment of this disclosure, the steps of determining a first set based on obstacle blocks included in the obstacle, interpolating the first set to determine a second set, and obtaining a third set based on the second set include: For each obstacle block, the first set is determined based on the nearest points of the obstacle blocks; The first set is interpolated at equal intervals to determine the second set, which represents the intersection line between the retaining wall and the ground dividing plane; Based on the interpolation slope of each point in the second set, a third set is determined, which represents the set of intersection points between the retaining wall and the actual ground plane.

[0070] It should be noted that the specific details of each module in the above-mentioned retaining wall boundary line generation device have been described in detail in the corresponding retaining wall boundary line generation method, so they will not be repeated here.

[0071] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0072] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0073] In an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided.

[0074] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0075] The following reference Figure 11 To describe an electronic device 1100 according to such an embodiment of the present disclosure. Figure 11 The electronic device 1100 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0076] like Figure 11As shown, the electronic device 1100 is manifested in the form of a general-purpose computing device. The components of the electronic device 1100 may include, but are not limited to: at least one processing unit 1110, at least one storage unit 1120, a bus 1130 connecting different system components (including storage unit 1120 and processing unit 1110), and a display unit 1140.

[0077] The storage unit stores program code that can be executed by the processing unit 1110, causing the processing unit 1110 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 1110 can perform actions such as... Figure 1 The steps are shown in the figure.

[0078] Storage unit 1120 may include readable media in the form of volatile storage units, such as random access memory (RAM) 11201 and / or cache memory 11202, and may further include read-only memory (ROM) 11203.

[0079] Storage unit 1120 may also include a program / utility 11204 having a set (at least one) program module 11205, such program module 11205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0080] Bus 1130 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0081] Electronic device 1100 can also communicate with one or more external devices 1200 (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 1100, and / or any device that enables electronic device 1100 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1150. Furthermore, electronic device 1100 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1160. As shown, network adapter 1160 communicates with other modules of electronic device 1100 via bus 1130. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 1100, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0082] It should be noted that some embodiments of this disclosure also provide a computer program product, which includes a computer program that implements the above-described method when executed by a processor.

[0083] In one embodiment, the computer program product can be a tangible product containing a computer program, such as a computer-readable storage medium storing the computer program. The readable storage medium can be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory, hard disk drive (HDD), solid-state drive (SSD), etc. For example, the computer program product can be implemented as a non-volatile storage medium storing the computer program, such as read-only memory, NAND flash memory, etc. In one embodiment, the computer program product can be an intangible product containing a computer program. For example, the computer program product can be implemented as a virtual digital product, such as an executable file, installation package, or other digital file storing the computer program.

[0084] Computer program code can be written in one or more programming languages. Examples of programming languages ​​include C, Java, and C++. Program code can execute entirely on the user's computing device, partially on the user's computing device, or as a standalone software package. It can also execute partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an internet connection provided by a mobile network operator).

[0085] Computer programs can be carried or transmitted via signals such as electrical, magnetic, optical, electromagnetic, and infrared rays. Electronic devices can convert signals carrying computer programs into digital signals, thereby running the computer programs. When a computer program runs on an electronic device, its code is used to cause the electronic device to execute (more specifically, to be executed by the processor of the electronic device) the method steps of various exemplary embodiments of this disclosure.

[0086] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0087] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0088] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0089] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0090] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method of generating a retaining wall boundary line, characterized by, include: Obtain point cloud data along the travel path of the unmanned operation vehicle, and obtain non-ground data based on the point cloud data; Multiple obstacles are extracted from the non-ground data, and each obstacle is divided into blocks to obtain obstacle blocks. A first slope of the obstacle blocks is determined, and a second slope of the grid blocks corresponding to each obstacle block is determined. The number of valid grid blocks contained in each obstacle is determined based on the second slope; the number of obstacle blocks contained in the obstacle is greater than or equal to a first quantity threshold, the average of the first slopes of all obstacle blocks in the obstacle satisfies the legal slope of the retaining wall, the number of valid grid blocks contained in the obstacle is greater than or equal to a second quantity threshold, and the obstacle is a retaining wall; If the obstacle is a retaining wall, a first set is determined based on the obstacle blocks contained in the obstacle, a second set is determined by interpolation on the first set, and a third set is obtained based on the second set, so as to use the third set as the boundary line of the retaining wall; The steps of determining a first set based on obstacle blocks contained in the obstacle, interpolating the first set to determine a second set, and obtaining a third set based on the second set include: For each obstacle block, the first set is determined based on the nearest points of the obstacle blocks; The first set is interpolated at equal intervals to determine the second set, which represents the intersection line between the retaining wall and the ground dividing plane; Based on the interpolation slope of each point in the second set, a third set is determined, which represents the set of intersection points between the retaining wall and the actual ground plane.

2. The retaining wall boundary line generation method according to claim 1, characterized by, The step of obtaining non-ground data based on the point cloud data includes: Point cloud data is projected onto a horizontal plane to generate multiple sets within that plane. Find the lowest point in each set and determine its height; Traverse all point cloud data within each set and treat points whose heights meet the height criteria as non-ground data; the height criteria are determined based on the height of the lowest point and the ground thickness used for ground segmentation.

3. The retaining wall boundary line generation method according to claim 1, characterized by, The step of dividing each obstacle into blocks to obtain obstacle blocks includes: Project the obstacle into a horizontal plane; By dividing the width horizontally, the projection plane containing the point cloud is divided horizontally to obtain multiple horizontally segmented regions; The obstacles are divided into blocks using the boundaries of the lateral segmentation region.

4. The retaining wall boundary line generating method according to claim 3, wherein The determination of the first slope of the obstacle segmentation includes: For each obstacle, all obstacles are divided into blocks and sorted from near to far according to their longitudinal coordinate values ​​to determine the near point and the far point; The first slope is determined based on the near point and the far point.

5. The retaining wall boundary line generation method according to claim 4, wherein Determining the second slope of the grid block corresponding to each obstacle block includes: Using the width of the vertical division as the side length, the horizontally divided region is vertically segmented to obtain a grid, thereby determining the grid blocks; Within each grid block, determine the highest and lowest points, and calculate the second slope between the highest and lowest points.

6. A retaining wall boundary line generating apparatus characterized by comprising: include: The point cloud data acquisition module is used to acquire point cloud data along the vehicle's travel path and to acquire non-ground data based on the point cloud data. An obstacle processing module is used to extract multiple obstacles from the non-ground data, divide each obstacle into blocks to obtain obstacle blocks, determine a first slope of the obstacle blocks, and determine a second slope of the grid blocks corresponding to each obstacle block. A retaining wall determination module is used to determine the number of valid grid blocks contained in each obstacle based on the second slope; the number of obstacle blocks contained in the obstacle is greater than or equal to a first quantity threshold, the average of the first slopes of all obstacle blocks in the obstacle satisfies the valid slope of the retaining wall, the number of valid grid blocks contained in the obstacle is greater than or equal to the second quantity threshold, and the obstacle is a retaining wall; The boundary line determination module is used to determine a first set based on the obstacle blocks contained in the obstacle if the obstacle is a retaining wall, to determine a second set by interpolation on the first set, and to obtain a third set based on the second set, so as to use the third set as the boundary line of the retaining wall. The steps of determining a first set based on obstacle blocks contained in the obstacle, interpolating the first set to determine a second set, and obtaining a third set based on the second set include: For each obstacle block, the first set is determined based on the nearest points of the obstacle blocks; The first set is interpolated at equal intervals to determine the second set, which represents the intersection line between the retaining wall and the ground dividing plane; Based on the interpolation slope of each point in the second set, a third set is determined, which represents the set of intersection points between the retaining wall and the actual ground plane.

7. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for generating the retaining wall boundary line as described in any one of claims 1-5.

8. An electronic device, comprising: include: processor; and memory for storing the executable instructions of the processor; The processor is configured to execute the method for generating the retaining wall boundary line according to any one of claims 1-5 by executing the executable instructions.

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