A work route adjustment method and device, a storage medium and an electronic device

Abstract

The application provides a work route adjustment method and device, a storage medium and an electronic device. The method comprises the following steps: generating a work route of a target land plot, wherein the work route comprises a plurality of parallel flight segments; determining part of the flight segments in the work route as target flight segments according to a selection operation of a user on the flight segments; obtaining a flight route parameter input by the user, and adjusting the target flight segments according to the flight route parameter, wherein the flight route parameter comprises a work height and / or a work width. The work height and / or the work width of part of the flight segments in the work route can be flexibly set based on the selection operation of the user on the flight segments and the flight route parameter input by the user, so as to adapt to different work requirements, reduce liquid drift or avoid obstacles, and effectively reduce the situation of re-spraying or missing spraying.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of route planning, in particular to a work route adjustment method and device, a storage medium and an electronic device. BACKGROUND

[0002] When the unmanned aerial vehicle sprays, the flight height will have a certain influence on the spraying width. Generally, the higher the flight height, the greater the spraying width. Therefore, the height and route spacing of the work are generally linked to set. When the working height is low, the route spacing is narrow, and vice versa, so that the spraying work will not be over-sprayed or under-sprayed. Since the working height is set uniformly, the route spacing is also set uniformly.

[0003] However, in actual operation scenarios, there are some situations that require different route heights and spacings. The current uniform setting of work route spacing and height is not flexible enough and cannot meet the needs of flexible planning scenarios. SUMMARY

[0004] The purpose of the present application is to provide a work route adjustment method, device, storage medium and electronic device to improve the above problems.

[0005] In order to achieve the above purpose, the technical scheme adopted by the embodiments of the present application is as follows:

[0006] In a first aspect, the embodiments of the present application provide a work route adjustment method, which comprises: generating a work route of a target land plot, the work route comprising a plurality of parallel segments; determining part of the segments in the work route as target segments according to a selection operation of a user on the segments; obtaining a route parameter input by the user and adjusting the target segments according to the route parameter, wherein the route parameter comprises a working height and / or a working width.

[0007] In the work route adjustment method provided by the present application, the working height and / or working width of part of the segments in the work route can be flexibly set based on the selection operation of the user on the segments and the route parameter input by the user, so as to adapt to different work requirements, reduce liquid drift or avoid obstacles, and effectively reduce over-spraying or under-spraying.

[0008] Optionally, after the operation route of the target plot is generated, the method further comprises: displaying a first switch on a route setting page, wherein the first switch is a switch for whether to uniformly set the route parameters of the operation route of the target plot; when a closing instruction of the first switch is acquired, displaying a leg selection page to acquire a selection operation of the user on the leg selection page; and when the closing instruction of the first switch is acquired, displaying a first route parameter input page to acquire the route parameters input by the user on the first route parameter input page. In this way, the convenience of the selection operation and the input of the route parameters by the user is improved.

[0009] Optionally, after the route parameters input by the user are acquired and the target leg is adjusted according to the route parameters, the method further comprises: after each target leg is adjusted, if the operation width corresponding to the target leg changes, adjusting the associated leg of the target leg in the operation route according to the operation width change value.

[0010] By adjusting the associated leg of the target leg in the operation route according to the operation width change value, the distance between adjacent legs is equal to the sum of the operation widths of the adjacent legs, so that the situation of re-spraying or missing spraying is avoided.

[0011] Optionally, the operation route of the target plot has N parallel legs, and the N legs are arranged in sequence from one side of the target plot to the other side, wherein the ith leg is a target leg with a changed operation width, 1≤i≤N-1, and the acquisition of the route parameters input by the user and the adjustment of the target leg according to the route parameters comprises: adjusting the distance between the ith leg and the calibration line corresponding to the ith leg according to the operation width change value of the ith leg, wherein the calibration line corresponding to the first leg is the boundary line of the target plot, and when i is greater than 1, the calibration line corresponding to the ith leg is the (i-1)th leg.

[0012] According to the operation width change value of the ith leg, the distance between the ith leg and the calibration line corresponding to the ith leg is changed, so that the situation of re-spraying is avoided.

[0013] Optionally, the associated segments of the ith segment include the (i+1)th segment to the Nth segment, and the adjusting the associated segments of the target segment in the operation route according to the operation width change value of the ith segment includes: adjusting the (i+1)th segment to the Nth segment according to the operation width change value of the ith segment, and the adjustment range is related to the operation width change value of the ith segment, when the operation width change value of the ith segment is negative, the adjustment direction is the direction close to the ith segment, and when the operation width change value of the ith segment is positive, the adjustment direction is the direction away from the ith segment. By adjusting the associated segments of the target segment in the operation route according to the operation width change value, the spacing between adjacent segments is equal to the sum of the respective operation widths, so as to avoid the situation of re-spraying or missing spraying.

[0014] Optionally, the method further includes: displaying a second switch on the first route parameter input page or the segment selection page, wherein the second switch is a switch for setting whether the route parameters of the target segments are uniformly set, the first route parameter input page is a page for inputting uniform route parameters of all target segments by a user, and the segment selection page is a page for displaying the operation route corresponding to the target land plot; when a closing instruction of the second switch is acquired, a second route parameter input page is displayed to acquire independent route parameters of each target segment input by the user on the second route parameter input page; and the target segments are adjusted according to the independent route parameters of the target segments, wherein the independent route parameters include independent operation height and / or independent operation width.

[0015] By adjusting each target segment individually, the purpose of flexibly adjusting the operation route can be achieved to meet complex operation requirements.

[0016] Optionally, the method further includes: if an operation route generation instruction is acquired, planning the target land plot according to standard operation parameters to obtain the operation route of the target land plot; and wherein the standard operation parameters include standard operation height and standard operation width.

[0017] Optionally, the adjusting the target segments according to the route parameters includes: in a case where the joint adjustment function is turned on, if the acquired route parameters are first type route parameters, after the adjustment of the first type route parameters of the target segments is completed, the second type route parameters of the target segments are adjusted according to a pre-established joint adjustment relationship between the operation height and the operation width; the first type route parameters are any one of the operation height and the operation width, and the second type route parameters are the other one of the operation height and the operation width.

[0018] In the case that the joint debugging function is started, the second type of flight path parameters can be obtained according to the pre-established joint debugging relationship between the working height and the working width, so as to guarantee the matching of the first type of flight path parameters and the second type of flight path parameters, guarantee the spraying operation effect, and avoid the situations of missing spraying and re-spraying.

[0019] Optionally, the method further includes: displaying a third switch on a flight path parameter input page, wherein the third switch is a switch for starting or not starting joint debugging, and the flight path parameter input page is a page for inputting flight path parameters by a user; and starting the joint debugging function when a starting instruction of the third switch is acquired, so that after the adjustment of the first type of flight path parameters of the target flight section is completed, the second type of flight path parameters of the target flight section is adjusted according to the pre-established joint debugging relationship between the working height and the working width.

[0020] In a second aspect, an embodiment of the present application provides an operation flight path adjustment device, and the device includes:

[0021] a first processing unit configured to generate an operation flight path of a target land plot, wherein the operation flight path includes a plurality of parallel flight sections;

[0022] The first processing unit is further configured to determine part of the flight sections in the operation flight path as target flight sections according to a selection operation of a user on the flight sections.

[0023] a second processing unit configured to acquire flight path parameters input by a user and adjust the target flight sections according to the flight path parameters, wherein the flight path parameters include a working height and / or a working width.

[0024] In a third aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described above.

[0025] In a fourth aspect, an embodiment of the present application provides an electronic device, and the electronic device includes a processor and a memory, wherein the memory is configured to store one or more programs; and when the one or more programs are executed by the processor, the method described above is implemented.

[0026] In order to make the above objectives, characteristics and advantages of the present application more apparent and understandable, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to make the above objectives, characteristics and advantages of the present application more apparent and understandable, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows.

[0028] Figure 1 Structure schematic diagram of an electronic device provided by an embodiment of the present application.

[0029] Figure 2 Flowchart of a work flight path adjustment method provided by an embodiment of the present application.

[0030] Figure 3 Schematic diagram of a display interface provided by an embodiment of the present application.

[0031] Figure 4 Flowchart of a work flight path adjustment method provided by an embodiment of the present application.

[0032] Figure 5 Schematic diagram of a display interface provided by an embodiment of the present application.

[0033] Figure 6 Schematic diagram of a display interface provided by an embodiment of the present application.

[0034] Figure 7 Flowchart of a work flight path adjustment method provided by an embodiment of the present application.

[0035] Figure 8 Schematic diagram of a work flight path comparison provided by an embodiment of the present application.

[0036] Figure 9 Flowchart of a work flight path adjustment method provided by an embodiment of the present application.

[0037] Figure 10 Schematic diagram of a display interface provided by an embodiment of the present application.

[0038] Figure 11 Flowchart of a work flight path adjustment method provided by an embodiment of the present application.

[0039] Figure 12 Schematic diagram of a display interface provided by an embodiment of the present application.

[0040] Figure 13 Schematic diagram of a display interface provided by an embodiment of the present application.

[0041] Figure 14 Unit schematic diagram of a work flight path adjustment device provided by an embodiment of the present application.

[0042] In the figure: 10-processor; 11-memory; 12-bus; 13-communication interface; 501-first processing unit; 502-second processing unit. DETAILED DESCRIPTION

[0043] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0045] It should be noted that similar reference numerals and letters refer to like items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are merely used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0046] Moreover, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0047] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrange", "connect" should be understood broadly, for example, can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] The following will describe some embodiments of the present application in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0049] In actual operation scenarios, there are some situations that need to set different flight line heights and spacings. The ownership of the operation plot and the adjacent plot is different. In order to reduce the influence on the adjacent plot and control the drift of the sprayed pesticide, the operation height of the flight line around the operation plot is set as low as possible, and the operation height of the flight line in the middle of the plot is set as normal. Different operation heights should set different flight line spacings to reduce over-spraying and under-spraying. Or part of the area in the operation plot is arranged with power lines. The flight line height of the part of the area with power lines is higher than the power lines, so that the unmanned aerial vehicle can fly safely above the power lines. The flight line of the part of the area without power lines can use normal operation height to achieve better operation effect.

[0050] In order to meet the needs of setting different flight line heights and spacings, the operation flight line adjustment method provided by the embodiments of the present application can set higher or lower operation flight heights at corresponding positions of the operation plot to reduce pesticide drift or avoid obstacles. The operation range corresponding to each flight section can also be adjusted synchronously, thereby changing the spacing between the flight sections, so as to effectively reduce over-spraying and under-spraying.

[0051] The electronic device provided by the embodiments of the present application can be a mobile phone, a computer, and a controller of an aircraft. The electronic device can be in communication connection with a central control unit of the aircraft. The aircraft can be but is not limited to an unmanned aerial vehicle. Please refer to Figure 1 , a structural schematic diagram of the electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected through the bus 12. The processor 10 is used to execute the executable modules stored in the memory 11, such as computer programs.

[0052] The processor 10 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the operation flight line adjustment method can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor 10. The processor 10 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; or a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0053] The memory 11 can include a high-speed random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory.

[0054] The bus 12 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. Figure 1 Only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus 12 or only one type of bus 12.

[0055] The memory 11 is used to store programs, such as programs corresponding to the work flight adjustment device. The work flight adjustment device includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or solidified in the operating system (OS) of the electronic device. The processor 10 executes the program to implement the work flight adjustment method after receiving an execution instruction.

[0056] Possibly, the electronic device provided by the embodiments of the present application further includes a communication interface 13. The communication interface 13 is connected with the processor 10 through the bus.

[0057] It should be understood that, Figure 1 The structure shown is only a schematic structure of part of the electronic device, and the electronic device can further include more or fewer components than those shown in the figure or have a different configuration from that shown in the figure. Figure 1 The components shown in the figure can be realized in hardware, software, or a combination thereof. Figure 1 Figure 1 The electronic device shown in the figure can be used as a work flight adjustment device.

[0058] The work flight adjustment method provided by the embodiments of the present application can be applied to, but is not limited to, the electronic device shown in the figure. For the specific flow, please refer to the work flight adjustment method. Figure 1 The work flight adjustment method includes S110, S150, and S160, which are specifically described as follows. Figure 2

[0059] S110, generating a work flight of a target plot.

[0060] The work flight includes a plurality of parallel flight segments.

[0061] For the specific flow, please refer to the work flight adjustment method. Figure 3 , Figure 3 ​​One of the display interface schematic diagrams provided by the embodiment of the present application. The display area of the flight path setting page can display the generated work flight path of the target land plot for the user to refer to and select.

[0062] S150, according to the selection operation of the user on the flight segment, determining part of the flight segments in the work flight path as target flight segments.

[0063] S160, obtaining the flight path parameters input by the user, and adjusting the target flight segments according to the flight path parameters.

[0064] The flight path parameters include the work height and / or the work width. It should be noted that the flight path parameters of the target flight segments can be set uniformly or separately.

[0065] In the work flight path adjustment method provided by the embodiment of the present application, the work height and / or the work width of part of the flight segments in the work flight path can be flexibly set based on the selection operation of the user on the flight segment and the flight path parameters input by the user, so as to adapt to different work requirements, reduce liquid drift or avoid obstacles, and effectively reduce the situation of re-spraying or missing spraying.

[0066] On the basis of Figure 2 , in order to improve the convenience of the selection operation and the input of the flight path parameters by the user, an optional embodiment of the present application is provided, please refer to Figure 4 . After S110 of generating the work flight path of the target land plot, the work flight path adjustment method further includes S120, S130 and S140, which are specifically described as follows.

[0067] S120, displaying a first switch on the flight path setting page.

[0068] The first switch is a switch for uniformly setting the flight path parameters of the work flight path of the target land plot.

[0069] Please continue to refer to Figure 3 , Figure 3 The flight path setting page shown in the figure includes the first switch in the on state.

[0070] S130, when the off instruction of the first switch is obtained, displaying a flight segment selection page to obtain the selection operation of the user on the flight segment in the flight segment selection page.

[0071] The flight segment selection page is used to display the work flight path corresponding to the target land plot.

[0072] Please refer to Figure 5 and Figure 6 , Figure 5 The second of the display interface schematic diagrams provided by the embodiment of the present application, Figure 6The third display interface schematic diagram provided by the embodiment of the present application is shown. When the user clicks, double-clicks or slides the first switch on the flight segment selection page, it is determined that the closing instruction of the first switch is obtained, the first switch is switched to the closed state as shown. Figure 5 Then, the flight segment selection page shown in Figure 6 is jumped to.

[0073] On the flight segment selection page, a selection button is arranged on each flight segment, and the user can select the target flight segment by clicking the selection button. Figure 6 Figure 6 The flight segment with a √ symbol in the circle symbol shown in is the target flight segment.

[0074] S140, when the closing instruction of the first switch is obtained, the first flight path parameter input page is displayed to obtain the flight path parameters input by the user on the first flight path parameter input page.

[0075] Figure 6 Please continue to refer to Figure 6 The parameter input area of the working height and / or working width is arranged in the first flight path parameter input page, and the user can input the working height and / or working width in the parameter input area. For example,

[0076] It should be noted that all the target flight segments can be adjusted according to the flight path parameters input by the user on the first flight path parameter input page.

[0077] If the working width corresponding to the target flight segment changes, the distance between the target flight segment and the adjacent flight segment may change after the target flight segment is adjusted according to the corresponding flight path parameters, in order to avoid the situation of re-spraying or missing spraying, the present embodiment further provides an optional implementation, please refer to Figure 7 After S160, the flight path parameters input by the user are obtained, and after the target flight segment is adjusted according to the flight path parameters, the working flight path adjustment method further comprises S170, which is specifically described as follows.

[0078] S170, after each target flight segment is adjusted, if the working width corresponding to the target flight segment changes, the associated flight segment of the target flight segment in the working flight path is adjusted according to the working width change value.

[0079] The associated flight segment is the flight segment arranged after the target flight segment in the working flight path.

[0080] By adjusting the associated flight segment of the target flight segment in the working flight path according to the working width change value, the distance between the adjacent flight segments is equal to the sum of the working widths of the two, so as to avoid the situation of re-spraying or missing spraying.​

[0081] On the basis of the foregoing, in the case of a change in the operation width of the flight section, how to adjust the flight path to ensure the spraying effect, the embodiments of the present application also provide an alternative implementation, please refer to the following.

[0082] The target plot has N parallel flight sections, and the N flight sections are arranged in order from one side of the target plot to the other side, wherein the ith flight section is a target flight section with a change in the operation width, and 1≤i≤N-1. S160, the flight path parameters input by the user are obtained, and the target flight section is adjusted according to the flight path parameters, including: S161, as follows.

[0083] S161, according to the operation width change value of the ith flight section, the distance between the ith flight section and the calibration line corresponding thereto is adjusted, wherein the calibration line corresponding to the first flight section is the boundary line of the target plot (the boundary line adjacent to the first flight section), and when i is greater than 1, the calibration line corresponding to the ith flight section is the (i-1)th flight section.

[0084] Please refer to Figure 8 , Figure 8 for the working flight path comparison diagram provided by the embodiments of the present application. Figure 8 In part a, the initial working flight path is shown, part b shows the working flight path after adjusting the ith flight section, and part c shows the working flight path after adjusting the associated flight section. Figure 8 In part a, the initial working flight path is shown, part b shows the working flight path after adjusting the ith flight section, and part c shows the working flight path after adjusting the associated flight section. Figure 8 In part a, the initial working flight path is shown, part b shows the working flight path after adjusting the ith flight section, and part c shows the working flight path after adjusting the associated flight section.

[0085] Figure 8 In part a, the initial working flight path is shown, part b shows the working flight path after adjusting the ith flight section, and part c shows the working flight path after adjusting the associated flight section.

[0086] Similarly, if the operation width change value of the ith flight section is positive, i.e. the operation width is increased, then the ith flight section is moved away from the calibration line corresponding thereto (the (i-1)th flight section), and the moving distance is the operation width change value, so as to change the distance between the ith flight section and the calibration line corresponding thereto, thereby avoiding the situation of over-spraying.

[0087] Please continue to refer to Figure 8 , the associated flight section of the ith flight section includes the (i+1)th flight section to the Nth flight section. In S170, the associated flight section of the target flight section in the working flight path is adjusted according to the operation width change value, including: S171, as follows.

[0088] S171, adjusting the i+1th to the Nth flight segments according to the operation width change value of the ith flight segment.

[0089] The adjustment range of the associated flight segment is related to the operation width change value of the ith flight segment. When the operation width change value of the ith flight segment is negative, the adjustment direction is the direction close to the ith flight segment. When the operation width change value of the ith flight segment is positive, the adjustment direction is the direction away from the ith flight segment.

[0090] When the spraying operation is performed, the environment of the target land plot can be relatively complex, for example, there are obstacles of different heights in the target land plot, or because the target land plot is adjacent to the side land plot, the flight height and the operation width of the adjusted flight path cannot meet the adjustment requirements of the obstacles. In such a complex working condition, it is necessary to more flexibly adjust the operation flight path. Therefore, the present application embodiment also provides an alternative implementation, please refer to Figure 9 , the operation flight path adjustment method further comprises: S210, S220 and S230, which are specifically described as follows.

[0091] S210, displaying a second switch on the first flight path parameter input page or the flight segment selection page.

[0092] The second switch is a switch for uniformly setting the flight path parameters of the target flight segments. The first flight path parameter input page is a page for the user to input the uniform flight path parameters of all target flight segments. The flight segment selection page is a page for displaying the operation flight path corresponding to the target land plot.

[0093] Please continue to refer to Figure 6 , the second switch is displayed on the first flight path parameter input page or the flight segment selection page, Figure 6 , the second switch is in an open state.

[0094] S220, when the closing instruction of the second switch is acquired, a second flight path parameter input page is displayed to acquire the independent flight path parameters of each target flight segment input by the user on the second flight path parameter input page.

[0095] Please refer to Figure 10 , Figure 10 The fourth display interface schematic diagram provided by the present application embodiment is shown. When the closing instruction of the second switch is acquired, the second switch is switched to the closed state as shown in Figure 10 , and the second flight path parameter input page is displayed. The independent parameter input area of each target flight segment is displayed on the second flight path parameter input page to acquire the independent flight path parameters input by the user in the independent parameter input area of the target flight segment. Figure 10Taking the No. 3 flight section (the third flight section) and the No. 6 flight section (the sixth flight section) as examples, independent flight path parameters including independent operation height and / or independent operation width can be set for different target flight sections.

[0096] S230, adjusting the target flight section according to the independent flight path parameters of the target flight section.

[0097] By adjusting each target flight section individually, the purpose of flexibly adjusting the operation flight path can be achieved to meet complex operation requirements.

[0098] On the basis of the foregoing, regarding the content of S110, the embodiment of the application further provides an alternative implementation, please refer to the following. S110, generating an operation flight path of a target land plot, comprising: S111, specifically as follows.

[0099] S111, if an operation flight path generation instruction is acquired, planning the target land plot according to standard operation parameters to obtain an operation flight path of the target land plot.

[0100] The standard operation parameters include standard operation height and standard operation width. The standard operation parameters can be input by a user or can be default parameters.

[0101] Please continue to refer to Figure 3 , the standard parameter input area is provided on the flight path setting page. The standard operation height is 3 meters as shown in Figure 3 , and the standard operation width is 6 meters as shown in Figure 3 . The target land plot is planned according to the standard operation parameters input by the user in the standard parameter input area to obtain an initial planned operation flight path.

[0102] The standard parameter input area includes a standard operation height input area and a standard operation width input area, the standard operation parameters include standard operation height and standard operation width, the standard operation height is the value in the standard operation height input area, and the standard operation width is the value in the standard operation width input area.

[0103] On the basis of the foregoing, regarding the content of S160, the embodiment of the application further provides an alternative implementation, please refer to the following, adjusting the target flight section according to the flight path parameters, comprising: S160-A, specifically as follows.

[0104] S160-A, in the case of starting the joint adjustment function, if the acquired flight path parameters are the first type of flight path parameters, after completing the adjustment of the first type of flight path parameters of the target flight section, adjusting the second type of flight path parameters of the target flight section according to the pre-established joint adjustment relationship between the operation height and the operation width.

[0105] The first type of flight path parameter is any one of the working height and the working width, and the second type of flight path parameter is the other one of the working height and the working width.

[0106] When the joint debugging function is started, the second type of flight path parameter can be obtained according to the pre-established joint debugging relationship between the working height and the working width, so that the matching of the first type of flight path parameter and the second type of flight path parameter is ensured, the spraying operation effect is ensured, and the situations of missing spraying and re-spraying are avoided.

[0107] Optionally, the pre-established joint debugging relationship between the working height and the working width indicates that there is a positive relationship between the working height and the working width, when the working height increases, the working width increases, when the working height decreases, the working width decreases, and vice versa.

[0108] On the basis of the foregoing, as to how to start the joint debugging function, the embodiment of the application further provides an optional implementation manner, please refer to Figure 11 . The operation flight path adjustment method further comprises: S310 and S320, which are specifically described as follows.

[0109] S310, display a third switch on a flight path parameter input page.

[0110] The third switch is a switch for starting the joint debugging, and the flight path parameter input page is a page for inputting the flight path parameter. The flight path parameter input page herein can be the first flight path parameter input page and the second flight path parameter input page in the foregoing.

[0111] Please refer to Figure 12 , Figure 12 which is the fifth display interface schematic diagram provided by the embodiment of the application. The third switch is in the closed state on the flight path parameter input page, which indicates that the joint debugging function is not started.

[0112] S320, when the starting instruction of the third switch is acquired, start the joint debugging function, so that after the adjustment of the first type of flight path parameter of the target flight section is completed, the second type of flight path parameter of the target flight section is adjusted according to the pre-established joint debugging relationship between the working height and the working width.

[0113] Please refer to Figure 13 , Figure 13 which is the sixth display interface schematic diagram provided by the embodiment of the application. When the starting instruction of the third switch is acquired, the third switch is switched to the open state, and only the input area of the first type of flight path parameter can be displayed. After the first type of flight path parameter is input, the joint debugging is performed, and the second type of flight path parameter of the target flight section is adjusted according to the pre-established joint debugging relationship between the working height and the working width.

[0114] Please refer to Figure 14 , Figure 14The work flight path adjustment device provided in the embodiment of the present application can be applied to the electronic device described above.

[0115] The work flight path adjustment device comprises a first processing unit 501 and a second processing unit 502.

[0116] The first processing unit 501 is configured to generate a work flight path of a target land plot, and the work flight path comprises a plurality of parallel flight segments.

[0117] The first processing unit 501 is further configured to determine part of the flight segments in the work flight path as target flight segments according to a selection operation of a user on the flight segments.

[0118] The second processing unit 502 is configured to obtain a flight path parameter input by a user and adjust the target flight segments according to the flight path parameter, wherein the flight path parameter comprises a work height and / or a work width.

[0119] Optionally, the second processing unit 502 can perform the S160, S170 and S230 described above, and the first processing unit 501 can perform other steps described above.

[0120] It should be noted that the work flight path adjustment device provided in the embodiment can perform the method process shown in the method process embodiment to achieve the corresponding technical effects. For brevity, the part not mentioned in the embodiment can refer to the corresponding content in the above-mentioned embodiments.

[0121] The embodiment of the present application further provides a storage medium, which stores computer instructions and programs, and the computer instructions and programs perform the work flight path adjustment method of the above-mentioned embodiments when read and run. The storage medium can include memory, flash memory, register or a combination thereof.

[0122] The following provides an electronic device, which can be a mobile phone, a computer and a controller of an aircraft, and the electronic device can implement the work flight path adjustment method as shown in Figure 1 The electronic device comprises a processor 10, a memory 11 and a bus 12. The processor 10 can be a CPU. The memory 11 is configured to store one or more programs, and the one or more programs are configured to perform the work flight path adjustment method of the above-mentioned embodiments when executed by the processor 10.

[0123] To sum up, the work flight path adjustment method and device, storage medium and electronic equipment provided by the embodiment of the application comprise: generating a work flight path of a target land plot, the work flight path comprising a plurality of parallel flight segments; determining part of the flight segments in the work flight path as target flight segments according to a selection operation of a user on the flight segments; obtaining a flight path parameter input by the user, and adjusting the target flight segments according to the flight path parameter, wherein the flight path parameter comprises a work height and / or a work width. The work height and / or the work width of part of the flight segments in the work flight path can be flexibly set based on the selection operation of the user on the flight segments and the flight path parameter input by the user, so as to adapt to different work requirements, reduce liquid drift or avoid obstacles, and effectively reduce the situation of re-spraying or missing spraying.

[0124] The preferred embodiments of the application are described above, but the application is not limited to the above examples, and various modifications and changes can be made by those skilled in the art without departing from the spirit and principle of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

[0125] It is obvious for those skilled in the art that the application is not limited to the details of the above exemplary embodiments, and the application can be implemented in other specific forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A work course adjustment method characterized by comprising: The method comprises: generating a work flight path of a target plot, the work flight path comprising a plurality of parallel flight segments; determining, according to a selection operation of a user on the flight segments, part of the work flight path as target flight segments; displaying a second switch on a first flight parameter input page or a flight segment selection page, wherein the second switch is a switch for uniform setting of flight parameters of the target flight segments, the first flight parameter input page is a page for the user to input uniform flight parameters of all target flight segments, and the flight segment selection page is a page for displaying the work flight path corresponding to the target plot; when a closing instruction of the second switch is obtained, displaying a second flight parameter input page to obtain independent flight parameters of each of the target flight segments input by the user on the second flight parameter input page, the independent flight parameters comprising independent work heights and / or independent work widths; obtaining the flight parameters input by the user and adjusting the target flight segments according to the flight parameters, comprising: adjusting the target flight segments according to the independent flight parameters of the target flight segments, wherein the flight parameters comprise work heights and / or work widths.

2. The work line adjustment method according to claim 1, characterized by, After generating the work flight path of the target plot, the method further comprises: displaying a first switch on a flight path setting page, wherein the first switch is a switch for uniform setting of flight parameters of the work flight path of the target plot; when a closing instruction of the first switch is obtained, displaying a flight segment selection page to obtain a selection operation of the user on the flight segments on the flight segment selection page.

3. The work line adjustment method according to claim 2, characterized by, The method further comprises: when the closing instruction of the first switch is obtained, displaying a first flight parameter input page to obtain the flight parameters input by the user on the first flight parameter input page.

4. The work line adjustment method according to claim 1, characterized by, After obtaining the flight parameters input by the user and adjusting the target flight segments according to the flight parameters, the method further comprises: after each of the target flight segments is adjusted, if a work width corresponding to the target flight segment changes, adjusting associated flight segments of the target flight segment in the work flight path according to a work width change value.

5. The work line adjustment method according to any one of claims 1 to 4, characterized by, The work flight path of the target plot comprises N parallel flight segments, and the N flight segments are arranged in sequence from one side of the target plot to the other side, wherein the ith flight segment is a target flight segment with a changed work width, 1≤i≤N-1, and the obtaining of the flight parameters input by the user and the adjusting of the target flight segments according to the flight parameters comprise: adjusting a distance between the ith flight segment and a calibration line corresponding to the ith flight segment according to a work width change value of the ith flight segment, wherein the calibration line corresponding to the first flight segment is a boundary line of the target plot, and when i is greater than 1, the calibration line corresponding to the ith flight segment is the (i-1)th flight segment.

6. The work line adjustment method according to claim 5, characterized by, The associated flight segments of the ith flight segment comprise the (i+1)th flight segment to the Nth flight segment, and the adjusting of the associated flight segments of the target flight segment in the work flight path according to the work width change value comprises: According to the operation width variation value of the ith navigation section, the i+1th navigation section to the Nth navigation section is adjusted by an adjustment range related to the operation width variation value of the ith navigation section, when the operation width variation value of the ith navigation section is negative, the adjustment direction is the direction close to the ith navigation section, when the operation width variation value of the ith navigation section is positive, the adjustment direction is the direction away from the ith navigation section.

7. The work line adjustment method according to Claim 1, characterized by, The operation route of the target land plot is generated, including: If the operation route generation instruction is acquired, the target land plot is planned according to the standard operation parameter, so as to obtain the operation route of the target land plot; The standard operation parameter includes a standard operation height and a standard operation width.

8. The work line adjustment method according to claim 1, characterized by, According to the route parameter, the target navigation section is adjusted, including: In the case of starting the joint debugging function, if the acquired route parameter is the first type of route parameter, after the adjustment of the first type of route parameter of the target navigation section is completed, the second type of route parameter of the target navigation section is adjusted according to the pre-established joint debugging relationship between the operation height and the operation width. The first type of route parameter is any one of the operation height and the operation width, and the second type of route parameter is the other one of the operation height and the operation width.

9. The work line adjustment method according to claim 8, characterized by, The method further includes: A third switch is displayed on the route parameter input page, wherein the third switch is a switch for starting the joint debugging, and the route parameter input page is a page for inputting the route parameter by the user; When the starting instruction of the third switch is acquired, the joint debugging function is started, so that after the adjustment of the first type of route parameter of the target navigation section is completed, the second type of route parameter of the target navigation section is adjusted according to the pre-established joint debugging relationship between the operation height and the operation width.

10. A work course adjusting device characterized by comprising: The device includes: A first processing unit is configured to generate an operation route of a target land plot, and the operation route includes a plurality of parallel navigation sections; The first processing unit is further configured to determine part of the navigation sections in the operation route as target navigation sections according to a selection operation of a user on the navigation sections; The first processing unit is further configured to display a second switch on a first route parameter input page or a navigation section selection page, wherein the second switch is a switch for uniformly setting the route parameters of the target navigation sections, the first route parameter input page is a page for inputting uniform route parameters of all target navigation sections by a user, and the navigation section selection page is a page for displaying the operation route corresponding to the target land plot; The first processing unit is further configured to display a second route parameter input page to acquire independent route parameters of each target navigation section input by a user on the second route parameter input page when a closing instruction of the second switch is acquired, and the independent route parameters include independent operation height and / or independent operation width; A second processing unit is configured to acquire the route parameters input by a user and adjust the target navigation sections according to the route parameters, including adjusting the target navigation sections according to the independent route parameters of the target navigation sections, wherein the route parameters include operation height and / or operation width.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, which when executed by the processor, implements the method of any one of claims 1-9.

12. An electronic device, comprising: comprising: a processor and memory for storing one or more programs; when the one or more programs are executed by the processor, implement the method of any one of claims 1-9.

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