589 results about "Boundary line" patented technology

The invention discloses an edge spraying compensation control method based on intelligent visual feedback. The method comprises the following steps: performing space scanning on a to-be-sprayed workpiece to obtain spraying image data, and establishing a space corresponding relation between a spray gun motion coordinate and a workpiece surface coordinate; registering the real-time spraying image by using the corresponding relation, identifying a geometric boundary line, brightness gradient change and a coating adhesion area of the edge of the workpiece, and generating edge feature data; according to the difference between the edge feature data and the target spraying image, the spraying coverage deviation and the boundary overlapping error are calculated, the coating thickness change trend, the optical density change rate and the boundary direction offset are extracted, and the spraying gun posture adjustment amount, the spraying distance correction amount, the spraying pressure correction amount and the path speed correction amount are generated; the angle, the spraying distance, the pressure and the movement speed of the spray gun are dynamically adjusted according to the parameters; according to the method, real-time visual feedback and self-adaptive compensation control in the spraying process are achieved, and the uniformity and consistency of the coating on the edge of the workpiece are effectively improved.

A motion control method for an adaptive self-reconfigurable pipeline robot based on environmental perception includes: acquiring internal images of the pipeline for scene recognition, segmenting planar surfaces and curved surfaces in the images according to recognition results, and extracting boundary lines of the pipeline; calculating a straight-pipe width, a bent-pipe curvature, a slope angle, and a step height to analyze passability of the robot; designing a path planner and a swing-arm planner to generate a reference trajectory and a swing-arm angle sequence of the robot, performing smoothing, and inputting the reference trajectory and the swing-arm angle sequence into a model predictive control (MPC) motion controller; estimating a position and state of the robot through an Error State Kalman Filter (ESKF) algorithm, and inputting estimation results and collision warning signals into the MPC motion controller; and finally outputting a signal for control of a motor and a swing-arm motor.

The invention discloses a farmland furrow three-dimensional point cloud data correction method and system based on a laser radar, and relates to the technical field of three-dimensional image processing based on the laser radar, in particular to a three-dimensional image geometric correction technology. The problems that original point cloud data directly obtained under the dynamic operation condition of an existing agricultural machine has geometric distortion, and the shape of a furrow cannot be truly reflected are solved; meanwhile, the problems that furrow quality evaluation seriously depends on low-efficiency manual means, the adaptability of an existing automatic technical scheme to an unstructured field environment is insufficient, and robust, real-time and high-precision perception of a real three-dimensional shape of a furrow cannot be achieved are solved. According to the method, dynamic tilt correction is carried out through real-time acquisition of point cloud and agricultural machine attitude information, boundary feature points are extracted, boundary lines are fitted, and a three-dimensional point cloud set of a single furrow is reconstructed by fusing a self-adaptive clustering algorithm of spatial prior. The method is suitable for the fields of farmland tillage and soil preparation quality detection, precision agricultural management, agricultural machinery intelligent operation and the like under the dynamic operation condition of agricultural machinery.

The invention relates to the technical field of road detection, in particular to an intelligent road disease detection method and system based on a three-dimensional ground penetrating radar, and the method comprises the steps: obtaining and processing three-dimensional radar data, and obtaining a horizontal section image in the depth direction and vertical section images of a plurality of channels in the measuring line direction; determining the boundary position of the underground structure layer; selecting a horizontal slice image with a corresponding depth according to the boundary position, and inputting the horizontal slice image into a first disease detection model to obtain a preliminary disease candidate area; mapping the preliminary candidate region to a vertical profile image, intercepting a local vertical profile image of each channel, and inputting the local vertical profile image into a second disease detection model to obtain disease category information; fusion decision is carried out based on the transverse position of the candidate area and the disease category information of each channel, a final disease type is determined and is associated to the candidate area, consistency of disease positioning and type judgment is realized through cooperative utilization of the horizontal section image and the multi-channel vertical section image, and the accuracy and stability of detection are improved.

The invention discloses a stratigraphic water content layering inversion method based on a shallow seismic full waveform, and relates to the technical field of geophysical exploration data processing, and the method comprises the following steps: 1, under the same survey line condition, synchronously obtaining a seismic wave full waveform, complex impedance and an induced polarization frequency spectrum; 2, constructing a layered initial model containing a layer boundary line and an in-layer water content initial value; based on the layered initial model, executing dual-domain quantile alignment interface keeping iteration until convergence, and obtaining a final layer boundary line and an in-layer water content field; the double-domain quantile alignment interface maintaining iteration comprises the following steps: updating an in-layer moisture content field and a layer boundary line according to a seismic wave full waveform; and performing total variation regularization processing on the updated in-layer water content field to maintain the transition characteristic of the layer boundary line. According to the method, an efficient and reliable solution with actual guidance value is provided for mineral resource exploration, geological structure detection, groundwater survey and engineering geology evaluation.

The invention discloses a dynamic simulation system for cloning a plant competition relationship under an invasive habitat, and particularly relates to the technical field of environmental protection, and the system comprises the following modules: a habitat space occupation definition module, a neighborhood expansion cost accounting module, an interspecific crisscross zone identification module, a crisscross zone displacement dynamic quantification module, and a community competition steady state determination module. According to the method, space occupation intensity is established based on overground and underground biomass, weighted integration is carried out on a stolon expansion path in combination with soil compactness, physical rejection cost is systematically quantified, the space is used as a competitive resource, growth inhibition of cloned plants under the situation that resources are sufficient but the space is limited is simulated, and the method is suitable for large-scale popularization and application. By calculating the average propulsion speed and the disturbance variance of the boundary line, the system can accurately capture the stagnation, propulsion or local stiffness state of the invasion frontal surface, and provides a judgment basis which is more dynamic for the competition end and is based on the space frontier.

The invention relates to a two-dimensional and three-dimensional boundary point association method based on improved boundary point coding and a medium, and the method comprises the steps: carrying out the preprocessing of original land parcel red line data, sequentially numbering land parcels, converting all the land parcels into plane boundary point elements, determining a first boundary point in each plane boundary point element, processing each land parcel into a clockwise land parcel, and carrying out the coding of the clockwise land parcels. Performing two-dimensional boundary point continuous numbering on all vertexes of the land parcel, taking the land parcel after encoding the two-dimensional boundary points as a two-dimensional surface element, and converting the land parcel into a land parcel three-dimensional stereoscopic model comprising three-dimensional boundary points, boundary lines and boundary surfaces; and continuously numbering all the three-dimensional boundary points in sequence by using a cross section analysis method to obtain a land block after coding the three-dimensional boundary points, and establishing an association relationship between the three-dimensional boundary points with successfully matched coordinates and the corresponding two-dimensional boundary points. Therefore, automatic coding of the three-dimensional boundary points of the land parcel red line data and automatic association between the two-dimensional boundary points and the three-dimensional boundary points are realized, and the three-dimensional boundary point management efficiency in land parcel management is improved.

The invention relates to the technical field of building models, in particular to a BIM-based building construction drawing design model construction method. The method comprises the following steps: extracting three-dimensional space coordinates and construction attributes of a component from a preset BIM building design model, wherein the construction attributes comprise layered material information of the component and the material thickness of each layer; projecting the three-dimensional space coordinates of the component to a two-dimensional view plane to generate a two-dimensional projection contour; calculating the vertical distance from the component to the view plane, and determining the display level of the component according to the size of the vertical distance; and identifying a construction node position on the two-dimensional projection contour, matching the construction node position with the construction attribute, and generating a detailed drawing index mark at the construction node position according to a matching result. According to the space distribution and the sideline direction of the blank area, the size marking lines are automatically generated, the reasonable spacing is kept, and the problems of shielding and overlapping are avoided.

The invention provides a cultivated land occupation state monitoring method, device and equipment and a medium, and the method comprises the steps: obtaining multi-temporal video image data and a cultivated land distribution reference map of a target monitoring region, and obtaining the distribution information of cultivated land; extracting a boundary line of a cultivated land area and a non-cultivated land area in the video image data of each time phase to obtain spatial position change data of the boundary line; analyzing the boundary feature set of each time phase according to the time sequence, identifying an abnormal region of boundary change, and further obtaining change data of the abnormal region; comparing and analyzing the abnormal region change data with the multi-temporal cultivated land distribution reference map to obtain a comparison result; extracting the morphological characteristics and the expansion direction of the abnormal region; simulating the future boundary change of the abnormal region, generating a prediction distribution diagram of the potential occupation range, obtaining the influence range of the abnormal region, and obtaining a monitoring result. According to the invention, the continuity and accuracy of monitoring the land occupation state can be improved.

The invention discloses an unmanned rice transplanter operation path planning method, system and device and a medium, and relates to the technical field of agricultural machinery, and the method comprises the steps: obtaining boundary vertex coordinates of a to-be-transplanted field, and generating an internal reciprocating operation part boundary line through a boundary retraction method; and calculating the operation row number and the target row spacing according to the operation row number and the target row spacing, generating an intersection point of a seedling claw reciprocating operation straight line and a target boundary, performing extension and projection to obtain an internal reciprocating operation part operation path line, performing external expansion correction on an internal boundary line to form an outer ring sealing path, and combining the outer ring sealing path into a final path set. The single pair of seedling claws can be used as a minimum unit, unmanned seedling transplanting operation can be completed in any special-shaped field at a time, the invalid driving mileage is remarkably reduced, and the operation efficiency and quality are improved.

The invention provides a river surface floating object monitoring method and system based on an unmanned aerial vehicle, and belongs to the field of water environment protection monitoring, and the method comprises the steps: obtaining the river bank boundary line data of a target region, and constructing a river bank model through the river bank boundary line data; obtaining laser radar point cloud data, visible light image data and infrared thermal imaging data by utilizing unmanned aerial vehicle cruise based on the river bank model; fusing the visible light image data and the infrared thermal imaging data to obtain fused image data; and determining the river surface floating object by using the fused image data and the laser radar point cloud data. The appearance characteristics of the floating object can be determined by means of the image, key information such as the position and the size of the floating object can be accurately obtained by means of the point cloud data, and the accuracy of monitoring the floating object on the river surface is greatly improved.

The invention provides an orchard robot collision avoidance track method based on a multi-modal algorithm, and aims to solve the problem of high vehicle branch collision risk caused by narrow fruit tree walkway channel and lateral invasion of tree crowns and branches, and the orchard robot collision avoidance track method based on the multi-modal algorithm is provided. Fusing a front sensing trail rectification strategy to generate a branch collision risk value, a danger direction mark and an avoidance sequence, and setting a risk threshold value associated with a safety transverse margin; the method comprises the following steps of: expanding according to a sequence under traffic constraint, rejecting over-threshold actions, generating a candidate track fitting a side line, selecting a main track according to a fitting degree threshold value, performing transverse correction in combination with a crown edge distance threshold value, finally forming a track, and outputting a steering and speed instruction. According to the method, the track which is continuous in curvature, meets the safety transverse allowance and does not enter the dangerous direction can be generated in the short-distance front range, the branch collision risk is reduced, and the traffic safety and trafficability of the orchard robot in the walkway are improved.

Disclosed is a method for extracting a boundary line of on-year and off-year moso bamboo forests based on Sentinel-2 remote sensing data, and relates to the technical field of forestry remote sensing. The method includes classifying remote sensing images to acquire spatial distribution of three land type results, the three land type results including several on-year moso bamboo forests, several off-year moso bamboo forests and other vegetations between the on-year and off-year moso bamboo forests; extracting an initial boundary line of the on-year and off-year moso bamboo forests according to spatial distribution of three land type results; building a buffer region of the initial boundary line, and acquiring intersecting pixels of the buffer region and the spatial distribution of three land type results; and calculating pixel thresholds by using the intersecting pixels, and acquiring a final boundary line of the on-year and off-year moso bamboo forests. Using the above method can accurately obtain the boundary line between on-year and off-year of moso bamboo forests.

The embodiment of the invention provides a synthetic data field adaptation-based point cloud road boundary extraction method and system, and relates to the technical field of computer vision. According to the method, after mobile laser scanning point cloud data is obtained, a road surface point set is obtained through random sampling in the point cloud data, and the road surface point set is subjected to transformation processing to obtain a simulation road section sample. Self-adaptively selecting a pseudo label through feature reconstruction and a selection function according to a simulation road section sample, and performing depth alignment on the source domain feature and the target domain feature to obtain a double-layer alignment feature; and calculating a semantic segmentation result of the double-layer alignment feature by using the prediction model, and fitting the semantic segmentation result into a complete road boundary line. According to the method, the sample generation strategy can be optimized based on the structure priori knowledge of the road boundary, so that a large number of simulation road section samples with high-quality annotation are generated, the influence of insufficient training samples on the road boundary extraction process is relieved, and the accuracy of the road boundary extraction result is improved.

A robot map exploration method based on reachable boundary points, and a chip. The method comprises: step A, a robot fitting a preset boundary line by using boundary points in the current detection area thereof, and selecting, in a map to be optimized, a contour line used for defining all connected detectable areas as a target contour line; step B, respectively controlling both ends of the preset boundary line to extend to obtain a preset boundary extension line segment; when the extension length on both ends of the preset boundary line is either shorter than or equal to a preset sensing radius, if both ends of the preset boundary extension line segment intersect with the target contour line, then executing step C; step C, on the basis of the preset boundary extension line segment, and in the direction in communication with the unknown region, segmenting from the target contour line a contour line to be followed, and then the robot searching for front-edge boundary points in the area surrounded by the contour line to be followed and the preset boundary extension line segment; step D, selecting reachable boundary points according to the reachability of the front-edge boundary points found in step C.

The invention belongs to the technical field of semiconductor manufacturing safety control, and particularly relates to a collision detection method and system for a wafer transfer robot, and the method comprises the steps: receiving a joint angle sequence and height coordinates outputted by a robot trajectory planning module; cartesian coordinates of all nodes of the mechanical arm are calculated through a forward kinematics solver; preferentially checking whether the node is located in a predefined safety area or not by utilizing a point area judgment and line segment area detection algorithm; performing regionalized wafer collision detection on the wafer outside the safe region; if the wafer collision does not occur, constructing an oriented bounding box (OBB) for the risk connecting rod; detecting whether the vertex of the OBB crosses a boundary or not, and performing line segment intersection detection on each edge of the OBB and a chamber boundary line segment of a corresponding area; and finally outputting a collision judgment result, and deciding whether to execute motion or not by a robot control system. According to the invention, efficient and accurate collision detection is realized through a multi-stage detection mechanism and highly adaptive section selection, and the method has the advantages of high real-time performance, low cost, easy integration and the like.

The application provides a waste steel monomer instance segmentation method and a waste steel intelligent grading system. The waste steel monomer instance segmentation method comprises the following steps: extracting image features in a waste steel image; generating a target candidate box of each image feature; generating a grade of a monomer, a material type classification of the monomer, a detection box of the monomer and a monomer region mask based on each target candidate box. Based on the above detection result, each target detection box is converted into a boundary line of an image monomer, and a mask region of the monomer is generated, so as to complete the monomer instance segmentation. Through the pre-storage of the material type information and the grade information, the subsequent material type and grade classification of the waste steel monomer can be facilitated according to the pre-stored material type information and grade information, so that the waste steel grading is more accurate, and the accuracy of the waste steel classification is improved.

The invention relates to a pure vision autonomous navigation method for a mobile robot based on ground structure line guidance. The method comprises the following steps: binocular-inertia joint perception and state estimation; carrying out ground area constraint and two-dimensional line segment extraction; performing line segment screening and geometric fitting based on motion direction constraint; carrying out three-dimensional parametric modeling and category discrimination on multiple types of ground structure lines; calculating a pose error of a relative structure line and constructing a reference trajectory; performing closed-loop motion control based on the Lapunov stability; carrying out key position judgment and motion decision making based on an image template; compared with the prior art, by introducing a visual guidance mechanism based on a ground structure line and fully utilizing natural ground structure characteristics such as a space structure boundary line, stable autonomous navigation of the mobile robot is realized without depending on artificial markers such as a high-precision map, GNSS (Global Navigation Satellite System) positioning, a two-dimensional code and a magnetic stripe; the dependence of the system on complex sensors and environment modification is effectively reduced, and the deployment and maintenance cost is remarkably reduced; meanwhile, through unified modeling of multi-type structural line features, the adaptive capacity and robustness of the navigation method in various application scenes such as warehouse logistics, park inspection, in-plant transportation and semi-structured roads are improved, high navigation stability and reliability can be kept in tasks such as fixed route inspection, lane keeping and back-and-forth running, and the navigation method is suitable for large-scale popularization and application. And the method has good engineering practical value and popularization and application prospects.

The invention provides a video stream-based intelligent detection method and system for the state of key equipment of a coal conveying trestle. The method comprises the following steps: acquiring a real-time video stream of key equipment of a coal transporting trestle, extracting a current frame from the real-time video stream, and carrying out image preprocessing; performing inference analysis on the preprocessed video frame by using the optimized deep learning model, detecting a coal plough target and obtaining an accurate segmentation region or key point of the coal plough target; based on the detection result of the coal plough, extracting upper boundary feature points of the coal plough, and fitting an upper boundary line of the coal plough; calculating an included angle between the fitted upper boundary line and a preset lower limit reference line, wherein the included angle represents the real-time opening degree of the coal plough; and when the numerical value is continuously in a preset abnormal threshold value range in continuous multiple frames and is kept stable and unchanged, judging that the opening degree of the coal plough is not in place, and generating alarm information for reporting. According to the invention, high-precision and high-concurrency real-time monitoring of the state of the coal plough is realized, and the false alarm rate is effectively reduced.

The invention discloses a wafer defect detection method and a computer program product, and relates to the technical field of semiconductor measurement. The wafer defect detection method comprises the following steps: acquiring a defect image sample with a real defect label or a false positive defect label; the method comprises the following steps: firstly, respectively performing morphological structure analysis on areas to be detected in a defect image sample to determine defect morphological characteristics, performing frequency domain transformation and energy analysis to determine defect texture characteristics and performing boundary line gray gradient analysis to determine defect boundary characteristics, and then integrating the characteristics of the three types of areas to be detected into multi-dimensional characteristics; and learning a mapping relationship between the multi-dimensional features and the defect tags through a decision tree generation algorithm in combination with the defect tags so as to construct a target decision tree model. By means of the mode that the multi-dimensional features cooperatively describe the physical and structural essence of the defects and the decision tree model is combined for classified learning, the real defects and the false positive defects can be effectively distinguished, and the accuracy of wafer defect detection is improved.

The invention relates to the technical field of oral cavities, and discloses an alveolar bone resorption degree detection method, device and equipment and a medium, oral cavity image data of a patient is obtained, and tooth jaw segmentation data extraction is performed on the oral cavity image data to obtain tooth jaw segmentation data; performing three-dimensional space morphological feature analysis on tooth segmentation data in the tooth jaw segmentation data to obtain tooth coordinate azimuth information; calculating periodontal measurement surface information according to the tooth coordinate azimuth information; extracting enamel boundary line data and alveolar bone boundary line data in the dental jaw segmentation data; calculating an alveolar bone resorption degree result according to the enamel boundary line data, the alveolar bone boundary line data and the periodontal measurement surface information; the alveolar bone resorption degree result is calculated through the boundary line data and the measurement surface information, and the accuracy of the result is improved while the resorption degree is accurately quantified.

The application discloses a semiconductor device and a curve processing method of a semiconductor device layout. The semiconductor device comprises a metal interconnection layer; a metal coverage area of the metal interconnection layer is a closed area formed by a plurality of boundary lines with different directions and connected by transition lines; the transition line between two adjacent boundary lines is a curve determined according to the intersection relationship of the two boundary lines, and the opening direction of the curve and the intersection point of the two boundary lines are located on the two sides of the curve. The end points of the related lines forming the metal interconnection layer are taken as processing objects, and the transition lines are used for transition at the positions where the related lines change direction, so that the overall coverage adjustment of each angle is realized, the inradius of all concave corner positions is increased as much as possible, the stress distribution concentration effect at each concave corner is weakened, the crack formation is avoided, the metal electromigration, the connected lines or the broken lines and other phenomena are eliminated, the product quality is obviously improved, and the chip life is prolonged.

The application provides a kind of steel rail turnout milling and grinding processing method based on vision, belongs to the field of track traffic maintenance intelligent equipment, comprising: obtaining the three-dimensional data of steel rail turnout;The three-dimensional data is fitted to generate two-dimensional turnout track diagram;The distance between the upper rail of frog heart and the lower rail of frog heart is l 1 Place vertical first boundary line, the distance between the connecting point of upper side switch rail and upper side wing rail l 2 Place vertical second boundary line, the distance between upper side general rail and upper side switch rail l 2 Place vertical third boundary line, according to the first to the sixth curve and the first to the third boundary line, determine the processable area and non-processable area of steel rail turnout;Control the milling and grinding car to process the processable area.This application can effectively improve the processing efficiency and processing precision, completely repair the disease site, and avoid damage to the steel rail turnout.

To improve the design of the reel tape. [Solution] The slot machine comprises a reel having a reel tape T1 on which multiple symbols are arranged, and a reel frame including a rim around which the reel tape T1 is wound. The reel tape T1 has a background H printed as the background for the multiple symbols. The background H is printed to the right end T1c and the left end T1d in the short direction of the reel tape T1, and a background pattern Hm having pattern shapes Hmk1 and Hmk2 is formed on the background H. The background H has an overlapping region ArA that overlaps with the rim and a non-overlapping region ArB that does not overlap with the rim, and the background pattern Hm is not formed on the boundary line LnB between the overlapping region ArA and the non-overlapping region ArB.

This application relates to the field of cargo stacking technology and discloses a cargo stack filling method and system based on image recognition. The method includes: acquiring panoramic images of cargo storage space using a drone equipped with a high-resolution camera; extracting cargo stack images using a deep learning model after image preprocessing, obtaining their main color tone, and generating an enhanced image with complementary color boundary lines; detecting stacking edges between goods based on boundary lines, and identifying the type, size, shape, and position of the goods; optimizing the stacking order by combining storage space size and filling strategy to formulate the best cargo stack filling scheme; calculating the remaining space based on real-time filling images, dynamically adjusting the scheme, and outputting the results through a visualization device. This application solves the problems of low space utilization, low manual efficiency, and poor stacking stability in traditional cargo stacking, and improves the utilization rate of warehouse space and the accuracy of operations.

The application discloses a new energy base phase modifier synchronous instability analysis method and system, and belongs to the technical field of power system stability analysis. The method comprises the following steps: obtaining a training data set covering multi-dimensional power grid parameters and fault scenes, calculating dominant degree factors based on the coupling dynamic index of inverters, and dividing multiple dominant degree factor intervals to represent the control dominance of different types of inverters; a risk guardrail set containing a power coupling index and a damping ratio change amount is constructed, and a differentiated threshold is set for each interval; the control parameters of the inverters are extracted and a candidate boundary line set is generated, the performance of the candidate boundary line set is evaluated through transient simulation, the priority value is calculated by comprehensively considering the deployable proportion, the time benchmark ratio and the safety coefficient, and the optimal target boundary line is selected; finally, the target boundary line parameters are mapped into adaptive control gears, and the coordinated control of the phase modifier and the inverter is realized in combination with the real-time risk state, so that the synchronous instability risk is effectively inhibited.

The invention relates to the field and discloses an online visual detection method for surface defects of door and window profiles. Comprising the following steps: acquiring model information of a door and window profile to be detected and calling a corresponding section template; in the continuous conveying process of the sectional materials, a plurality of line-scan digital cameras are used for collecting multi-view surface images at the same longitudinal position under alternate illumination of line light sources in different incident directions; real-time outer contour boundary and notch edge positions are extracted, and attitude correction parameters are obtained after registration with the section template; directly mapping the multi-view surface image into a strip expansion graph of a corresponding surface area according to the section anchor point line and the surface boundary line; and performing pseudo defect elimination based on a coordinate corresponding relation of the candidate abnormal areas under different illumination and an abnormal response direction, and performing continuity verification in combination with a longitudinal position coordinate so as to determine a real surface defect and output a defect level and a physical position.

Data processing device and data processing method The application relates to a data processing device (10) which, among a first split region, a second split region and a third split region which are sequentially aligned on the split screen, enlarges the size of the first split region and reduces the size of the third split region in response to a sliding operation in the direction of the second split region and the third split region on a first usable region which is disposed on the boundary line between the first split region and the second split region.It further increases the size of the first split region and reduces the size of the second split region in response to a sliding operation in the direction of the second split region and the third split region onto a second usable region that is different from the first usable region and that is located on the boundary line between the first split region and the second split region. Figure for the abstract: FIG. 1.

An operational safety region generation method, comprising: generating an initial safety region on the basis of an operational plot and takeoff / landing position information of an unmanned device (S110); determining an editable boundary line of the initial safety region (10) (S120); receiving an editing operation for the editable boundary line, and adjusting the editable boundary line on the basis of the editing operation (S130); and generating a target safety region on the basis of the adjusted editable boundary line (S140). By means of the method, an editable boundary line can be determined in a preliminarily planned safety region, and a user edits the editable boundary line such that the adjusted safety region does not contain obstacles and retains part of the region in which an unmanned device can fly, thereby ensuring that a safe and efficient flight route is directly planned within the adjusted safety region, and meeting the efficient-operation requirements of the unmanned device.

The application relates to a PC stair hoisting positioning method and system, a storage medium and an intelligent terminal, relates to the field of PC components, and comprises the following steps: acquiring shooting image information; analyzing arc characteristic information and whole-circle characteristic information in the shooting image information; judging whether the whole-circle characteristic information exists; if the whole-circle characteristic information exists, vertically falling the PC stair until the whole-circle characteristic information does not exist; if the whole-circle characteristic information does not exist, horizontally moving the PC stair until the whole-circle characteristic information appears; and falling a preset standard falling height information when a boundary line of the shooting image information and the whole-circle characteristic information coincide. The application improves the problem that the falling process of the hoisted PC stair needs to be commanded by a construction worker, threatening the personal safety of the construction worker, and has the effects of reducing the hidden danger to the personal safety in the PC stair hoisting process and improving the safety and intelligentization of the PC stair hoisting process.