A method, device, equipment and storage medium for processing plot targets

Abstract

An embodiment of the present application discloses a method, device, equipment, and storage medium for processing plot targets. The technical solution provided by the embodiment of the present application obtains plot information of a plot to be operated to obtain plot targets in the plot information, and according to the target management operation on the plot targets, corresponding operation processing is performed on the plot targets corresponding to the target management operation on the plot to be operated, so as to realize the management of plot targets on the plot to be operated, enrich the management methods of plot targets, and provide users with more flexible methods for obtaining and managing plot targets.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of image processing technology, and in particular, to a method, device, equipment, and storage medium for processing plot targets. Background Art

[0002] With the development of unmanned equipment technology, the use of unmanned equipment for crop operations has become increasingly widespread. For example, unmanned equipment can be used to perform automated operations (such as spraying fertilizers, pesticides, etc.) on crops such as fruit trees. Before performing crop operations, the unmanned equipment needs to plan a flight path based on the plot map information of the plot to be operated.

[0003] In the plot map, plot targets such as obstacles and operation targets corresponding to the plot to be operated are usually recorded. Currently, the configuration of plot targets is generally carried out by staff manually adding corresponding obstacles and operation targets on the plot map according to the on-site situation of the plot to be operated. However, the environment at the operation site is relatively complex, and there is a problem of low efficiency in processing plot targets by manually marking plot targets, which affects the operation efficiency. Summary of the Invention

[0004] Embodiments of the present application provide a method, device, equipment, and storage medium for processing plot targets to solve the technical problems of low efficiency in processing plot targets and affecting operation efficiency caused by the method of manually marking plot targets, improve the efficiency of processing plot targets, and ensure the operation efficiency.

[0005] In a first aspect, embodiments of the present application provide a method for processing plot targets, including:

[0006] Obtaining plot information corresponding to the plot to be operated, where the plot information at least includes plot targets;

[0007] Receiving a target management operation on the plot target, and performing corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated.

[0008] In a second aspect, embodiments of the present application provide a device for processing plot targets, including a map acquisition module and a target management module, where:

[0009] The map acquisition module is configured to obtain plot information corresponding to the plot to be operated, where the plot information at least includes plot targets;

[0010] The target management module is configured to receive a target management operation on the plot target, and perform corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated.

[0011] In a third aspect, an embodiment of the present application provides a plot target processing device, including: a memory and one or more processors;

[0012] The memory is used to store one or more programs;

[0013] When the one or more programs are executed by the one or more processors, the one or more processors implement the plot target processing method as described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present application provides a storage medium storing computer-executable instructions, and the computer-executable instructions are used to execute the plot target processing method as described in the first aspect when executed by a computer processor.

[0015] An embodiment of the present application obtains plot information of a plot to be operated to obtain plot targets in the plot information, and according to the target management operation on the plot targets, corresponding operation processing is performed on the plot targets corresponding to the target management operation on the plot to be operated, so as to realize the management of the plot targets on the plot to be operated, enrich the management methods of the plot targets, and provide users with more flexible methods for obtaining and managing plot targets. Description of the Drawings

[0016] Figure 1 is a flowchart of a plot target processing method provided by an embodiment of the present application;

[0017] Figure 2 is a schematic diagram of an operation processing flow of plot targets provided by an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of an operation flow for adding a new plot target to an operation target provided by an embodiment of the present application;

[0019] Figure 4 is a schematic diagram of a target recognition result provided by an embodiment of the present application;

[0020] Figure 5 is a schematic diagram of the operation effect of adding a new plot target to an obstacle provided by an embodiment of the present application;

[0021] Figure 6 is a schematic diagram of the operation effect of performing a target configuration operation on the wire endpoint information of a wire provided by an embodiment of the present application;

[0022] Figure 7 is a schematic diagram of the operation effect of performing a target configuration operation on the flight height information of a wire provided by an embodiment of the present application;

[0023] Figure 8 is a schematic diagram of the operation effect of adding a new plot target to an operation target provided by an embodiment of the present application;

[0024] Figure 9 It is a schematic diagram of the effect of performing a target configuration operation on a job target provided by an embodiment of the present application;

[0025] Figure 10 It is a schematic structural diagram of a plot target processing device provided by an embodiment of the present application;

[0026] Figure 11 It is a schematic structural diagram of a plot target processing device provided by an embodiment of the present application. Detailed implementation manners

[0027] In order to make the objectives, technical solutions, and advantages of the present application clearer, the following further describes the specific embodiments of the present application in detail with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of convenience of description, only parts related to the present application are shown in the drawings rather than all the content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. When the operations are completed, the above process can be terminated, but there can also be additional steps not included in the drawings. The above process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0028] Figure 1 The flowchart of a plot target processing method provided by an embodiment of the present application is given. The plot target processing method provided by the embodiment of the present application can be executed by a plot target processing device, and the plot target processing device can be implemented in a hardware and / or software manner and integrated in a plot target processing device.

[0029] The following describes the case where the plot target processing device executes the plot target processing method. Refer to Figure 1 , the plot target processing method includes:

[0030] S110: Obtain the plot information corresponding to the plot to be operated, where the plot information includes at least plot targets.

[0031] The to-be-operated plot provided by this solution can be understood as a plot or area waiting to be operated, such as a fruit tree planting area, farmland, etc. waiting for fertilization or pesticide application. The operation on the to-be-operated plot can be carried out by unmanned devices such as drones. For example, the drone carries fertilizers or pesticides for flight spraying operations. When the unmanned device is operating, it needs to be based on the map of the to-be-operated plot, on which plot targets are marked (such as operation objects like fruit trees and crops to be sprayed, obstacles such as buildings and wires to be bypassed during flight, no-spray areas where spraying is prohibited, etc.), and based on the plot targets, plan an operation route on the map of the to-be-operated plot, and fly and spray fertilizers or pesticides according to the operation route to achieve precise spraying operations on the to-be-operated plot.

[0032] The to-be-operated plot provided in this embodiment can be determined according to the user's operation of setting the to-be-operated plot. For example, the user edits the to-be-operated plot on the plot editing interface according to the range of the plot to be operated (it can be by determining the positioning points of the to-be-operated plot on the plot editing interface, and the boundary range enclosed by the positioning points is the to-be-operated plot). It can also be that the user carries the plot target processing device to multiple positioning points of the to-be-operated plot for dotting operations, and the corresponding positioning points and boundary range of the to-be-operated plot can be determined by multiple dotting positioning points.

[0033] Exemplarily, when it is necessary to manage the plot targets in the to-be-operated plot, the plot information corresponding to the to-be-operated plot can be obtained and the corresponding plot information can be displayed in the plot editing interface. Among them, the plot information at least includes the plot targets in the to-be-operated plot. Optionally, the plot target can be obtained by performing target recognition processing on the map information corresponding to the to-be-operated plot, or obtained by the user performing a target addition operation on the plot editing interface, or obtained based on the plot targets configured on the to-be-operated plot in history (the plot targets obtained through target recognition or target addition operations).

[0034] In a possible embodiment, the plot target provided by this solution can be obtained by performing target recognition processing on the map information of the to-be-operated plot. Among them, performing target recognition processing on the map information of the to-be-operated plot includes: obtaining the map information corresponding to the to-be-operated plot, and performing target recognition processing on the to-be-operated plot based on the map information to obtain the plot targets in the to-be-operated plot.

[0035] Exemplarily, determine the position information corresponding to the to-be-operated plot, and obtain the map information corresponding to the to-be-operated plot according to the position information. Optionally, the map information provided by this solution can be a high-precision map corresponding to the to-be-operated plot, and the high-precision map can be obtained by high-precision map collection of each plot by aerial survey equipment such as drones.

[0036] Among them, the position information corresponding to the plot to be worked can be represented by the positioning points and / or boundary ranges of the plot to be worked. After determining the position information corresponding to the plot to be worked, it is determined whether the plot to be worked is within the coverage of the map information (high-precision map) according to the position information (for example, determining whether all the positioning points of the plot to be worked are within the high-precision map range, or whether all the boundaries of the plot to be worked are within the high-precision map range). If the plot to be worked is within the coverage of the map information, it can be considered that the plot to be worked belongs to the plots that can be worked normally, and then the map information corresponding to the plot to be worked (the map data corresponding to the range covering the plot to be worked) is obtained for the subsequent plot target processing process. If the plot to be worked is not within the coverage of the map information, it is considered that the plot to be worked belongs to the abnormal working plots, and the plot target processing process can be ended, and the user is reminded to update or load the map information corresponding to the plot to be worked. Or when the map information partially covers the plot to be worked, the user is reminded that the map information only partially covers the plot to be worked, and the user is asked whether to continue to use the map information to identify the plot target. If the user confirms to continue to use the map information to identify the plot target, the subsequent plot target processing process can be continued.

[0037] Exemplarily, after obtaining the map information corresponding to the plot to be worked, the map information can be used to perform target recognition processing on the plot to be worked, and the plot targets on the plot to be worked are determined according to the target recognition processing results. Among them, the plot targets include one or more combinations of obstacles (such as buildings, wires, telegraph poles, electric towers, windbreaks), working targets (such as fruit trees and other crops), and no-fly zones on the plot to be worked.

[0038] Among them, the target recognition of the plot to be worked can be realized according to the pre-configured AI recognition function module, that is, the AI recognition function module is used to identify each plot target within the corresponding range of the plot to be worked in the map information, and mark them on the plot editing interface according to the set marking method. Or a target recognition model based on a neural network is used to recognize the plot targets within the range of the plot to be worked in the map information. For example, a high-precision map sample marked with plot targets (including obstacles, working targets, no-fly zones, etc.) is used to train the target recognition model in advance, and then the trained target recognition model can be used to perform target recognition on the map information to determine each plot target within the corresponding range of the plot to be worked in the map information.

[0039] Optionally, the target recognition processing of the plot to be worked based on the map information can be performed locally on the plot target processing device (such as a mobile phone, a tablet, a computer, etc.), or by a remote server, and the recognition result is sent to the plot target processing device.

[0040] In a possible embodiment, before performing target recognition processing on the plot to be worked based on map information, the user can select the target type of the plot target to be recognized, and the plot target processing device can recognize the plot target of the corresponding target type in the map information according to the target type selected by the user. For example, after the user sets the boundary range corresponding to the plot to be worked, the user can click the target recognition function button provided on the plot editing interface. The plot target processing device can provide a target type selection interface on the plot editing interface in response to the triggering of the target recognition function button, and determine the target type of the plot target to be recognized according to the selection operation of the user on the target type selection interface.

[0041] In a possible embodiment, when performing target recognition processing on the plot to be worked based on map information, it is also possible to select specific target subtypes corresponding to the target type (such as wires, buildings, utility poles, trees, electric towers, etc. corresponding to obstacles), and determine the target subtype of the plot target to be recognized according to the selection operation of the user on the target subtype selection interface.

[0042] S120: Receive the target management operation on the plot target, and perform corresponding operation processing on the plot target corresponding to the target management operation on the plot to be worked.

[0043] After obtaining the plot targets in the plot to be worked through target recognition processing of the map information, the corresponding plot targets can be displayed on the plot editing interface according to the target position information of each plot target, where different types of plot targets can be represented by pre-set target icons. Optionally, when displaying the plot targets on the plot editing interface, the type of the plot targets displayed on the plot editing interface can be determined according to the target display type selected by the user.

[0044] Exemplarily, when it is necessary to manage the plot targets on the plot editing interface (such as adding, editing, or deleting plot targets on the plot editing interface), the user can initiate a target management operation on the plot targets on the plot editing interface. After receiving the target management operation on the plot targets, the plot target processing device will perform corresponding operation processing on the plot targets corresponding to the target management operation on the plot to be worked in response to the target management operation (such as adding, editing, or deleting plot targets on the plot to be worked displayed on the plot editing interface).

[0045] In a possible embodiment, when target recognition processing is performed on the plot to be worked to obtain the plot target (when no operation processing is required for the plot target), or after the operation processing of the plot target is completed, the map information including the plot target (at least including the map data covering the corresponding range of the plot to be worked) can be saved as the plot map corresponding to the plot to be worked, and subsequent more accurate operation route planning can be performed based on the plot map. For example, an operation strategy is determined based on the plot target of the plot to be worked and / or the device information of the unmanned device (including battery capacity, chemical amount information, etc.). The operation strategy includes an operation route, a flight altitude, and operation parameters (such as spraying amount, spraying width, etc.).

[0046] In this solution, by obtaining the plot information of the plot to be worked to obtain the plot target in the plot information, and according to the target management operation on the plot target, corresponding operation processing is performed on the plot target corresponding to the target management operation on the plot to be worked, so as to realize the management of the plot target on the plot to be worked, enrich the management method of the plot target, and provide users with a more flexible way to obtain and manage the plot target.

[0047] In a possible embodiment, the target management operations provided in this solution include one or a combination of more of a target addition operation, a target configuration operation, and a target deletion operation. The target addition operation is used to add a plot target on the plot editing interface. The target configuration operation is used to set the plot target information (i.e., the relevant parameters of the plot target) of the plot target. The target deletion operation is used to delete the plot target on the plot editing interface. Based on this, as Figure 2 As shown in the schematic diagram of the operation processing flow of a plot target provided, when this solution receives the target management operation on the plot target and performs corresponding operation processing on the plot target corresponding to the target management operation on the plot to be worked, it specifically includes:

[0048] S121: Receive the target addition operation on the plot target, and add a plot target on the plot to be worked according to the target addition operation; and / or,

[0049] S122: Receive the target configuration operation on the plot target, and configure the plot target information of the plot target on the plot to be worked according to the target configuration operation; and / or,

[0050] S123: Receive the target deletion operation on the plot target, and delete the plot target on the plot to be worked according to the target deletion operation.

[0051] Exemplarily, when receiving the target addition operation that a plot target needs to be added on the plot to be worked, a corresponding plot target is newly created at the corresponding position on the plot to be worked according to the target addition position and the corresponding target type of the target addition operation.

[0052] When receiving a target configuration operation for a target plot, configure the plot target information of the plot target on the plot to be operated according to the target configuration parameters corresponding to the target configuration operation. Among them, the plot target targeted by the target configuration operation can be the plot target obtained by the above-mentioned target recognition process based on map information, or it can be a plot target newly added to the plot to be operated in response to a target addition operation.

[0053] Among them, the parameter type of the target configuration parameter corresponds to the information type of the plot target information. Different target types and target subtypes correspond to different target configuration parameter types. For example, when the target type is an operation target (such as a fruit tree), the corresponding plot target information can be plot target position information, operation target area information, etc. Correspondingly, the target configuration parameter can be a target position parameter, a target area parameter, etc. When the target type is an obstacle, the corresponding plot target information can be obstacle position information, obstacle area information, etc. Correspondingly, the target configuration parameter can be an obstacle position parameter, an obstacle area parameter, etc.

[0054] When receiving a target deletion operation for a plot target, delete the plot target corresponding to the target deletion operation from the plot to be operated. For example, when the target type of the plot target identified or newly added on the plot to be operated is incorrect, or when the corresponding plot target does not actually exist in the plot to be operated, a target deletion operation can be initiated for the plot target in the plot editing interface to delete the plot target from the plot to be operated.

[0055] This solution can respond to a target addition operation and / or a target configuration operation according to the target type of different plot targets, and realize flexible management of different types of plot targets.

[0056] Based on this, when the target type is an obstacle, when this solution receives a target addition operation for a plot target and adds a plot target on the plot to be operated according to the target addition operation, specifically: receive a target addition operation for an obstacle, and add an obstacle on the plot to be operated according to the obstacle positioning information corresponding to the target addition operation.

[0057] Exemplarily, when it is necessary to add an obstacle on the plot to be operated (for example, due to insufficient target recognition processing accuracy, some obstacles cannot be correctly recognized, or the obstacle appears after the map information is collected), a target addition operation for the obstacle can be initiated in the plot to be operated displayed in the plot editing interface. After receiving the target addition operation for the obstacle, add an obstacle on the plot to be operated in response to the target configuration parameters corresponding to the target addition operation (such as obstacle position parameters, obstacle area parameters, etc.).

[0058] Among them, different types of obstacles can be added to the plot to be operated by different target addition operations. For example, target addition operations for corresponding obstacle types can be initiated based on the plot target information corresponding to different obstacles, and the target configuration parameters of the target addition operation correspond to the plot target information, so that the plot target information of the added obstacle can be determined according to the target configuration parameters. For example, when the obstacle is a building, its main plot target information includes obstacle positioning information and obstacle boundary information. It can be set that the obstacle to be added is a building (the target type of the added plot target can be set in the plot editing interface), and the obstacle positioning information and obstacle boundary information are set on the plot editing interface, so as to initiate a target addition operation for the building. The plot target processing device can add a building to the plot to be operated according to the obstacle positioning information and obstacle boundary information, and configure the obstacle position information and obstacle area information of the plot target information of the building.

[0059] In one embodiment, the obstacle provided by this solution can be an electric wire. Correspondingly, when this solution receives a target addition operation for the obstacle and adds an obstacle to the plot to be operated according to the obstacle positioning information corresponding to the target addition operation, specifically: receive the target addition operation for the electric wire, and add an electric wire to the plot to be operated according to the positions of the two endpoints of the electric wire corresponding to the target addition operation.

[0060] Among them, the representation of the electric wire on the two-dimensional map can be represented by a line segment. The line segment can determine its position on the map through two endpoints. Then, the position and direction (or angle) of the electric wire on the plot to be operated can be determined by setting the positions of the two endpoints of the electric wire. The endpoints of the electric wire do not mean that there are electric poles at the positions of the endpoints of the electric wire. In some embodiments, there may be electric poles at the endpoints of the electric wire. In some embodiments, there may also be no electric poles at the positions of the endpoints of the electric wire. For example, when there is an electric wire above the plot to be operated and the positions of the two electric poles connected by the electric wire are both outside the plot to be operated, the electric wire above the plot to be operated can be expressed by adding the endpoints of the electric wire.

[0061] Exemplarily, initiate a target addition operation for the electric wire by setting the positions of the two endpoints of the electric wire (including the two endpoints of the electric wire) on the plot editing interface. Optionally, the way to set the positions of the endpoints of the electric wire can be through coordinate input, by clicking to determine on the plot editing interface, and / or by moving the plot target processing device to the actual positions of the endpoints of the electric wire for dotting.

[0062] After receiving the target addition operation for the electric wire, add an electric wire to the plot to be operated according to the positions of the two endpoints of the electric wire corresponding to the target addition operation, and the information of the two endpoints of the added electric wire corresponds to the positions of the endpoints of the electric wire of the target addition operation.

[0063] In a possible embodiment, the wire endpoints corresponding to the target new operation can be one. That is, the user can set one wire endpoint on the plot editing interface, and a corresponding wire can be formed based on this wire endpoint, improving the flexibility and editing efficiency of obstacle management.

[0064] Exemplarily, when receiving a target new operation indicating a single wire endpoint, another wire endpoint can be determined according to the search result of the utility poles in the nearby plots to be operated, and a new wire can be added to the plot to be operated according to the wire endpoint corresponding to the target new operation and the wire endpoint position corresponding to the wire endpoint determined based on the utility pole search result.

[0065] For example, when receiving a target new operation indicating 1 wire endpoint, search for plot targets of the target type of utility poles in the nearby plots to be operated, and display the search results on the display interface, facilitating the user to select a target utility pole having a connection relationship with the new endpoint from the identified utility pole targets, and taking the position of the target utility pole as the wire endpoint position of the second wire endpoint, and generating a new wire according to these two wire endpoints. Or when receiving a target new operation indicating 1 wire endpoint, the user can be prompted to select a newly added second wire endpoint, or select a target utility pole from the existing utility pole targets, and determine the second wire endpoint based on the selected target utility pole, and generate a new wire according to the wire endpoint corresponding to the target new operation and the wire endpoint selected by the user.

[0066] In a possible embodiment, the wire endpoints corresponding to the target new operation can be multiple. That is, the user can sequentially set at least two wire endpoints on the plot editing interface, and automatically add one or more segments of wire to the plot to be operated according to the endpoint order of the multiple wire endpoints, improving the flexibility and editing efficiency of obstacle management. Based on this, when adding a wire to the plot to be operated according to the wire endpoint position corresponding to the target new operation, this solution includes: determining the wire endpoint positions and endpoint order of the multiple wire endpoints corresponding to the target new operation; adding a wire to the plot to be operated according to the wire endpoint positions and endpoint order of each wire endpoint.

[0067] Exemplarily, when receiving a target new operation indicating multiple wire endpoints, determine the wire endpoint positions of the multiple wire endpoints corresponding to the target new operation and the endpoint order of these wire endpoints. Among them, the endpoint order of the wire endpoints can be determined based on the determination order of the wire endpoint positions. For example, the user sequentially determines the wire endpoint positions of each wire endpoint on the plot editing interface through click operations, and the determination order of each wire endpoint position is the endpoint order corresponding to the wire endpoint.

[0068] Further, according to the wire endpoint positions and endpoint orders of each wire endpoint, connect each wire endpoint in sequence, so that a wire is formed between two wire endpoints with adjacent endpoint orders, thereby adding one or more segments of wire on the plot to be operated. For example, when sequentially clicking two wire endpoints P1 and P2 on the plot editing interface to initiate a target addition operation, the wire endpoints P1 and P2 will be displayed on the plot to be operated according to the wire endpoint positions of the wire endpoints P1 and P2, and the wire endpoints P1 and P2 will be connected to form a newly added segment of wire. Or when sequentially clicking three wire endpoints P1, P2, and P3 on the plot editing interface to initiate a target addition operation, the wire endpoints P1, P2, and P3 will be displayed on the plot to be operated according to the wire endpoint positions of the wire endpoints P1, P2, and P3, and the wire endpoints P1 and P2, as well as the wire endpoints P2 and P3, will be connected to form two newly added segments of wire.

[0069] After performing target recognition processing on the plot to be operated to obtain the wires in the plot to be operated or adding wires on the plot to be operated in response to a target addition operation on the wires, the user can perform a target configuration operation on the wires on the plot editing interface to edit or correct the plot target information of the wires. In a possible embodiment, the plot target information of the wires provided in this solution includes wire endpoint information, and the two wire endpoints indicated in the wire endpoint information can determine the length and direction of the wire in the plot to be operated.

[0070] Correspondingly, when this solution receives a target configuration operation on the plot target and configures the plot target information of the plot target on the plot to be operated according to the target configuration operation, specifically: receive a target configuration operation on the wire, and configure the wire endpoint information of the wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation.

[0071] Exemplarily, the user can initiate a target configuration operation on the wire by moving the endpoints of the wire. For example, click to select the wire that needs to be adjusted on the plot editing interface, and determine the endpoint movement parameters by dragging the wire endpoints of the selected wire or directly inputting the coordinates of the wire endpoints, thereby initiating a target configuration operation on the wire. After the plot target processing device receives the target configuration operation on the wire, it will adjust the wire endpoint information of the corresponding wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation, update the positions of the wire endpoints, and thus update the length and / or direction of the corresponding wire.

[0072] In a possible embodiment, the target configuration operation provided in this solution includes a wire length configuration operation and / or a wire direction configuration operation, where the wire length configuration operation is used to adjust the length of the wire, and the wire direction configuration operation is used to adjust the direction of the wire.

[0073] Correspondingly, when this solution receives a target configuration operation for the wire and configures the wire endpoint information of the wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation, it includes:

[0074] Receiving a wire length configuration operation for the wire, and adjusting the wire endpoint position of the selected wire endpoint in the direction of the wire according to the length adjustment parameter of the selected wire endpoint in the wire length configuration operation; and / or,

[0075] Receiving a wire direction configuration operation for the wire, and adjusting the wire endpoint position of the selected wire endpoint in the radius range of the wire according to the direction adjustment parameter of the selected wire endpoint in the wire direction configuration operation. The radius range of the wire is determined with the unselected wire endpoint as the center and the distance from the selected wire endpoint to the unselected wire endpoint as the radius.

[0076] The user can, in the wire length adjustment mode, initiate a wire length configuration operation for the wire by selecting a wire endpoint of the wire and adjusting the endpoint position of the selected wire endpoint (the other wire endpoint is the unselected wire endpoint) along the direction of the wire (i.e., the length direction of the wire) (for example, dragging the selected wire endpoint along the direction of the wire). The adjustment parameter for the breakpoint position of the selected wire endpoint is the length adjustment parameter of the wire length configuration operation for the selected wire endpoint.

[0077] Exemplarily, when receiving a wire length configuration operation for the wire, determine the selected wire endpoint corresponding to the wire length configuration operation, use the unselected wire endpoint as the fixed point and the selected wire endpoint as the adjustment point, and adjust the endpoint position of the selected wire endpoint according to the length adjustment parameter corresponding to the wire length configuration operation. The distance between the adjusted selected wire endpoint and the unselected wire endpoint is the length of the wire after adjustment. After adjusting the wire length in the wire length adjustment mode, the direction of the wire does not change.

[0078] In addition, the user can, in the wire direction adjustment mode, initiate a wire direction configuration operation for the wire by selecting a wire endpoint of the wire and adjusting the endpoint position of the selected wire endpoint within the radius range of the wire (i.e., a circle formed with the unselected wire endpoint as the center and the distance from the selected wire endpoint to the unselected wire endpoint as the radius). The adjustment parameter for the endpoint position of the selected wire endpoint is the direction adjustment parameter of the wire direction configuration operation for the selected wire endpoint. The radius range of the wire provided by this solution is determined with the unselected wire endpoint as the center and the distance from the selected wire endpoint to the unselected wire endpoint as the radius, that is, the range corresponding to the circle formed with the unselected wire endpoint as the center and the distance from the selected wire endpoint to the unselected wire endpoint as the radius is the radius range of the wire, and when adjusting the position of the selected wire endpoint within the radius range, the distance between the two wire endpoints remains unchanged.

[0079] Exemplarily, when a wire direction configuration operation for a wire is received, a direction adjustment parameter corresponding to the wire direction configuration operation is determined, and the unselected wire endpoint is used as a fixed point, and the selected wire endpoint is used as an adjustment point. The wire endpoint position of the selected wire endpoint on the radius range of the wire is adjusted according to the direction adjustment parameter, and the direction from the selected wire endpoint to the unselected wire endpoint after the position adjustment is the adjusted direction of the wire. After adjusting the direction of the wire in the wire direction adjustment mode, the length of the wire does not change. Optionally, when a wire length configuration operation is initiated for the wire, the corresponding radius range can be synchronously displayed on the plot editing interface, and the position of the selected wire endpoint on the radius range can be synchronously updated, so that the user can understand the range and status of the wire direction adjustment in real time.

[0080] It needs to be explained that when the relevant technology plans the route according to the plot map, the plot target information of the obstacle is generally the obstacle location information, obstacle area information, etc., and the way to deal with the obstacle is generally to fly around the obstacle. Among them, when the obstacle is a wire, the relevant technology also only records the location information of the wire, and the route planning is also bypassing the wire. In the actual working process, since the wire only occupies a small part of the space, the unmanned equipment can actually fly at the height of the wire, but the way of bypassing the wire in the relevant technology causes a large waste of route planning space for route planning, limits the flexibility of route planning, and the planning at the route is more complicated, and the power requirements for the flight operation of the unmanned equipment are higher. This scheme adds flight altitude information to the plot target information of the wire, that is, the plot target information of the wire also includes flight altitude information, where the flight altitude information can be used to indicate the flight altitude of the unmanned equipment crossing the corresponding wire, and the flight altitude information is used to guide the flight altitude of the unmanned equipment when crossing the location of the wire, thereby improving the flexibility of route planning.

[0081] Based on this, this solution receives a target configuration operation for a plot target, and configures the plot target information of the plot target on the plot to be operated according to the target configuration operation, including: receiving a target configuration operation for a power line, and configuring the flight height information of the power line on the plot to be operated according to the flight height configuration parameters corresponding to the target configuration operation.

[0082] Exemplarily, select the wire for which the flight altitude information needs to be set, and set the flight altitude configuration parameter according to the flight altitude when the unmanned device crosses the wire, so as to initiate the target configuration operation for the wire. After the plot target processing device receives the target configuration operation for the wire, it will configure the flight altitude information of the wire corresponding to the target configuration operation on the plot to be operated according to the flight altitude configuration parameter corresponding to the target configuration operation. Subsequently, when planning the flight path according to the plot map, when encountering a wire, if the plot target information of the wire includes flight altitude information, the flight path crossing the wire can be planned according to the flight altitude information, improving the flexibility of flight path planning and reducing the power consumption of the unmanned device when performing flight tasks. If the plot target information of the wire does not configure the flight altitude information, it is necessary to bypass the wire to ensure the flight safety of the unmanned device.

[0083] Among them, the flight altitude when the unmanned device crosses the wire can be determined according to the actual altitude of the wire. The flight altitude can be above the wire or below the wire, as long as the unmanned device does not collide with or contact the wire when flying over the area where the wire is located at the indicated flight altitude.

[0084] Therefore, when setting the flight altitude information of the wire, at least two flight altitudes can be set. For example, the flight altitude information of the wire can include the upper flight altitude and the lower flight altitude. Among them, the upper flight altitude refers to the safe flight altitude when the unmanned device crosses the wire from above the wire, and the lower flight altitude refers to the safe flight altitude when the unmanned device crosses the wire from below the wire, where the lower flight altitude is less than the upper flight altitude.

[0085] In some embodiments, since the middle part of the wire will sag to a certain extent due to its own gravity in the actual environment, at this time, the lower flight altitude of the wire can at least include the first flight altitude and the second flight altitude. Among them, the first flight altitude represents the safe flight altitude when the unmanned device crosses the wire from the middle of the wire, and the second flight altitude represents the safe flight altitude when the unmanned device crosses the wire from below the two end positions of the wire.

[0086] In a possible embodiment, as Figure 3 shown in the schematic diagram of the target new addition operation process for the operation target provided, when the plot target is the operation target, when this solution receives the target new addition operation for the plot target and adds a plot target on the plot to be operated according to the target new addition operation, it includes:

[0087] S1211: Receive the target new addition operation for the operation target, and determine the new target position of the target new addition operation on the plot to be operated.

[0088] S1212: Add an operation target on the plot to be operated based on the new target position, and configure the plot target information of the added operation target.

[0089] Exemplarily, when a new operation target needs to be added to the plot to be operated, determine that the type of target to be added is an operation target (such as fruit trees) in the plot editing interface, and determine the new target position of the operation target to be added, so as to initiate an operation to add a new target for the operation target.

[0090] After receiving the operation to add a new target for the operation target, the plot target processing device determines the new target position of the operation target on the plot to be operated, and adds an icon corresponding to the operation target on the plot to be operated according to the new target position, and configures the plot target information of the newly added operation target.

[0091] Among them, the plot target information of the newly added operation target can be configured according to the plot target information configuration of other operation targets within the set range of the new target position. For example, determine the value corresponding to the plot target information of the newly added operation target (except for the target position parameter) as the average value of the plot target information of other operation targets within the set range.

[0092] Suppose the plot target information that needs to be configured after adding an operation target to the plot to be operated is the operation target area information of the operation target (such as the size of fruit trees). After determining the new target position of the operation target to be added on the plot to be operated, determine the operation target area information of a set number of other operation targets within the set range of the new target position on the plot to be operated, and use the average operation target area information of the set number of other operation targets within the set range as the operation target area information of the newly added operation target. For example, use the average size of 5-10 fruit trees within the set range as the size of the newly added fruit tree.

[0093] In a possible embodiment, the plot target information of the operation target provided by this solution includes operation target area information. Correspondingly, when this solution receives the operation to configure the plot target and configures the plot target information of the plot target on the plot to be operated according to the operation to configure the plot target, specifically: receive the operation to configure the plot target, and according to the area adjustment parameter corresponding to the operation to configure the plot target, configure the operation target area information of the operation target on the plot to be operated.

[0094] Exemplarily, when it is necessary to adjust the area information of the operation target (for example, due to insufficient accuracy of target recognition processing resulting in insufficient area recognition accuracy of the operation target, or when the automatically configured area information of the newly added operation target is significantly different from the actual situation), the operation target whose operation target area information needs to be adjusted can be selected on the plot editing interface, and the corresponding area adjustment parameter can be determined to initiate the target configuration operation for the operation target. After receiving the target configuration operation for the operation target, the plot target processing device adjusts the operation target area information of the corresponding operation target according to the area adjustment parameter corresponding to the target configuration operation.

[0095] The area adjustment parameter can be set by directly inputting the area adjustment parameter, or by sliding and zooming after clicking and selecting the operation target (for example, sliding towards the center of the operation target to reduce the area of the operation target, and sliding towards the outside of the operation target to increase the area of the operation target).

[0096] In a possible embodiment, when initiating the target configuration operation and / or target deletion operation, it is necessary to determine the corresponding operation target through the click and select operation on the operation target. The operation target corresponding to the target configuration operation and / or target deletion operation provided by this solution can be determined based on the selected area of the target hot zone of the operation target. Among them, the target hot zone of the operation target provided by this solution is obtained by expanding the range based on the area range of the operation target. Exemplarily, when an operation target is recognized or newly added and displayed on the plot editing interface, each operation target is configured with a corresponding target hot zone. For example, a set distance (such as a distance of 2px) can be expanded outward from the operation target area of the corresponding operation target, and the corresponding range is the target hot zone of the operation target.

[0097] The target hot zone can be used to assist in determining the operation target corresponding to the click and select operation on the operation target. For example, when the positions of adjacent operation targets are relatively close, when the user clicks on two adjacent operation targets, the selected area of the click and select operation in the target hot zones of these two operation targets can be determined, and the operation target corresponding to the largest selected area can be determined as the operation target corresponding to the target configuration operation and / or target deletion operation, so as to improve the selection accuracy of the operation target and optimize the user experience.

[0098] Figure 4 It is a schematic diagram of the target recognition result provided by an embodiment of the present application. As Figure 4 shown, after performing target recognition processing on the plot to be operated based on the map information, plot targets including operation targets and obstacles are obtained. Figure 4Part A is the range corresponding to the plot to be worked on (which includes the boundary range enclosed by multiple positioning points), where Part B is the identified work target (such as fruit trees). The solid line range in the work target is the work target area range of the work target, and the dashed line is the corresponding target hot zone range. The work targets are represented by circles with different radii to indicate their corresponding work target area information. Part C is the identified obstacle, where Part C1 is a building and Part C2 is an electric wire.

[0099] As Figure 5 Shown in the schematic diagram of the target addition operation effect for obstacles provided, when it is necessary to add an electric wire in the plot to be worked on, by the method of determining a line through two points, according to the positions of the two endpoints corresponding to the electric wire, determine the positions of the electric wire endpoints (D11 and D12 in the figure) in the plot editing interface to initiate the target addition operation for the electric wire. After receiving the target addition operation for the electric wire, add the electric wire in the plot to be worked on (as shown in Part D in the figure).

[0100] As Figure 6 Shown in the schematic diagram of the target configuration operation effect for the electric wire endpoint information of the electric wire provided, when it is necessary to adjust the length and / or direction of the electric wire, click to select the electric wire to be adjusted (taking the electric wire C2 in the figure as an example), and initiate the target configuration operation for the electric wire by dragging one of the electric wire endpoints in the electric wire C2 (such as the electric wire endpoint C21 in the electric wire C2 in the figure), and re-determine the length and / or direction of the electric wire C2 according to the position of the dragged electric wire endpoint.

[0101] As Figure 7 Shown in the schematic diagram of the target configuration operation effect for the flight height information of the electric wire provided, when it is necessary to configure the flight height information of the electric wire, click to select the electric wire to be adjusted (taking the electric wire C2 in the figure as an example), and configure the flight height information of the electric wire C2 through the flight height information setting sliding adjustment button that appears below the plot editing interface. For example, set the flight height information of the electric wire C2 to 2.5m in the figure. Then when planning the flight path to cross the electric wire C2, it can be planned according to the flight height of 2.5m to ensure the flight safety of the unmanned device.

[0102] As Figure 8 Shown in the schematic diagram of the target addition operation effect for the work target provided, when it is necessary to add a work target in the plot to be worked on, determine the new target position in the plot to be worked on (for example, determine the new target position by clicking to confirm on the plot to be worked on, inputting coordinates or marking points on site), add a work target at the new target position (such as E1 in the figure), and use the average work target area information of multiple work targets within the set range of the new target position as the work target area information of the newly added work target E1.

[0103] As shown in Figure 9 the schematic diagram of the effect of performing the target configuration operation on the operation target. When it is necessary to adjust the operation target area information of the operation target, click on the operation target to be adjusted (taking the operation target E1 as an example), and zoom in and out of the operation target area of the operation target E1 by sliding.

[0104] Through the above method, the quick and accurate identification of different plot targets in the plot to be operated is realized, as well as the target addition operation, target configuration operation and target deletion operation of the operation target and the obstacle, so as to realize the flexible management of the plot target, and more accurately assign the unmanned device operation according to the plot map.

[0105] As mentioned above, by obtaining the map information of the plot to be operated, performing target recognition processing on the plot to be operated based on the map information to obtain the plot targets in the plot to be operated, and according to the target management operation on the plot targets, performing corresponding operation processing on the plot targets corresponding to the target management operation on the plot to be operated, the automatic recognition of the plot targets on the plot to be operated and the management of the plot targets are realized, the recognition efficiency and accuracy of the plot targets are improved, the management methods of the plot targets are enriched, and a more flexible plot target acquisition and management method is provided to the user. At the same time, through the target addition operation, target configuration operation and target deletion operation of plot targets such as operation targets and obstacles, the flexible management of plot targets is realized, and the unmanned device operation is assigned more accurately according to the plot map. And the length and direction of the wire can be flexibly adjusted to make the obstacle information in the plot map more in line with the actual situation. The flight height information of the wire can also be configured to improve the flexibility of route planning, reduce the power consumption of the unmanned device when performing flight tasks, redefine the attributes and flight height of the obstacle, and provide a more flexible operable space to the user. At the same time, the plot target information of each operation target can be flexibly configured, the recognized operation target can be edited with a more convenient plot target processing method, the controllability of the operation target recognition result is improved, the position and range of the operation target are determined more accurately, the operation information of the operation target in the plot to be operated is corrected more flexibly, and the operation assignment of the unmanned device is better completed.

[0106] Figure 10 The structural schematic diagram of a plot target processing device provided by an embodiment of the present application is given. Refer to Figure 10 , the plot target processing device includes a map acquisition module 31 and a target management module 32.

[0107] Among them, the map acquisition module 31 is used to acquire the plot information corresponding to the plot to be operated, and the plot information at least includes plot targets; the target management module 32 is used to receive the target management operation on the plot targets and perform corresponding operation processing on the plot targets corresponding to the target management operation on the plot to be operated.

[0108] As described above, by obtaining the map information of the plot to be worked on, performing target recognition processing on the plot to be worked on based on the map information to obtain the plot targets in the plot to be worked on, and according to the target management operations on the plot targets, performing corresponding operation processing on the plot targets corresponding to the target management operations on the plot to be worked on, the automatic recognition of the plot targets on the plot to be worked on and the management of the plot targets are realized, the recognition efficiency and accuracy of the plot targets are improved, the management methods of the plot targets are enriched, and a more flexible way of obtaining and managing the plot targets is provided to the user.

[0109] In a possible embodiment, the plot targets are obtained by performing target recognition processing on the map information of the plot to be worked on; the plot target processing device further includes a target recognition module, and the target recognition module is used to perform target recognition processing on the plot to be worked on based on the map information to obtain the plot targets in the plot to be worked on.

[0110] In a possible embodiment, the target management operations include one or a combination of more of target addition operation, target configuration operation, and target deletion operation;

[0111] The target management module 32 is specifically configured to:

[0112] Receive a target addition operation for a plot target, and add a plot target on the plot to be worked on according to the target addition operation; and / or,

[0113] Receive a target configuration operation for a plot target, and configure the plot target information of the plot target on the plot to be worked on according to the target configuration operation; and / or,

[0114] Receive a target deletion operation for a plot target, and delete the plot target on the plot to be worked on according to the target deletion operation.

[0115] In a possible embodiment, the plot targets include obstacles;

[0116] Correspondingly, when the target management module 32 receives a target addition operation for a plot target and adds a plot target on the plot to be worked on according to the target addition operation, it includes:

[0117] Receive a target addition operation for an obstacle, and add an obstacle on the plot to be worked on according to the obstacle positioning information corresponding to the target addition operation.

[0118] In a possible embodiment, the obstacles include wires;

[0119] Correspondingly, when the target management module 32 receives a target addition operation for an obstacle and adds an obstacle on the plot to be worked on according to the obstacle positioning information corresponding to the target addition operation, it includes:

[0120] Receive a target addition operation for a wire, and add a wire on the plot to be operated according to the wire endpoint positions corresponding to the target addition operation.

[0121] In a possible embodiment, when adding a wire on the plot to be operated according to the wire endpoint positions corresponding to the target addition operation, the target management module 32 includes:

[0122] Determine the wire endpoint positions and endpoint order of multiple wire endpoints corresponding to the target addition operation;

[0123] Add a wire on the plot to be operated according to the wire endpoint positions and endpoint order of each wire endpoint.

[0124] In a possible embodiment, the plot target information of the wire includes wire endpoint information;

[0125] Correspondingly, when receiving a target configuration operation for a plot target and configuring the plot target information of the plot target on the plot to be operated according to the target configuration operation, the target management module 32 includes:

[0126] Receive a target configuration operation for a wire, and configure the wire endpoint information of the wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation.

[0127] In a possible embodiment, the target configuration operation includes a wire length configuration operation and / or a wire direction configuration operation;

[0128] Correspondingly, when receiving a target configuration operation for a wire and configuring the wire endpoint information of the wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation, the target management module 32 includes:

[0129] Receive a wire length configuration operation for a wire, and adjust the wire endpoint position of the selected wire endpoint in the wire direction according to the length adjustment parameter of the selected wire endpoint in the wire length configuration operation; and / or,

[0130] Receive a wire direction configuration operation for a wire, and adjust the wire endpoint position of the selected wire endpoint in the radius range of the wire according to the direction adjustment parameter of the selected wire endpoint in the wire direction configuration operation. The radius range of the wire is determined with the unselected wire endpoint as the center and the distance from the selected wire endpoint to the unselected wire endpoint as the radius.

[0131] In a possible embodiment, the plot target information of the wire includes flight height information, and the flight height information is used to indicate the flight height of the unmanned device crossing the corresponding wire;

[0132] Correspondingly, when the target management module 32 receives a target configuration operation for a plot target and configures the plot target information of the plot target on the plot to be operated according to the target configuration operation, it includes:

[0133] Receive a target configuration operation for the wire, and configure the flight height information of the wire on the plot to be operated according to the flight height configuration parameter corresponding to the target configuration operation.

[0134] In a possible embodiment, the plot target includes an operation target;

[0135] Correspondingly, when the target management module 32 receives a target addition operation for a plot target and adds a plot target on the plot to be operated according to the target addition operation, it includes:

[0136] Receive a target addition operation for the operation target, and determine the new target position of the target addition operation on the plot to be operated;

[0137] Add an operation target on the plot to be operated based on the new target position, and configure the plot target information of the added operation target.

[0138] In a possible embodiment, the plot target information of the added operation target is configured according to the plot target information configuration of other operation targets within the set range of the new target position.

[0139] In a possible embodiment, the plot target includes an operation target, and the plot target information of the operation target includes operation target area information;

[0140] Correspondingly, when the target management module 32 receives a target configuration operation for a plot target and configures the plot target information of the plot target on the plot to be operated according to the target configuration operation, it includes:

[0141] Receive a target configuration operation for the operation target, and configure the operation target area information of the operation target on the plot to be operated according to the area adjustment parameter corresponding to the target configuration operation.

[0142] In a possible embodiment, the plot target includes an operation target, and the operation target corresponding to the target configuration operation and / or target deletion operation is determined based on the selected area of the target hot zone of the operation target, wherein the target hot zone of the operation target is obtained by expanding the range based on the area range of the operation target.

[0143] It should be noted that in the embodiments of the above plot target processing device, the included units and modules are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the embodiments of the present invention.

[0144] An embodiment of the present application further provides a plot target processing device, which can integrate the plot target processing device provided by the embodiment of the present application. Figure 11 It is a schematic structural diagram of a plot target processing device provided by an embodiment of the present application. Refer to Figure 11 , the plot target processing device includes: an input device 43, an output device 44, a memory 42, and one or more processors 41; the memory 42 is used to store one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 41 implement the plot target processing method provided in the above embodiment. Among them, the input device 43, the output device 44, the memory 42, and the processor 41 can be connected through a bus or other means, Figure 11 Taking the connection through the bus as an example.

[0145] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the plot target processing method provided in any embodiment of the present application (for example, the map acquisition module 31, the target recognition module 32, and the target management module 32 in the plot target processing device). The memory 42 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the device. In addition, the memory 42 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 42 can further include a memory remotely set relative to the processor 41, and these remote memories can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an enterprise internal network, a local area network, a mobile communication network, and combinations thereof.

[0146] The input device 43 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the device. The output device 44 can include a display device such as a display screen.

[0147] The processor 41 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 42, that is, implements the above-mentioned plot target processing method.

[0148] The above-provided plot target processing device, equipment, and computer can be used to execute the plot target processing method provided in any of the above embodiments, and have corresponding functions and beneficial effects.

[0149] An embodiment of the present application further provides a storage medium storing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to execute the plot target processing method provided in the above embodiment. The plot target processing method includes: obtaining plot information corresponding to the plot to be operated, where the plot information at least includes plot targets; receiving a target management operation on the plot target, and performing corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated.

[0150] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media such as CD-ROM, floppy disk or magnetic tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. Additionally, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system that is connected to the first computer system through a network (such as the Internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations (such as in different computer systems connected through a network). The storage medium may store program instructions (such as specifically implemented as a computer program) executable by one or more processors.

[0151] Of course, for the storage medium storing computer-executable instructions provided in an embodiment of the present application, the computer-executable instructions are not limited to the plot target processing method provided above, and may also execute related operations in the plot target processing methods provided in any embodiment of the present application.

[0152] The plot target processing device, equipment, and storage medium provided in the above embodiment can execute the plot target processing method provided in any embodiment of the present application. For technical details not described in detail in the above embodiment, reference can be made to the plot target processing method provided in any embodiment of the present application.

[0153] The above is only a preferred embodiment of the present application and the technical principles applied. The present application is not limited to the specific embodiments provided here. Various obvious changes, re-adjustments, and substitutions that can be made by those skilled in the art will not depart from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, it may also include more other equivalent embodiments, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for processing a plot target, characterized in that, Including: Obtaining plot information corresponding to a plot to be worked on, where the plot information at least includes plot objectives; Receiving a target management operation for the plot objective, and performing corresponding operation processing on the plot objective corresponding to the target management operation on the plot to be worked on; The target management operation includes a target addition operation, the plot objectives include obstacles and operation objectives, the obstacles include electric wires, and the receiving of the target management operation for the plot objective and performing corresponding operation processing on the plot objective corresponding to the target management operation on the plot to be worked on includes: Receiving a target addition operation for a single electric wire endpoint, searching for nearby utility poles, and adding an electric wire on the plot to be worked on based on the electric wire endpoints corresponding to the utility pole search result and the electric wire endpoints corresponding to the target addition operation; Receiving a target addition operation for the operation objective, determining the new target position of the target addition operation on the plot to be worked on; adding a new operation objective on the plot to be worked on based on the new target position, and configuring the plot objective information of the newly added operation objective according to the plot objective information of other operation objectives within the set range of the new target position.

2. The plot target processing method according to claim 1, characterized in that The plot objectives are obtained by performing target recognition processing on the map information of the plot to be worked on.

3. The plot target processing method according to claim 1, wherein The target management operation further includes one or a combination of more of a target configuration operation and a target deletion operation; The receiving of the target management operation for the plot objective and performing corresponding operation processing on the plot objective corresponding to the target management operation on the plot to be worked on further includes: Receiving a target addition operation for the plot objective, and adding a plot objective on the plot to be worked on according to the target addition operation; and / or, Receiving a target configuration operation for the plot objective, and configuring the plot objective information of the plot objective on the plot to be worked on according to the target configuration operation; and / or, Receiving a target deletion operation for the plot objective, and deleting the plot objective on the plot to be worked on according to the target deletion operation.

4. The method for processing the plot target according to claim 3, wherein The receiving of the target addition operation for the plot objective and adding a plot objective on the plot to be worked on according to the target addition operation includes: Receiving a target addition operation for an obstacle, and adding an obstacle on the plot to be worked on according to the obstacle positioning information corresponding to the target addition operation.

5. The method for processing the plot target according to claim 4, wherein The receiving of the target addition operation for an obstacle and adding an obstacle on the plot to be worked on according to the obstacle positioning information corresponding to the target addition operation includes: Receiving a target addition operation for an electric wire, and adding an electric wire on the plot to be worked on according to the electric wire endpoint positions corresponding to the target addition operation.

6. The method for processing the plot target according to claim 5, wherein, The adding of an electric wire on the plot to be worked on according to the electric wire endpoint positions corresponding to the target addition operation includes: Determining the electric wire endpoint positions and endpoint order of multiple electric wire endpoints corresponding to the target addition operation; Adding an electric wire on the plot to be worked on according to the electric wire endpoint positions and endpoint order of each electric wire endpoint.

7. The method for processing the plot target according to claim 5, wherein The plot objective information of the electric wire includes electric wire endpoint information; Correspondingly, receiving the target configuration operation for the plot target, and configuring the plot target information of the plot target on the plot to be operated according to the target configuration operation, includes: Receiving the target configuration operation for the wire, and configuring the wire endpoint information of the wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation.

8. The plot target processing method according to claim 7, characterized in that The target configuration operation includes a wire length configuration operation and / or a wire direction configuration operation; Correspondingly, receiving the target configuration operation for the wire, and configuring the wire endpoint information of the wire on the plot to be operated according to the endpoint movement parameters corresponding to the target configuration operation, includes: Receiving the wire length configuration operation for the wire, and adjusting the wire endpoint position of the selected wire endpoint on the wire direction according to the length adjustment parameter of the selected wire endpoint in the wire length configuration operation; and / or, Receiving the wire direction configuration operation for the wire, and adjusting the wire endpoint position of the selected wire endpoint within the radius range of the wire according to the direction adjustment parameter of the selected wire endpoint in the wire direction configuration operation, where the radius range of the wire is determined with the unselected wire endpoint as the center and the distance from the selected wire endpoint to the unselected wire endpoint as the radius.

9. The method for processing the target plot according to claim 5, wherein The plot target information of the wire includes flight altitude information, and the flight altitude information is used to indicate the flight altitude for the unmanned device to cross the corresponding wire; Correspondingly, receiving the target configuration operation for the plot target, and configuring the plot target information of the plot target on the plot to be operated according to the target configuration operation, includes: Receiving the target configuration operation for the wire, and configuring the flight altitude information of the wire on the plot to be operated according to the flight altitude configuration parameter corresponding to the target configuration operation.

10. The method for processing the plot target according to claim 3, characterized in that, The plot target further includes an operation target, and the plot target information of the operation target includes operation target area information; Correspondingly, receiving the target configuration operation for the plot target, and configuring the plot target information of the plot target on the plot to be operated according to the target configuration operation, includes: Receiving the target configuration operation for the operation target, and configuring the operation target area information of the operation target on the plot to be operated according to the area adjustment parameter corresponding to the target configuration operation.

11. The method for processing the target plot according to claim 3, wherein The plot target further includes an operation target, and the operation target corresponding to the target configuration operation and / or the target deletion operation is determined based on the selected area of the target hot zone of the operation target, where the target hot zone of the operation target is obtained by expanding the area range of the operation target.

12. A plot target processing device, characterized in that, Including a map acquisition module and a target management module, where: The map acquisition module is used to acquire the plot information corresponding to the plot to be operated, and the plot information at least includes plot targets; The target management module is used to receive target management operations on the plot target, and perform corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated; the target management operation includes a target addition operation, the plot target includes obstacles and operation targets, the obstacles include wires, and for the receiving of the target management operation on the plot target, the target management module performs corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated, including: receiving a target addition operation on a single wire endpoint, searching for nearby utility poles, and adding a wire on the plot to be operated based on the wire endpoints corresponding to the utility pole search result and the wire endpoints corresponding to the target addition operation; receiving a target addition operation on the operation target, determining the new target position of the target addition operation on the plot to be operated; adding an operation target on the plot to be operated based on the new target position, and configuring the plot target information of the added operation target according to the plot target information of other operation targets within the set range of the new target position.

13. A plot target processing device, characterized in that, including: a memory and one or more processors; the memory is used to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the plot target processing method according to any one of claims 1-11.

14. A storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the plot target processing method according to any one of claims 1-11 when executed by a computer processor.

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