Operation route editing method, device and equipment and storage medium

Abstract

The invention discloses an operation route editing method, device and equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme, the method comprises the steps that a three-dimensional view and a corresponding top view are displayed in an editing interface, the three-dimensional view and the top view comprise a to-be-edited operation route, and the operation route comprises a plurality of waypoints; adjusting horizontal coordinates of corresponding waypoints in the three-dimensional view and the top view in response to a first movement operation on the waypoints in the top view, and / or adjusting vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation on the waypoints in the three-dimensional view; and correspondingly adjusting the operation route according to the horizontal coordinates and the vertical coordinates of the adjusted waypoints. By means of the technical means, the problem that in the prior art, when a three-dimensional operation route is edited through a two-dimensional screen, movement is prone to being inaccurate is solved, and the editing accuracy and editing efficiency of the operation route are improved.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and in particular to a method, apparatus, equipment and storage medium for editing operation routes. Background Technology

[0002] With the rapid development of unmanned equipment technology, it is widely used in various fields, especially drones, which can perform autonomous operations at high altitudes based on pre-planned routes. In complex terrain areas, such as mountainous orchards or operation scenarios with many obstacles, drones support the use of three-dimensional flight paths. To balance flight safety and efficiency when drones operate based on three-dimensional flight paths, the remote control equipment allows users to edit the three-dimensional flight path before operation.

[0003] In existing technologies, when a user edits a 3D flight path, they can select waypoints on the path and move their positions using their fingers on the 3D flight path view displayed on the remote control device, thereby adjusting the trajectory of the 3D flight path. However, the screen of the remote control device is a 2D screen, which can easily lead to inaccurate movement when editing a 3D flight path, affecting the accuracy and efficiency of the editing process. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for editing work routes, enabling precise touch control of waypoints on the work route in the horizontal and vertical directions in both top-view and three-dimensional views, thereby accurately adjusting the horizontal and vertical coordinates of waypoints on the work route. This solves the problem of inaccurate movement that easily occurs when editing three-dimensional work routes through a two-dimensional screen in the prior art, and improves the accuracy and efficiency of work route editing.

[0005] Firstly, this application provides a method for editing operational routes, including:

[0006] The editing interface displays a 3D view and a corresponding top view, which include the operation route to be edited and the operation route includes multiple waypoints;

[0007] In response to a first movement operation of a waypoint in the top view, adjust the horizontal coordinates of the corresponding waypoint in the three-dimensional view and the top view, and / or, in response to a second movement operation of a waypoint in the three-dimensional view, adjust the vertical coordinates of the corresponding waypoint in the three-dimensional view and the top view;

[0008] The operational route is adjusted according to the horizontal and vertical coordinates of the adjusted waypoints.

[0009] Secondly, this application provides a work route editing device, comprising:

[0010] The view display module is configured to display a 3D view and a corresponding top view in the editing interface. The 3D view and the top view include the operation route to be edited, and the operation route includes multiple waypoints.

[0011] The waypoint editing module is configured to adjust the horizontal coordinates of the corresponding waypoints in the 3D view and the top view in response to a first movement operation of a waypoint in the top view, and / or adjust the vertical coordinates of the corresponding waypoints in the 3D view and the top view in response to a second movement operation of a waypoint in the 3D view;

[0012] The route editing module is configured to adjust the operational route according to the three-dimensional coordinates of the adjusted waypoints.

[0013] Thirdly, this application provides a work route editing device, comprising:

[0014] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the job route editing method as described in the first aspect.

[0015] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the job route editing method as described in the first aspect.

[0016] In this application, by displaying a 3D view containing a 3D work route and a top view containing a 2D work route in the editing interface, the user can move waypoints on the 3D work route in the 3D view to adjust their vertical coordinates, and move waypoints on the 2D work route in the top view to adjust their horizontal coordinates, and adjust the work route according to the adjusted waypoints. Through the above technical means, the user can precisely touch and move waypoints vertically and horizontally through the 3D view and the top view respectively, thereby accurately adjusting the horizontal and vertical coordinates of waypoints on the work route. This solves the problem of inaccurate movement that easily occurs when editing 3D work routes through a 2D screen in the prior art, improving the accuracy and efficiency of work route editing. Attached Figure Description

[0017] Figure 1 This is a flowchart of a method for editing a work route provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the editing interface displaying a three-dimensional view provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram of the editing interface displaying a three-dimensional view and a top view provided in the embodiments of this application;

[0020] Figure 4 This is a schematic diagram showing the synchronized movement of the top view and the three-dimensional view in the editing interface provided in this application embodiment;

[0021] Figure 5 This is a schematic diagram of the top view and the three-dimensional view after synchronous rotation in the editing interface provided in the embodiments of this application;

[0022] Figure 6 This is a schematic diagram showing the synchronized scaling of the top view and the three-dimensional view in the editing interface provided in this application embodiment;

[0023] Figure 7 This is a schematic diagram of the editing interface provided in this application embodiment during the process of moving the first waypoint;

[0024] Figure 8 This is a schematic diagram of the editing interface provided in this application embodiment during the process of moving the second waypoint;

[0025] Figure 9 This is one of the schematic diagrams illustrating the process of adding a new waypoint through the editing interface provided in this application embodiment;

[0026] Figure 10 This is a second schematic diagram illustrating the process of adding a new waypoint through the editing interface provided in this application embodiment;

[0027] Figure 11 This is a schematic diagram of the editing interface when the second waypoint is selected in the vertical editing mode provided in the embodiments of this application;

[0028] Figure 12 This is a schematic diagram of the editing interface when the second waypoint is selected in the vertical plane editing mode provided in the embodiments of this application;

[0029] Figure 13 This is a schematic diagram of the editing interface when selecting a line segment in a 3D view, provided in an embodiment of this application;

[0030] Figure 14 This is a schematic diagram of the editing interface when adding a waypoint to a route segment and moving it upwards in a three-dimensional view provided in this application embodiment;

[0031] Figure 15 This is a schematic diagram of the structure of a work route editing device provided in an embodiment of this application;

[0032] Figure 16 This is a schematic diagram of the structure of an unmanned device provided in an embodiment of this application. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0034] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0035] In related implementations, when a user edits a 3D flight path, they can select waypoints on the path with their finger in the 3D view displayed on the remote control device and move their positions to adjust the trajectory. New waypoints can also be inserted by tapping the path's location. However, the flight paths and waypoints in the 3D view are objects in 3D space, while the remote control device's screen is 2D. Clicking on objects in 3D space on a 2D screen can lead to significant click detection errors, resulting in the wrong object being selected. For example, multiple misaligned objects in the 3D view may appear overlapping on a 2D screen, making it difficult to accurately select the desired object. Furthermore, moving an object in 3D space to a specific position requires movement in the X, Y, and Z directions. However, a 2D screen can only control movement in two directions within the current view plane; the distance and direction of the third direction are inaccurate. To achieve precise movement control in the third direction, the viewing angle of the current view on the 2D screen must be adjusted. Therefore, editing 3D flight paths via a 2D screen easily leads to problems with accurate object selection and inaccurate movement control, reducing the accuracy and efficiency of 3D flight path editing.

[0036] To address the problems existing in the above implementation methods, this embodiment provides a method for editing operation routes, which simultaneously presents a top view and a three-dimensional view in the editing interface. This allows users to accurately select corresponding waypoints on the two-dimensional and three-dimensional operation routes shown in the top view and the three-dimensional view, respectively, and move them precisely in the horizontal and vertical directions. This enables precise adjustment of the horizontal and vertical coordinates of the waypoints on the operation route, thereby improving the accuracy and efficiency of editing the operation route.

[0037] The flight path editing method provided in this embodiment can be executed by a flight path editing device. This device can be implemented through software and / or hardware, and can consist of two or more physical entities, or a single physical entity. For example, the flight path editing device can be a remote control device for operating a drone, or it can be the processor of the remote control device. The remote control device can be a smart terminal such as a mobile phone or tablet.

[0038] The flight path editing device is equipped with at least one type of operating system. Based on this operating system, the device can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the flight path editing device has at least one application capable of executing flight path editing methods.

[0039] For ease of understanding, this embodiment uses a remote control device as the main body for executing the operation route editing method as an example for description.

[0040] Figure 1 A flowchart of a job route editing method provided in an embodiment of this application is given. (Reference) Figure 1 The specific methods for editing the flight path include:

[0041] S110. Display a 3D view and a corresponding top view in the editing interface. The 3D view and top view include the operation route to be edited, and the operation route includes multiple waypoints.

[0042] The editing interface is provided by the remote control device for editing the work route. The 3D view displays the work route in three-dimensional space, while the top view displays the work route in a horizontal plane. The work route in the 3D view can be considered a 3D work route, and the waypoints on the 3D work route are 3D waypoints, with coordinates including both horizontal and vertical coordinates. The work route in the top view can be considered a 2D work route, and the waypoints on the 2D work route are 2D waypoints, with coordinates including horizontal coordinates. It should be noted that the 3D and 2D work routes displayed simultaneously in the editing interface represent the same work route in 3D space and 2D plane. Whether the user edits the 3D work route in the 3D view or the 2D work route in the top view, they are editing the same work route.

[0043] For example, a user can select an identifier such as the number or name of the work route to be edited via a remote control device, and obtain the corresponding 3D waypoint dataset and 2D waypoint dataset based on the selected identifier. A corresponding 3D work route is generated from multiple 3D waypoints in the 3D waypoint dataset, and a 3D view containing this work route is displayed in the editing interface. Similarly, a corresponding 2D work route is generated from multiple 2D waypoints in the 2D waypoint dataset, and a top view containing this 2D work route is displayed in the editing interface.

[0044] Optionally, the remote control device displays a 3D view in the editing interface by default. After the user selects to enable the top-down view through the editing interface, the remote control device can display both the 3D view and the top-down view simultaneously in the editing interface. For example, Figure 2 This is a schematic diagram of the editing interface displaying a three-dimensional view provided in the embodiments of this application. Figure 3 This is a schematic diagram illustrating the display of a three-dimensional view and a top view in the editing interface provided in this embodiment of the application. For example... Figure 2 As shown, after the user selects the operation route, the editing interface displays a 3D view containing the 3D operation route 11. Figure 10 .like Figure 3 As shown, when the user clicks the top view activation control 30 in the editing interface, a split screen pops up from the bottom of the remote control device's screen. The bottom split screen displays a top view 20 containing the two-dimensional operation route 21, allowing the user to view the top view 20 and the three-dimensional view through the editing interface. Figure 10 Simultaneously edit the operational flight path.

[0045] It should be noted that the map coordinates corresponding to the center points of the 3D view and the top view are consistent, and the angle direction, map layer size, element type, and element status of the two views are also consistent.

[0046] refer to Figure 2 and Figure 3In addition to displaying the 3D operation route 12, the 3D view can also display the 3D point cloud of the operation site corresponding to the 3D operation route 11. Figure 13 So that users can refer to the 3D point cloud. Figure 13 To better edit the 3D operation route 12. Similarly, in addition to displaying the 2D operation route 21, the top view 20 can also display a 2D high-precision map 23 of the operation plot corresponding to the 2D operation route 21, so that users can refer to the 2D high-precision map 23 to better edit the 2D operation route 21.

[0047] In addition to directly selecting the work route to be edited on the remote control device, users can also select the work site to be worked on. The remote control device plans a three-dimensional work route and a two-dimensional work route based on the work site, and displays a three-dimensional view and a top view on the editing interface based on the three-dimensional work route and the two-dimensional work route.

[0048] Optionally, the steps for displaying the 3D view and top view on the editing interface specifically include S1101-S1104:

[0049] S1101. Obtain the 3D point cloud map, 2D high-precision map and terrain data of the work site.

[0050] For example, the user selects an identifier such as the work site number or name on the remote control device. Based on this identifier, a 3D point cloud map of the work site is obtained from a 3D map atlas. Based on this identifier, a 2D high-precision map of the work site is obtained from a 2D map atlas. Based on this identifier, the terrain data of the work site is obtained from a terrain dataset. The 3D point cloud map can be a 3D map model constructed based on the 3D point cloud, the 2D high-precision map can be a digital orthophoto map (DOM), and the terrain data can be surface elevation extracted based on a digital surface model (DSM).

[0051] In addition, the remote control device can display satellite maps on the screen. Users can draw the area where the work site is located on the satellite map. The remote control device can locate the actual coordinates of the work site based on the area of ​​the work site on the satellite map, and obtain the three-dimensional point cloud map, two-dimensional high-precision map and terrain data of the work site based on the actual coordinates of the work site.

[0052] S1102. Plan a two-dimensional operation route based on a two-dimensional high-precision map, and adjust the elevation of the two-dimensional operation route according to terrain data to obtain a three-dimensional operation route.

[0053] For example, the remote control device plans a two-dimensional operation route based on a two-dimensional high-precision map of the work site. The two-dimensional operation route includes multiple two-dimensional waypoints. The horizontal coordinates of the two-dimensional waypoints are determined as the horizontal coordinates of the corresponding three-dimensional waypoints. Based on the horizontal coordinates of the two-dimensional waypoints, the ground elevation at the corresponding location is obtained from the terrain data of the work site. The sum of the ground elevation and the preset safety elevation is determined as the vertical coordinate of the corresponding three-dimensional waypoint, so that the UAV maintains the preset safety elevation when it arrives at the three-dimensional waypoint. After determining the three-dimensional waypoints corresponding to each two-dimensional waypoint, the three-dimensional operation route is obtained by fitting the three-dimensional waypoints together.

[0054] S1103. Display a 3D view in the editing interface based on the 3D point cloud map and the 3D operation route.

[0055] For example, based on the three-dimensional coordinates of the three-dimensional point cloud in the three-dimensional point cloud map and the three-dimensional coordinates of each three-dimensional waypoint on the three-dimensional operation route, the three-dimensional operation route is superimposed on the three-dimensional point cloud map to form a three-dimensional view, and the three-dimensional view containing the three-dimensional point cloud map and the three-dimensional operation route is displayed in the editing interface.

[0056] S1104. Display a top view in the editing interface based on the two-dimensional high-precision map and the two-dimensional operation route.

[0057] For example, based on the two-dimensional coordinates of each pixel in the two-dimensional high-precision map and the two-dimensional coordinates of each two-dimensional waypoint on the two-dimensional operation route, the two-dimensional operation route is superimposed on the two-dimensional high-precision map to form a top view, and the top view containing the two-dimensional high-precision map and the two-dimensional operation route is displayed in the editing interface.

[0058] Optional, see reference Figure 3 The remote control device can display a satellite map 24 below the split screen, and overlay a top view 20 containing a two-dimensional high-precision map 23 and a two-dimensional operation route 21 on the satellite map, so that the user can refer to the position of the two-dimensional operation route 21 and the two-dimensional high-precision map 23 in the satellite map 24 through the top view 20 in the satellite map 24.

[0059] In one embodiment, the remote control device provides the functions of panning, zooming, and rotating the three-dimensional view and the top view. Since the center point, angle direction, and map layer size of the three-dimensional view and the top view must be consistent, when panning, zooming, or rotating one view, the other view will be panned, zoomed, or rotated simultaneously.

[0060] Optionally, after the remote control device displays the 3D view and top view in the editing interface, the user can select the top view and move it in the editing interface to input a third movement operation to the remote control device. The remote control device responds to this third movement operation by synchronously adjusting the display positions of the top view and the 3D view. This third movement operation is triggered when the user selects a non-operational path area in the top view and performs a translation. The non-operational path area is the area in the top view not covered by the operational path. The user can select the non-operational path area in the top view using one or two fingers. After receiving the third movement operation, the remote control device can determine the movement distance and direction based on the movement trajectory of the third movement operation, and translate the top view along the movement direction by that distance. Simultaneously, the 3D view is also translated along the movement direction by that distance, achieving synchronous movement of the top view and the 3D view. For example, Figure 4 This is a schematic diagram showing the synchronized movement of the top view and the 3D view in the editing interface provided in this embodiment of the application. (Reference) Figure 3 and Figure 4 When the user selects with a single finger Figure 3 When the 2D high-precision map 23 in the top view 20 is moved to the right, the remote control device receives the corresponding triggered third movement operation. Based on the third movement operation, the top view 20 is translated to the right to the end position of the third movement operation. Simultaneously, the 3D view... Figure 10 Shift the same distance to the right to obtain Figure 4 The editing interface shown.

[0061] Alternatively, the user can select the 3D view in the editing interface and move it to input a fourth movement operation to the remote control device. The remote control device responds to this fourth movement operation by synchronously adjusting the display positions of the top view and the 3D view. This fourth movement operation is triggered when the user selects a non-operational path area in the 3D view and performs a translation. The non-operational path area is the region in the 3D view not covered by the operational path. The user can select a non-operational path area in the 3D view with one or two fingers, and then move their finger to input the fourth movement operation to the remote control device. Upon receiving the fourth movement operation, the remote control device determines the movement distance and direction based on the movement trajectory, and translates the 3D view along that direction by that distance. Simultaneously, the top view is also translated along the same direction by that distance, achieving synchronous movement of the 3D view and the top view. (Reference) Figure 3 and Figure 4 When the user selects with a single finger Figure 3 3D Vision Figure 10 3D point cloud Figure 13 When moving to the right, the remote control device receives the corresponding triggered fourth movement operation, and adjusts the 3D view according to the fourth movement operation. Figure 10Move the camera to the right to the end position of the fourth movement operation. At the same time, move the top view 20 to the right by the same distance to obtain... Figure 4 The editing interface shown.

[0062] This embodiment improves the editing experience and efficiency by responding to a third movement operation on the top view or a fourth movement operation on the 3D view, allowing users to drag the top view or 3D view to a suitable position in the editing interface for editing. Furthermore, when the top view or 3D view moves, the 3D view or top view moves synchronously to ensure the consistency of the center point coordinates between the top view and the 3D view.

[0063] It needs to be explained and referenced. Figure 4 When the top view 20 is overlaid on the satellite map 24, the satellite map 24 moves synchronously when the top view 20 moves, so as to ensure that the coordinates of the top view 20 in the satellite map 24 remain unchanged.

[0064] Optionally, after the remote control device displays the 3D view and top view in the editing interface, the user can select the top view in the editing interface with two fingers and rotate it to input a first rotation operation to the remote control device. The remote control device responds to this first rotation operation by synchronously adjusting the display angles of the top view and the 3D view. The first rotation operation is triggered when the user selects the top view with two fingers and rotates it. The user can input the first rotation operation by selecting the top view with two fingers and making a circular motion around the center with one finger. After receiving the first rotation operation, the remote control device can determine a touch point and an arc touch trajectory that triggered the operation. The central angle formed by the touch point and the arc touch trajectory is determined as the rotation angle. The top view is rotated according to this rotation angle to adjust its display angle. Simultaneously, the 3D view is also rotated by the same rotation angle to adjust its display angle, achieving synchronous rotation of the top view and the 3D view. For example... Figure 5 This is a schematic diagram showing the synchronized rotation of the top view and the 3D view in the editing interface provided in this embodiment of the application. (Reference) Figure 3 and Figure 5 When the user selects with two fingers Figure 3 After the top view 20 is rotated counterclockwise, the remote control device receives the corresponding triggered first rotation operation. Based on the first rotation operation, the top view 20 is rotated counterclockwise by the rotation angle corresponding to the first rotation operation. Simultaneously, the three-dimensional view... Figure 10 Also rotate the rotation angle counterclockwise to obtain Figure 5 The editing interface shown.

[0065] Alternatively, the user can select the 3D view in the editing interface and rotate it to input a second rotation operation to the remote control device. In response to this second rotation operation, the display angles of the top view and the 3D view are simultaneously adjusted. The second rotation operation is triggered when the user selects the 3D view with two fingers and rotates it. The user can select the 3D view with two fingers, and then input the second rotation operation by moving one finger in a circle around that center. Upon receiving the second rotation operation, the remote control device can determine a touch point and an arc-shaped touch trajectory that triggered the operation. The central angle formed by the touch point and the arc-shaped touch trajectory is determined as the rotation angle. The 3D view is then rotated according to this rotation angle to adjust its display angle. Simultaneously, the top view is also rotated by the same rotation angle to adjust its display angle, achieving synchronous rotation of the top view and the 3D view. (Reference) Figure 3 and Figure 5 When the user selects with two fingers Figure 3 3D view in Figure 10 After rotating counterclockwise, the remote control device receives a corresponding second rotation operation, and adjusts the 3D view accordingly. Figure 10 Rotate the second rotation operation counterclockwise by the corresponding rotation angle. At the same time, rotate the top view 20 counterclockwise by the same rotation angle to obtain... Figure 5 The editing interface shown.

[0066] This embodiment responds to a first rotation operation on the top view or a second rotation operation on the 3D view, allowing the user to rotate the top view or 3D view to a suitable angle within the editing interface for editing, thus improving the user's editing experience and efficiency. Furthermore, when the top view or 3D view rotates, the 3D view or top view rotates synchronously to ensure consistency in the angular direction between the top view and the 3D view.

[0067] Optionally, after the remote control device displays the 3D view and top view in the editing interface, the user selects the top view in the editing interface and zooms in to input a first zoom operation to the remote control device. The remote control device responds to this first zoom operation by synchronously adjusting the display size of both the top view and the 3D view. The first zoom operation is triggered when the user selects the top view with two fingers and zooms in or out. The user can select the top view with two fingers and move the two fingers relative to each other or in opposite directions to input the first zoom-out or first zoom-in operation. Upon receiving the first zoom-out or first zoom-in operation, the remote control device determines the distance of movement for the operation, determines the zoom ratio based on the distance, and then zooms in or out of the top view in the editing interface according to the zoom ratio or enlarges the top view according to the zoom ratio. Simultaneously, the 3D view is also zoomed in or out proportionally to adjust its display size, achieving synchronous scaling of the top view and the 3D view. For example, Figure 6 This is a schematic diagram showing the synchronized scaling of the top view and the 3D view in the editing interface provided in this embodiment of the application. (Reference) Figure 3 and Figure 6 When the user selects with two fingers Figure 3 After moving two fingers relative to each other in the top view 20, the remote control device receives a corresponding first zoom-out operation. Based on the zoom-out ratio corresponding to the first zoom-out operation, the display size of the top view 20 is reduced. Simultaneously, the 3D view is also reduced based on this zoom-out ratio. Figure 10 The display size is obtained. Figure 6 The editing interface shown.

[0068] Alternatively, the user selects a 3D view in the editing interface and zooms in to input a second zoom operation to the remote control device. The remote control device responds to this second zoom operation by synchronously adjusting the display sizes of both the top view and the 3D view. The second zoom operation is triggered when the user selects the 3D view with two fingers and zooms in or out. The user can select the 3D view with two fingers and move the two fingers relative to each other or in opposite directions to input the second zoom-out or zoom-in operation. Upon receiving the second zoom-out or zoom-in operation, the remote control device determines the distance of movement for the operation, determines the zoom-out or zoom-in ratio based on the distance, and then zooms in or out of the 3D view in the editing interface according to the zoom-out ratio or zooms in according to the zoom-in ratio. Simultaneously, the top view is also zoomed in or out proportionally to adjust its display size, achieving synchronous zooming of the top view and the 3D view. (Reference) Figure 3 and Figure 6 When the user selects with two fingers Figure 3 3D view in Figure 10 After moving two fingers relative to each other, the remote control device receives a corresponding second zoom-out operation, and then zooms out the 3D view according to the zoom-out ratio corresponding to the second zoom-out operation. Figure 10 The display size is adjusted accordingly, and simultaneously, the display size of the top view 20 is reduced based on this reduction ratio to obtain... Figure 6 The editing interface shown.

[0069] This embodiment improves the editing experience and efficiency by responding to a first zoom operation on the top view or a second zoom operation on the 3D view, allowing users to scale the top or 3D view to a suitable size within the editing interface. Furthermore, when the top or 3D view is scaled, the 3D view is scaled synchronously to ensure consistency in the map layer size between the top and 3D views.

[0070] S120, in response to a first movement operation of a waypoint in the top view, adjust the horizontal coordinates of the corresponding waypoint in the three-dimensional view and the top view, and / or, in response to a second movement operation of a waypoint in the three-dimensional view, adjust the vertical coordinates of the corresponding waypoint in the three-dimensional view and the top view.

[0071] In this embodiment, in order to distinguish between the movement operations on waypoints in the top view and the movement operations on waypoints in the three-dimensional view, the waypoints on the two-dimensional operation route in the top view are named the first waypoints, and the waypoints on the three-dimensional operation route in the three-dimensional view are named the second waypoints.

[0072] The first movement operation is triggered when the user selects the first waypoint in the top-down view and moves it horizontally. The user can select the first waypoint in the top-down view with a single finger and move it in any direction (forward, backward, left, or right). After receiving the first movement operation, the remote control device determines the movement distance and direction based on the movement trajectory. It then moves the selected first waypoint along the movement direction by that distance. After the first waypoint finishes moving, it obtains the location point of the first waypoint on a 2D high-precision map or satellite map and determines the horizontal coordinates of that location point as the adjusted horizontal coordinates of the first waypoint. Simultaneously, the horizontal coordinates of the second waypoint in the 3D view, which is the same as the first waypoint, are also adjusted to match the adjusted horizontal coordinates of the first waypoint. After adjusting the horizontal coordinates of the second waypoint, its pixel coordinates in the 3D view are determined based on its 3D coordinates. This moves the second waypoint shown in the 3D view to that pixel coordinate, ensuring a consistent waypoint display between the 3D view and the top-down view.

[0073] For example, Figure 7 This is a schematic diagram of the editing interface provided in this application embodiment during the process of moving the first waypoint. For example... Figure 7 As shown, when the user selects the first waypoint A in the top view 20 with a single finger, the first waypoint A is moved to the left and forward, thus inputting a first movement operation for the first waypoint A to the remote control device. Upon receiving the first movement operation for the first waypoint A, the remote control device moves the first waypoint A to point A' according to the direction and distance of the first movement operation, and obtains the horizontal coordinates of point A' in the 2D high-precision map 23 or satellite map 24 as the adjusted horizontal coordinates of the first waypoint A. Simultaneously, the horizontal coordinates of point A' are determined as the 3D view... Figure 10The horizontal coordinates of the second waypoint A are determined. After adjusting the horizontal coordinates of the second waypoint A, its 3D coordinates in the 3D view change. Therefore, its pixel coordinates in the 3D view are determined based on the adjusted 3D coordinates of the second waypoint A, which is the pixel coordinates of point A' in the 3D view. This allows the second waypoint A in the 3D view to be moved to point A' in the 3D view, achieving synchronous adjustment of the same waypoint in both the top view and the 3D view. The first waypoint A and the second waypoint A correspond to the same waypoint on the operational route.

[0074] The second movement operation is triggered when the user selects a second waypoint in the 3D view and moves it horizontally. The user can select the second waypoint in the 3D view with a single finger and move it vertically. After receiving the second movement operation, the remote control device can determine the movement distance and direction based on the movement trajectory, and move the selected second waypoint along the movement direction by that distance. After the second waypoint finishes moving, its vertical coordinates are adjusted according to the movement distance. Alternatively, after the second waypoint finishes moving, multiple 3D coordinates corresponding to the pixel coordinates of the second waypoint in the corresponding 3D space of the 3D view are determined based on the pixel coordinates of the second waypoint. The 3D coordinates that are the same as the horizontal coordinates of the second waypoint are determined as the 3D coordinates of the second waypoint after movement, thus obtaining the adjusted vertical coordinates of the second waypoint.

[0075] It should be noted that since the second movement operation can only adjust the vertical coordinates of the second waypoint, and the first waypoint in the top view does not display vertical coordinate information, when the vertical coordinates of the second waypoint are adjusted, the horizontal coordinates of the corresponding first waypoint in the top view will not change, and thus the pixel coordinates of the corresponding first waypoint will not change. Therefore, there is no need to move the corresponding first waypoint in the top view synchronously.

[0076] For example, Figure 8 This is a schematic diagram of the editing interface provided in this application embodiment during the process of moving to the second waypoint. Figure 8 As shown, the user selects a 3D view with a single finger. Figure 10When the second waypoint A is reached, it is translated upwards to input a second movement operation for the second waypoint A into the remote control device. Upon receiving the second movement operation for the second waypoint A, the remote control device moves the second waypoint A to point A' according to the direction and distance of the second movement operation. The vertical coordinates of the second waypoint A at point A' are determined based on the movement distance, thereby adjusting the vertical coordinates of the second waypoint A. Alternatively, multiple 3D coordinates corresponding to point A' in the 3D view are obtained based on its pixel coordinates in the 3D view. Among these multiple 3D coordinates, the 3D coordinate with the same horizontal coordinate as the horizontal coordinate of the second waypoint A is determined, and its vertical coordinate is set as the adjusted vertical coordinate of the second waypoint A. Meanwhile, the first waypoint A, which corresponds to the second waypoint A in the top view 20, remains stationary.

[0077] This embodiment allows for precise adjustment of the horizontal and vertical coordinates of waypoints on the operational route by moving the first waypoint horizontally in the top view and adjusting the vertical coordinates of the second waypoint vertically in the 3D view. This improves the efficiency of editing operational routes. Furthermore, the first waypoint shown in the top view does not overlap, preventing the selection of the wrong waypoint when adjusting it and ensuring accurate selection, further enhancing the efficiency of operational route editing.

[0078] Optionally, before moving the first or second waypoint, the user must first select it. To facilitate user confirmation of selection, the selected waypoint can be highlighted in the editing interface. Specifically, after the user selects a waypoint in the top-down view to input the first selection operation to the remote control device, the remote control device responds by highlighting the corresponding waypoint in both the top-down and 3D views. The first selection operation is the action triggered when the user selects the first waypoint. (Reference) Figure 7 When the user selects the first waypoint A in the top view 20, the first waypoint A and the three-dimensional view will be displayed. Figure 10 The second waypoint A can be enlarged and displayed together, or the display colors of the first waypoint A and the second waypoint A can be changed so that the user can confirm that the enlarged or colored waypoint is the selected waypoint.

[0079] Similarly, after the user selects a waypoint in the 3D view to input a second selection operation into the remote control device, the remote control device responds to this second selection operation by highlighting the corresponding waypoint in both the top view and the 3D view. The second selection operation is the action triggered when the user selects a second waypoint. (Reference) Figure 8 When the user selects 3D view Figure 10When selecting the second waypoint, the second waypoint A and the first waypoint A in the top view 20 are enlarged together, or the display colors of the first waypoint A and the second waypoint A are changed, so that the user can confirm that the enlarged or color-changed waypoint is the selected waypoint.

[0080] Optionally, the remote control device provides the function of adding new waypoints on the work route. Users can add multiple new waypoints to the work route and adjust their positions to better suit the terrain of the work site. The specific implementation process is as follows: the user selects the work route in the top-down view and adds a new waypoint to the work route to trigger the first addition operation. The remote control device responds to the first addition operation on the waypoint in the top-down view by adding the new waypoint on the work route in both the top-down view and the 3D view. The first addition operation is triggered when the user adds a waypoint through the top-down view. For example, Figure 9 This is one of the schematic diagrams illustrating the process of adding a new waypoint through the editing interface provided in this application embodiment. For example... Figure 9 As shown, when the user selects the first line segment AB (the line segment between the first waypoint A and the first waypoint B) of the two-dimensional operation line 21 in the top view 20, a first waypoint add control 31 pops up at the bottom of the top view. When the user clicks the first waypoint add control 31, the user inputs a first add operation to the remote control device. The remote control device adds a new first waypoint C on the corresponding selected first line segment AB according to the first add operation. The first waypoint C can be added at any position on the first line segment AB, or at the touch position when the user selects the first line segment AB. At the same time, the remote control device adds a new waypoint C in the three-dimensional view according to the horizontal coordinates of the first waypoint C. Figure 10 Add a second waypoint C to the second route segment AB shown (the route segment between the second waypoint A and the second waypoint B, where the second waypoint B and the first waypoint B correspond to the same waypoint).

[0081] Similarly, when a user selects a work route in the 3D view and adds a new waypoint on that route to trigger a second add operation, in response to this second add operation on the work route in the 3D view, a new waypoint is added to the work route in both the top view and the 3D view. The second add operation is triggered when the user adds a waypoint through the 3D view. For example, Figure 10 This is the second schematic diagram illustrating the process of adding a new waypoint through the editing interface provided in this application embodiment. For example... Figure 10 As shown, when the user selects the 3D view Figure 10After the second waypoint segment AB of the 3D operation route 11, a second waypoint addition control 32 pops up at the bottom of the 3D view. When the user clicks the second waypoint addition control 32, a second addition operation is input to the remote control device. The remote control device adds a new second waypoint C on the corresponding selected second waypoint segment AB according to the second addition operation. The second waypoint C can be added at any position on the second waypoint segment AB, or at the touch position when the user selects the second waypoint segment AB. At the same time, the remote control device adds a first waypoint C on the first waypoint segment AB shown in the top view 20 according to the horizontal coordinates of the second waypoint C.

[0082] Subsequently, users can change the shape of the first or second route segment AB by moving the first waypoint C or the second waypoint C, so that the shape of the first or second route segment AB better matches the terrain and landforms of the corresponding location in the work area. This embodiment enriches the editing functions of the work route by providing waypoint addition operations, thereby improving the editing flexibility and efficiency of the work route.

[0083] Optionally, when the user selects the first line segment in the top view or the second line segment in the 3D view, the selected first or second line segment will be highlighted so that the user can confirm the selected line segment.

[0084] In addition to triggering the first or second waypoint addition operation by clicking the first or second waypoint addition control, users can also trigger the first or second waypoint addition operation by directly moving the first or second waypoint after selecting it. The remote control device adds a new first or second waypoint at the location touched by the user's finger on the first or second waypoint. During the user's finger movement, a first move operation is also triggered on the newly added first waypoint, or a second move operation is triggered on the newly added second waypoint. The remote control device then moves the newly added first or second waypoint according to the first or second move operation, thereby adjusting the horizontal or vertical coordinates of the corresponding waypoint in the 3D view and top view.

[0085] As described above, the second movement operation is used to adjust the vertical coordinates of the second waypoint on the 3D operation route in the 3D view. The 3D view presents the 3D operation route from three directions. To enrich the editing methods of the 3D operation route, the remote control device provides three editing modes to adjust the 3D coordinates of the second waypoint in the 3D view from the vertical direction, the vertical plane, and the 3D direction, respectively. The three editing modes are vertical direction editing mode, vertical plane editing mode, and 3D direction editing mode. In vertical direction editing mode, the user can touch to move the second waypoint in the vertical direction; in vertical plane editing mode, the user can touch to move the second waypoint in the vertical plane; and in 3D direction editing mode, the user can touch to move the second waypoint in the 3D direction.

[0086] Optionally, the editing interface includes an editing mode switching control, which allows users to switch the current editing mode so that the remote control device can accurately respond to the user's movement of the second waypoint in the 3D view according to the current editing mode.

[0087] For example, after a user selects a second waypoint in a 3D view, triggering a second selection operation, the remote control device determines the editing mode of the 3D view. If the 3D view is in vertical editing mode, the remote control device determines that the subsequent operation triggered by the user moving the second waypoint is a second movement operation. Then, in response to the second movement operation on the second waypoint, the remote control device adjusts the vertical coordinates of the corresponding waypoint in the 3D view and the top view. The process of the remote control device responding to the second movement operation can be referred to the aforementioned embodiment, and will not be repeated here.

[0088] Optionally, when the 3D view is in vertical editing mode, after the user selects the second waypoint in the 3D view, a vertical auxiliary line can be added to the second waypoint. The vertical auxiliary line constrains the movement of the second waypoint in the vertical direction, preventing the user from moving the second waypoint in other directions. This enables precise touch-based movement of the second waypoint, reduces the editing error rate, and thus improves the efficiency of editing the operational route. Figure 11 This is a schematic diagram of the editing interface when the second waypoint is selected in the vertical editing mode provided in this application embodiment. For example... Figure 11 As shown, the user selects the 3D view. Figure 10 When the user reaches the second waypoint A, a vertical guideline 14 is displayed at the second waypoint A. The user can move the second waypoint A up or down along the vertical guideline 14 to trigger a second movement operation on the second waypoint A. The remote control device responds to the second movement operation on the second waypoint A by adjusting the 3D view. Figure 10 The vertical coordinates of the second waypoint A in the top view 20 and the vertical coordinates of the first waypoint A in the top view 20.

[0089] When the 3D view is in vertical plane editing mode or 3D directional editing mode, the remote control device determines that the operation triggered when the user moves the selected second waypoint is the fifth movement operation. Subsequently, the remote control device adjusts the vertical and horizontal coordinates of the corresponding waypoint in the 3D view and top view in response to the fifth movement operation on the second waypoint. Specifically, the fifth movement operation is the operation triggered when the user moves the second waypoint while the 3D view is in vertical plane editing mode or 3D directional editing mode. The user can move the selected second waypoint in the up, down, left, or right directions to input the fifth movement operation into the remote control device. The remote control device determines the movement direction and distance based on the movement trajectory of the fifth movement operation, determines the pixel coordinates of the second waypoint after movement based on the movement direction and distance, determines the corresponding 3D coordinates in the 3D space of the 3D view based on the pixel coordinates of the second waypoint after movement, and determines the vertical and horizontal coordinates of these 3D coordinates as the adjusted vertical and horizontal coordinates of the corresponding waypoint in the 3D view and top view.

[0090] Optionally, when the 3D view is in vertical plane editing mode, after the user selects the second waypoint in the 3D view, vertical auxiliary lines can be added to the second waypoint, and vertical auxiliary planes can be added at the second waypoint. The vertical auxiliary planes constrain the movement of the second waypoint within the vertical plane, preventing the user from moving the second waypoint to other planes, improving the accuracy of touch movement of the second waypoint, and thus reducing the editing error rate. Figure 12 This is a schematic diagram of the editing interface when the second waypoint is selected in the vertical plane editing mode provided in the embodiments of this application. For example... Figure 12 As shown, the user selects the 3D view. Figure 10 When the user moves the second waypoint A, a vertical auxiliary plane 15 is displayed at waypoint A. As the user moves waypoint A up, down, left, or right, waypoint A remains within the vertical auxiliary plane 15. When the remote control responds to the fifth movement operation on waypoint A, it can adjust the 3D view accordingly based on waypoint A's position within the vertical auxiliary plane. Figure 10 The vertical and horizontal coordinates of the second waypoint A in the diagram, and the vertical and horizontal coordinates of the first waypoint A in the top view 20.

[0091] It should be noted that the vertical auxiliary plane can be a plane formed by the X and Z directions in three-dimensional space, a plane formed by the Y and Z directions in three-dimensional space, or the frontal plane of the three-dimensional view at the current angle, etc. When the vertical auxiliary plane is a plane formed by the X and Z directions, the remote control device can adjust the Z and X coordinates of the second waypoint accordingly when responding to the fifth movement operation on the second waypoint. When the vertical auxiliary plane is a plane formed by the Y and Z directions, the remote control device can adjust the Z and Y coordinates of the second waypoint accordingly when responding to the fifth movement operation on the second waypoint. The vertical auxiliary plane can be switched by the user according to their needs.

[0092] S130. Adjust the operation route according to the horizontal and vertical coordinates of the adjusted waypoints.

[0093] For example, after adjusting the three-dimensional coordinates of a waypoint, a new route segment is generated based on the adjusted waypoint and its corresponding adjacent waypoints. This new waypoint segment replaces the original route segment between the waypoint and its corresponding adjacent waypoint. (Reference) Figure 7 After the second waypoint A moves to point A' in the top view, the route segment between point A' and the adjacent waypoints on both sides (dashed line route segment) replaces the route segment between the second waypoint A and the adjacent waypoints on both sides. Users can adjust the 3D coordinates of the waypoints to adjust the 3D coordinates of the corresponding route segments, thereby adjusting the operation route.

[0094] Optionally, besides adjusting the corresponding route segment by adjusting the waypoint position and then adjusting the operational route based on the adjusted route segment, the operational route can also be adjusted by directly adjusting the route segment. The specific implementation process is as follows: In response to a selection operation on a route segment in the operational route in the 3D view, a vertical auxiliary plane corresponding to the selected route segment is determined; the display angle of the 3D view is adjusted so that the vertical auxiliary plane in the 3D view is parallel to the screen; in response to a route adjustment operation on the vertical auxiliary plane, the route segment is simultaneously adjusted in the top view and the 3D view. Here, the selection operation is the operation entered by the user when selecting a route segment in the operational route in the 3D view. The route adjustment operation is the operation entered by the user when adjusting a route segment in the operational route in the 3D view.

[0095] By adjusting the display angle of the 3D view to make the vertical auxiliary plane in the 3D view parallel to the screen, users can more intuitively view the vertical auxiliary plane on the screen. The vertical auxiliary plane on the screen is directly in front of the user's line of sight, which makes it easier for users to perform route adjustment operations on the vertical auxiliary plane. The range of route adjustment operations is the vertical auxiliary plane, so it will not change the horizontal coordinates of the route outside the vertical auxiliary plane.

[0096] For example, Figure 13 This is a schematic diagram of the editing interface when selecting a line segment in a 3D view, as provided in an embodiment of this application. Figure 13 As shown, when the user selects the 3D view Figure 10 When a selection operation is input for the second route segment DA (the route segment between the second waypoint D and the second waypoint A), the remote control device generates a corresponding vertical auxiliary plane 16 at the second route segment DA in response to the selection operation, and connects the vertical auxiliary plane 16 to the three-dimensional view. Figure 1 The system rotates to make the vertical auxiliary plane parallel to the screen of the remote control device, allowing the user to adjust the second waypoint DA by using the vertical auxiliary plane 16. The user can then adjust the height of existing waypoints on the second waypoint DA by moving them on the vertical auxiliary plane, thereby changing the undulation of the second waypoint. For example, the user can input a waypoint movement operation by moving the second waypoint A on the second waypoint A up, down, upper left, upper right, lower left, or lower right within the vertical auxiliary plane. The remote control device responds to the waypoint movement operation by moving the second waypoint A to the 3D view. Figure 10 At the corresponding location in the map, adjust the vertical and horizontal coordinates of the second waypoint A. Simultaneously, if the horizontal coordinates of the second waypoint A change, the remote control device synchronously adjusts the display position of the first waypoint A in the top view 20 to ensure the accuracy of the 3D view. Figure 10 The same waypoint is displayed synchronously in top view 20.

[0097] In addition, users can add new waypoints for the corresponding route segment within the vertical auxiliary plane, and then move these waypoints on the vertical auxiliary plane to adjust their positions, thereby altering the undulations of the route segment. Specifically, users can input waypoint movement operations by moving the new waypoint up, down, to the upper left, to the upper right, to the lower left, or to the lower right within the vertical auxiliary plane. The remote control device responds to these operations, moving the waypoint to the corresponding position in the 3D view and adjusting its vertical and horizontal coordinates. Simultaneously, a new waypoint is added at the corresponding position in the top view to ensure synchronized display of the same waypoint in both the 3D and top views. For example, Figure 14 This is a schematic diagram of the editing interface when adding a waypoint to a route segment and moving it upwards in a 3D view provided in this application embodiment. For example... Figure 14 As shown, the user is in a 3D view Figure 10 A new second waypoint E is added to the second route segment DA within the vertical auxiliary plane 16 shown. Then, the second waypoint E is moved vertically upward within the vertical auxiliary plane 16, causing the second route segment DA to change from a straight line to a broken line. At the same time, a first waypoint E is added to the top view 20, and the horizontal coordinates of the first waypoint E are the same as the horizontal coordinates of the second waypoint E.

[0098] The methods described above, namely adjusting the position of existing waypoints and adjusting the position of newly added waypoints, can adjust the undulation of the route segment without changing the overall course of the route segment, thus enriching the editing methods of the operational route and improving the editing flexibility of the operational route.

[0099] In summary, the operation route editing method provided in this application, by displaying a 3D view containing the 3D operation route and a top view containing the 2D operation route in the editing interface, allows users to move waypoints on the 3D operation route in the 3D view to adjust their vertical coordinates, and move waypoints on the 2D operation route in the top view to adjust their horizontal coordinates, thereby adjusting the operation route based on the adjusted waypoints. Through these technical means, users can precisely control waypoints to move vertically and horizontally using both the 3D view and the top view, thus accurately adjusting the horizontal and vertical coordinates of waypoints on the operation route. This solves the problem of inaccurate movement that easily occurs when editing 3D operation routes through a 2D screen in the prior art, improving the accuracy and efficiency of operation route editing.

[0100] Based on the above embodiments, Figure 15 This is a schematic diagram of a work route editing device provided in an embodiment of this application. (Reference) Figure 15 The operation route editing device provided in this embodiment specifically includes: a view display module 41, a waypoint editing module 42, and a route editing module 43.

[0101] The view display module 41 is configured to display a 3D view and a corresponding top view in the editing interface. The 3D view and the top view include the operation route to be edited, and the operation route includes multiple waypoints.

[0102] The waypoint editing module 42 is configured to adjust the horizontal coordinates of the corresponding waypoints in the 3D view and the top view in response to a first movement operation of a waypoint in the top view, and / or adjust the vertical coordinates of the corresponding waypoints in the 3D view and the top view in response to a second movement operation of a waypoint in the 3D view.

[0103] The route editing module 43 is configured to adjust the operation route according to the three-dimensional coordinates of the adjusted waypoints.

[0104] Based on the above embodiments, the view display module 41 includes: a map data acquisition unit configured to acquire a 3D point cloud map, a 2D high-precision map, and terrain data of the work site; a route planning unit configured to plan a 2D work route based on the 2D high-precision map and adjust the elevation of the 2D work route according to the terrain data to obtain a 3D work route; a 3D view display unit configured to display a 3D view in the editing interface based on the 3D point cloud map and the 3D work route; and a top view display unit configured to display a top view in the editing interface based on the 2D high-precision map and the 2D work route.

[0105] Based on the above embodiments, the operation route editing device further includes a view movement module, which includes: a first view movement unit configured to, after displaying a three-dimensional view and a corresponding top view in the editing interface, synchronously adjust the display positions of the top view and the three-dimensional view in response to a third movement operation on the top view; and / or, a second view movement unit configured to, after displaying a three-dimensional view and a corresponding top view in the editing interface, synchronously adjust the display positions of the top view and the three-dimensional view in response to a fourth movement operation on the three-dimensional view.

[0106] Based on the above embodiments, the operation route editing device further includes a view scaling module, which includes: a first view scaling unit configured to synchronously adjust the display size of the top view and the three-dimensional view in response to a first scaling operation on the top view after displaying the three-dimensional view and the corresponding top view in the editing interface; and / or, a second view scaling unit configured to synchronously adjust the display size of the top view and the three-dimensional view in response to a second scaling operation on the three-dimensional view.

[0107] Based on the above embodiments, the work route editing device further includes a view rotation module, which includes: a first view rotation unit configured to synchronously adjust the display angle of the top view and the three-dimensional view in response to a first rotation operation on the top view after displaying the three-dimensional view and the corresponding top view in the editing interface; and / or a second view rotation unit configured to synchronously adjust the display angle of the top view and the three-dimensional view in response to a second rotation operation on the three-dimensional view after displaying the three-dimensional view and the corresponding top view in the editing interface.

[0108] Based on the above embodiments, the operation route editing device further includes a waypoint adding module, which includes: a first waypoint adding unit configured to add new waypoints on the operation route in the top view and the three-dimensional view in response to a first adding operation on the waypoints on the operation route in the top view after displaying the three-dimensional view and the corresponding top view in the editing interface; and / or, a second waypoint adding unit configured to add new waypoints on the operation route in the top view and the three-dimensional view in response to a second adding operation on the waypoints on the operation route in the three-dimensional view after displaying the three-dimensional view and the corresponding top view in the editing interface.

[0109] Based on the above embodiments, the operation route editing device further includes a highlighting module, which includes: a first highlighting unit configured to, in response to a first selection operation of a waypoint in the top view, highlight the corresponding waypoint in the top view and the three-dimensional view before adjusting the horizontal coordinates of the corresponding waypoint in the three-dimensional view and the top view in response to a first movement operation of a waypoint in the top view; and a second highlighting unit configured to, in response to a second selection operation of a waypoint in the three-dimensional view, highlight the corresponding waypoint in the top view and the three-dimensional view before adjusting the vertical coordinates of the corresponding waypoint in the three-dimensional view and the top view in response to a second movement operation of a waypoint in the three-dimensional view.

[0110] Based on the above embodiments, the waypoint editing module 42 includes: an editing mode determination unit, configured to determine the editing mode of the three-dimensional view before adjusting the vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation of waypoints in the three-dimensional view, the editing mode including a vertical direction editing mode, a vertical plane editing mode, and a three-dimensional direction editing mode; and a first waypoint coordinate adjustment unit, configured to adjust the vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation of waypoints in the three-dimensional view when the three-dimensional view is in the vertical direction editing mode.

[0111] Based on the above embodiments, the waypoint editing module 42 includes: a second waypoint coordinate adjustment unit, configured to adjust the vertical and horizontal coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a fifth movement operation of waypoints in the three-dimensional view when the three-dimensional view is in vertical plane editing mode or three-dimensional direction editing mode.

[0112] Based on the above embodiments, the operation route editing device further includes: a route selection module, configured to determine a vertical auxiliary plane corresponding to the selected route segment in response to a selection operation on a route segment in the operation route in the three-dimensional view; an auxiliary plane adjustment module, configured to adjust the display angle of the three-dimensional view so that the vertical auxiliary plane in the three-dimensional view is parallel to the screen; and a route adjustment module, configured to synchronously adjust the route segment in the top view and the three-dimensional view in response to a route adjustment operation on the vertical auxiliary plane.

[0113] The operation route editing device provided in this application embodiment, by displaying a 3D view containing a 3D operation route and a top view containing a 2D operation route in the editing interface, allows the user to move waypoints on the 3D operation route in the 3D view to adjust their vertical coordinates, and to move waypoints on the 2D operation route in the top view to adjust their horizontal coordinates, thereby adjusting the operation route based on the adjusted waypoints. Through this technical means, the user can precisely touch and move waypoints vertically and horizontally using both the 3D view and the top view, thereby accurately adjusting the horizontal and vertical coordinates of waypoints on the operation route. This solves the problem of inaccurate movement that easily occurs when editing 3D operation routes through a 2D screen in the prior art, improving the accuracy and efficiency of operation route editing.

[0114] The operation route editing device provided in this application embodiment can be used to execute the operation route editing method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0115] Figure 16 This is a schematic diagram of the structure of an unmanned device provided in an embodiment of this application, with reference to... Figure 16 The unmanned device includes a processor 51, a memory 52, a communication device 53, an input device 54, and an output device 55. The number of processors 51 and the number of memories 52 in the flight path editing device can be one or more. The processor 51, memory 52, communication device 53, input device 54, and output device 55 of the flight path editing device can be connected via a bus or other means.

[0116] The memory 52, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the flight path editing method in any embodiment of this application (e.g., the view display module 41, waypoint editing module 42, and flight path editing module 43 in the flight path editing device). The memory 52 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 52 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0117] The communication device 53 is used for data transmission.

[0118] The processor 51 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 52, thereby realizing the above-mentioned job route editing method.

[0119] Input device 54 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 55 may include display devices such as a display screen.

[0120] The unmanned equipment provided above can be used to execute the operation route editing method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0121] This application embodiment also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a job route editing method. The job route editing method includes: displaying a three-dimensional view and a corresponding top view in an editing interface, the three-dimensional view and the top view including a job route to be edited, the job route including multiple waypoints; adjusting the horizontal coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a first movement operation of the waypoints in the top view, and / or adjusting the vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation of the waypoints in the three-dimensional view; and adjusting the job route according to the adjusted horizontal and vertical coordinates of the waypoints.

[0122] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0123] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned job route editing method, but can also execute related operations in the job route editing method provided in any embodiment of this application.

[0124] The operation route editing device, storage medium, and unmanned equipment provided in the above embodiments can execute the operation route editing method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the operation route editing method provided in any embodiment of this application.

[0125] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for editing operational flight paths, characterized in that, include: The editing interface displays a 3D view and a corresponding top view, which include the operation route to be edited and the operation route includes multiple waypoints; In response to a first movement operation of a waypoint in the top view, adjust the horizontal coordinates of the corresponding waypoint in the three-dimensional view and the top view, and / or, in response to a second movement operation of a waypoint in the three-dimensional view, adjust the vertical coordinates of the corresponding waypoint in the three-dimensional view and the top view; The operational route is adjusted according to the horizontal and vertical coordinates of the adjusted waypoints.

2. The method for editing work routes according to claim 1, characterized in that, The display of the 3D view and the corresponding top view in the editing interface includes: Acquire 3D point cloud maps, 2D high-precision maps, and terrain data of the work site; A two-dimensional operation route is planned based on the two-dimensional high-precision map, and a three-dimensional operation route is obtained by adjusting the elevation of the two-dimensional operation route based on the terrain data. The 3D view is displayed in the editing interface based on the 3D point cloud map and the 3D operation route. A top-down view is displayed in the editing interface based on the two-dimensional high-precision map and the two-dimensional operation route.

3. The method for editing operational routes according to claim 1, characterized in that, After displaying the 3D view and the corresponding top view in the editing interface, the following is also included: In response to a third movement operation on the top view, the display positions of the top view and the 3D view are simultaneously adjusted; and / or, In response to a fourth movement operation on the three-dimensional view, the display positions of the top view and the three-dimensional view are adjusted synchronously.

4. The method for editing operational routes according to claim 1, characterized in that, After displaying the 3D view and the corresponding top view in the editing interface, the following is also included: In response to a first zoom operation on the top view, the display sizes of the top view and the 3D view are adjusted synchronously; and / or, In response to a second zoom operation on the 3D view, the display sizes of the top view and the 3D view are adjusted synchronously.

5. The method for editing operational routes according to claim 1, characterized in that, After displaying the 3D view and the corresponding top view in the editing interface, the following is also included: In response to a first rotation operation on the top view, the display angles of the top view and the three-dimensional view are adjusted synchronously; and / or, In response to a second rotation operation on the three-dimensional view, the display angles of the top view and the three-dimensional view are adjusted synchronously.

6. The method for editing work routes according to claim 1, characterized in that, After displaying the 3D view and the corresponding top view in the editing interface, the following is also included: In response to a first addition operation to a waypoint on the work route in the top view, a new waypoint is added to the work route in both the top view and the 3D view; and / or, In response to a second addition operation of waypoints on the work route in the three-dimensional view, new waypoints are added on the work route in both the top view and the three-dimensional view.

7. The method for editing operational routes according to claim 1, characterized in that, Prior to adjusting the horizontal coordinates of the three-dimensional view and the corresponding waypoint in the top view in response to a first movement operation of the waypoint in the top view, the method further includes: In response to the first selection operation of the waypoint in the top view, the corresponding waypoint in the top view and the three-dimensional view are highlighted; Before adjusting the vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation of the waypoints in the three-dimensional view, the method further includes: In response to a second selection operation of a waypoint in the 3D view, the corresponding waypoint in the top view and the 3D view is highlighted.

8. The method for editing work routes according to claim 1, characterized in that, Before adjusting the vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation of the waypoints in the three-dimensional view, the method further includes: The editing mode of the three-dimensional view is determined, including a vertical editing mode, a vertical plane editing mode, and a three-dimensional editing mode; The adjustment of the vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation of a waypoint in the three-dimensional view includes: When the 3D view is in vertical editing mode, the vertical coordinates of the corresponding waypoints in the 3D view and the top view are adjusted in response to a second movement operation of waypoints in the 3D view.

9. The method for editing operational routes according to claim 8, characterized in that, After determining the editing mode of the 3D view, the method further includes: When the 3D view is in vertical plane editing mode or 3D direction editing mode, the vertical and horizontal coordinates of the corresponding waypoints in the 3D view and the top view are adjusted in response to the fifth movement operation of waypoints in the 3D view.

10. The method for editing operational routes according to any one of claims 1-9, characterized in that, The method further includes: In response to a selection operation on a line segment on the working line in the three-dimensional view, a vertical auxiliary plane corresponding to the selected line segment is determined. Adjust the display angle of the three-dimensional view so that the vertical auxiliary plane in the three-dimensional view is parallel to the screen; In response to the route adjustment operation on the vertical auxiliary plane, the route segment is synchronously adjusted in the top view and the three-dimensional view.

11. A work route editing device, characterized in that, include: The view display module is configured to display a 3D view and a corresponding top view in the editing interface. The 3D view and the top view include the operation route to be edited, and the operation route includes multiple waypoints. The waypoint editing module is configured to adjust the horizontal coordinates of the corresponding waypoints in the 3D view and the top view in response to a first movement operation of a waypoint in the top view, and / or adjust the vertical coordinates of the corresponding waypoints in the 3D view and the top view in response to a second movement operation of a waypoint in the 3D view; The route editing module is configured to adjust the operational route according to the three-dimensional coordinates of the adjusted waypoints.

12. A work path editing device, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the job route editing method as described in any one of claims 1-10.

13. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the job route editing method as described in any one of claims 1-10.

Images