Method for updating a boundary of a map region, electronic device, program product and medium

Abstract

The application provides a method for updating the boundary of a map area, an electronic device, a program product and a medium, and relates to the technical field of artificial intelligence. The application aims to solve the problem of frequent and time-consuming updating of the boundary of a map area. The method comprises the following steps: collecting a plurality of original data points related to the boundary of the map area and a plurality of updated data points related to the boundary of the map area at the latest operation; determining whether the direction of the updated boundary described by the plurality of updated data points is consistent with the direction of the original boundary described by the plurality of original data points; determining a first point on the original boundary closest to the starting point of the updated boundary and a second point on the original boundary closest to the ending point of the updated boundary; and connecting the first point with the starting point of the updated boundary and connecting the second point with the ending point of the updated boundary, so as to replace the part of the original boundary between the first point and the second point with the updated boundary. The method can efficiently and accurately update the boundary of the map area and accelerate the progress of the operation.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and in particular to a method, electronic device, program product, and medium for updating the boundaries of a map region. Background Technology

[0002] As production operations continue, the boundaries of the loading and unloading areas in the mining area constantly change. These changes affect the scheduling of autonomous vehicles, thus requiring timely updates to the actual locations of the map regions (i.e., the loading and unloading areas).

[0003] In the process of updating high-precision maps, the current method requires manual collection of the latest boundary location data of the map area based on the actual progress of the operation. This data is then handed over to map production engineers who process the original data on the existing map and update the boundaries accordingly. This process is particularly frequent and time-consuming when the operation is progressing rapidly, making it difficult to keep up with the update speed of the map area boundaries. Sometimes, it even necessitates temporarily halting the operation to await the actual update of the map area boundaries, which significantly hinders the progress of the operation and delays the project schedule.

[0004] Therefore, there is an urgent need to provide a method, electronic device, program product, and medium for updating the boundaries of map areas to improve the efficiency of high-precision map production in mining areas and meet the requirements for rapid updating of map area boundaries in mining areas. Summary of the Invention

[0005] This invention provides a method, electronic device, program product, and medium for updating the boundaries of a map area.

[0006] According to one aspect of the present invention, a method for updating the boundary of a map area is provided, comprising: a data acquisition step: acquiring a plurality of original data points related to the boundary of the map area and a plurality of updated data points related to the boundary of the map area at the latest operation; a direction step: determining whether the direction of the updated boundary described by the plurality of updated data points is consistent with the direction of the original boundary described by the plurality of original data points; if consistent, proceeding to the next step; if inconsistent, adjusting the order of the plurality of updated data points such that the direction of the updated boundary is consistent with the direction of the original boundary; a point positioning step: determining a first point on the original boundary closest to the start point of the updated boundary and a second point on the original boundary closest to the end point of the updated boundary; and an update step: connecting the first point to the start point of the updated boundary and connecting the second point to the end point of the updated boundary, thereby replacing the portion of the original boundary located between the first point and the second point with the updated boundary to update the boundary of the map area.

[0007] According to one aspect of the invention, no steps are formed between the plurality of raw data points, and each pair of adjacent raw data points has the same first distance.

[0008] According to one aspect of the invention, the updated boundary is parallel to the original boundary and the second distance between the updated boundary and the original boundary is less than ten times the first distance.

[0009] According to one aspect of the invention, the point-finding step includes a perpendicular line step: drawing a first perpendicular line from the starting point of the updated boundary toward the original boundary; if the first foot of the first perpendicular line lies on the original boundary, then the first foot is selected as the first point; if the first foot of the first perpendicular line lies on the extension of the original boundary, then the original data point on the original boundary closest to the starting point of the updated boundary is selected as the first point; and drawing a second perpendicular line from the ending point of the updated boundary toward the original boundary; if the second foot of the second perpendicular line lies on the original boundary, then the second foot is selected as the second point; if the second foot of the second perpendicular line lies on the extension of the original boundary, then the original data point on the original boundary closest to the ending point of the updated boundary is selected as the second point.

[0010] According to one aspect of the present invention, the point-fixing step further includes a determination step: if the first point is located between two adjacent original data points, then it is determined whether the first distance from the first point to the starting point near the original boundary and adjacent to the two adjacent original data points is less than twice the first distance; if so, the first point is determined to be valid; otherwise, the first point is determined to be invalid. If the first point is located at either of the two adjacent original data points, then it is determined whether the first distance from the first point to the starting point near the original boundary and adjacent to the first point is less than twice the first distance; if so, the first point is determined to be valid; otherwise, the first point is determined to be invalid. If the first point is invalid, and the second point is located between two other adjacent original data points, then it is determined whether the second distance from the second point to the endpoint near the original boundary and adjacent to the other two adjacent original data points is less than twice the first distance. If so, the second point is valid; otherwise, the second point is invalid. If the second point is located at either of the other two adjacent original data points, then it is determined whether the second distance from the second point to the endpoint near the original boundary and adjacent to the second point is less than twice the first distance. If so, the second point is valid; otherwise, the second point is invalid.

[0011] According to one aspect of the invention, the positioning step further includes a re-determination step: if the first point and / or the second point is determined to be illegal, then return to the perpendicular line step, re-determine the first point for original data points located between the illegal first point and the start point of the original boundary and including the start point of the original boundary, and / or re-determine the second point for original data points located between the illegal second point and the end point of the original boundary and including the end point of the original boundary.

[0012] According to one aspect of the invention, a first step and a second step are formed between the plurality of raw data points, with a first step distance between two adjacent raw data points forming the first step and a second step distance between two adjacent raw data points forming the second step. Each pair of adjacent raw data points, except for the two adjacent raw data points forming the first step and the two adjacent raw data points forming the second step, has the same first distance, and the first step distance and the second step distance are each greater than or equal to twice the first distance.

[0013] According to one aspect of the invention, the updated boundary is parallel to the intermediate portion of the original boundary located between the first step and the second step, and a second distance to the intermediate portion is greater than or equal to ten times the first distance.

[0014] According to one aspect of the invention, the updated boundary includes a first end that does not extend beyond the intermediate portion and is close to the starting point of the original boundary, and the point-finding step includes a perpendicular line step: drawing a first perpendicular line from the starting point of the updated boundary located at the first end onto the intermediate portion, wherein a first foot of the first perpendicular line on the intermediate portion is selected as the first point.

[0015] According to one aspect of the invention, the updated boundary further includes a second end extending beyond the intermediate portion and close to the endpoint of the original boundary.

[0016] According to one aspect of the invention, the positioning step further includes a step of selecting a step: selecting the original data point of the middle portion that is closest to the second end and forms the second step as the second point.

[0017] According to one aspect of the present invention, the point-fixing step further includes a determination step: if the first point is located between two adjacent original data points, then it is determined whether the first distance from the first point to the starting point near the original boundary and adjacent to the two adjacent original data points is less than twice the first distance; if so, the first point is determined to be valid; otherwise, the first point is determined to be invalid. If the first point is located at either of the two adjacent original data points, then it is determined whether the first distance from the first point to the starting point near the original boundary and adjacent to the first point is less than twice the first distance; if so, the first point is determined to be valid; otherwise, the first point is determined to be invalid. If the first point is invalid, and the second point is located between two other adjacent original data points, then it is determined whether the second distance from the second point to the endpoint near the original boundary and adjacent to the other two adjacent original data points is less than twice the first distance. If so, the second point is valid; otherwise, the second point is invalid. If the second point is located at either of the other two adjacent original data points, then it is determined whether the second distance from the second point to the endpoint near the original boundary and adjacent to the second point is less than twice the first distance. If so, the second point is valid; otherwise, the second point is invalid.

[0018] According to one aspect of the invention, the point determination step further includes a re-determination step: if the first point is determined to be illegal, the first point is re-determined for original data points located between the illegal first point and the starting point of the original boundary and including the starting point of the original boundary.

[0019] According to one aspect of the invention, the re-determination step further includes: if the second point is illegal, drawing a second perpendicular line from the endpoint of the updated boundary toward the remainder located between the illegal second point and the endpoint of the original boundary and including the endpoint of the original boundary; if the second foot of the second perpendicular line lies on the remainder, the second foot of the second perpendicular line is selected as the second point; if the second foot of the second perpendicular line lies on the extension of the remainder, the original data point on the remainder closest to the endpoint of the updated boundary is selected as the second point.

[0020] According to one aspect of the invention, the method further includes a processing step between the acquisition step and the orientation step: thinning the acquired raw data points and updated data points to simplify the data points; smoothing the simplified data points to remove noise from the simplified data points while maintaining their geometric features; and classifying the smoothed data points according to their geometric features.

[0021] According to another aspect of the present invention, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to said at least one processor; wherein the memory stores instructions executable by said at least one processor, said instructions being executed by said at least one processor to cause said at least one processor to perform a method according to any one of the preceding aspects.

[0022] According to another aspect of the present invention, a computer program product is provided, comprising: a computer program that, when executed by a processor, implements the method according to any one of the preceding aspects.

[0023] According to another aspect of the present invention, a computer-readable medium is provided having a computer program product stored thereon, comprising: a computer program that, when executed by a processor, implements the method according to any one of the preceding aspects. Attached Figure Description

[0024] Embodiments of the invention will now be described in detail with reference to the accompanying drawings, by way of example only.

[0025] Figure 1 This is an exemplary system architecture according to an embodiment of the present invention, which can be used to apply a method for updating the boundaries of a map region;

[0026] Figure 2 This is a flowchart of a method for updating the boundary of a map area according to a first embodiment of the present invention;

[0027] Figure 3This illustrates an application according to a first embodiment of the present invention. Figure 2 A schematic diagram of the boundary prior to the method in the diagram, which includes the original boundary and the updated boundary;

[0028] Figure 4 This illustrates an application according to a first embodiment of the present invention. Figure 2 A schematic diagram of the boundary during the method in the diagram shows the first and second points determined by the perpendicular line step;

[0029] Figure 5 This illustrates an application according to a first embodiment of the present invention. Figure 2 A schematic diagram of the boundary following the method described in the text;

[0030] Figure 6 This is a flowchart of a method for updating the boundary of a map area according to a second embodiment of the present invention;

[0031] Figure 7 This illustrates an application according to a second embodiment of the present invention. Figure 6 A schematic diagram of the boundary prior to the method in the diagram, which includes the original boundary and the updated boundary;

[0032] Figure 8 This illustrates an application according to a second embodiment of the present invention. Figure 6 A schematic diagram of the boundary during the method in the diagram shows the first point determined by the vertical line step and the second point determined by the step selection step;

[0033] Figure 9 This illustrates an application according to a second embodiment of the present invention. Figure 6 A schematic diagram of the boundary during the method in the diagram shows the second point that was redefined through the redefinition step;

[0034] Figure 10 This illustrates an application according to a second embodiment of the present invention. Figure 6 A schematic diagram of the boundary following the method described in the text; and

[0035] Figure 11 This is a block diagram of an electronic device for implementing a method for updating the boundaries of a map region according to an embodiment of the present invention. Detailed Implementation

[0036] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar parts. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall concept of the invention and should not be construed as a limitation thereof.

[0037] Furthermore, in the following detailed description, numerous specific details are set forth for ease of explanation to provide a thorough understanding of the embodiments disclosed herein. However, it will be apparent that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and apparatuses are illustrated to simplify the figures.

[0038] Figure 1 This is an exemplary system architecture according to an embodiment of the present invention, which can be used to apply a method for updating the boundaries of a map region.

[0039] It is important to note that Figure 1 The examples shown are merely system architecture examples of methods that can be applied to embodiments of the present invention, to help those skilled in the art understand the technical content of the present invention, but do not mean that embodiments of the present invention cannot be used in other devices, systems, environments or scenarios.

[0040] like Figure 1 As shown, the system architecture 10 according to this embodiment may include sensors 11, 12, and 13, a network 14, and a server 15. The network 14 serves as a medium for providing a communication link between the sensors 11, 12, and 13 and the server 15. The network 14 may include various connection types, such as wired and / or wireless communication links, etc.

[0041] Sensors 11, 12, and 13 can interact with server 15 via network 14 to receive or send messages, etc.

[0042] Sensors 11, 12, and 13 can be functional components integrated on the work vehicle 16, such as infrared sensors, ultrasonic sensors, millimeter-wave radar, information acquisition devices, etc. Sensors 11, 12, and 13 can be used to collect point cloud data or data points related to the boundaries of the map area.

[0043] Server 15 can also be integrated on the work vehicle 16, but it is not limited to this. It can also be set at a remote end that can establish communication with the vehicle terminal. Specifically, it can be implemented as a distributed server cluster composed of multiple servers, or it can be implemented as a single server.

[0044] Server 15 can be a server that provides various services. For example, a map update application platform can be installed on server 15. Taking server 15 running this information processing application as an example: it receives point cloud data or data points transmitted from sensors 11, 12, and 13 via network 14.

[0045] It should be noted that the methods in this invention can generally be executed by server 15. However, they are not limited to this. The methods in this invention can also generally be executed by work vehicle 16. Accordingly, the map update application platform provided by the embodiments of this invention can also be set in work vehicle 16. Although the embodiments of this invention are described in a mining area environment, those skilled in the art should understand that this invention is not limited thereto, and the embodiments of this invention can also be used in other application scenarios, including but not limited to: urban roads, rural roads, mountain roads, hilly roads, etc.

[0046] It should be understood that Figure 1 The number of sensors, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of sensors, networks, and servers can be included.

[0047] It should be noted that the sequence numbers of the operations in the following methods are for descriptive purposes only and should not be considered as indicating the execution order of the operations. Unless explicitly stated otherwise, the method does not need to be executed in the exact order shown.

[0048] The following text refers to Figures 2 to 5 A method 100 for updating the boundaries of a map region according to a first embodiment of the present invention is described. For example... Figure 2 As shown, method 100 includes a data acquisition step S110, a processing step S120, a direction step S130, a point positioning step S140, and an update step S150. The first embodiment is applicable to the situation where there are no steps between multiple original data points, i.e., the original boundary B... p1 For a smooth boundary without steps, update boundary B. q1 With the original boundary B p1 In scenarios where the offset between them is relatively small, such as small displacement updates of the boundaries of loading or unloading areas in a mining area due to the progress of a small number of operations.

[0049] Reference Figure 3 In the first embodiment, multiple raw data points p 11 p 12 p 13 ... p 1n-1 p 1n Describe the original boundary B p1 Multiple updated data points q 11 q 12 ... q 1n-1 q 1n Describe the updated boundary B q1 Multiple raw data points p 11 p 12 p 13 ... p 1n-1 p 1nThere are no steps between them, and to facilitate data processing and reduce computational load, each pair of adjacent original data points has the same first distance D. is11 This uniform spacing reflects the original boundary B p1 The present invention has the characteristics of regular sampling; however, those skilled in the art should understand that the present invention is not limited thereto, and depending on the specific circumstances, there may be different distances between any two adjacent original data points.

[0050] Similarly, for ease of data processing, every two adjacent updated data points have the same first distance D. is11 Or other distances, this uniform spacing reflects the updated boundary B q1 The present invention has the characteristics of regular sampling; however, those skilled in the art should understand that the present invention is not limited thereto, and depending on the specific circumstances, there may be different distances between any two adjacent updated data points.

[0051] Reference Figure 3 Update boundary B q1 With the original boundary B p1 Parallel, and the second distance D between them. is12 Less than the first distance D is11 Ten times, which indicates that the boundary B is updated. q1 Relative to the original boundary B p1 Only a small displacement occurred. Original boundary B p1 Along direction D p1 Extend and update boundary B q1 Along direction D q1 Extension. However, those skilled in the art should understand that the present invention is not limited thereto, and the updated boundary B... q1 With the original boundary B p1 It can also be a slightly curved line, with the direction being D. p1 With direction D q1 Not necessarily perfectly parallel. Direction D p1 For the original boundary B p1 From the starting point p 11 Towards the endpoint p 1n The direction of extension, direction D q1 To update boundary B q1 From the starting point q 11 Towards the destination q 1n The direction of extension.

[0052] In the data acquisition step S110, multiple raw data points p related to the boundary B1 of the map area are acquired. 11 p 12 p 13 ... p 1n-1 p 1nAnd multiple updated data points q related to the boundary B1 of the map area in the latest operation. 11 q 12 ... q 1n-1 q 1n The original data points consist of data collected during the initial operation, reflecting the initial position of the map region's boundary B1. The updated data points consist of data collected during the latest operation, reflecting the current position of the map region's boundary B1. Together, they describe the initial and current positions of the map region's boundary B1, providing a data foundation for subsequent boundary updates.

[0053] In processing step S120, firstly, the collected original data points and updated data points are thinned to simplify the data points, remove redundant data, and reduce the amount of data required for subsequent calculations. Secondly, the simplified data points are smoothed to remove noise introduced by sensor noise or acquisition errors while maintaining the geometric characteristics of the simplified data points, thereby improving the quality of the data points. Finally, based on the geometric characteristics of the smoothed data points, they are classified to provide structured data input for the subsequent direction step S130 and positioning step S140. Through the above processing step S120, the complexity of subsequent calculations can be effectively reduced, and the accuracy and robustness of boundary updates can be improved.

[0054] In the direction step S130, multiple update data points q are determined. 11 q 12 ... q 1n-1 q 1n Description of the update boundary B q1 Direction D q1 Is it related to multiple original data points p? 11 p 12 p 13 ... p 1n-1 p 1n The original boundary B described p1 Direction D p1 Consistency. Consistency in direction refers to updating boundary B. q1 The starting point q 11 To the destination q 1n The extension direction is the same as the original boundary B. p1 The starting point p 11 To the end point p 1n The extension directions are the same. If they are consistent, proceed directly to the next step; if they are inconsistent, adjust multiple update data points q. 11 q 12 ... q 1n-1 q 1n The order in which data point q will be updated.11 q 12 ... q 1n-1 q 1n Reversing the order of the elements makes updating the boundary B... q1 Direction D q1 With the original boundary B p1 Direction D p1 Consistency. The direction step S130 ensures that the determination of the starting and ending points in the subsequent positioning step S140 has a unified directional reference, avoiding inconsistencies in direction that could lead to problems with the first point m. 11 Second point m 12 Incorrect match.

[0055] In the point-fixing step S140, the original boundary B is determined. p1 Up to update boundary B q1 The starting point q 11 The most recent first point m 11 and the original boundary B p1 Up to update boundary B q1 The endpoint q 1n The second point recently m 12 The first point m 11 Second point m 12 It is the original boundary B p1 With updating boundary B q1 The accurate determination of the connection points between them is crucial to ensuring the continuity and smoothness of the updated boundary B1. Although for... Figure 3 The original boundary B of the geometry shown p1 and update boundary B q1 The positioning step S140 has been described, but those skilled in the art should understand that the invention is not limited thereto, and the positioning step S140 can be applied to embodiments with original and updated boundaries of any suitable shape.

[0056] Reference Figure 4 The positioning step S140 includes the perpendicularity step S141: via updating boundary B q1 The starting point q 11 Towards the original boundary B p1 Draw the first perpendicular line l 11 If the first perpendicular line l 11 The first foot of the perpendicular is located at the original boundary B. p1 If the first perpendicular foot is selected as the first point m, then... 11 If the first perpendicular line l 11 The first foot of the perpendicular is located at the original boundary B. p1 On the extension line, the original boundary B p1 Update boundary B with distance on q1 The starting point q 11The most recent raw data point was selected as the first point m. 11 Similarly, via updating boundary B q1 The endpoint q 1n Towards the original boundary B p1 Draw the second perpendicular line l 12 If the second perpendicular line l 12 The second foot of the perpendicular is located at the original boundary B. p1 If the second perpendicular foot is selected as the second point m, then... 12 If the second perpendicular line l 12 The second foot of the perpendicular is located at the original boundary B. p1 On the extension line, the original boundary B p1 Update boundary B with distance on q1 The endpoint q 1n The most recent raw data point was selected as the second point m. 12 .

[0057] The first point m is determined using the perpendicular line step S141. 11 Second point m 12 This ensures that the selected connection point m 11 m 12 Geometrically, it corresponds to the updated boundary B. q1 endpoint q 11 q 1n The closest distance makes updating boundary B possible. q1 The transition at the joint is most in line with the actual situation. Figure 4 Only the first perpendicular line l is shown. 11 The first foot of the perpendicular and the second perpendicular l 12 The second foot of the perpendicular is located at the original boundary B. p1 The above embodiment does not show the first vertical line l 11 The first foot of the perpendicular and the second perpendicular l 12 The second foot of the perpendicular is located at the original boundary B. p1 An example is taken on the extension line. For instance, the first and second perpendicular feet are located on the original boundary B. p1 An embodiment on the extension line, namely, in Figure 4 In the middle, if data point p 11 to p 13 It does not exist and p 14 Starting from point B, the first foot of the perpendicular lies on the original boundary B. p1 On the extension of , then p 14 Update boundary B at distance q1 The starting point q 11 The most recent first point m 11 Similarly, if data point p 1n-2 to p 1n It does not exist and p 1n-3If the endpoint is B, then the foot of the second perpendicular lies on the original boundary B. p1 On the extension of , then p 1n-3 Update boundary B at distance q1 The endpoint q 1n The second point recently m 12 .

[0058] The positioning step S140 also includes a determination step S142, used to determine the determined first point m. 11 Second point m 12 Whether it is legal, that is, whether it conforms to the actual situation, needs to be clarified that, in Figure 3 In the case of the first embodiment shown, the first point m 11 Second point m 12 The probability of it being illegal is extremely low, that is, the first point m 11 Second point m 12 Generally, they are all legal. The purpose of setting the judgment step S142 is to enhance the robustness of method 100 and improve the fault tolerance of method 100 in actual operation.

[0059] Determination step S142 includes:

[0060] If the first point m 11 Located between two adjacent raw data points ( Figure 4 The middle is p 13 and p 14 In other embodiments, two adjacent raw data points can also be p 14 and p 15 p 15 and p 16 If the first point m is between ..., then determine the first point m. 11 Towards the original boundary B p1 The starting point p 11 And the two adjacent original data points p 13 and p 14 Adjacent raw data points p 12 First spacing S pa11 Is it less than twice the first distance D? is11 If so, then determine the first point m. 11 Valid; otherwise, the first point m is considered valid. 11 Illegal. Those skilled in the art should understand that determining the first point m... 11 Whether something is legal or not is not limited to whether it is less than twice the first distance D. is11 Depending on actual needs, it can also be set to whether it is less than three times or more of the first distance D. is11 .

[0061] If the first point m 11 Located between two adjacent raw data points p13 p 14 If any point in the matrix is ​​found, then the first point m is determined. 11 Towards the original boundary B p1 The starting point p 11 And with the first point m 11 Adjacent raw data points (when the first point m) 11 Located at the original data point p 13 At that time, near the original boundary B p1 The starting point p 11 And with the first point m 11 The adjacent original data points are p 12 When the first point m 11 Located at the original data point p 14 At that time, near the original boundary B p1 The starting point p 11 And with the first point m 11 The adjacent original data points are p 13 The first spacing S) pa11 Is it less than twice the first distance D? is11 If so, then determine the first point m. 11 Valid; otherwise, the first point m is considered valid. 11 illegal.

[0062] For the second point m 12 Similarly, if the second point m 12 Located at two other adjacent raw data points ( Figure 4 The middle is p 1n-3 and p 1n-2 In other embodiments, two adjacent raw data points can also be p 1n-4 and p 1n-3 p 1n-2 and p 1n-1 If the second point m is between ...), then determine the second point m. 12 Towards the original boundary B p1 The endpoint p 1n And the other two adjacent original data points p 1n-3 p 1n-2 Adjacent raw data points p 1n-1 The second spacing S pa12 Is it less than twice the first distance D? is11 If so, then determine the second point m. 12 Valid; otherwise, the second point m is considered valid. 12 Illegal. Those skilled in the art should understand that determining point m... 12 Whether something is legal or not is not limited to whether it is less than twice the first distance D. is11 Depending on actual needs, it can also be set to whether it is less than three times or more of the first distance D. is11.

[0063] If the second point m 12 Located at two other adjacent original data points p 1n-3 p 1n-2 If any point in the matrix is ​​found, then determine the second point m. 12 Towards the original boundary B p1 The endpoint p 1n And with the second point m 12 Adjacent raw data points (when the second point m) 12 Located at the original data point p 1n-3 At that time, near the original boundary B p1 The endpoint p 1n And with the second point m 12 The adjacent original data points are p 1n-2 When the second point m 12 Located at the original data point p 1n-2 At that time, near the original boundary B p1 The endpoint p 1n And with the second point m 12 The adjacent original data points are p 1n-1 The second spacing S) pa12 Is it less than twice the first distance D? is11 If so, then determine the second point m. 12 Valid; otherwise, the second point m is considered valid. 12 illegal.

[0064] The point determination step S140 also includes the redetering step S143: if the first point m 11 And / or the second point m 12 If the condition is deemed illegal, return to the vertical line step S141, and address the first illegal point m. 11 and the original boundary B p1 The starting point p 11 Between and including the original boundary B p1 The starting point p 11 The original data points were used to redefine the first point m. 11 (exist Figure 4 In the middle, if the first point m 11 If illegal, then p 13 For the first point to be redefined), and / or for the second point m located in the illegal position. 12 and the original boundary B p1 The endpoint p 1n Between and including the original boundary B p1 The endpoint p 1n The original data points were used to redetermine the second point m. 12 (exist Figure 4 In the middle, if the second point m 12 If illegal, then p1n-2 (For the redefined second point). By redefined step S143, the scope of action of the perpendicular line step S141 is limited to a point closer to the original boundary B. p1 endpoint p 11 p 1n On a subset of data points, iteratively search for valid connection points to ensure the rationality of the boundary update results. As mentioned above, in Figure 3 In the case of the first embodiment shown, the first point m 11 Second point m 12 The probability of it being illegal is extremely low, that is, the first point m 11 Second point m 12 Generally, they are all legal. The purpose of setting the re-determination step S143 is to enhance the robustness of method 100 and improve the fault tolerance of method 100 in actual operation.

[0065] In update step S150, connect the first point m. 11 With updating boundary B q1 The starting point q 11 and connecting the second point m 12 With updating boundary B q1 The endpoint q 1n To utilize updated boundary B q1 Replace the original boundary B p1 The first point m is located 11 Second point m 12 The portion between these points is updated to update the map region boundary B1. (Refer to...) Figure 5 The updated boundary B1 is formed by connecting the following parts in sequence: the original boundary B p1 The middle is located at the starting point p 11 To the first point m 11 The part between, connecting the first point m 11 With updating boundary B q1 The starting point q 11 Connect line segments, update boundary B q1 , Connect and update boundary B q1 The endpoint q 1n With the second point m 12 The connecting line segments, and the original boundary B p1 The middle is located at the second point m 12 To the end point p 1n The portion between. Through the above update step S150, a local accurate update of the map region boundary B1 is achieved, preserving the original boundary B. p1 The unchanged parts are replaced with the latest updated boundary B. q1This allows for efficient and accurate automatic boundary updates while ensuring boundary continuity. The update speed of the map area boundary meets the operational requirements, avoiding the need to temporarily stop operations to wait for manual updates of the actual location of the map area boundary. This speeds up the operation and ensures the project schedule.

[0066] The following text refers to Figures 6 to 10 A method 200 for updating the boundaries of a map region according to a second embodiment of the present invention is described. For example... Figure 6 As shown, method 200 includes a data acquisition step S210, a processing step S220, a direction step S230, a positioning step S240, and an update step S250. The main difference between the second embodiment and the first embodiment is that in the second embodiment, multiple original data points p... 21 p 22 p 23 ... p 2n-1 p 2n Steps are formed between them, and the original boundary B p2 It has a more complex geometric shape; and the updated boundary B q2 Extending beyond the original boundary B p2 The middle part, i.e., updating boundary B q2 The second end along direction D q2 We have passed the location of the second step ST2 (see Figure 7 ), extending to the original boundary B p2 The remaining area corresponds to the direction D. p2 For the original boundary B p2 From the starting point p 21 Towards the endpoint p 2n The direction of extension, direction D q2 To update boundary B q2 From the starting point q 21 Towards the destination q 2n The direction of extension. The second embodiment is applicable to mining operations with a large advance range and updated boundary B. q2 Relative to the original boundary B p2 Significant displacement occurred and the original boundary B p2 Scenes containing stepped structures.

[0067] Reference Figure 7 In the second embodiment, multiple original data points p 21 p 22 p 23 ... p 2n-1 p 2n Describe the original boundary B p2 In multiple raw data points p 21 p 22 p23 ... p 2n-1 p 2n A first step ST1 and a second step ST2 are formed between them, and two adjacent original data points p form the first step ST1. 24 p 25 There is a first step distance D between them isst1 The two adjacent original data points p that form the second step ST2 2n -2, p 2n-1 There is a second step distance D between them isst2 Multiple raw data points p 21 p 22 p 23 ... p 2n-1 p 2n In addition to the two adjacent raw data points p that form the first step ST1, 24 p 25 And the two adjacent original data points p that form the second step ST2 2n -2, p 2n-1 Apart from the first distance D, every two adjacent original data points have the same first distance. is21 And the distance of the first step is D isst1 The distance D between the second step isst2 Each is greater than or equal to the first distance D is21 The first step ST1 and the second step ST2 are twice the size of the first step ST1, which is used as the basis for identifying the step. Those skilled in the art should understand that the invention is not limited thereto; the first step ST1 and the second step ST2 can be formed between other adjacent original data points.

[0068] For ease of description, the original boundary B will be... p2 The portion located between the first step ST1 and the second step ST2 is called the intermediate portion (i.e., from data point p). 25 to data point p 2n-2 (part of the original boundary B) p2 The flat section located between the first step ST1 and the second step ST2. Multiple updated data points q 21 q 22 ... q 2n-1 q 2n Describe the updated boundary B q2 Update boundary B q2 Parallel to the middle part, and at a second distance D from the middle part is22 Greater than or equal to the first distance D is21 Ten times, indicating that the boundary B is updated. q2 Relative to the original boundary B p2The middle portion experienced a significant displacement, exceeding the small displacement range applicable to the first embodiment. This significant displacement caused the boundary B to be updated. q2 The second end along direction D q2 We have passed the location of the second step, ST2.

[0069] In the data acquisition step S210, multiple raw data points p related to the boundary B2 of the map area are acquired. 21 p 22 p 23 ... p 2n-1 p 2n And multiple updated data points q related to the boundary B2 of the map area in the latest operation. 21 q 22 ...q 2n-1 q 2n Original data point p 21 p 22 p 23 ... p 2n-1 p 2n Composed of data collected during the initial operation, this reflects the position of the map region boundary B2 at the initial moment. Update data point q. 21 q 22 ...q 2n-1 q 2n Composed of data collected during the latest operation, it reflects the actual location of the map region's boundary B2 at the current moment. Together, they describe the initial and current locations of the map region's boundary B2, providing a data foundation for subsequent boundary updates.

[0070] In processing step S220, firstly, the collected original data points and updated data points are thinned to simplify the data points, remove redundant data, and reduce the amount of data required for subsequent calculations. Secondly, the simplified data points are smoothed to remove noise introduced by sensor noise or acquisition errors while maintaining the geometric characteristics of the simplified data points, thereby improving the quality of the data points. Finally, based on the geometric characteristics of the smoothed data points, they are classified to provide structured data input for the subsequent direction step S230 and positioning step S240. Through the above processing step S220, the complexity of subsequent calculations can be effectively reduced, and the accuracy and robustness of boundary updates can be improved.

[0071] In the direction step S230, the update boundary B described by multiple update data points is determined. q2 Direction D q2 Is it consistent with the original boundary B described by multiple original data points? p2 Direction D p2Consistency. Consistency in direction refers to updating boundary B. q2 From the starting point q 21 To the destination q 2n The direction of extension D q2 With the original boundary B p2 From the starting point p 21 To the end point p 2n The direction of extension D p2 If they are the same, proceed directly to the next step; if they are not the same, adjust multiple update data points q. 21 q 22 ... q 2n-1 q 2n The order in which data point q will be updated. 21 q 22 ... q 2n-1 q 2n Reversing the order of the elements makes updating the boundary B... q2 Direction D q2 With the original boundary B p2 Direction D p2 Consistency (i.e., in) Figure 7 Central direction D q2 and direction D p2 (Both are from left to right). Through direction step S230, it can be ensured that the determination of the starting and ending points in the subsequent point-fixing step S240 has a unified directional reference, avoiding errors in the determination of the first point m due to inconsistent directions. 21 Second point m 22 Incorrect match.

[0072] In the point-fixing step S240, the original boundary B is determined. p2 Up to update boundary B q2 The starting point q 21 The most recent first point m 21 and the original boundary B p2 Up to update boundary B q2 The endpoint q 2n The second point recently m 22 The first point m 21 Second point m 22 It is the original boundary B p2 With updating boundary B q2 The accurate determination of the connection points between them is crucial to ensuring the continuity and smoothness of the updated boundary B2. Determine the first point m. 21 Second point m 22 It can be done by updating boundary B respectively. q2 The starting point q 21 and the endpoint q 2n Towards the original boundary B p2Draw two perpendicular lines. If one or both feet of the two perpendicular lines lie on the original boundary B... p2 If the point is above, then the foot of one or both perpendiculars is defined as the first point m. 21 And / or the second point m 22 If one or both feet of the two perpendicular lines lie on the original boundary B. p2 On the extension line (i.e., not to the original boundary B) p2 The perpendicular line only extends to the original boundary B. p2 The perpendicular line to the extension of the line will then be the original boundary B. p2 Update boundary B with separate distances q2 The starting point q 21 and the endpoint q 2n The most recent one or two points are determined as the first point m. 21 And / or the second point m 22 Despite targeting Figure 7 The original boundary B of the geometry shown p2 and update boundary B q2 The positioning step S240 has been described, but those skilled in the art should understand that the invention is not limited thereto, and the positioning step S240 can be applied to embodiments with original and updated boundaries of any suitable shape.

[0073] See Figure 7 Update boundary B q2 Including those that do not extend beyond the middle section and are close to the original boundary B p2 The starting point p 21 The first end (i.e., the starting point q) 21 (the end where it is located), and the part that extends beyond the middle and is close to the original boundary B. p2 The endpoint p 2n The second end (i.e., the endpoint q) 2n (The end where it is located).

[0074] Reference Figure 8 The positioning step S240 includes the perpendicularity step S241: via updating boundary B q2 The starting point q at the first end 21 Make the first perpendicular line l on the middle part 21 The first perpendicular line l 21 The first foot of the perpendicular on the middle section is selected as the first point m. 21 Due to updating boundary B q2 The starting point q 21 Within the corresponding area of ​​the middle section, the perpendicular line method can accurately locate the point q on the middle section. 21 The nearest connection point ensures that the first point m 21 The geometric rationality.

[0075] The positioning step S240 also includes the step S242: selecting the original data point p from the middle part that is closest to the second end and forms the second step ST2. 2n-2 Selected as the second point m 22 This is because according to Figure 7 The geometric relationship, the original data point p 2n-2 It is the original boundary B p2 Up to update boundary B q2 The endpoint q 2n The most recent data point. This will be in the original data point p. 2n-2 and update boundary B q2 The endpoint q 2n The fact that a diagonal line is formed between them is not realistic.

[0076] Therefore, the point determination step S240 also includes a decision step S243, which is used to determine the determined first point m. 21 Second point m 22 Is it legal?

[0077] Determination step S243 includes:

[0078] If the first point m 21 Located between two adjacent raw data points (in Figure 8 The two adjacent raw data points mentioned in the text are p 27 and p 28 In other embodiments, the two adjacent original data points can also be p. 26 and p 27 p 25 and p 26 If the distance is between ), then determine the first point m. 21 Towards the original boundary B p2 The starting point p 21 And the two adjacent original data points p 27 p 28 Adjacent raw data points p 26 First spacing S pa21 Is it less than twice the first distance D? is21 If so, then determine the first point m. 21 Valid; otherwise, the first point m is considered valid. 21 Illegal. Those skilled in the art should understand that determining the first point m... 21 Whether something is legal or not is not limited to whether it is less than twice the first distance D. is21 Depending on actual needs, it can also be set to whether it is less than three times or more of the first distance D. is21 .

[0079] If the first point m 21If a point is located at either of two adjacent original data points, then the first point m is determined. 21 Towards the original boundary B p2 The starting point p 21 And with the first point m 21 Adjacent raw data points (when the first point m) 21 Located at the original data point p 27 At that time, near the original boundary B p2 The starting point p 21 And with the first point m 21 The adjacent original data points are p 26 When the first point m 21 Located at the original data point p 28 At that time, near the original boundary B p2 The starting point p 21 And with the first point m 21 The adjacent original data points are p 27 The first spacing S) pa21 Is it less than twice the first distance D? is21 If so, then determine the first point m. 21 Valid; otherwise, the first point m is considered valid. 21 illegal.

[0080] It should be noted that, similar to Figure 3 and 4 The geometric relationships shown are in Figure 8 Given the geometric relationships shown, the first point m 21 The probability of it being illegal is extremely low, that is, the first point m. 21 Generally, they are all legal. The purpose of setting up the judgment step S243 in this way is to enhance the robustness of method 200 and improve the fault tolerance of method 200 in actual operation.

[0081] For the second point m 22 If the second point m 22 Located between two other adjacent original data points (the other two adjacent original data points are, for example, p) 2n-2 and p 2n-3 , Figure 8 (If this situation is not shown), then determine the second point m. 22 Towards the original boundary B p2 The endpoint p 2n And whether the second distance between the two adjacent original data points is less than twice the first distance D. is21 If so, then determine the second point m. 22 Valid; otherwise, the second point m is considered valid. 22 Illegal. Those skilled in the art should understand that determining point m... 22Whether something is legal or not is not limited to whether it is less than twice the first distance D. is21 Depending on actual needs, it can also be set to whether it is less than three times or more of the first distance D. is21 .

[0082] If the second point m 22 Located at either of the other two adjacent original data points (the other two adjacent original data points are, for example, p) 2n-2 and p 2n-3 , Figure 8 This situation is illustrated in Figure 8 The middle is located at the original data point p 2n-2 If the second point m is (located at a certain point), then determine the second point m. 22 Towards the original boundary B p2 The endpoint p 2n And with the second point m 22 Adjacent raw data points p 2n-1 The second spacing S pa22 Is it less than twice the first distance D? is21 If so, then determine the second point m. 22 Valid; otherwise, the second point m is considered valid. 22 Illegal. As mentioned earlier, the distance from the first step to D... isst1 The distance D between the second step isst2 Each is greater than or equal to the first distance D is21 twice that, so as the second point m 22 The original data point p 2n-2 It is illegal.

[0083] The point determination step S240 also includes the redetering step S244: if the first point m 21 If it is determined to be illegal, then for the first illegal point m 21 and the original boundary B p2 The starting point p 21 Between and including the original boundary B p2 The starting point p 21 The original data points were used to redefine the first point m. 21 As mentioned above, due to... Figures 7 to 10 In the geometric relationship shown, the first point m 21 This is generally legal, so in the actual execution of method 200, the step of redetermining step S244 for the first point m will be skipped. 21 The purpose of setting up the redefinition step S244 in this way is to enhance the robustness of method 200 and improve its fault tolerance in actual operation.

[0084] Reference Figure 9 In order to redefine the second point m 22The fixed-point step S240 also includes: if the second point m 22 If illegal, then update boundary B. q2 The endpoint q 2n Towards the illegal second point m 22 and the original boundary B p2 The endpoint p 2n Between and including the original boundary B p2 The endpoint p 2n Draw a second perpendicular line l on the remaining part 22 If the second perpendicular line l 22 If the second foot of the perpendicular lies on the remaining portion, then the second perpendicular line l 22 The second foot of the perpendicular is chosen as the second point m. 22 If the second perpendicular line l 22 If the second foot of the perpendicular lies on the extension of the remainder, then the distance on the remainder updates the boundary B. q2 The endpoint q 2n The most recent raw data point was selected as the second point m. 22 . Figure 9 The second perpendicular line l is shown in the figure. 22 The second foot of the perpendicular is chosen as the second point m. 22 The situation.

[0085] In update step S250, connect the first point m. 21 With updating boundary B q2 The starting point q 21 and connecting the second point m 22 With updating boundary B q2 The endpoint q 2n To utilize updated boundary B q2 Replace the original boundary B p2 The first point m is located 21 Second point m 22 The portion between these points is updated to update the map region boundary B2. (Refer to...) Figure 10 The updated boundary B2 is formed by connecting the following parts in sequence: the original boundary B p2 The middle is located at the starting point p 21 To the first point m 21 The part between, connecting the first point m 21 With updating boundary B q2 The starting point q 21 Connect line segments, update boundary B q2 , Connect and update boundary B q2 The endpoint q 2n With the second point m 22 The connecting line segments, and the original boundary B p2 The middle is located at the second point m 22 To the end point p 2nThe part between. Through the above update step S250, even in complex boundary scenarios containing steps, the local accurate update of the map region boundary B2 is also achieved, preserving the original boundary B. p2 The unchanged parts are replaced with the latest updated boundary B. q2 This allows for efficient and accurate automatic boundary updates while ensuring boundary continuity. The update speed of the map area boundary meets the operational requirements, avoiding the need to temporarily stop operations to wait for manual updates of the actual location of the map area boundary. This speeds up the operation and ensures the project schedule.

[0086] Figure 11 A schematic block diagram of an example electronic device 20 that can be used to implement embodiments of the present invention is provided. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0087] like Figure 11 As shown, the electronic device 20 includes a computing unit 21, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 22 or a computer program loaded from a storage unit 28 into a random access memory (RAM) 23. The RAM 23 may also store various programs and data required for the operation of the electronic device 20. The computing unit 21, ROM 22, and RAM 23 are interconnected via a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0088] Multiple components in electronic device 20 are connected to I / O interface 25, including: input unit 26, such as keyboard, mouse, etc.; output unit 27, such as various types of monitors, speakers, etc.; storage unit 28, such as disk, optical disk, etc.; and communication unit 29, such as network card, modem, wireless transceiver, etc. Communication unit 29 allows electronic device 20 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0089] The computing unit 21 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 21 performs the various methods and processes described above. For example, in some embodiments, the methods of the present invention can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 20 via ROM 22 and / or communication unit 29. When the computer program is loaded into RAM 23 and executed by the computing unit 21, one or more steps of the methods of the present invention described above can be performed. Optionally, in other embodiments, the computing unit 21 can be configured to perform the methods of the present invention by any other suitable means (e.g., by means of firmware).

[0090] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0091] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] The program code used to implement the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0093] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0094] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0095] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0096] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0097] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0098] Those skilled in the art will understand that the embodiments described above are exemplary and can be improved upon. The structures described in the various embodiments can be freely combined without causing any conflict in structure or principle.

[0099] After a detailed description of the preferred embodiments of the present invention, those skilled in the art will clearly understand that various changes and modifications can be made without departing from the scope and spirit of the present invention, and the present invention is not limited to the embodiments described in the specification.

Claims

1. A method for updating the boundaries of a map region, characterized in that, include: Data collection steps: Collect multiple raw data points related to the boundary of the map area and multiple updated data points related to the boundary of the map area at the latest operation; Directional step: Determine whether the direction of the updated boundary described by the multiple updated data points is consistent with the direction of the original boundary described by the multiple original data points. If they are consistent, proceed to the next step. If they are inconsistent, adjust the order of the multiple updated data points so that the direction of the updated boundary is consistent with the direction of the original boundary. Point determination steps: Determine the first point on the original boundary that is closest to the start point of the updated boundary and the second point on the original boundary that is closest to the end point of the updated boundary; as well as Update steps: Connect the first point to the starting point of the updated boundary and connect the second point to the ending point of the updated boundary, so as to replace the portion of the original boundary located between the first point and the second point with the updated boundary to update the boundary of the map area.

2. The method according to claim 1, characterized in that, There are no steps between the plurality of raw data points, and there is the same first distance between every two adjacent raw data points.

3. The method according to claim 2, characterized in that, The updated boundary is parallel to the original boundary, and the second distance between the updated boundary and the original boundary is less than ten times the first distance.

4. The method according to claim 3, characterized in that, The positioning step includes the perpendicular line step: Draw a first perpendicular line from the starting point of the updated boundary toward the original boundary. If the first foot of the first perpendicular line is on the original boundary, then the first foot is selected as the first point. If the first foot of the first perpendicular line is on the extension line of the original boundary, then the original data point on the original boundary that is closest to the starting point of the updated boundary is selected as the first point. as well as Draw a second perpendicular line from the endpoint of the updated boundary toward the original boundary. If the second foot of the second perpendicular line lies on the original boundary, then the second foot of the perpendicular is selected as the second point. If the second foot of the second perpendicular line lies on the extension line of the original boundary, then the original data point on the original boundary that is closest to the endpoint of the updated boundary is selected as the second point.

5. The method according to claim 4, characterized in that, The positioning step also includes a determination step: If the first point is located between two adjacent original data points, then determine whether the first distance from the first point to the starting point near the original boundary and adjacent to the two adjacent original data points is less than twice the first distance. If so, the first point is deemed valid; otherwise, the first point is deemed invalid. If the first point is located at either of the two adjacent original data points, then determine whether the first distance from the first point to the starting point near the original boundary and adjacent to the first point is less than twice the first distance. If so, the first point is deemed valid; otherwise, the first point is deemed invalid. If the second point is located between two other adjacent original data points, then determine whether the second distance from the second point to the endpoint near the original boundary and adjacent to the other two adjacent original data points is less than twice the first distance. If so, the second point is deemed valid; otherwise, the second point is deemed invalid. as well as If the second point is located at either of the other two adjacent original data points, then determine whether the second distance from the second point to the endpoint near the original boundary and adjacent to the second point is less than twice the first distance. If so, the second point is deemed valid; otherwise, the second point is deemed invalid.

6. The method according to claim 5, characterized in that, The positioning step also includes a re-determination step: If the first point and / or the second point are determined to be illegal, the process returns to the vertical line step, and the first point is redefined for the original data points located between the illegal first point and the start point of the original boundary, including the start point of the original boundary, and / or the second point is redefined for the original data points located between the illegal second point and the end point of the original boundary, including the end point of the original boundary.

7. The method according to claim 1, characterized in that, A first step and a second step are formed between the plurality of raw data points. There is a first step distance between two adjacent raw data points forming the first step and a second step distance between two adjacent raw data points forming the second step. There is the same first distance between each pair of adjacent raw data points, except for the two adjacent raw data points forming the first step and the two adjacent raw data points forming the second step. The first step distance and the second step distance are both greater than or equal to twice the first distance.

8. The method according to claim 7, characterized in that, The updated boundary is parallel to the middle portion of the original boundary located between the first step and the second step, and the second distance to the middle portion is greater than or equal to ten times the first distance.

9. The method according to claim 8, characterized in that, The updated boundary includes a first end that does not extend beyond the intermediate portion and is close to the starting point of the original boundary, and the positioning step includes: Perpendicular line step: draw a first perpendicular line from the starting point at the first end of the updated boundary onto the middle portion, and the first foot of the first perpendicular line on the middle portion is selected as the first point.

10. The method according to claim 9, characterized in that, The updated boundary also includes a second end that extends beyond the middle portion and is close to the end point of the original boundary.

11. The method according to claim 10, characterized in that, The positioning step also includes: Step selection steps: Select the original data point in the middle part that is closest to the second end and forms the second step as the second point.

12. The method according to claim 11, characterized in that, The positioning step also includes a determination step: If the first point is located between two adjacent original data points, then determine whether the first distance from the first point to the starting point near the original boundary and adjacent to the two adjacent original data points is less than twice the first distance. If so, the first point is deemed valid; otherwise, the first point is deemed invalid. If the first point is located at either of the two adjacent original data points, then determine whether the first distance from the first point to the starting point near the original boundary and adjacent to the first point is less than twice the first distance. If so, the first point is deemed valid; otherwise, the first point is deemed invalid. If the second point is located between two other adjacent original data points, then determine whether the second distance from the second point to the endpoint near the original boundary and adjacent to the other two adjacent original data points is less than twice the first distance. If so, the second point is deemed valid; otherwise, the second point is deemed invalid. as well as If the second point is located at either of the other two adjacent original data points, then determine whether the second distance from the second point to the endpoint near the original boundary and adjacent to the second point is less than twice the first distance. If so, the second point is deemed valid; otherwise, the second point is deemed invalid.

13. The method according to claim 12, characterized in that, The positioning step also includes a re-determination step: If the first point is determined to be illegal, the first point is redefined for the original data points located between the illegal first point and the starting point of the original boundary, including the starting point of the original boundary.

14. The method according to claim 13, characterized in that, The re-determination step further includes: if the second point is illegal, then draw a second perpendicular line from the endpoint of the updated boundary to the remaining portion located between the illegal second point and the endpoint of the original boundary, including the endpoint of the original boundary; if the second foot of the second perpendicular line is located on the remaining portion, then the second foot of the second perpendicular line is selected as the second point; if the second foot of the second perpendicular line is located on the extension line of the remaining portion, then the original data point on the remaining portion that is closest to the endpoint of the updated boundary is selected as the second point.

15. The method according to any one of claims 1 to 14, characterized in that, It also includes a processing step located between the acquisition step and the orientation step: The collected raw data points and updated data points are thinned out to simplify the data points; The simplified data points are smoothed to remove noise while preserving their geometric characteristics. as well as Based on the geometric features of the smoothed data points, the smoothed data points are classified.

16. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method according to any one of claims 1 to 15.

17. A computer program product, characterized in that, include: A computer program that, when executed by a processor, implements the method according to any one of claims 1 to 15.

18. A computer-readable medium, characterized in that, It stores computer program products, including: A computer program that, when executed by a processor, implements the method according to any one of claims 1 to 15.

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