Land parcel target processing method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a land parcel target processing method and device, equipment and a storage medium. According to the technical scheme provided by the embodiment of the invention, the land parcel information of the to-be-operated land parcel is acquired to obtain the land parcel target in the land parcel information, and the corresponding operation processing is executed on the land parcel target corresponding to the target management operation on the to-be-operated land parcel according to the target management operation on the land parcel target. Management of the land parcel targets on the land parcel to be operated is realized, management modes of the land parcel targets are enriched, and a more flexible land parcel target acquisition and management mode is provided for users.

Description

[0001] This application is a divisional application of the application with the application number 2022107764006, the application date of June 30, 2022, and the invention name of "a plot target processing method, device, equipment and storage medium". TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of image processing, in particular to a plot target processing method, device, equipment and storage medium. BACKGROUND

[0003] With the development of unmanned equipment technology, the use of unmanned equipment for crop operation is also more and more extensive, for example, unmanned equipment can be used to automatically operate crops such as fruit trees (such as spraying fertilizer, pesticide, etc.). Before the unmanned equipment performs crop operation, it needs to plan a flight route based on the plot map information of the plot to be operated.

[0004] In the plot map, the plot targets corresponding to the plot to be operated, such as obstacles and operation targets, are usually recorded. At present, the configuration of the plot target is generally manually added by the staff on the plot map according to the on-site situation of the plot to be operated. However, the environment of the operation site is relatively complex, and the way of manually marking the plot target has the problem of low plot target processing efficiency, which affects the operation efficiency. SUMMARY

[0005] Embodiments of the present application provide a plot target processing method, device, equipment and storage medium to solve the technical problem of low plot target processing efficiency caused by manually marking the plot target, improve the plot target processing efficiency, and ensure the operation efficiency.

[0006] In a first aspect, embodiments of the present application provide a plot target processing method, comprising:

[0007] Obtaining plot information corresponding to a plot to be operated, the plot information at least including plot targets;

[0008] Receiving a target management operation on the plot target, and performing a corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated.

[0009] In a second aspect, embodiments of the present application provide a plot target processing device, comprising a map acquisition module and a target management module, wherein:

[0010] The map acquisition module is configured to obtain plot information corresponding to a plot to be operated, the plot information at least including plot targets;

[0011] 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 worked.

[0012] In a third aspect, an embodiment of the present application provides a plot target processing device, including a memory and one or more processors;

[0013] The memory is configured to store one or more programs.

[0014] 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 the first aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to perform the plot target processing method according to the first aspect.

[0016] The embodiments of the present application obtain plot information of a plot to be worked to obtain plot targets in the plot information, perform corresponding operation processing on plot targets corresponding to target management operations on the plot to be worked according to the target management operations, implement management of the plot targets on the plot to be worked, enrich the management mode of the plot targets, and provide more flexible plot target obtaining and management modes for users. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a flowchart of a plot target processing method provided by an embodiment of the present application;

[0018] Figure 2 is a flowchart of operation processing on a plot target provided by an embodiment of the present application;

[0019] Figure 3 is a flowchart of a target adding operation on a working target provided by an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a target identification result provided by an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of a target adding operation effect on an obstacle provided by an embodiment of the present application;

[0022] Figure 6 is a schematic diagram of an effect of performing a target configuration operation on wire end point information of a wire provided by an embodiment of the present application;

[0023] Figure 7is an effect schematic diagram of performing a target configuration operation on flight height information of an electric wire according to an embodiment of the present application;

[0024] Figure 8 is an effect schematic diagram of a target addition operation on a work target according to an embodiment of the present application;

[0025] Figure 9 is an effect schematic diagram of performing a target configuration operation on a work target according to an embodiment of the present application;

[0026] Figure 10 is a structural schematic diagram of a plot target processing apparatus according to an embodiment of the present application;

[0027] Figure 11 is a structural schematic diagram of a plot target processing apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the specific embodiments of the present application with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application. In addition, it should be noted that, for the convenience of description, only parts related to the present application are shown in the drawings, but not all. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowchart describes each operation (or step) as a sequential process, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The above process can be terminated when its operations are completed, but can also have additional steps not included in the drawings. The above process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0029] Figure 1 A flowchart of a plot target processing method according to an embodiment of the present application is given. The plot target processing method according to an embodiment of the present application can be executed by a plot target processing apparatus, which can be realized by hardware and / or software and integrated in a plot target processing device.

[0030] The following describes a plot target processing method executed by a plot target processing apparatus. Referring to Figure 1 , the plot target processing method comprises:

[0031] S110: Obtain plot information corresponding to a plot to be worked, wherein the plot information at least comprises a plot target.

[0032] The to-be-worked plot provided in the scheme can be understood as a plot or area waiting to be worked, such as a fruit tree planting area, farmland, etc. waiting to be fertilized or sprayed. The work on the to-be-worked plot can be carried out by an unmanned device such as a drone, for example, by a drone carrying fertilizer or pesticide to carry out flight spraying work. When the unmanned device is working, it needs to be based on the to-be-worked plot map, which has plot targets (such as work objects such as fruit trees and crops that need to be sprayed, obstacles such as buildings and power lines that need to be bypassed, and no-spray areas that prohibit spraying) marked on the to-be-worked plot map, and based on the plot targets to plan a work flight path on the to-be-worked plot map, and fly and spray fertilizer or pesticide according to the work flight path, to achieve precise spraying work on the to-be-worked plot.

[0033] The to-be-worked plot provided in the embodiment can be determined according to the user's to-be-worked plot setting operation. For example, the user edits the to-be-worked plot on the plot editing interface according to the range of the plot that needs to be worked (which can be determined by a positioning point of the to-be-worked plot on the plot editing interface, and the boundary range surrounded by the positioning point is the to-be-worked plot). It can also be that the user carries a plot target processing device to a plurality of positioning points of the to-be-worked plot to perform dotting operations, and the positioning points and the boundary range corresponding to the to-be-worked plot can be determined by a plurality of dotting positioning points.

[0034] For example, when the plot target in the to-be-worked plot needs to be managed, the plot information corresponding to the to-be-worked plot can be obtained, and the corresponding plot information can be displayed in the plot editing interface. The plot information at least includes the plot target in the to-be-worked plot. Optionally, the plot target can be obtained by target recognition processing on the map information corresponding to the to-be-worked plot, or by target adding operation performed by the user on the plot editing interface, or based on the plot target configured in the to-be-worked plot in the history (which can be obtained by target recognition or target adding operation).

[0035] In one possible embodiment, the plot target provided in the scheme can be obtained by target recognition processing on the map information of the to-be-worked plot. The target recognition processing on the map information of the to-be-worked plot includes: obtaining the map information corresponding to the to-be-worked plot, performing target recognition processing on the to-be-worked plot based on the map information, and obtaining the plot target in the to-be-worked plot.

[0036] For example, the position information corresponding to the to-be-worked plot is determined, and the map information corresponding to the to-be-worked plot is obtained according to the position information. Optionally, the map information provided in the scheme can be a high-precision map corresponding to the to-be-worked plot, wherein the high-precision map can be obtained by high-precision map collection of each plot by aerial survey equipment such as a drone.

[0037] The position information corresponding to the to-be-worked plot can be represented by the positioning point and / or the boundary range of the to-be-worked plot. After determining the position information corresponding to the to-be-worked plot, it is determined according to the position information whether the to-be-worked plot is within the coverage range of the map information (high-definition map). For example, it is determined whether the positioning point of the to-be-worked plot is within the coverage range of the high-definition map, or whether the boundary of the to-be-worked plot is within the coverage range of the high-definition map. If the to-be-worked plot is within the coverage range of the map information, it is considered that the to-be-worked plot belongs to the normally-worked plot, and the map information corresponding to the to-be-worked plot (the map data corresponding to the range of the to-be-worked plot) is obtained for subsequent plot target processing. If the to-be-worked plot is not within the coverage range of the map information, it is considered that the to-be-worked plot belongs to the non-normally-worked plot, and the plot target processing can be ended, and the user is reminded to update or load the map information corresponding to the to-be-worked plot. Alternatively, when the map information partially covers the to-be-worked plot, the user is reminded that the map information only partially covers the to-be-worked plot, and 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 can be continued.

[0038] For example, after obtaining the map information corresponding to the to-be-worked plot, the target recognition processing of the to-be-worked plot can be performed using the map information, and the plot target on the to-be-worked plot can be determined according to the target recognition processing result. The plot target includes one or more of the combination of obstacles (such as buildings, power lines, power poles, electric towers, windbreaks), work targets (such as crops), and no-fly areas on the to-be-worked plot.

[0039] For example, the target recognition of the to-be-worked plot can be realized according to a pre-configured AI recognition function module, that is, the AI recognition function module is used to recognize each plot target in the map information within the range corresponding to the to-be-worked plot, and the plot target is marked on the plot editing interface according to a set marking manner. Alternatively, a target recognition model based on a neural network is used to recognize the plot target in the map information within the range of the to-be-worked plot. For example, a high-definition map sample with marked plot targets (including obstacles, work targets, no-fly areas, etc.) is used to train the target recognition model, and the trained target recognition model can be used to recognize the target of the map information, and determine each plot target in the map information within the range corresponding to the to-be-worked plot.

[0040] Optionally, the target recognition processing of the to-be-worked plot based on the map information can be performed locally on a plot target processing device (such as a mobile phone, a tablet, a computer, etc.), or can be performed by a remote server, and the recognition result is sent to the plot target processing device.

[0041] In a possible embodiment, before target recognition processing is performed on the to-be-worked land plot based on the map information, the user can select a target type of the land plot target to be recognized, and the land plot target processing apparatus can identify the land 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 to-be-worked land plot, the user can click on the target recognition function button provided on the land plot editing interface, and the land plot target processing apparatus can provide a target type selection interface on the land plot editing interface in response to the triggering of the target recognition function button, and determine the target type of the land plot target to be recognized according to the selection operation of the user on the target type selection interface.

[0042] In a possible embodiment, when target recognition processing is performed on the to-be-worked land plot based on the map information, a specific target sub-type (for example, a wire, a building, a power pole, a tree, a power tower, or the like corresponding to an obstacle) corresponding to the target type can also be selected, and the target sub-type of the land plot target to be recognized can be determined according to the selection operation of the user on the target sub-type selection interface.

[0043] S120: receiving a target management operation on the land plot target, and performing corresponding operation processing on the land plot target corresponding to the target management operation on the to-be-worked land plot.

[0044] After the target recognition processing is performed on the map information to obtain the land plot target in the to-be-worked land plot, the corresponding land plot target can be displayed on the land plot editing interface according to the target position information of each land plot target, where different types of land plot targets can be represented according to a pre-set target icon. Optionally, when the land plot target is displayed on the land plot editing interface, the type of the land plot target displayed on the land plot editing interface can be determined according to the target display type selected by the user.

[0045] For example, when the land plot target on the land plot editing interface needs to be managed (for example, the land plot target is added, edited, or deleted on the land plot editing interface), the user can initiate a target management operation on the land plot target on the land plot editing interface. After receiving the target management operation on the land plot target, the land plot target processing apparatus will perform corresponding operation processing (for example, adding, editing, or deleting the land plot target on the to-be-worked land plot displayed on the land plot editing interface) on the land plot target corresponding to the target management operation on the to-be-worked land plot in response to the target management operation.

[0046] In a possible embodiment, after target identification processing is performed on the to-be-worked plot to obtain plot targets (when operation processing is not required to be performed on the plot targets), or after operation processing on the plot targets is completed, map information (at least including map data covering a range corresponding to the to-be-worked plot) containing the plot targets can be saved as a plot map corresponding to the to-be-worked plot, and more accurate work flight path planning can be performed based on the plot map subsequently. For example, a work strategy is determined based on the plot targets of the to-be-worked plot and / or device information (including battery capacity, drug amount information, and the like) of the unmanned device, where the work strategy includes a work flight path, a flight height, and work parameters (such as a spraying amount, a spraying width, and the like).

[0047] The scheme achieves management of plot targets on the to-be-worked plot, enriches the management mode of the plot targets, and provides a more flexible plot target acquisition and management mode for a user, by obtaining plot information of a to-be-worked plot to obtain plot targets in the plot information, and performing corresponding operation processing on plot targets corresponding to target management operation on the to-be-worked plot according to the target management operation on the plot targets.

[0048] In a possible embodiment, the target management operation provided by the scheme includes one or more combinations of target addition operation, target configuration operation, and target deletion operation, where the target addition operation is used to add a plot target on a plot editing interface, the target configuration operation is used to set plot target information (that is, related parameters of the plot target) of the plot target, and the target deletion operation is used to delete the plot target on the plot editing interface. Based on this, Figure 2 As shown in a flowchart of an operation processing process on plot targets provided by the scheme, when the target management operation on the plot targets is received and corresponding operation processing on plot targets corresponding to the target management operation is performed on the to-be-worked plot, the scheme specifically includes the following steps.

[0049] S121: receiving target addition operation on plot targets, and adding plot targets on the to-be-worked plot according to the target addition operation; and / or,

[0050] S122: receiving target configuration operation on plot targets, and configuring plot target information of the plot targets on the to-be-worked plot according to the target configuration operation; and / or,

[0051] S123: receiving target deletion operation on plot targets, and deleting the plot targets on the to-be-worked plot according to the target deletion operation.

[0052] For example, when target addition operation requiring addition of plot targets on the to-be-worked plot is received, corresponding plot targets are newly created at corresponding positions on the to-be-worked plot according to a target addition position and a corresponding target type of the target addition operation.

[0053] When a target configuration operation on a target plot is received, plot target information of a plot target on the plot to be worked is configured according to a target configuration parameter corresponding to the target configuration operation. The plot target to which the target configuration operation is directed can be a plot target obtained through the target identification processing based on the map information, or a plot target added on the plot to be worked in response to a target adding operation.

[0054] 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 a work target (for example, a tree), the corresponding plot target information can be plot target position information, work target area information, and the like, and the corresponding target configuration parameter can be a target position parameter, a target area parameter, and the like. When the target type is an obstacle, the corresponding plot target information can be obstacle position information, obstacle area information, and the like, and the corresponding target configuration parameter can be an obstacle position parameter, an obstacle area parameter, and the like.

[0055] When a target deletion operation on a plot target is received, the plot target corresponding to the target deletion operation is deleted from the plot to be worked. For example, when the target type of a plot target identified or added on the plot to be worked is incorrect, or the corresponding plot target does not actually exist in the plot to be worked, a target deletion operation can be initiated on the plot target in the plot editing interface to delete the plot target from the plot to be worked.

[0056] The scheme can respond to a target adding operation and / or a target configuration operation according to different target types of plot targets, and flexibly manage different types of plot targets.

[0057] Based on this, when the target type is an obstacle, the scheme adds an obstacle on the plot to be worked according to obstacle positioning information corresponding to the target adding operation when the target adding operation on the plot target is received. Specifically, the target adding operation on the obstacle is received, and an obstacle is added on the plot to be worked according to the obstacle positioning information corresponding to the target adding operation.

[0058] For example, when an obstacle needs to be added on the plot to be worked (for example, due to insufficient accuracy of target identification processing, part of the obstacle is not correctly identified, or the obstacle appears after the map information is collected), a target adding operation on the obstacle can be initiated in the plot to be worked displayed in the plot editing interface. After the target adding operation on the obstacle is received, an obstacle is added on the plot to be worked in response to a target configuration parameter (for example, an obstacle position parameter, an obstacle area parameter, and the like) corresponding to the target adding operation.

[0059] The different obstacle types can be added to the to-be-worked plot through different target adding operations. For example, a target adding operation corresponding to a certain obstacle type can be initiated for the plot target information corresponding to the different obstacles, and the target configuration parameters of the target adding operation correspond to the plot target information, that is, 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, the main plot target information of the building includes obstacle positioning information and obstacle boundary information. The obstacle to be added can be set as a building (the target type of the added plot target can be set in the plot editing interface), and the obstacle positioning information and the obstacle boundary information are set on the plot editing interface, so that the target adding operation for the building is initiated. The plot target processing device can add the building to the to-be-worked plot according to the obstacle positioning information and the obstacle boundary information, and configure the obstacle position information and the obstacle area information of the plot target information of the building.

[0060] In one embodiment, the obstacle provided by the present scheme can be a power line. When the target adding operation for the obstacle is received, and the obstacle is added to the to-be-worked plot according to the obstacle positioning information corresponding to the target adding operation, the power line is added to the to-be-worked plot according to the power line endpoint position corresponding to the target adding operation.

[0061] The power line can be represented by a line segment on a two-dimensional map, and the position of the line segment on the map can be determined by two endpoints. Therefore, the position of the power line on the to-be-worked plot and the direction (or angle) of the power line can be determined by setting the power line endpoint position. The power line endpoint does not represent the existence of a power pole at the power line endpoint position. In some embodiments, the power line endpoint position can be a power pole. In some embodiments, there can be no power pole at the power line endpoint position. For example, when there is a power line above the to-be-worked plot, and the positions of the two power poles connected by the power line are located outside the to-be-worked plot, the power line above the to-be-worked plot can be represented by adding a power line endpoint.

[0062] For example, the power line endpoint position (including two power line endpoints) can be set on the plot editing interface to initiate the target adding operation for the power line. Optionally, the power line endpoint position can be set by coordinate input, clicking on the plot editing interface, and / or moving the plot target processing to the actual position of the power line endpoint.

[0063] After receiving the target adding operation for the power line, the power line is added to the to-be-worked plot according to the power line endpoint position corresponding to the target adding operation, and the power line endpoint information corresponding to the two endpoints of the added power line corresponds to the power line endpoint position of the target adding operation.

[0064] In a possible embodiment, the power line endpoint corresponding to the target adding operation can be one, i.e., the user can set one power line endpoint on the plot editing interface, and a corresponding power line can be formed according to the power line endpoint, improving the flexibility and editing efficiency of the obstacle management.

[0065] For example, when the target adding operation indicating one power line endpoint is received, a target of the type of power pole in the nearby plot to be worked is searched, and the search result is displayed on the display interface, so that the user can select a target power pole having a connection relationship with the newly added endpoint from the identified power pole targets, and the position of the target power pole is taken as the power line endpoint position of the second power line endpoint, and a newly added power line is generated according to the two power line endpoints. Alternatively, when the target adding operation indicating one power line endpoint is received, the user can be prompted to select a second power line endpoint to be added, or to select a target power pole from the existing power pole targets, and the second power line endpoint is determined based on the selected target power pole, and a newly added power line is generated according to the power line endpoint corresponding to the target adding operation and the selected power line endpoint.

[0066] For example, when the target adding operation indicating one power line endpoint is received, a target of the type of power pole in the nearby plot to be worked is searched, and the search result is displayed on the display interface, so that the user can select a target power pole having a connection relationship with the newly added endpoint from the identified power pole targets, and the position of the target power pole is taken as the power line endpoint position of the second power line endpoint, and a newly added power line is generated according to the two power line endpoints. Alternatively, when the target adding operation indicating one power line endpoint is received, the user can be prompted to select a second power line endpoint to be added, or to select a target power pole from the existing power pole targets, and the second power line endpoint is determined based on the selected target power pole, and a newly added power line is generated according to the power line endpoint corresponding to the target adding operation and the selected power line endpoint.

[0067] In a possible embodiment, the power line endpoint corresponding to the target adding operation can be multiple, i.e., the user can set at least two power line endpoints on the plot editing interface in sequence, and one or more power lines are automatically added on the plot to be worked according to the endpoint order of the multiple power line endpoints, improving the flexibility and editing efficiency of the obstacle management. Based on this, when a power line is added on the plot to be worked according to the power line endpoint position corresponding to the target adding operation, the method comprises: determining the power line endpoint positions of the multiple power line endpoints corresponding to the target adding operation and the endpoint order of the power line endpoints; and adding a power line on the plot to be worked according to the power line endpoint positions of the power line endpoints and the endpoint order of the power line endpoints.

[0068] For example, when the target adding operation indicating multiple power line endpoints is received, the power line endpoint positions of the multiple power line endpoints corresponding to the target adding operation and the endpoint order of the power line endpoints are determined. The endpoint order of the power line endpoints can be determined based on the determination order of the power line endpoint positions, for example, the user determines the power line endpoint positions of the power line endpoints on the plot editing interface in sequence through a clicking operation, and the determination order of the power line endpoint positions is taken as the endpoint order of the power line endpoints.

[0069] Further, according to the wire end point positions and the end point sequence of the respective wire end points, the respective wire end points are sequentially connected, so that two wire end points adjacent in the end point sequence form a wire, thereby adding one or more wires on the to-be-worked plot. For example, when two wire end points P1 and P2 are sequentially clicked on the plot editing interface to initiate the target adding operation, the wire end points P1 and P2 are displayed on the to-be-worked plot according to the wire end point positions of the wire end points P1 and P2, and the wire end points P1 and P2 are connected to form an added wire. Or, when three wire end points P1, P2 and P3 are sequentially clicked on the plot editing interface to initiate the target adding operation, the wire end points P1, P2 and P3 are displayed on the to-be-worked plot according to the wire end point positions of the wire end points P1, P2 and P3, and the wire end points P1 and P2 and the wire end points P2 and P3 are connected to form two added wires.

[0070] After the target identification processing on the to-be-worked plot obtains the wires in the to-be-worked plot or a wire is added on the to-be-worked plot in response to the target adding operation on the wire, the user can perform a target configuration operation on the wire on the plot editing interface to edit or correct the plot target information of the wire. In one possible embodiment, the plot target information of the wire provided by the present scheme includes wire end point information, and the two wire end points indicated in the wire end point information can determine the length and direction of the wire in the to-be-worked plot.

[0071] Correspondingly, when the target configuration operation on the plot target is received, the plot target information of the plot target on the to-be-worked plot is configured according to the target configuration operation, specifically: the target configuration operation on the wire is received, and the wire end point information of the wire on the to-be-worked plot is configured according to the end point movement parameter corresponding to the target configuration operation.

[0072] For example, the user can initiate the target configuration operation on the wire by moving the end points of the wire, such as clicking to select the wire that needs to be adjusted on the plot editing interface, and determining the end point movement parameter by dragging the wire end point of the selected wire or directly inputting the coordinates of the wire end point, thereby initiating the target configuration operation on the wire. After receiving the target configuration operation on the wire, the plot target processing device adjusts the wire end point information of the corresponding wire on the to-be-worked plot according to the end point movement parameter corresponding to the target configuration operation, updates the position of the wire end point, and thereby updates the length and / or direction of the corresponding wire.

[0073] In one possible embodiment, the target configuration operation provided by the present scheme includes a wire length configuration operation and / or a wire direction configuration operation, wherein 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.

[0074] Correspondingly, the present solution, when receiving a target configuration operation on a wire, configures the wire endpoint information of the wire on the to-be-worked plot according to the endpoint movement parameter corresponding to the target configuration operation, includes:

[0075] receiving a wire length configuration operation on the wire, adjusting the wire endpoint position of the selected wire endpoint on the direction of the wire according to the length adjustment parameter of the selected wire endpoint corresponding to the wire length configuration operation; and / or,

[0076] receiving a wire direction configuration operation on the wire, adjusting the wire endpoint position of the selected wire endpoint on the radius range of the wire according to the direction adjustment parameter of the selected wire endpoint corresponding to the wire direction configuration operation, the radius range of the wire being 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.

[0077] In the wire length adjustment mode, the user can initiate the wire length configuration operation on the wire by selecting one 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, by dragging the selected wire endpoint along the direction of the wire. The adjustment parameter of the breakpoint position of the selected wire endpoint is the length adjustment parameter of the selected wire endpoint corresponding to the wire length configuration operation.

[0078] For example, when receiving the wire length configuration operation on the wire, the selected wire endpoint corresponding to the wire length configuration operation is determined, the unselected wire endpoint is fixed, the selected wire endpoint is adjusted according to the length adjustment parameter corresponding to the wire length configuration operation, and the distance between the adjusted selected wire endpoint and the unselected wire endpoint is the adjusted length of the wire. After adjusting the length of the wire in the wire length adjustment mode, the direction of the wire does not change.

[0079] In addition, in the wire direction adjustment mode, the user can initiate the wire direction configuration operation on the wire by selecting one wire endpoint of the wire and adjusting the endpoint position of the selected wire endpoint on the radius range of the wire (i.e., 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). The adjustment parameter of the endpoint position of the selected wire endpoint is the direction adjustment parameter of the selected wire endpoint corresponding to the wire direction configuration operation. The radius range of the wire provided by the present 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 in the radius range, the distance between the two wire endpoints remains unchanged.

[0080] For example, upon receiving the wire direction configuration operation on the wire, the wire direction configuration operation corresponding direction adjustment parameter is determined, the unselected wire end point is taken as the fixed point, the selected wire end point is taken as the adjustment point, the wire end point position of the selected wire end point on the radius range of the wire is adjusted according to the direction adjustment parameter, and the direction of the selected wire end point to the unselected wire end point 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 the wire length configuration operation is initiated on the wire, the corresponding radius range can be displayed on the plot editing interface at the same time, and the position of the selected wire end point on the radius range is updated at the same time, so that the user can know the range and state of the wire direction adjustment in real time.

[0081] It needs to be explained that in the related art, when the flight path is planned according to the plot map, the plot target information of the obstacle is generally the position information and the area information of the obstacle, and the processing method of the obstacle is generally to fly around the obstacle. Among them, when the obstacle is a wire, the related art also only records the position information of the wire, and also plans the flight path around the wire. In actual work process, since the wire only occupies a small part of the space, the unmanned device can actually fly at a height away from the wire, but the way of flying around the wire in the related art causes great waste of flight path planning space, limits the flexibility of flight path planning, and makes the flight path planning more complex and requires more power for the unmanned device to fly. The flight height information is added to the plot target information of the wire, that is, the plot target information of the wire also includes the flight height information, and the flight height information can be used to indicate the flight height of the unmanned device crossing the corresponding wire. The flight height information guides the flight height of the unmanned device when crossing the position of the wire, and improves the flexibility of flight path planning.

[0082] Based on this, the scheme receives the target configuration operation on the plot target, and configures the plot target information of the plot target on the to-be-worked plot according to the target configuration operation, including: receiving the target configuration operation on the wire, and configuring the flight height information of the wire on the to-be-worked plot according to the flight height configuration parameter corresponding to the target configuration operation.

[0083] For example, the power line for which the flight height information needs to be set is selected, and the flight height configuration parameter is set according to the flight height of the unmanned device when crossing the power line, so as to initiate the target configuration operation on the power line. After receiving the target configuration operation on the power line, the land target processing device configures the flight height information of the power line corresponding to the target configuration operation on the target configuration operation corresponding to the target configuration operation according to the flight height configuration parameter. Subsequently, when planning a route according to the land map, when encountering a power line, if the land target information of the power line includes flight height information, the flight height information can be used to plan a route for crossing the power line, thereby improving the flexibility of route planning and reducing the power consumption of the unmanned device when performing a flight task. If the land target information of the power line does not include flight height information, the unmanned device needs to bypass the power line to ensure flight safety.

[0084] In this way, the flight height of the unmanned device when crossing the power line can be determined according to the actual height of the power line. The flight height can be above the power line or below the power line. The unmanned device can fly over the area where the power line is located without colliding with or contacting the power line.

[0085] Therefore, when setting the flight height information of the power line, at least two flight heights can be set. For example, the flight height information of the power line can include an upper flight height and a lower flight height. The upper flight height refers to the safe flight height of the unmanned device when crossing the power line from above the power line. The lower flight height refers to the safe flight height of the unmanned device when crossing the power line from below the power line. The lower flight height is less than the upper flight height.

[0086] In some embodiments, since the middle part of the power line will fall to a certain extent due to its own gravity in the actual environment, the lower flight height of the power line can include at least a first flight height and a second flight height. The first flight height represents the safe flight height of the unmanned device when crossing the power line from the middle part of the power line. The second flight height represents the safe flight height of the unmanned device when crossing the power line from below the two end parts of the power line.

[0087] In one possible embodiment, as Figure 3 As shown in a target addition operation flowchart of a work target, when the land target is a work target, the scheme includes the following steps when receiving a target addition operation on the land target and adding a land target on the land to be worked according to the target addition operation:

[0088] S1211: receiving a target addition operation on a work target, and determining an added target position of the target addition operation on a land to be worked.

[0089] S1212: adding a work target on the land to be worked based on the added target position, and configuring land target information of the added work target.

[0090] For example, when a new work target needs to be added to the work plot, the type of the target to be added is determined to be a work target (e.g., a tree), and the position of the new target to be added is determined to initiate the target adding operation of the work target.

[0091] After receiving the target adding operation of the work target, the plot target processing device determines the position of the new target to be added on the work plot, and adds the icon corresponding to the work target on the work plot according to the position of the new target to be added, and configures the plot target information of the new work target.

[0092] The plot target information of the new work target can be configured according to the plot target information of other work targets within the set range of the position of the new target, for example, the values corresponding to the plot target information (except the target position parameter) of the new work target are determined as the average values of the plot target information of other work targets within the set range.

[0093] Suppose the plot target information that needs to be configured after adding a new work target to the work plot is the work target area information (e.g., the size of a tree), after determining the position of the new target to be added on the work plot, the work target area information of a certain number of other work targets within the set range of the position of the new target to be added on the work plot is determined, and the average work target area information of the certain number of other work targets within the set range is taken as the work target area information of the new work target, for example, the average tree size corresponding to 5-10 trees within the set range is taken as the tree size of the new tree.

[0094] In one possible embodiment, the plot target information of the work target provided by the present scheme includes work target area information, and correspondingly, when the present scheme receives the target configuration operation of the plot target, and configures the plot target information of the plot target on the work plot according to the target configuration operation, specifically: receiving the target configuration operation of the work target, and configuring the work target area information of the work target on the work plot according to the area adjustment parameter corresponding to the target configuration operation.

[0095] Exemplarily, when it is needed to adjust the work target area information of the work target (for example, the area identification precision of the work target is insufficient due to insufficient target identification processing precision, or the work target area information automatically configured by the newly added work target is greatly different from the actual value), the work target whose work target area information needs to be adjusted can be selected on the plot editing interface, and the corresponding area adjustment parameter is determined to initiate the target configuration operation on the work target. After receiving the target configuration operation on the work target, the plot target processing apparatus adjusts the work target area information of the corresponding work target according to the area adjustment parameter corresponding to the target configuration operation.

[0096] The setting mode of the area adjustment parameter can be directly inputting the area adjustment parameter, or can be sliding and zooming the area adjustment parameter after clicking to select the work target (for example, sliding to the center of the work target to reduce the area of the work target, and sliding to the outside of the work target to expand the area of the work target).

[0097] In one possible embodiment, when the target configuration operation and / or the target deletion operation is initiated, the corresponding work target needs to be determined through the click selection operation on the work target. The work target corresponding to the target configuration operation and / or the target deletion operation provided in the scheme can be determined based on the selected area of the target hot area of the work target. The target hot area of the work target provided in the scheme is obtained by expanding the range of the area of the work target. Exemplarily, when the work target is identified or newly added and displayed on the plot editing interface, each work target is configured with a corresponding target hot area. For example, the target hot area of the corresponding work target can be obtained by expanding the work target area outward by a set distance (for example, 2px).

[0098] The target hot area can be used to assist in determining the work target corresponding to the click selection operation on the work target. For example, when the positions of adjacent work targets are relatively close, when the user clicks two adjacent work targets, the selected area of the click selection operation in the target hot area of the two work targets can be determined, and the work target corresponding to the maximum selected area is determined as the work target corresponding to the target configuration operation and / or the target deletion operation, so as to improve the selection accuracy of the work target and optimize the user experience.

[0099] Figure 4 is a target identification result schematic diagram provided by an embodiment of the present application, as shown in Figure 4 After the target identification processing on the plot to be worked based on the map information is performed, the plot target including the work target and the obstacle is obtained, Figure 4Part A is the range corresponding to the plot to be worked (which includes the boundary range surrounded by multiple positioning points), and part B is the identified work target (for example, a tree). 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 target is represented by circles of different radii to indicate its corresponding work target area information. Part C is the identified obstacle, in which C1 is a building and C2 is a power line.

[0100] As Figure 5 The effect diagram of a target addition operation on an obstacle provided by the application is shown. When a power line needs to be added in the plot to be worked, the two-point-determines-a-line method is used to determine the power line endpoint positions (D11 and D12 in the figure) in the plot editing interface according to the positions of the two endpoints of the power line to initiate the target addition operation on the power line. After receiving the target addition operation on the power line, the power line is added in the plot to be worked according to the power line endpoint positions (as shown in part D in the figure).

[0101] As Figure 6 The effect diagram of a target configuration operation on the power line endpoint information of a power line provided by the application is shown. When the length and / or direction of the power line needs to be adjusted, click to select the power line that needs to be adjusted (for example, power line C2 in the figure), and initiate the target configuration operation on the power line by dragging one of the power line endpoints in the power line C2 (for example, power line endpoint C21 in the power line C2 in the figure), and determine the length and / or direction of the power line C2 according to the position of the power line endpoint after dragging.

[0102] As Figure 7 The effect diagram of a target configuration operation on the flight height information of a power line provided by the application is shown. When the flight height information of the power line needs to be configured, click to select the power line that needs to be adjusted (for example, power line C2 in the figure), and configure the flight height information of the power line C2 by using the flight height information setting sliding adjustment button that appears below the plot editing interface, for example, set the flight height information of the power line C2 to 2.5 m in the figure. When planning a flight path that needs to pass through the power line C2, the flight height can be planned according to 2.5 m to ensure the flight safety of the unmanned device.

[0103] As Figure 8 The effect diagram of a target addition operation on a work target provided by the application is shown. When a work target needs to be added in the plot to be worked, determine the addition target position in the plot to be worked (for example, by clicking to confirm, inputting coordinates, or dotting on site to determine the addition target position), add the work target at the addition target position (for example, E1 in the figure), and use the average work target area information of multiple work targets in the set range of the addition target position as the work target area information of the added work target E1.

[0104] As Figure 9 An effect diagram of a target configuration operation performed on a work target is provided. When the work target area information of a work target needs to be adjusted, the work target that needs to be adjusted (for example, work target E1) is selected and clicked, and the work target area of the work target E1 is enlarged or reduced through sliding.

[0105] In the above manner, quick and accurate identification of different plot targets in the plot to be worked on is achieved, and target addition, target configuration, and target deletion operations on work targets and obstacles are achieved, flexible management of plot targets is achieved, and unmanned equipment work is assigned more accurately according to the plot map.

[0106] In the above manner, by obtaining map information of a plot to be worked on, target identification processing is performed on the plot to be worked on based on the map information to obtain plot targets in the plot to be worked on, and according to target management operations on the plot targets, corresponding operation processing is performed on the plot targets corresponding to the target management operations on the plot to be worked on, automatic identification of plot targets on the plot to be worked on and management of the plot targets are achieved, identification efficiency and accuracy of the plot targets are improved, management methods of the plot targets are enriched, and more flexible plot target acquisition and management methods are provided to users. At the same time, through target addition, target configuration, and target deletion operations on plot targets such as work targets and obstacles, flexible management of plot targets is achieved, and unmanned equipment work is assigned more accurately according to the plot map. The length and direction of the electric wire can be flexibly adjusted, so that the obstacle information in the plot map is more in line with the actual situation, the flight height information of the electric wire can be configured, the flexibility of the flight path planning is improved, the power consumption of the unmanned equipment performing the flight task is reduced, the attributes and flight height of the obstacle are redefined, and more flexible operational space is provided to users. At the same time, the plot target information of each work target can be flexibly configured, the identified work targets can be edited in a more convenient plot target processing manner, the controllability of the identification result of the work target is improved, the position and range of the work target are more accurately determined, the work information of the work target in the plot to be worked on is more flexibly corrected, and the assignment of the unmanned equipment work is better completed.

[0107] Figure 10 A structure diagram of a plot target processing device provided by an embodiment of the present application is given. Referring to Figure 10 The plot target processing device includes a map acquisition module 31 and a target management module 32.

[0108] The map acquisition module 31 is configured to obtain plot information corresponding to a plot to be worked on, and the plot information at least includes plot targets. The target management module 32 is configured to receive a 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 worked on.

[0109] According to the above, by acquiring the map information of the to-be-worked land plot, target recognition processing is performed on the to-be-worked land plot based on the map information to obtain the land plot target in the to-be-worked land plot, and according to the target management operation on the land plot target, corresponding operation processing is performed on the land plot target corresponding to the target management operation on the to-be-worked land plot, so as to realize automatic recognition of the land plot target on the to-be-worked land plot and management of the land plot target, improve the recognition efficiency and accuracy of the land plot target, enrich the management mode of the land plot target, and provide a more flexible land plot target acquisition and management mode for the user.

[0110] In one possible embodiment, the land plot target is obtained by performing target recognition processing on the map information of the to-be-worked land plot; the land plot target processing apparatus further comprises a target recognition module, which is configured to perform target recognition processing on the to-be-worked land plot based on the map information to obtain the land plot target in the to-be-worked land plot.

[0111] In one possible embodiment, the target management operation comprises one or more combinations of target addition operation, target configuration operation, and target deletion operation.

[0112] The target management module 32 is specifically configured to:

[0113] receive a target addition operation on the land plot target, and add the land plot target on the to-be-worked land plot according to the target addition operation; and / or,

[0114] receive a target configuration operation on the land plot target, and configure the land plot target information of the land plot target on the to-be-worked land plot according to the target configuration operation; and / or,

[0115] receive a target deletion operation on the land plot target, and delete the land plot target on the to-be-worked land plot according to the target deletion operation.

[0116] In one possible embodiment, the land plot target comprises an obstacle.

[0117] Correspondingly, when the target management module 32 receives a target addition operation on the land plot target and adds the land plot target on the to-be-worked land plot according to the target addition operation, the target management module 32 comprises:

[0118] receiving a target addition operation on the obstacle, and adding the obstacle on the to-be-worked land plot according to the obstacle positioning information corresponding to the target addition operation.

[0119] In one possible embodiment, the obstacle comprises a power line.

[0120] Correspondingly, when the target management module 32 receives a target addition operation on the obstacle and adds the obstacle on the to-be-worked land plot according to the obstacle positioning information corresponding to the target addition operation, the target management module 32 comprises:

[0121] receive a target adding operation on the electric wire, and add the electric wire on the to-be-worked plot according to the electric wire endpoint position corresponding to the target adding operation.

[0122] In one possible embodiment, the target management module 32, when adding the electric wire on the to-be-worked plot according to the electric wire endpoint position corresponding to the target adding operation, includes:

[0123] determining the electric wire endpoint position and the endpoint sequence of the plurality of electric wire endpoints corresponding to the target adding operation;

[0124] adding the electric wire on the to-be-worked plot according to the electric wire endpoint position and the endpoint sequence of each electric wire endpoint.

[0125] In one possible embodiment, the plot target information of the electric wire includes electric wire endpoint information.

[0126] Correspondingly, the target management module 32, when receiving a target configuration operation on the plot target, and configuring the plot target information of the plot target on the to-be-worked plot according to the target configuration operation, includes:

[0127] receiving a target configuration operation on the electric wire, and configuring the electric wire endpoint information of the electric wire on the to-be-worked plot according to the endpoint moving parameter corresponding to the target configuration operation.

[0128] In one possible embodiment, the target configuration operation includes an electric wire length configuration operation and / or an electric wire direction configuration operation.

[0129] Correspondingly, the target management module 32, when receiving a target configuration operation on the electric wire, and configuring the electric wire endpoint information of the electric wire on the to-be-worked plot according to the endpoint moving parameter corresponding to the target configuration operation, includes:

[0130] receiving an electric wire length configuration operation on the electric wire, and adjusting the electric wire endpoint position of the selected electric wire endpoint on the direction of the electric wire according to the length adjustment parameter of the selected electric wire endpoint corresponding to the electric wire length configuration operation; and / or,

[0131] receiving an electric wire direction configuration operation on the electric wire, and adjusting the electric wire endpoint position of the selected electric wire endpoint in the radius range of the electric wire according to the direction adjustment parameter of the selected electric wire endpoint corresponding to the electric wire direction configuration operation, the radius range of the electric wire being determined with the unselected electric wire endpoint as the center and the distance from the selected electric wire endpoint to the unselected electric wire endpoint as the radius.

[0132] In one possible embodiment, the plot target information of the electric wire includes flight height information, the flight height information being used to indicate the flight height of the unmanned device passing through the corresponding electric wire.

[0133] Correspondingly, the target management module 32, when receiving a target configuration operation on the plot target, according to the target configuration operation, configures plot target information of the plot target on the plot to be worked, includes:

[0134] Receiving a target configuration operation on the electric wire, according to the corresponding flight height configuration parameter of the target configuration operation, configuring the flight height information of the electric wire on the plot to be worked.

[0135] In one possible embodiment, the plot target includes a work target;

[0136] Correspondingly, the target management module 32, when receiving a target addition operation on the plot target, according to the target addition operation, adding a plot target on the plot to be worked, includes:

[0137] Receiving a target addition operation on the work target, determining the addition target position of the target addition operation on the plot to be worked;

[0138] Adding the work target based on the addition target position on the plot to be worked, and configuring the plot target information of the added work target.

[0139] In one possible embodiment, the plot target information of the added work target is configured according to the plot target information configuration of other work targets within the set range of the addition target position.

[0140] In one possible embodiment, the plot target includes a work target, and the plot target information of the work target includes work target area information;

[0141] Correspondingly, the target management module 32, when receiving a target configuration operation on the plot target, according to the target configuration operation, configures plot target information of the plot target on the plot to be worked, includes:

[0142] Receiving a target configuration operation on the work target, according to the area adjustment parameter corresponding to the target configuration operation, configuring the work target area information of the work target on the plot to be worked.

[0143] In one possible embodiment, the plot target includes a work target, and the work target corresponding to the target configuration operation and / or the target deletion operation is determined based on the selected area of the target hot area of the work target, wherein the target hot area of the work target is obtained by range expansion based on the area range of the work target.

[0144] It is worth noting that in the above embodiment of the plot target processing device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual distinction, and does not limit the protection scope of the embodiments of the present application.

[0145] The embodiment of the present application also provides a land target processing device. Figure 11 is a structural schematic diagram of a land target processing device provided by the embodiment of the present application. Referring to Figure 11 The land target processing device comprises an input device 43, an output device 44, a memory 42 and one or more processors 41; the memory 42 is used for storing 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 land target processing method provided by the above embodiment. 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 For example, the connection through the bus is taken as an example in the above embodiment.

[0146] The memory 42 is a kind of readable storage medium of a computing device, which can be used for storing software programs, computer executable programs and modules, such as program instructions / modules corresponding to the land target processing method provided by any embodiment of the present application (for example, the map acquisition module 31, the target identification module 32 and the target management module 32 in the land target processing device). The memory 42 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function; the data storage area can store data created according to the use of the device and the like. In addition, the memory 42 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state storage device. In some examples, the memory 42 can further include a memory remotely arranged 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 intranet, a local area network, a mobile communication network and a combination thereof.

[0147] The input device 43 can be used for receiving input digital or character information, and generating key signal input related to user settings and function control of the device. The output device 44 can include a display device such as a display screen.

[0148] The processor 41 executes various function 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 land target processing method.

[0149] The land target processing device, the device and the computer provided above can be used to execute the land target processing method provided by any embodiment described above, and have corresponding functions and beneficial effects.

[0150] The embodiment of the present application further provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to perform the plot target processing method provided by the above embodiment, and the plot target processing method comprises: obtaining plot information corresponding to a plot to be worked, wherein the plot information at least comprises a plot target; 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 worked.

[0151] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include an installation medium, e.g., a CD-ROM, floppy disks, or tape device; a computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; a non-volatile memory such as a magnetic medium (e.g., a hard drive or optical storage); registers or other similar types of memory elements upon which a computer programs can be maintained. The storage medium can also include other types of storage. Moreover, the storage medium can be located in a first computer system in which the programs are executed, or can be located in a second different computer system which connects to the first computer system over a network such as the Internet. The second computer system can provide program instructions to the first computer system for execution via the network. The term "storage medium" can include two or more storage mediums that can reside in different locations, e.g., in different computer systems that are connected over a network. The storage medium can store a program or programs that can be executed by one or more processors.

[0152] Of course, the storage medium storing computer executable instructions provided by the embodiment of the present application is not limited to the plot target processing method provided above, and can also perform the related operations in the plot target processing method provided by any embodiment of the present application.

[0153] The plot target processing device, equipment and storage medium provided in the above embodiment can perform the plot target processing method provided by any embodiment of the present application, and the technical details not described in the above embodiment can be referred to the plot target processing method provided by any embodiment of the present application.

[0154] The above is only the preferred embodiment of the present application and the technical principle used. The present application is not limited to the specific embodiments provided herein, and various obvious changes, re-adjustments and replacements made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without deviating from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for processing land parcel targets, characterized in that, The method comprises: obtaining plot information corresponding to a to-be-worked plot, wherein the plot information at least comprises a plot target; 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 to-be-worked plot; the target management operation comprises a target configuration operation, and the receiving of the target management operation on the plot target and the performing of the corresponding operation processing on the plot target corresponding to the target management operation on the to-be-worked plot comprise: receiving a target configuration operation on the plot target, and configuring plot target information of the plot target on the to-be-worked plot according to the target configuration operation; the target configuration operation comprises a wire length configuration operation and / or a wire direction configuration operation; the receiving of the target configuration operation on the plot target and the configuring of the plot target information of the plot target on the to-be-worked plot according to the target configuration operation comprise: receiving the wire length configuration operation on the wire, adjusting a length adjustment parameter of a selected wire end point to adjust a wire end point position of the selected wire end point in a direction of the wire according to the wire length configuration operation; and / or receiving the wire direction configuration operation on the wire, adjusting a direction adjustment parameter of the selected wire end point to adjust a wire end point position of the selected wire end point in a radius range of the wire according to the wire direction configuration operation, wherein the radius range of the wire is determined with a non-selected wire end point as a center and a distance from the selected wire end point to the non-selected wire end point as a radius.

2. The plot target processing method of claim 1, wherein, The plot target is obtained through target recognition processing on map information of the to-be-worked plot.

3. The plot target processing method of claim 1, wherein, The target management operation further comprises one or a combination of a target addition operation and a target deletion operation; the receiving of the target management operation on the plot target and the performing of the corresponding operation processing on the plot target corresponding to the target management operation on the to-be-worked plot comprise: receiving a target addition operation on the plot target, and adding a plot target on the to-be-worked plot according to the target addition operation; and / or receiving a target deletion operation on the plot target, and deleting the plot target on the to-be-worked plot according to the target deletion operation.

4. The plot target processing method of claim 3, wherein, The plot target comprises an obstacle; correspondingly, the receiving of the target addition operation on the plot target and the adding of the plot target on the to-be-worked plot according to the target addition operation comprise: receiving a target addition operation on the obstacle, and adding an obstacle on the to-be-worked plot according to obstacle positioning information corresponding to the target addition operation.

5. The plot target processing method of claim 4, wherein, The obstacle comprises a wire; correspondingly, the receiving of the target addition operation on the obstacle and the adding of the obstacle on the to-be-worked plot according to the obstacle positioning information corresponding to the target addition operation comprise: receiving a target addition operation on the wire, and adding a wire on the to-be-worked plot according to a wire end point position corresponding to the target addition operation.

6. The plot target processing method of claim 5, wherein, the adding of the wire on the to-be-worked plot according to the wire end point position corresponding to the target addition operation comprises: determining wire end point positions and an end point sequence of a plurality of wire end points corresponding to the target addition operation; adding wires on the plot to be worked according to the wire end point positions and the end point sequence of each wire end point.

7. The plot targeting method of claim 5, wherein, The plot target information of the wire includes wire end point information. Correspondingly, the receiving of the target configuration operation on the plot target includes: Receiving a target configuration operation on the wire, and configuring wire end point information of the wire on the plot to be worked according to corresponding end point movement parameters of the target configuration operation.

8. The plot targeting method of claim 1, wherein, 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 passing through the corresponding wire; Correspondingly, the receiving of the target configuration operation on the plot target includes: Receiving a target configuration operation on the wire, and configuring flight height information of the wire on the plot to be worked according to corresponding flight height configuration parameters of the target configuration operation.

9. The plot targeting method according to claim 3, characterized by, The plot target includes a work target; Correspondingly, the receiving of the target addition operation on the plot target includes: Receiving a target addition operation on the work target, and determining an added target position of the target addition operation on the plot to be worked; Based on the added target position, a work target is added on the plot to be worked, and plot target information of the added work target is configured.

10. The plot target processing method of claim 9, wherein, The plot target information of the added work target is configured according to plot target information configuration of other work targets within a set range of the added target position.

11. The land parcel targeting method of claim 3, wherein, The plot target includes a work target, and the plot target information of the work target includes work target area information; Correspondingly, the receiving of the target configuration operation on the plot target includes: Receiving a target configuration operation on the work target, and configuring work target area information of the work target on the plot to be worked according to corresponding area adjustment parameters of the target configuration operation.

12. The land parcel targeting method of claim 3, wherein, The plot target includes a work target, and the work target corresponding to the target configuration operation and / or the target deletion operation is determined based on a selected area of a target hot area of the work target, wherein the target hot area of the work target is obtained by range expansion based on an area range of the work target.

13. A plot target processing device, comprising: The method includes a map acquisition module and a target management module, wherein: The map acquisition module is configured to acquire plot information corresponding to a plot to be worked, and the plot information at least includes plot targets. 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; the target management operation includes a target configuration operation; the receiving of the target management operation on the plot target and the performing of the corresponding operation processing on the plot target corresponding to the target management operation on the plot to be operated include: receiving a target configuration operation on the plot target, and configuring plot target information of the plot target on the plot to be operated according to the target configuration operation; the target configuration operation includes a wire length configuration operation and / or a wire direction configuration operation; the receiving of the target configuration operation on the plot target and the configuring of the plot target information of the plot target on the plot to be operated according to the target configuration operation include: receiving the wire length configuration operation on the wire, and adjusting a wire end point position of a selected wire end point on a direction of the wire according to a length adjustment parameter of the selected wire end point according to the wire length configuration operation; and / or receiving the wire direction configuration operation on the wire, and adjusting a wire end point position of a selected wire end point on a radius range of the wire according to a direction adjustment parameter of the selected wire end point according to the wire direction configuration operation, the radius range of the wire being determined with a non-selected wire end point as a center and a distance from the selected wire end point to the non-selected wire end point as a radius.

14. A plot target processing device, comprising: Comprise: a memory and one or more processors; the memory is configured 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 of any one of claims 1-12.

15. A storage medium storing computer-executable instructions, wherein: The computer executable instructions, when executed by a computer processor, are configured to perform the plot target processing method of any one of claims 1-12.

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