Path adjustment method and device, equipment and storage medium

Abstract

The invention provides a path adjustment method and device, equipment and a storage medium. The method comprises the steps that an operation interface is displayed, the operation interface comprises a virtual path, a virtual operation topographic map and a path angle adjusting control, the virtual path is displayed in the virtual operation topographic map, and the path angle adjusting control is used for adjusting the angle of the virtual path in the virtual operation topographic map; in response to a first operation on the path angle adjustment control, the path angle adjustment control is rotated to a target scale, and the target scale corresponds to a first angle of the virtual path in the virtual operation topographic map; determining an angle change value based on the target scale; and adjusting the virtual path to the first angle according to the angle change value. According to the method, the angle of the virtual path in the virtual operation topographic map can be directly adjusted through the path angle adjusting control, the virtual path and the virtual operation topographic map are visually displayed through the operation interface, the adjusting efficiency and accuracy are improved, the adjusting effect is fed back in time, and then the path optimization efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of path planning technology, and in particular to a path adjustment method, apparatus, device and storage medium. Background Technology

[0002] When a robot is operating, a work area and a specific route need to be selected to control its movement. In existing technologies, managing the actual route often involves directly dragging and dropping it to modify it. Real-time adjustment and rendering of the route based on dragging actions consumes significant device resources, leading to delays in dragging operations and visual feedback, or stuttering during route generation. Furthermore, manual dragging and other modification methods cannot control the precision of path adjustments, nor can they intuitively perceive the impact on the user experience. Summary of the Invention

[0003] This application provides a path adjustment method, apparatus, device, and storage medium. The path angle adjustment control allows direct adjustment of the angle of the virtual path on a virtual work terrain map, and the user interface intuitively displays the virtual path and virtual work terrain map, improving the efficiency and accuracy of adjustment. Furthermore, it provides timely feedback on the adjustment effect, thereby enhancing path optimization efficiency.

[0004] In a first aspect, embodiments of this application provide a path adjustment method, including: The operation interface includes a virtual path, a virtual work topographic map, and a path angle adjustment control. The virtual path is displayed in the virtual work topographic map, and the path angle adjustment control is used to adjust the angle of the virtual path in the virtual work topographic map. In response to a first operation on the path angle adjustment control, the path angle adjustment control is rotated to a target scale, the target scale corresponding to a first angle of the virtual path on the virtual work terrain map; The angle change value is determined based on the target scale; The virtual path is adjusted to the first angle based on the angle change value.

[0005] Secondly, embodiments of this application provide a path adjustment device applied to a self-propelled device, the device comprising: The display unit is used to display the operation interface, which includes a virtual path, a virtual work topographic map, and a path angle adjustment control. The virtual path is displayed in the virtual work topographic map, and the path angle adjustment control is used to adjust the angle of the virtual path in the virtual work topographic map. A first adjustment unit is configured to, in response to a first operation of the path angle adjustment control, rotate the path angle adjustment control to a target scale, wherein the target scale corresponds to a first angle of the virtual path on the virtual work terrain map; The determining unit is used to determine the angle change value based on the target scale. The second adjustment unit is used to adjust the virtual path to the first angle according to the angle change value.

[0006] Thirdly, embodiments of this application provide a terminal device, the terminal device including at least one processor, a communication interface and a memory, the communication interface being used to send and / or receive data, the memory being used to store a computer program, and the at least one processor being used to call the computer program stored in the memory to implement any of the methods of the first aspect of this application.

[0007] Fourthly, embodiments of this application provide an electronic device including a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device executes the instructions as in any of the methods of the first aspect of this application.

[0008] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform some or all of the steps described in any method of the first aspect of this application.

[0009] Sixthly, embodiments of this application provide a computer program operable to cause a computer to perform some or all of the steps described in any method of the first aspect of this application. This computer program may be a software installation package.

[0010] As can be seen, in this embodiment, an operation interface is displayed, which includes a virtual path, a virtual work terrain map, and a path angle adjustment control. The virtual path is displayed within the virtual work terrain map, and the path angle adjustment control is used to adjust the angle of the virtual path within the virtual work terrain map. In response to a first operation on the path angle adjustment control, the control is rotated to a target scale, which corresponds to the first angle of the virtual path on the virtual work terrain map. An angle change value is determined based on the target scale, and the virtual path is adjusted to the first angle according to the angle change value. This application uses an operation interface to intuitively display the virtual path, virtual work terrain map, and path angle adjustment control, improving operational convenience. The path angle adjustment control allows adjustment of the virtual path's angle, improving adjustment efficiency and accuracy. Furthermore, after adjustment using the path angle adjustment control, the adjustment effect is promptly fed back, thereby improving path optimization efficiency. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A schematic diagram of a robot module provided for an embodiment of this application; Figure 2 A flowchart illustrating a path adjustment method provided in an embodiment of this application; Figure 3 A schematic diagram of an interface provided for an embodiment of this application; Figure 4 A schematic diagram of an operation interface provided in an embodiment of this application; Figure 5 A functional unit block diagram of a path adjustment device provided in an embodiment of this application; Figure 6 This is a block diagram of the functional units of another path adjustment device provided in an embodiment of this application. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0014] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0015] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0016] In this application, "robot" refers to a self-propelled device that autonomously moves to its location and performs corresponding tasks, such as a lawnmower robot used for mowing.

[0017] In one possible example, the robot communicates with a terminal device, which can be a smartphone, tablet, laptop, desktop computer, wearable device, head-mounted device, or vehicle-mounted terminal, etc., with a control application (i.e., an application client) installed. It should be understood that when the application client runs on the terminal device, it can interact with the robot. The terminal device includes a display module, which visually displays information and data, collects user actions, and enables interaction. Furthermore, the interaction with the robot via the display module on the terminal device side facilitates remote path adjustment by the user, improving the user experience.

[0018] In one possible example, please combine Figure 1 , Figure 1 This application provides a schematic diagram of a robot module, as shown in the embodiment of the present application. Figure 1 As shown, the robot integrates a display module 11. Information and data can be intuitively displayed through the interface of the integrated display module 11, enabling interaction between the user and the robot. Specifically, the robot includes a display module 11, a walking module 12, a control module 13, and a lawn-mowing module 14. The control module 13 is connected to the display module 11, the walking module 12, and the lawn-mowing module 14 to interact with the display module 11, control the walking module 12, and control the lawn-mowing module 14.

[0019] The control module 13 includes a processor 131, a communication submodule 132, a memory 133, and a program 134. The number of processors 131 can be set according to actual needs. The processors 131 are connected to the memory 133 and the communication submodule 132 via an internal communication bus.

[0020] The program 134 is stored in the memory 133 and is configured to be executed by the processor 131. The program 134 includes instructions for performing any step in the method embodiments described below. It is understood that the number of programs 134 can be set according to actual needs, and no specific limitation is made here.

[0021] The processor 131 may be, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, units, and circuits described in conjunction with the disclosure of this application. The processor 131 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication unit may be a communication submodule 132, a transceiver, transceiver circuitry, etc., and the storage unit may be a memory 133.

[0022] Memory 133 can be volatile memory or non-volatile memory, or may include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DRRAM).

[0023] Please refer to the following: Figure 2 , Figure 2 This is a flowchart illustrating a path adjustment method provided in an embodiment of this application, as shown below. Figure 2 As shown, a path adjustment method is applied to the control module of the robot described above. This method includes, but is not limited to, the following steps: S201, Displaying the operation interface.

[0024] The user interface includes a virtual path, a virtual work terrain map, and a path angle adjustment control. The virtual path is displayed within the virtual work terrain map, and the path angle adjustment control is used to adjust the angle of the virtual path within the virtual work terrain map. For details, please refer to... Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of an interface provided in an embodiment of this application. Figure 4 A schematic diagram of an operation interface provided for an embodiment of this application, such as... Figure 3 and Figure 4 As shown, the user logs in to control the application, and the control module displays the following based on the user's login actions: Figure 3The interface includes a display area 32. The display area 32 includes the actual operational terrain map 322 that needs to be adjusted, and the initial actual path 321 within the actual operational terrain map 322. The interface also includes multiple icons 31. The types of icons can be set according to actual needs, such as a time icon 311 representing a specific time, and a first power icon 312 representing the remaining power. The types of icons included in the multiple icons 31 are not limited here.

[0025] In one possible example, the actual operational topographic map 322 can be divided into multiple sub-regions. If only the actual path 321 of the target sub-region within the actual operational topographic map 322 needs to be adjusted, the target sub-region can be selected as the virtual operational topographic map 411 to improve adjustment efficiency.

[0026] After determining the actual operational topographic map 322 and the initial actual path 321, the following is displayed: Figure 4 The user interface shown includes a "path angle" adjustment area. When the user selects "custom" adjustment, the adjustment area includes a virtual work terrain map 411, a virtual path 412, a weeding robot 413, and path angle adjustment controls. The user can customize the angle of the virtual path 412 relative to the virtual work terrain map 411 using the path angle adjustment controls. The virtual work terrain map 411 is generated based on the actual work terrain map 322, and the virtual path 412 is generated based on the initial actual path 321. By adjusting the virtual path 412 and the virtual work terrain map 411, the adjustment effect can be visually displayed, and the adjusted angle is presented through the virtual path 412 and the virtual work terrain map 411, improving synchronization efficiency and thus enhancing the user experience.

[0027] A user interface layer is positioned above the virtual layer containing the virtual operation terrain map 411 and the virtual path 412 to facilitate user interaction. Specifically, when a user presses the interface, there is a certain effective contact area between the finger and the interface. To ensure the accuracy of user triggering, the interactive elements within the interface are aggregated into standard hot zones of 48×48 pixels or larger using a Voronoi diagram. This avoids the problem of users being unable to accurately click on areas that are too large or too small. Interactive elements are icons or buttons within the interface that can be interacted with. Specifically, hot zones are divided based on the center point of the interactive elements, allowing users to accurately click on controls or areas of the interface even when the display screen of the terminal device or robot is small, improving click accuracy. The hot zone represents the area that can respond to user interaction.

[0028] In one possible example, a focus highlighting strategy could be employed to emphasize key information within the user interface. This could be achieved by adjusting color saturation or transparency to enhance the visibility of interactive elements that the user clicks. Figure 4 For the inner path angle adjustment control, the focus is on highlighting the control itself. The image outside the control is then semi-transparently faded. Alternatively, the color saturation of the image outside the control can be reduced to a preset percentage. This preset percentage can be set according to actual needs, such as 50% of the original color; there is no limitation here. This focus highlighting strategy improves the recognition rate of key information, thereby enhancing operational accuracy.

[0029] S202, in response to the first operation on the path angle adjustment control, the path angle adjustment control is rotated to the target scale.

[0030] The target scale corresponds to a first angle of the virtual path 412 on the virtual work terrain map 411. Specifically, in response to the user's first operation on the path angle adjustment control, the path angle adjustment control is rotated to the target scale, and different scales within the path angle adjustment control correspond to different angles of the virtual path 412 on the virtual work terrain map 411. This provides a visual display of the target scale to the user, improves synchronization, and allows the user to quickly understand the first angle of the virtual path 412 on the virtual work terrain map 411, thereby improving the user experience.

[0031] S203, determine the angle change value based on the target scale.

[0032] Specifically, the angle change value is determined based on the target scale. The angle change value is the angle change value corresponding to the first angle when the path angle adjustment control is rotated to the target scale.

[0033] S204, adjust the virtual path to the first angle according to the angle change value.

[0034] After determining the angle change value, the angle of the virtual path 412 on the virtual work terrain map 411 is adjusted to the first angle according to the angle change value, so as to intuitively present the adjusted angle of the virtual path 412 on the virtual work terrain map 411 to the user.

[0035] As can be seen, in this example, the angle of the virtual path 412 on the virtual work terrain map 411 can be directly adjusted through the path angle adjustment control, which improves the efficiency and accuracy of the adjustment. The virtual path 412 and the virtual work terrain map 411 are displayed intuitively through the operation interface, and the adjustment effect is fed back in time, thereby improving the efficiency of path optimization.

[0036] In one possible example, the path angle adjustment control has multiple scales, with different scales corresponding to different angles of the virtual path 412 on the virtual work terrain map 411. The step of rotating the path angle adjustment control to a target scale in response to a first operation on the path angle adjustment control includes: obtaining a first width value of a single scale within the path angle adjustment control and a second width value between two adjacent scales; determining an offset distance value and an offset direction of the path angle adjustment control based on the operation parameters of the first operation; calculating the ratio of the offset distance value to the sum of the first width value and the second width value; determining a scale adjustment value based on the integer part of the ratio and the offset direction; and rotating the path angle adjustment control to the target scale based on the scale adjustment value.

[0037] In this specific example, the path angle adjustment control is a dial-type angle adjuster. The path angle adjustment control has multiple scales, each scale corresponding to a different angle of the virtual path 412 on the virtual work terrain map 411. For example, rotating one scale corresponds to adjusting the angle by one degree, thus adjusting the angle of the virtual path 412 by one degree, thereby improving the adjustment accuracy. Each scale within the path angle adjustment control has a certain width value, and there is also a certain width value between adjacent scales. To improve the accuracy of the determined target scale, it is necessary to obtain the first width value of each scale within the path angle adjustment control and the second width value between two adjacent adjustment scales. Specifically, the width value of each scale within the path angle adjustment control is the same, and the adjacent width values ​​between any two adjacent scales are also the same.

[0038] Please refer to it again. Figure 4 ,like Figure 4As shown, the path angle adjustment control includes a first scale 414 and a second scale 415, which are adjacent to each other. For example, if the display module's screen is a 6-inch screen, the width of the first scale 414 is 0.7 mm, and the width between the first scale 414 and the second scale 415 is 2.8 mm. The width value of the first scale 414 is obtained and set as the first width value, which is 0.7 mm. The width value between the first scale 414 and the second scale 415 is obtained and set as the second width value, which is 2.8 mm. Then, the offset distance value and offset direction of the path angle adjustment control are determined according to the operation parameters of the first operation. The operation parameters of the first operation include the scroll distance and scroll direction when the user scrolls the path angle adjustment control on the operation interface. The offset distance value of the path angle adjustment control is determined based on the scroll distance, and the offset direction is determined based on the scroll direction. Then, the sum of the first width value and the second width value is calculated to calculate the ratio of the offset distance value to the sum. Finally, the scale adjustment value is determined based on the integer part of the ratio and the offset direction. This ensures that the scale adjustment value is an integer, improving the adjustment efficiency of the path angle adjustment control and preventing scale misalignment after adjustment, which could cause visual confusion for the user and affect the user's judgment of the degree.

[0039] Specifically, the path angle adjustment control is pre-set to either the left or right scrolling direction as the angle increase direction. This can be set according to requirements and is not limited here. For example, if the left scrolling direction of the path angle adjustment control is set as the angle increase direction, and the integer part of the ratio is 5, and the offset direction is to the left, then the determined scale adjustment value is 5. The path angle adjustment control is then rotated to the target scale based on the scale adjustment value. For example, if each rotation of 1 scale corresponds to a 1-degree adjustment of the virtual path 412's angle, the initial scale corresponds to the following angle: This angle corresponds to the virtual path 412. Since the scale adjustment value is 5, rotate 5 scale degrees to the left. Simultaneously, since the scale adjustment value is 5, each 1-scale rotation corresponds to a 1-degree adjustment of the angle of the virtual path 412. Therefore, the degree change is the product of 5 and 1. Please refer to [the documentation / reference] again. Figure 4 ,like Figure 4 As shown, the angle corresponding to the target scale after rotation is .

[0040] As can be seen, in this example, the adjustment value is determined based on the operation parameters, the first width value of the path angle adjustment control's scale, and the second width value between two adjacent scales. This allows the path angle adjustment control to be rotated, improving the rationality and accuracy of its rotation. Furthermore, the adjustment angle can be quickly determined based on the scale adjustment value, improving display efficiency and making it easier for users to quickly obtain degree adjustment information.

[0041] In one possible example, the angles corresponding to two adjacent scales differ by a preset number of degrees. Determining the angle change value based on the target scale includes: obtaining the initial scale of the path angle adjustment control; calculating the difference between the initial scale and the target scale; and determining the angle change value based on the product of the difference and the preset number of degrees.

[0042] In a specific example, the angle difference between two adjacent scale marks is a preset number of degrees. For example, the preset number of degrees is 1 degree, meaning that for every 1 scale mark rotated, the angle of the virtual path 412 changes by 1 degree. Setting the preset number of degrees to 1 degree ensures that the angle change value of the virtual path 412 is consistent with the scale change value, making it easier for users to adjust the angle of the virtual path 412. The initial scale mark of the path angle adjustment control is obtained, where the initial scale mark is the scale mark corresponding to the path angle adjustment control before the first operation. The difference between the target scale mark and the initial scale mark is calculated, and then the angle change value is determined by multiplying the difference value by the preset number of degrees. For example, if the initial scale mark is 154 degrees and the target scale mark is 159 degrees, the calculated difference is 5, and since the preset number of degrees is 1 degree, the angle change value is 5 degrees. If the initial scale mark is 159 degrees and the target scale mark is 154 degrees, the calculated difference is -5, and since the preset number of degrees is 1 degree, the angle change value is -5 degrees. The actual operational topographic map 322 is based on the WGS84 coordinate system, which is established using satellite-based measurement data with the Earth's center of mass as the origin, such as the common coordinate system of 30 degrees North latitude. In the virtual operational topographic map 411, each virtual coordinate is calculated as k × actual coordinate within the actual operational topographic map + b, where k is a scaling factor, adaptively adjusted according to the display module's screen size, with a value ranging from 0.25 to 4.0. b is the offset, representing the centroid of the virtual operational topographic map 411. The positive y-axis direction within the virtual operational topographic map 411 is preset as the positive adjustment direction of the virtual path 412; when the angle change value is positive, the path rotates in the positive y-axis direction. The positive adjustment direction can be set according to actual needs and is not limited here. It is understood that the preset degree can also be set according to actual needs, for example, to 2 degrees or 3 degrees, to improve angle adjustment efficiency. The preset degree is not limited here.

[0043] As can be seen, in this example, the angle change value is determined based on the scale change value and the preset degree, which improves the accuracy of the determined angle change value.

[0044] In one possible example, adjusting the virtual path 412 to the first angle based on the angle change value includes: determining an angle compensation value based on the angle change value, the first width value, the second width value, a preset error compensation formula, and a preset angle deviation limit value; modifying the angle change value based on the angle compensation value to obtain a modified angle change value; and adjusting the virtual path 412 from the initial angle corresponding to the initial scale to the first angle based on the modified angle change value.

[0045] In the specific example, the preset error compensation formula is as follows: ;in, denoted as the maximum deviation value of the angle, x as the first width value, and y as the second width value; f is the error function caused by factors such as response delay and mechanical error of the terminal device or internal system of the robot where the control module is located, and f is the function obtained from the prior experiment. This represents the angle change value. Due to the accumulation of mechanical errors in robots or terminal devices, a preset error compensation formula and a preset angle deviation are obtained. Based on the angle change value, the first width value, the second width value, and the preset error compensation formula, the maximum angle deviation value ε is determined. max The angle compensation value is determined based on the absolute value of the maximum deviation and the angle deviation limit. Specifically, it is determined whether the absolute value of the maximum deviation is less than or equal to the angle deviation limit. If it is less, no compensation is performed. If it is greater, the angle compensation value is determined based on the portion exceeding the angle deviation limit. For example, if the angle deviation limit is 0.5 and the absolute value of the maximum deviation is 0.6, the maximum deviation is greater than the angle deviation limit. The direction of error angle compensation is determined based on the maximum angle deviation. Specifically, the direction of error angle compensation is opposite to the direction of the maximum deviation. That is, if the maximum angle deviation is positive, the direction of error angle compensation is negative. For example, if the maximum deviation is 0.6 and the angle deviation limit is 0.5, the difference between the two is determined to be 0.1. Since the maximum deviation is positive, the angle compensation value should be -0.1; if the maximum deviation is -0.6, the angle compensation value should be 0.1 degrees. The angle change value is modified based on the angle compensation value to obtain the modified angle change value. Finally, the virtual path 412 is adjusted from the initial angle corresponding to the initial scale to the first angle based on the modified angle change value.

[0046] As can be seen, in this example, the angle compensation value is determined based on a preset error compensation formula to avoid error accumulation and further improve the accuracy of the first angle adjustment.

[0047] In one possible example, before rotating the path angle adjustment control to the target scale in response to the first operation on the path angle adjustment control, the method further includes: when multiple second operations are detected simultaneously on the operation interface, determining the priority of each of the multiple second operations according to a preset priority rule, obtaining a priority set integrating the correspondence between the priorities and the second operations, wherein the multiple second operations include the first operation; sorting the second operations in the priority set in descending order of priority, obtaining the response order of the multiple second operations; executing the multiple second operations according to the response order; and if the first operation is detected to be triggered, then executing the step of rotating the path angle adjustment control to the target scale in response to the first operation on the path angle adjustment control.

[0048] In a specific example, in response to the first operation on the path angle adjustment control, before rotating the path angle adjustment control to the target scale, when multiple second operations are detected simultaneously on the operation interface, i.e., the user performs multiple second operations simultaneously, including the first operation, the multiple second operations include the operation of rotating the path angle adjustment control. The multiple second operations may also include operations such as zooming out or panning; this is not limited here. The priority of each of the multiple second operations is determined according to a preset priority rule, which includes different execution priority levels for different second operations. Then, a priority set that integrates the correspondence between priorities and second operations is integrated, and the second operations within the priority set are sorted in descending order of priority to obtain the response order of the multiple second operations. For example, if the operation includes zooming out, panning, and rotating the path angle adjustment control, the priority level of the zooming operation is level 4, the priority level of the rotating path angle adjustment control operation is level 1, and the priority level of the panning operation is level 1. The smaller the level value, the higher the priority level. Therefore, the response order is to execute the panning operation and the rotating path angle adjustment control operation first, and then execute the zooming operation. After determining the response order, multiple second operations are executed according to the response order. If the first operation is detected to be triggered, the first operation in response to the path angle adjustment control is executed, and the path angle adjustment control is rotated to the target scale.

[0049] As can be seen in this example, if a user triggers multiple second operations simultaneously, the response order of the second operations is determined based on the priority of the multiple second operations, so as to make reasonable use of resources, reduce conflicts between operations, and improve the user experience.

[0050] In one possible example, if the user performs multiple second operations, the conditions for each second operation are obtained. If the conditions for execution are met, the corresponding second operation is executed. For example, rotation commands respond instantly, operations on the rotation path angle adjustment control respond in real time, zoom operations have a 300ms delay, and zoom-out operations have a 300ms delay—that is, the zoom-out operation is executed 300 milliseconds after the user initiates the zoom-out operation. Translation operations and operations on the rotation path angle adjustment control need to respond immediately, making efficient use of resources and reducing conflicts between operations.

[0051] In one possible example, after displaying the operation interface, the method further includes: in response to a third operation on the virtual work terrain map or the virtual path 412, obtaining operation parameters for the third operation; if the third operation is determined to be a zoom operation based on the operation parameters, then zooming in or out on the virtual work terrain map and the virtual path 412 according to the operation parameters; if the third operation is determined to be a pan operation based on the operation parameters, then panning in the virtual work terrain map and the virtual path 412 according to the operation parameters.

[0052] In a specific example, after the operation interface is displayed, in response to a third operation on the virtual work terrain map or virtual path 412, the operation parameters of the third operation are obtained. The specific type of the third operation is determined, thereby adjusting the virtual work terrain map 411 and the virtual path 412. If the operation parameters determine that the third operation is a scaling operation, the virtual work terrain map and virtual path 412 are enlarged or reduced according to the operation parameters; if the operation parameters determine that the third operation is a translation operation, the virtual work terrain map and virtual path 412 are translated according to the operation parameters. Specifically, in this application, the virtual path 412 is dynamically displayed using Canvas vector drawing technology, and the virtual path 412 is dynamically rotated using a rotation matrix accelerated by a graphics processing unit (GPU).

[0053] As can be seen, this example supports operations such as scaling and translation, and achieves rapid adjustment through Canvas vector drawing technology and GPU rotation matrix, thus improving adjustment efficiency.

[0054] In one possible example, the operation interface further includes an actual work terrain map 322 corresponding to the virtual work terrain map 411. After adjusting the virtual path 412 to the first angle according to the angle change value, the method further includes: obtaining the index information and coordinate information of the changed points within the virtual path 412 adjusted to the first angle, wherein the index information is the position number of the changed point within the virtual path 412, and the coordinate information is the coordinate information of the changed point within the virtual path 412 adjusted to the first angle; and updating the actual path 321 corresponding to the virtual path 412 within the actual work terrain map 322 according to the index information and the coordinate information.

[0055] In a specific example, the operation interface also includes an actual work topography map 322 corresponding to the virtual work topography map 411, so that users can view the adjusted actual work topography map 322. Specifically, after adjusting the virtual path 412 to the first angle according to the angle change value, the index information and coordinate information of the changed points within the virtual path 412 adjusted to the first angle are obtained. The changed points represent the coordinate points of the virtual path 412 after changing from the initial angle to the first angle. The index information is the position number of the changed point within the virtual path 412, and the coordinate information is the coordinate information of the changed point within the virtual path 412 adjusted to the first angle, i.e., the adjusted coordinate information. The actual path 321 corresponding to the virtual path 412 within the actual work topography map 322 is updated according to the index information and coordinate information, improving update efficiency. For example, {"idx":105,"x":32.71,"y":41.28}. The index information is "idx":105; that is, the position number is 105. The coordinate information is: "x":32.71, "y":41.28; that is, the x-axis coordinate is 32.71 and the y-axis coordinate is 41.28.

[0056] As can be seen, in this example, the actual path 321 is adjusted based on the changing points of the virtual path 412, thereby improving the adjustment efficiency.

[0057] In one possible example, during data transmission, such as index and coordinate information, the data is compressed using a Snappy+LZ4 hybrid compression algorithm. For example, a 12-megabyte data file can be compressed to 3.2 megabytes. The transmission process employs a Quality of Service (QoS) strategy: if a frame is identified as critical (e.g., the starting point of virtual path 412), a forced synchronization is performed after 500 milliseconds; for non-critical frames, this is extended to 2000 milliseconds, reducing the communication frequency from 5.2 times / second to 1.8 times / second, a 65.4% reduction. The actual operational topographic map 322 is rendered using the OpenLayers engine, supporting two-finger zoom and single-finger panning. To ensure response speed, the path rendering engine implements Level of Detail (LOD) optimization. Specifically, view distances above 5 kilometers are simplified to polylines, 1-5 kilometers are smoothed using Bézier curves, and within 1 kilometer, full detail is rendered, ultimately achieving a 95% update latency of less than or equal to 150 milliseconds for a 1000-point path.

[0058] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0059] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0060] Given that each function is divided into different modules, please refer to the following: Figure 5 , Figure 5 A functional unit block diagram of a path adjustment device provided in an embodiment of this application is shown below. Figure 5As shown, a path adjustment device includes: Display unit 501 is used to display an operation interface, the operation interface including a virtual path, a virtual work topographic map and a path angle adjustment control, the virtual path is displayed in the virtual work topographic map, and the path angle adjustment control is used to adjust the angle of the virtual path in the virtual work topographic map; The first adjustment unit 502 is configured to, in response to a first operation on the path angle adjustment control, rotate the path angle adjustment control to a target scale, wherein the target scale corresponds to a first angle of the virtual path on the virtual work terrain map; Determining unit 503 is used to determine the angle change value based on the target scale; The second adjustment unit 504 is used to adjust the virtual path to the first angle according to the angle change value.

[0061] In one possible example, the path angle adjustment control has multiple scales, with different scales corresponding to different angles of the virtual path on the virtual work terrain map. The first adjustment unit 502 is further configured to: obtain a first width value of a single scale within the path angle adjustment control and a second width value between two adjacent scales; determine an offset distance value and an offset direction of the path angle adjustment control based on the operation parameters of the first operation; calculate the ratio of the offset distance value to the sum of the first width value and the second width value; determine a scale adjustment value based on the integer part of the ratio and the offset direction; and rotate the path angle adjustment control to the target scale based on the scale adjustment value.

[0062] In one possible example, the angles between two adjacent scales differ by a preset number of degrees. The determining unit 503 is further configured to: obtain the initial scale of the path angle adjustment control; calculate the difference between the target scale and the initial scale; and determine the angle change value based on the product of the difference and the preset number of degrees.

[0063] In one possible example, the second adjustment unit 504 is further configured to: determine an angle compensation value based on the angle change value, the first width value, the second width value, a preset error compensation formula, and a preset angle deviation limit value; modify the angle change value based on the angle compensation value to obtain a modified angle change value; and adjust the virtual path from the initial angle corresponding to the initial scale to the first angle based on the modified angle change value.

[0064] In one possible example, the device further includes a processing unit configured to: when multiple second operations are detected simultaneously on the operation interface, determine the priority of each of the multiple second operations according to a preset priority rule, and obtain a priority set integrating the correspondence between the priorities and the second operations, wherein the multiple second operations include the first operation; sort the second operations within the priority set in descending order of priority to obtain a response order of the multiple second operations; execute the multiple second operations according to the response order; and if the first operation is detected to be triggered, execute a step of rotating the path angle adjustment control to a target scale in response to a first operation on the path angle adjustment control.

[0065] In one possible example, the apparatus further includes a first acquisition unit, configured to acquire operation parameters of the third operation in response to the third operation on the virtual work terrain map or the virtual path; and if the third operation is determined to be a zoom operation based on the operation parameters of the third operation, to zoom in or out on the virtual work terrain map and the virtual path based on the operation parameters of the third operation; and if the third operation is determined to be a translation operation based on the operation parameters of the third operation, to translate the virtual work terrain map and the virtual path based on the operation parameters of the third operation.

[0066] In one possible example, the user interface further includes an actual work topographic map corresponding to the virtual work topographic map, and the device further includes a second acquisition unit, configured to: acquire index information and coordinate information of a variable point within the virtual path adjusted to the first angle, wherein the index information is the position number of the variable point within the virtual path, and the coordinate information is the coordinate information of the variable point in the virtual path adjusted to the first angle; and update the actual path corresponding to the virtual path within the actual work topographic map according to the index information and the coordinate information.

[0067] When using integrated units, such as Figure 6 As shown, Figure 6 This is a functional unit block diagram of another path adjustment device provided in an embodiment of this application. Figure 6 The path adjustment device 60 includes a processing module 62 and a communication module 61. The processing module 62 controls and manages the operation of the path adjustment device, for example, controlling the steps of the display unit 501, the first adjustment unit 502, the determination unit 503, and the second adjustment unit 504, and / or performing other processes of the technology described herein. The communication module 61 supports interaction between the extruder control data processing device and other devices. Figure 6As shown, the path adjustment device may also include a storage module 63, which stores program code and data for the path adjustment device.

[0068] All relevant content for each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. All of the above path adjustment devices can execute the above path adjustment method.

[0069] This application provides a terminal device, which includes at least one processor, a communication interface, and a memory. The communication interface is used to send and / or receive data, the memory is used to store computer programs, and the at least one processor is used to call the computer programs stored in the memory to implement the method described above.

[0070] This application provides an electronic device including a processor and a memory. The memory stores computer program code, which includes computer instructions. When the processor executes the computer instructions, the electronic device performs the steps of the method described above.

[0071] This application provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform some or all of the steps described in the method described above.

[0072] This application provides a computer program operable to cause a computer to perform some or all of the steps described in the method above. The computer program may be a software installation package.

[0073] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0074] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0075] This application also provides a computer program product, which includes a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0076] The computer program product may be a software installation package, and the aforementioned computer includes electronic devices.

[0077] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and other division methods may exist in actual implementation; for example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0079] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0081] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A path adjustment method, characterized in that, include: The operation interface includes a virtual path, a virtual work topographic map, and a path angle adjustment control. The virtual path is displayed in the virtual work topographic map, and the path angle adjustment control is used to adjust the angle of the virtual path in the virtual work topographic map. In response to a first operation on the path angle adjustment control, the path angle adjustment control is rotated to a target scale, the target scale corresponding to a first angle of the virtual path on the virtual work terrain map; The angle change value is determined based on the target scale; The virtual path is adjusted to the first angle based on the angle change value.

2. The method according to claim 1, characterized in that, The path angle adjustment control has multiple scales, with different scales corresponding to different angles of the virtual path on the virtual terrain map. The step of rotating the path angle adjustment control to the target scale in response to a first operation on the path angle adjustment control includes: Obtain the first width value of a single scale within the path angle adjustment control and the second width value between two adjacent scales; The offset distance value and offset direction of the path angle adjustment control are determined based on the operation parameters of the first operation; Calculate the ratio of the offset distance value to the sum of the first width value and the second width value; The scale adjustment value is determined based on the integer part of the ratio and the offset direction; Rotate the path angle adjustment control to the target scale according to the scale adjustment value.

3. The method according to claim 2, characterized in that, The angle difference between two adjacent scale marks is a preset number of degrees. Determining the angle change value based on the target scale mark includes: Obtain the initial scale of the path angle adjustment control; Calculate the difference between the target scale and the initial scale; The angle change value is determined by multiplying the difference with the preset degree.

4. The method according to claim 3, characterized in that, Adjusting the virtual path to the first angle based on the angle change value includes: The angle compensation value is determined based on the angle change value, the first width value, the second width value, the preset error compensation formula, and the preset angle deviation limit value; The angle change value is modified according to the angle compensation value to obtain the modified angle change value; The virtual path is adjusted from the initial angle corresponding to the initial scale to the first angle based on the modified angle change value.

5. The method according to claim 1, characterized in that, Before rotating the path angle adjustment control to the target scale in response to a first operation on the path angle adjustment control, the method further includes: When multiple second operations are detected simultaneously on the operation interface, the priority of each second operation is determined according to a preset priority rule, and a priority set integrating the correspondence between the priority and the second operation is obtained. The first operation is included among the multiple second operations. The second operations within the priority set are sorted in descending order of priority to obtain the response order of the multiple second operations; The plurality of second operations are performed according to the order of the responses; If the first operation is detected to be triggered, then the step of rotating the path angle adjustment control to the target scale is performed in response to the first operation on the path angle adjustment control.

6. The method according to any one of claims 1-5, characterized in that, Following the display operation interface, it also includes: In response to a third operation on the virtual work terrain map or the virtual path, the operation parameters of the third operation are obtained; If the third operation is determined to be a scaling operation based on the operation parameters of the third operation, then the virtual operation terrain map and the virtual path are zoomed in or out based on the operation parameters of the third operation. If the third operation is determined to be a translation operation based on the operation parameters of the third operation, then the virtual operation terrain map and the virtual path are translated according to the operation parameters of the third operation.

7. The method according to any one of claims 1-5, characterized in that, The operation interface also includes an actual operational terrain map corresponding to the virtual operational terrain map. After adjusting the virtual path to the first angle based on the angle change value, the interface further includes: Obtain the index information and coordinate information of the changing point within the virtual path adjusted to the first angle. The index information is the position number of the changing point within the virtual path, and the coordinate information is the coordinate information of the changing point in the virtual path adjusted to the first angle. Update the actual path corresponding to the virtual path in the actual operation topographic map according to the index information and the coordinate information.

8. A path adjustment device, characterized in that, The device, applied to self-propelled equipment, includes: The display unit is used to display the operation interface, which includes a virtual path, a virtual work topographic map, and a path angle adjustment control. The virtual path is displayed in the virtual work topographic map, and the path angle adjustment control is used to adjust the angle of the virtual path in the virtual work topographic map. A first adjustment unit is configured to, in response to a first operation of the path angle adjustment control, rotate the path angle adjustment control to a target scale, wherein the target scale corresponds to a first angle of the virtual path on the virtual work terrain map; The determining unit is used to determine the angle change value based on the target scale. The second adjustment unit is used to adjust the virtual path to the first angle according to the angle change value.

9. An electronic device, characterized in that, include: A processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 7.

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