CN108805885A

CN108805885A - Plot dividing method and terminal, flight course planning method and mobile device control method

Info

Publication number: CN108805885A
Application number: CN201810610199.8A
Authority: CN
Inventors: 张雪辉
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2018-06-13
Filing date: 2018-06-13
Publication date: 2018-11-13

Abstract

The present invention provides a kind of plot dividing methods, including：Acquisition includes the map in plot to be split；In response to the trigger action of user, the cut-off rule for dividing the plot to be split is determined；The plot to be split is divided at least two sub- plot according to the cut-off rule.Rapidly it can be divided at least two sub- plot in landform is larger or plot plot in irregular shape by this method, and then shortens the line of flight of unmanned plane, reduces the repetition segment of unmanned plane during flying, the operating efficiency for improving unmanned plane avoids the flight that the electricity of unmanned plane is deactivated from slatterning.

Description

Plot dividing method and terminal, flight course planning method and mobile device control method

Technical field

The present invention relates to plot segmentation, flight course planning, control and vehicle technology fields, specifically, the present invention relates to A kind of plot dividing method and terminal, flight course planning method and mobile device control method.

Background technology

Unmanned plane plant protection carries out agriculture and forestry plant protection operation, generally use autonomous flight pattern when operation using unmanned plane (i.e. unmanned plane flies automatically according to the course line of setting) or remote control control unmanned plane during flying is passed through by driver.For autonomous For offline mode, flight course planning is the previous important preparation process of operation.Flight course planning refers to computer software Or other control system calculates one and covers according to coordinate (being typically the plane projection coordinate in plot) information of farmland massif The rational course line of lid whole block.Course line is typically to be made of the multiple segments turned back back and forth in plot, and plot is usual It is indicated in the form of polygon or irregular figure.Flight course planning usually require to reduce to the greatest extent the number of turns of unmanned plane with And course line barrier conflict is avoided, the planning in course line is often completed in existing course line by way of calculating automatically, and specific at some Irregular shape and the larger plot of area in (such as Pear-Shaped plot), under the number of turns for reducing unmanned plane and avoid navigating Line barrier conflict, it may appear that the case where part segment duplicates, to can cause unmanned plane counterweight restore navigation section plot into Row repeats operation, causes unmanned plane operating efficiency low, can also waste the electricity of unmanned plane.

Invention content

The purpose of the present invention aims to solve at least one of above-mentioned technological deficiency, especially in some specific irregular shapes And in the larger plot of area (such as Pear-Shaped), causes to be susceptible to the case where segment repeats, cause unmanned plane operating efficiency low Lower and unmanned plane electricity is wasted problem.

An embodiment of the present invention provides one kind being based on plot dividing method, including：

Acquisition includes the map in plot to be split；

In response to the trigger action of user, the cut-off rule for dividing the plot to be split is determined；

The plot to be split is divided at least two sub- plot according to the cut-off rule.

Preferably, in the trigger action in response to user, the cut-off rule for dividing the plot to be split is determined The step of in, further include：

The first selected action based on user, obtains the first cut-point on the map,

The second selected action based on user, obtains the second cut-point on the map；

First cut-point and second cut-point are judged whether outside the plot to be split, and described first Boundary without two opposite plot to be split between cut-point and second cut-point；

If it is not, generating the cut-off rule according to first cut-point and second cut-point.

Further, in the trigger action in response to user, the segmentation for dividing the plot to be split is determined In the step of line, specifically include：

When first cut-point and second cut-point are or to work as institute on the boundary in the plot to be split It states the first cut-point and second cut-point is and first cut-point and described second outside the plot to be split When having the boundary in two opposite plot to be split between cut-point, according to first cut-point and second cut-point Generate the cut-off rule.

Further, in the described the step of plot to be split is divided at least two sub- plot according to the cut-off rule In, it specifically includes：

Obtain the intersection point of the cut-off rule and the boundary of land block to be split；

When the quantity of the intersection point is more than or equal to 2, the plot to be split is divided into based on the cut-off rule At least two sub- plot.

When the quantity of the intersection point is more than 2, and there are the cut-off rules between adjacent two intersection point to be waited for described When dividing in plot, based on the cut-off rule between adjacent two intersection point, the plot to be split is divided at least The two sub- plot.

Obtain the polygon being made of the boundary of the intramassif cut-off rule to be split and the plot to be split；

The polygon is reduced according to preset multiple, whether detects the polygon in the boundary of land block to be split It is interior；

When the polygon is located in the boundary of land block to be split, the cut-off rule is based on by the plot to be split It is divided into at least two sub- plot.

Preferably, in the trigger action in response to user, the cut-off rule for dividing the plot to be split is determined The step of in, specifically include：

When first cut-point and second cut-point are in the plot to be split, according to described first Cut-point and second cut-point generate the cut-off rule, and the cut-off rule is starting point backwards to institute using first cut-point State the extension of the second cut-point so that the cut-off rule and the boundary of land block to be split have the first intersection point, the cut-off rule with Second cut-point is that starting point extends backwards to first cut-point, so that the cut-off rule and the boundary of land block to be split With the second intersection point.

When first cut-point is in the plot to be split, and second cut-point is outside the plot to be split Or when on the boundary of land block to be split, the cut-off rule is generated according to first cut-point and second cut-point, And the cut-off rule extends using second cut-point as starting point backwards to first cut-point so that the cut-off rule with it is described Boundary of land block to be split has third intersection point.

When second cut-point is in the plot to be split, and first cut-point is outside the plot to be split Or when on the boundary of land block to be split, the cut-off rule is generated according to first cut-point and second cut-point, And the cut-off rule extends using first cut-point as starting point backwards to second cut-point so that the cut-off rule with it is described Boundary of land block to be split has the 4th intersection point.

In first cut-point outside the boundary of land block to be split or on boundary, second cut-point is waited for described Divide outside boundary of land block or on boundary, and there is the plot to be split between first cut-point and second cut-point When, generate the cut-off rule according to first cut-point and second cut-point.

Further, in the trigger action in response to user, the segmentation for dividing the plot to be split is determined After the step of line, including：

The operational order for changing the cut-off rule direction and/or position in response to user, adjust the cut-off rule with it is described The relative position in plot to be split；

Or change the instruction of the direction in map-making and/or position in response to user, it adjusts the cut-off rule and is waited for described Divide the relative position in plot.

In response to the paddling operation of user, the cut-off rule for dividing the plot to be split, and the cut-off rule are determined For straight line or curve.

In response to the drag operation of user, the segmentation parallel with the lines is determined based on the lines in the map Line.

The 5th selected action based on user, obtains the 5th cut-point on the map；

The 6th selected action based on user, obtains the first extending direction on the map；

It is put on the basis of the 5th cut-point to first extending direction extension straight line and determines the cut-off rule.

The 7th selected action based on user, obtains the 6th cut-point on the map；

The 8th selected action based on user, obtains the second extending direction on the map；

The 9th selected action based on user, obtains third extending direction on the map；

It is put on the basis of the 6th cut-point to second extending direction and the third extending direction and extends straight line Determine the cut-off rule.

The tenth selected action based on user, obtains the 7th cut-point on the map；

The 11st selected action based on user, obtains the 4th extending direction on the map；

The 12nd selected action based on user, obtains the 5th extending direction on the map；

The 13rd selected action based on user, obtains the 6th extending direction on the map；

It is put on the basis of the 7th cut-point to the 4th extending direction, the 5th extending direction and the 6th extending direction Extend straight line and determines the cut-off rule.

The 14th selected action based on user, obtains the 8th cut-point on the map；

Change the instruction of the direction in map-making and/or position in response to user；

Based on the direction and/or position of the map after change, point is extended on the basis of the 8th cut-point Straight line determines the cut-off rule.

In response to the trigger action of user, at least three cut-points are obtained；

It is sequentially connected the cut-point and determines the polygon for constituting the sub- boundary of land block, and the boundary line of the polygon For the cut-off rule.

An embodiment of the present invention provides a kind of plot segmenting devices, including：

Map acquisition module, for obtain include plot to be split map；

Cut-off rule determining module is determined for the trigger action in response to user for dividing the plot to be split Cut-off rule；

Divide module, for the plot to be split to be divided at least two sub- plot according to the cut-off rule.

Preferably, in the cut-off rule determining module, further include：

First cut-point obtaining unit obtains first point on the map for the first selected action based on user Cutpoint,

Second cut-point obtaining unit obtains second point on the map for the second selected action based on user Cutpoint；

Judging unit, for judging first cut-point and second cut-point whether in the plot to be split Outside, and the boundary without two opposite plot to be split between first cut-point and second cut-point；

First cut-off rule generation unit is used for if it is not, generating institute according to first cut-point and second cut-point State cut-off rule.

Further, it in the cut-off rule determining module, specifically includes：

Second cut-off rule generation unit, for working as first cut-point and second cut-point is to be waited for point described Cut on the boundary in plot, or when first cut-point and second cut-point be outside the plot to be split, and When having the boundary in two opposite plot to be split between first cut-point and second cut-point, according to described One cut-point and second cut-point generate the cut-off rule.

Further, it in the segmentation module, specifically includes：

Intersection point acquiring unit, the intersection point for obtaining the cut-off rule and the boundary of land block to be split；

First cutting unit, will be described for when the quantity of the intersection point is more than or equal to 2, being based on the cut-off rule Plot to be split is divided into at least two sub- plot.

Further, it in the segmentation module, specifically includes：

Second cutting unit, when for the quantity in the intersection point more than 2, and there are the institutes between adjacent two intersection point When stating cut-off rule in the plot to be split, based on the cut-off rule between adjacent two intersection point, waited for described Segmentation plot is divided into at least two sub- plot.

Further, it in the segmentation module, specifically includes：

Polygon acquiring unit, for obtaining by the intramassif cut-off rule to be split and the plot to be split Boundary composition polygon；

Detection unit detects whether the polygon waits for described for reducing the polygon according to preset multiple Divide in boundary of land block；

Third cutting unit, for when the polygon is located in the boundary of land block to be split, being based on the segmentation The plot to be split is divided into at least two sub- plot by line.

Preferably, it in the cut-off rule determining module, specifically includes：

Third cut-off rule generation unit, for working as first cut-point and second cut-point is to be waited for point described When cutting in plot, the cut-off rule is generated according to first cut-point and second cut-point, and the cut-off rule is with institute It is that starting point extends backwards to second cut-point to state the first cut-point, so that the cut-off rule has with the boundary of land block to be split There is the first intersection point, the cut-off rule extends using second cut-point as starting point backwards to first cut-point, so that described point Secant has the second intersection point with the boundary of land block to be split.

Preferably, it in the cut-off rule determining module, specifically includes：

4th cut-off rule generation unit, for working as first cut-point in the plot to be split, and described second When cut-point is outside the plot to be split or on the boundary of land block to be split, according to first cut-point and described Two cut-points generate the cut-off rule, and the cut-off rule prolongs using second cut-point as starting point backwards to first cut-point It stretches, so that the cut-off rule has third intersection point with the boundary of land block to be split.

Preferably, it in the cut-off rule determining module, specifically includes：

5th cut-off rule generation unit, for working as second cut-point in the plot to be split, and described first When cut-point is outside the plot to be split or on the boundary of land block to be split, according to first cut-point and described Two cut-points generate the cut-off rule, and the cut-off rule prolongs using first cut-point as starting point backwards to second cut-point It stretches, so that the cut-off rule has the 4th intersection point with the boundary of land block to be split.

Preferably, in the cut-off rule determining module, further include：

6th cut-off rule generation unit, in first cut-point outside the boundary of land block to be split or boundary On, second cut-point is outside the boundary of land block to be split or on boundary, and first cut-point and second point described When there is the plot to be split between cutpoint, the segmentation is generated according to first cut-point and second cut-point Line.

Further, further include：

The first adjustment module, the operational order for changing the cut-off rule direction and/or position in response to user, adjustment The relative position of the cut-off rule and the plot to be split；

Second adjustment module is used for or changes in response to user the instruction of the direction in map-making and/or position, adjusts institute State the relative position of cut-off rule and the plot to be split.

Preferably, it in the cut-off rule determining module, specifically includes：

Slide response unit is determined for the paddling operation in response to user for dividing the plot to be split Cut-off rule, and the cut-off rule be straight line or curve.

Preferably, it in the cut-off rule determining module, specifically includes：

Drag operation response unit, in response to user drag operation, based in the map lines determine with The parallel cut-off rule of the lines.

Preferably, it in the cut-off rule determining module, specifically includes：

5th cut-point obtaining unit obtains the 5th point on the map for the 5th selected action based on user Cutpoint；

First extending direction obtaining unit obtains first on the map for the 6th selected action based on user Extending direction；

7th cut-off rule generation unit extends for being put on the basis of the 5th cut-point to first extending direction Straight line determines the cut-off rule.

Preferably, it in the cut-off rule determining module, specifically includes：

6th cut-point obtaining unit obtains the 6th point on the map for the 7th selected action based on user Cutpoint；

Second extending direction obtaining unit obtains second on the map for the 8th selected action based on user Extending direction；

Third extending direction obtaining unit obtains third on the map for the 9th selected action based on user Extending direction；

First cut-off rule determination unit, for being put to second extending direction and institute on the basis of the 6th cut-point It states third extending direction extension straight line and determines the cut-off rule.

Preferably, it in the cut-off rule determining module, specifically includes：

7th cut-point obtaining unit obtains the 7th point on the map for the tenth selected action based on user Cutpoint；

4th extending direction obtaining unit obtains for the based on user the 11st selected action on the map Four extending directions；

5th extending direction obtaining unit obtains for the based on user the 12nd selected action on the map Five extending directions；

6th extending direction obtaining unit obtains for the based on user the 13rd selected action on the map Six extending directions；

Second cut-off rule determination unit, for being put on the basis of the 7th cut-point to the 4th extending direction, Five extending directions and the 6th extending direction extend straight line and determine the cut-off rule.

Preferably, it in the cut-off rule determining module, specifically includes：

8th cut-point obtaining unit obtains the 8th on the map for the 14th selected action based on user Cut-point；

Receiving unit, the instruction for changing the direction in map-making and/or position in response to user；

Third cut-off rule determination unit is used for direction and/or position based on the map after change, with the described 8th Point carries out extension straight line and determines the cut-off rule on the basis of cut-point.

Preferably, it in the cut-off rule determining module, specifically includes：

Response unit obtains at least three cut-points for the trigger action in response to user；

Polygon Component units determine the polygon of the composition sub- boundary of land block for being sequentially connected the cut-point, And the boundary line of the polygon is the cut-off rule.

An embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer program, the calculating The step of machine program realizes the plot dividing method described in any technical solution when executing.

An embodiment of the present invention provides a kind of plot to divide terminal, including processor, memory, and the memory is for depositing Computer program is stored up, the computer program realizes the plot segmentation side described in any technical solution when being executed by the processor The step of method.

An embodiment of the present invention provides a kind of flight course planning methods, including：

The plot to be split is divided at least two sons based on the plot dividing method described in any technical solution Plot；

Course line is planned to the sub- plot.

Further, after described the step of planning course line to the sub- plot, including：

It obtains the sub- plot and presets course line execution order；

In response to the plot ordering instruction of user, the course line execution order in the sub- plot is adjusted.

An embodiment of the present invention provides a kind of mobile device control methods, which is characterized in that including：

Receive the course line that flight course planning method described in any technical solution is planned；

It is moved in the course line of the control mobile device based on planning.

An embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer program, the calculating The step of mobile device control method is realized when machine program executes.

An embodiment of the present invention provides a kind of mobile device control terminal, including processor, memory, the memory is used In storage computer program, the mobile device control method is realized when the computer program is executed by the processor Step.

An embodiment of the present invention provides a kind of mobile devices, including：The computer readable storage medium or the shifting Dynamic device control terminal.

Compared with prior art, the invention has the advantages that：

1, the embodiment provided through the invention realizes the map that acquisition includes plot to be split；In response to touching for user Hair operation, determines the cut-off rule for dividing the plot to be split；The plot to be split is divided according to the cut-off rule At at least two sub- plot.By this method can rapidly landform is larger or plot plot in irregular shape be divided into Few two sub- plot, and then shorten the line of flight of unmanned plane, avoid the flight that the electricity of unmanned plane is deactivated from slatterning, simultaneously The course line of shortening can ensure that unmanned plane can receive the signal of communication of terminal in time so that unmanned plane can adjust at any time Current working condition, plot in irregular shape, which is divided into multiple sub- plot, can reduce the repetition boat of unmanned plane during flying Section, and then the electricity of unmanned plane is avoided to be wasted, while repetition segment is reduced, the operating efficiency of unmanned plane can be improved.

2, the embodiment provided through the invention realizes the map that acquisition includes plot to be split；First based on user Selected action, obtains the first cut-point on the map, the selected action of second based on user, obtains the on the map Two cut-points；First cut-point and second cut-point are judged whether outside the plot to be split, and described Boundary without two opposite plot to be split between one cut-point and second cut-point；If it is not, according to described first Cut-point and second cut-point generate cut-off rule；The plot to be split is divided at least two sons based on the cut-off rule Plot.It is at least two sub- plot to carry out Parcel division to be split in terminal by operating personnel so that all may be used in every sub- plot With the planning navigated by water according to the shape of oneself, avoid duplicating boat in irregular shape and the larger plot of area Section, and then the operating efficiency of unmanned plane is improved, while the use for avoiding the electricity of unmanned plane from being deactivated.

3, the embodiment provided through the invention realize operating personnel sub- plot unmanned plane can be navigated by water in terminal it is suitable Sequence is adjusted, and then realizes the adjustment to the sub- plot sequence of operation so that the course line of unmanned machine operation can be optimal Scheme, or plot actual conditions and unmanned plane during flying situation that unmanned plane is known according to operating personnel, are realized Adjustment to the sub- plot sequence of operation so that unmanned plane can according to plot actual conditions and unmanned plane during flying situation into Row operation.

4, the embodiment provided through the invention realizes the adjustment of the segmentation and sub- plot job order by plot, makes Unmanned plane is obtained when carrying out operation, can successively be carried out according to the course line of each sub- plot planning and the sequence of each sub- plot operation Operation, at the same improve reduce unmanned plane repeat segment operation number, avoid due to segment repeat cause unmanned plane into Row invalid operation the case where, either avoid due to the multiple operation of unmanned plane so as to cause plant density it is overstocked or repeat navigate The excessively high situation of the chemical concentration that is grit blasted of section plant.

The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description Obviously, or practice through the invention is recognized.

Description of the drawings

Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments Obviously and it is readily appreciated that, wherein：

Fig. 1 is a kind of flow chart of embodiment in a kind of exemplary embodiments of plot dividing method of the present invention；

Fig. 2 is the map schematic diagram for including plot to be split on terminal interface；

Fig. 3 is the flow chart of another embodiment in a kind of exemplary embodiments of plot dividing method of the present invention；

Fig. 4 is the schematic diagram that operating personnel select the first cut-point on map；

Fig. 5 is the schematic diagram that operating personnel select the second cut-point on map；

Fig. 6 is the schematic diagram that operating personnel obtain cut-off rule by finger or stylus after map sliding；

Fig. 7 is the flow chart of another embodiment in a kind of exemplary embodiments of plot dividing method of the present invention；

Fig. 8 is the flow chart of another embodiment in a kind of exemplary embodiments of plot dividing method of the present invention；

Fig. 9 is a kind of structural schematic diagram of embodiment in a kind of exemplary embodiments of plot segmenting device of the present invention；

Figure 10 is a kind of structural schematic diagram of embodiment in a kind of exemplary embodiments of plot segmenting device of the present invention；

Figure 11 is a kind of structural schematic diagram of embodiment in a kind of exemplary embodiments of plot segmenting device of the present invention；

Figure 12 is a kind of structural schematic diagram of embodiment in a kind of exemplary embodiments of plot segmenting device of the present invention；

Figure 13 is the schematic diagram that sub- plot list of entries is shown on terminal interface.

Specific implementation mode

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.

Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges It refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition to take leave " comprising " Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange Diction "and/or" includes that the whole of one or more associated list items or any cell are combined with whole.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art Language and scientific terminology), there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art The consistent meaning of meaning, and unless by specific definitions as here, the meaning of idealization or too formal otherwise will not be used To explain.

Unmanned plane plant protection carries out agriculture and forestry plant protection operation, generally use autonomous flight pattern when operation using unmanned plane (i.e. unmanned plane flies automatically according to the course line of setting) or remote control control unmanned plane during flying is passed through by driver.Flight course planning It is generally necessary to reduce the number of turns of unmanned plane to the greatest extent and avoid course line barrier conflict, existing course line often by calculating automatically Mode complete the planning in course line.In some specific irregular shapes and the larger plot of area (such as Pear-Shaped), subtracting Under the number of turns of few unmanned plane and avoid course line barrier conflict, it may appear that the case where part segment duplicates, to meeting Cause unmanned plane counterweight restore navigation section plot carry out repeat operation, cause unmanned plane operating efficiency low, can also waste unmanned plane Electricity.For example, unmanned plane, due to there is repetition segment, causes to navigate in repetition in wherein plot from during spraying liquid The region that section is in can be repeated sprinkling liquid, big so as to cause plant medicinal liquid residual quantity, not meet national standard or liquid Remaining influence plant development and harvest.

It should be noted that the plot dividing method in the embodiment of the present invention is mainly used for operating personnel in terminal according to certainly Oneself needs to carry out manual segmentation, and then cooks up more preferably course line on this basis, improves unmanned plane in intramassif work Industry efficiency, avoiding unmanned plane, subregion in the block carries out repeating operation over the ground, or in larger plot, can combine nothing Man-machine electricity cooks up more rational unmanned machine operation plot and course line.Terminal in the embodiment of the present invention include mobile phone, Tablet, the remote control etc. with display, the mobile device in the embodiment of the present invention include but is not limited to unmanned plane, unmanned automobile Deng.

An embodiment of the present invention provides a kind of plot dividing methods, as shown in Figure 1, including S100 to S300.

S100：Acquisition includes the map in plot to be split.

As it was noted above, when operating personnel carry out operation, it includes plot to be split to obtain on mobile terminals first Map, so that operating personnel can intuitively obtain plot landform to be split.Wherein, as shown in Fig. 2, including in the map Physical location of the plot in actual landform, the true form in plot, the plot and surrounding terrain line of demarcation etc..Preferably, On the basis of above-mentioned, mobile device can be obtained barrier and be filled relative to mobile in real time by self-contained sensing device The distance and bearing set, the characteristic manner of map can be one kind in grating map, the map of tree structure, topological diagram etc., Map can also be picture, picture and text characterization plot hum pattern.Specifically when establishing map, with the initial movement of mobile device Point is origin, establishes current locale coordinate system (it is horizontal coordinates or three-dimensional system of coordinate), is passing through mobile device itself The laser sensor of carrying or visual sensor etc. determine position of the barrier on the coordinate system, simultaneously also by aforementioned Sensor determine that mobile device is currently located coordinate value of the geographical location in the coordinate system of current locale, and then according to barrier Location information and mobile device location information establish one in grating map as the aforementioned, the map of tree structure, topological diagram etc. Kind, and barrier can be identified or shown in the map.

S200：In response to the trigger action of user, the cut-off rule for dividing the plot to be split is determined；

Further, in an embodiment of the present invention, as shown in figure 3, further including in step S200：

S210：The first selected action based on user, obtains the first cut-point on the map.

S211：The second selected action based on user, obtains the second cut-point on the map.

S212：First cut-point and second cut-point are judged whether outside the plot to be split, and institute State the boundary without two opposite plot to be split between the first cut-point and second cut-point；

S213：If it is not, generating the cut-off rule according to first cut-point and second cut-point.

S300：The plot to be split is divided at least two sub- plot according to the cut-off rule.

On map above-mentioned, user executes the first selected action in terminal, is used for so that terminal can be got First cut-point of segmentation map, user executes the second selected action in terminal, so that terminal can be got for dividing The second cut-point of map is cut, and then convenient for obtaining the segmentation in segmentation plot by two points one linear methods in alignment Line provides foundation for segmentation plot hereinafter.

Specifically, due to containing multiple virtual and/or entity controls in terminal, in order to which user is based on control realization pair Plot operates.Before dividing plot in terminal, interface is divided in the plot that operating personnel enter terminal by the control of dividing function, In wherein a kind of embodiment, operating personnel are moved to map cursor the starting point for needing picture cutting line, such as Fig. 4, click Point button draws lower cut-off rule starting point, such as Fig. 5, and dragging map pulls out a cut-off rule, clicks end point button and completes segmentation line gauge It draws, such as Fig. 6.Wherein, the first selected action includes that operating personnel are moved to map cursor the starting point for needing picture cutting line, click Starting point button draws the lower a series of action of cut-off rule starting point, and the first cut-point is starting point；Second selected action includes operator The action that member's dragging map pulls out a cut-off rule, clicks end point button, the second cut-point are last point.Specifically, Fig. 4, The closed shape changeable that white line segment and stain are constituted in Fig. 5, Fig. 6 is plot to be split；Cross point is the first segmentation in Fig. 4 Point；Stain is the first cut-point in Fig. 5, and cross point is the second cut-point, and black lines are cut-off rule；Black lines are in Fig. 6 Cut-off rule.

In wherein a kind of embodiment, operating personnel enter the plot dividing function page, long-press map, and terminal vibrations carry After showing, finger is slided on the screen, marks a line, is unclamped finger and is completed cut-off rule planning, map is automatically according to algorithm ground Block is divided into two pieces.Wherein, the first selected action touches touch screen for operating personnel's finger or stylus etc. and to touch Screen can get the action of operation of the operating personnel on interface, and obtain the first cut-point；Second selected action is user The action slided on a terminal screen, and the action or second when either stylus etc. leaves touch screen to operating personnel's finger Cut-point.

As it was noted above, since the first cut-point and second cut-point are mainly dynamic on terminal interface by user It obtains, and user is susceptible to error during selecting, and leads to the first cut-point and/or the second cut-point not In the position of operating personnel's anticipation.For the ease of realizing that operating personnel divide idea, need to judge first cut-point and Whether second cut-point is outside the plot to be split, while between first cut-point and second cut-point Boundary without two opposite plot to be split.When aforementioned situation meets, divide based on the first cut-point and second The cut-off rule generated on the basis of point, can not correctly divide to be splitly even if doing extension to it and also resulting in the cut-off rule Block.Because in order to enable the plot of segmentation more acurrate, when first cut-point and second cut-point whether When outside the plot to be split, it is also necessary to determine between first cut-point and second cut-point without two opposite The boundary in plot to be split, if so, proving that the cut-off rule that the first cut-point and the second cut-point generate can not accurately divide Cut plot to be split.In addition to this case where, can treat segmentation plot according to the first cut-point, the second cut-point and boundary line It is split, i.e., generates cut-off rule according to the first cut-point, the second cut-point, and on the basis of the cut-off rule by be split Block is divided at least two sub- plot.

Preferably, it in wherein a kind of embodiment, in the trigger action in response to user, determines for dividing In the step of stating the cut-off rule in plot to be split, specifically include：

Specifically, the operation based on operating personnel on interface, in the first cut-point and the second cut-point to be split When on boundary of land block, the first cut-point and the intersection point that the second cut-point is cut-off rule and boundary of land block, determine in user at this time In the case of, then plot to be split is divided by least two sub- plot based on cut-off rule；Or divide in the first cut-point and second When point is outside boundary of land block to be split, and there is two opposite described wait between first cut-point and second cut-point When dividing the boundary in plot, illustrate that cut-off rule and boundary of land block to be split have intersection point, at this point, it is to be split to be based on cut-off rule two Plot is divided at least two sub- plot.

Further, in wherein a kind of embodiment, as shown in fig. 7, being waited for described according to the cut-off rule described In the step of segmentation plot is divided at least two sub- plot, S311 is specifically included to S312.

S311：Obtain the intersection point of the cut-off rule and the boundary of land block to be split；

S312：When the quantity of the intersection point is more than or equal to 2, the plot to be split is divided based on the cut-off rule It is cut into at least two sub- plot.

In conjunction with the cut-off rule described previously generated on the basis of the first cut-point and the second cut-point and plot side to be split Boundary all has intersection point, and the wherein two-end-point of cut-off rule is the first cut-point and the second cut-point.Based on operating personnel's selection of land The cut-off rule generated on the basis of first cut-point and the second cut-point, terminal obtain the friendship of the cut-off rule and boundary of land block to be split Point, judges whether the quantity of intersection point is more than or equal to 2, and when the quantity of intersection point is equal to 2, terminal can determine plot to be split Boundary and cut-off rule can form two closed polygons.The then boundary based on cut-off rule and plot to be split, will be to be split Plot is divided into two sub- plot identical with polygon.

Further, in wherein a kind of embodiment, the plot to be split is divided according to the cut-off rule described In the step of being cut at least two sub- plot, specifically include：

When the quantity of intersection point is more than 2, illustrate that the boundary in cut-off rule and plot to be split has repeatedly staggeredly, and cut-off rule Segment section be located at outside boundary of land block to be split, in order to correctly divide plot, judge cut-off rule and plot side to be split Whether the segmentation line segment between the intersection point on boundary is located in plot to be split, if in plot to be split, illustrates plot to be split Boundary and cut-off rule former plot to be split can be divided at least two closed sub- plot, and the sub- plot is located at original and waits for point It cuts in plot.Therefore, when whether there are the cut-off rules between adjacent two intersection point in the plot to be split, base Between adjacent two intersection point and it is located at the intramassif cut-off rule to be split, plot to be split is divided into two son ground The plot to be split further if cut-off rule has multistage to be located in the plot to be split, is divided into two by block Former plot to be split is divided into more than two sub- plot by above sub- plot, i.e. a cut-off rule.

Further, in wherein a kind of embodiment, as shown in figure 8, being waited for described according to the cut-off rule described In the step of segmentation plot is divided at least two sub- plot, S313, S314, S315 are specifically included.

S313：Acquisition is made of more the boundary of the intramassif cut-off rule to be split and the plot to be split Side shape；

S314：The polygon is reduced according to preset multiple, whether detects the polygon in the plot to be split In boundary；

S315：When the polygon is located in the boundary of land block to be split, waited for described point based on the cut-off rule It cuts plot and is divided into at least two sub- plot.

In order to more accurately determine the sub- plot being partitioned into, also need to be detected the sub- plot being partitioned into.Due to Plot to be split and sub- plot are polygons, and sub- plot is made of the boundary in former plot to be split and cut-off rule, therefore, When detecting sub- plot, acquisition is made of more the boundary of the intramassif cut-off rule to be split and the plot to be split Side shape, i.e. every sub- plot are made of one section of cut-off rule and one section of original boundary of land block line to be split；By the polygon according to Preset multiple reduces, it is preferable that by unified 0.1 times of the scaling of polygon, the polygon after scaling is carried out with former plot to be split Comparison determines the sub- plot after scaling detects whether the polygon waits for described whether in former boundary of land block to be split Divide in boundary of land block；When the polygon is located in the boundary of land block to be split, illustrate the equal position in sub- plot being partitioned into The plot to be split is divided into at least two son ground in former boundary of land block to be split, being based on the cut-off rule at this time Block.Specifically, in the process, the line segment that the polygon found out according to former plot to be split is intersected with cut-off rule waits for original The Polygonal Boundary in segmentation plot is converted into one group of line segment aggregate, merges the cut-off rule line segment of intersection, the former plot to be split of traversal Polygonal Boundary and cut-off rule line segment aggregate, find out all new polygons, and the polygon does not include former plot to be split Whether the polygon that boundary is constituted checks new polygon on original polygon boundary obtained unified 0.1 times of the scaling of polygon It is interior, if new polygon in original polygon boundary is expected outcome, finally obtain one group of polygon set, you can with will be former Plot to be split is divided at least two sub- plot.

In partial picture, due to operating personnel division when error, it may appear that operating personnel select described first Cut-point and second cut-point are in the plot to be split, and therefore, it is necessary to according to the first cut-point for judging to select With the relationship of second cut-point and plot to be split, specifically, when first cut-point and second cut-point are When in the plot to be split, cut-off rule and plot side to be split that the first cut-point and the second cut-point line are obtained Boundary does not have intersection point, at this point, can not divide plot to be split according to the cut-off rule, in order to divide plot to be split, in institute On the basis of stating the cut-off rule that the first cut-point and second cut-point generate, the cut-off rule is divided with described first Point is that starting point extends backwards to second cut-point, so that the cut-off rule has first to hand over the boundary of land block to be split Point, the cut-off rule extends using second cut-point as starting point backwards to first cut-point, so that the cut-off rule and institute Stating boundary of land block to be split has the second intersection point, and the plot to be split is divided at least two son ground based on the cut-off rule The plot to be split is divided at least two sub- plot by block by previously described method, and this will not be repeated here.Preferably, The endpoint of cut-off rule can be located on boundary of land block line to be split or outside boundary of land block to be split, i.e., cut-off rule can prolong It extends on the boundary in plot to be split or cut-off rule extends to outside boundary of land block to be split, divide the position of line endpoints By research staff's setting or operating personnel's setting.

The embodiment principle is with aforementioned, and first cut-point is in the plot to be split, and described second When cut-point is outside the plot to be split or on the boundary of land block to be split, in order to enable cut-off rule and plot to be split Boundary has intersection point, so that plot to be split smoothly can be divided at least two sub- plot by cut-off rule, according to described the On the basis of one cut-point and second cut-point generate the cut-off rule, the cut-off rule is with second cut-point Point extends backwards to first cut-point, so that the cut-off rule has third intersection point with the boundary of land block to be split；It is based on The plot to be split is divided at least two sub- plot by the cut-off rule.Preferably, the endpoint of cut-off rule can be located at and wait for point It cutting on boundary of land block line or outside boundary of land block to be split, i.e., cut-off rule can extend on the boundary in plot to be split, Either cut-off rule extends to the position for dividing line endpoints outside boundary of land block to be split by research staff's setting or operator Member's setting.

When second cut-point is in the plot to be split, and first cut-point is outside the plot to be split Or when on the boundary of land block to be split, realize that the process of segmentation is the same with aforementioned process, this will not be repeated here.

Preferably, it in wherein a kind of embodiment, in the trigger action in response to user, determines for dividing In the step of stating the cut-off rule in plot to be split, further include：

The embodiment principle is with aforementioned, and first cut-point is outside the boundary of land block to be split or boundary On, and when second cut-point is outside the boundary of land block to be split or on boundary, for occur the straight line of two cut-points with Boundary of land block line to be split overlaps, and need to be further ensured that between first cut-point and second cut-point has described wait for Divide plot, in the case where meeting aforementioned condition, illustrates to generate according to first cut-point and second cut-point The cut-off rule former plot to be split can be divided at least two sub- plot.

Further, it in wherein a kind of embodiment, in the trigger action in response to user, determines for dividing After the step of cut-off rule in the plot to be split, including：

Further, after operating personnel finish cut-off rule in terminal, it is possible to the position of cut-off rule and and operating personnel The split position in ideal segmentation plot do not correspond to, in order to make the position of cut-off rule and the ideal framing bits of operating personnel Set corresponding, operating personnel can adjust the position or direction of cut-off rule in terminal, just cut-off rule and the map it is opposite Position so that cut-off rule is located on ideal position.Similarly operating personnel can raise the position or direction of site preparation figure in terminal, Just the relative position of the cut-off rule and map so that cut-off rule is located on ideal position.Preferably, user by dragging and/or The mode of rotation changes the direction or position of cut-off rule either map.

Operating personnel are slided by finger or stylus on terminal interface, and the lines based on user's sliding generate segmentation The cut-off rule in plot to be split, and then be split convenient for treating segmentation plot according to the shape in plot to be split, and then reduce Cut-off rule is repeatedly determined on plot to be split, further, which can be straight line or curve, or packet Include the line segment of straight line and curve.

In this embodiment, operating personnel drag the lines in map on terminal interface, and terminal interface is in response to behaviour Make the operation of personnel on the surface so that trailing lines can be positioned over the ideal position of operating personnel, and being based on should The cut-off rule that lines generate is parallel with the lines.Preferably, the lines in map are boundary line, the barrier side in plot to be split Boundary line etc..Specifically, in partial picture, for example, barrier arrangement more orderliness when, and boundary of land block just can be more The sub- plot of rule Ground Split, at this point, operating personnel can drag the one or more of boundary lines of boundary of land block as cut-off rule, So that the more orderly consolidation of segmentation in sub- plot, and the sub- boundary of land block being partitioned into also being capable of preferably avoiding obstacles.

The 5th selected action based on user, obtains the 5th cut-point on the map；

In this embodiment, operating personnel select a bit (the 5th point of reference point as cut-off rule on terminal interface Cutpoint), and the direction (the first extending direction) of cut-off rule is selected in terminal, such as selected cut-off rule north orientation east deviates 30 °, then Starting point (or endpoint) of the cut-off rule using the reference point as cut-off rule simultaneously deviates 30 ° of side in north orientation east and upwardly extends determination Cut-off rule.When cut-off rule and plot to be split are without intersection point, map or cut-off rule can be dragged so that cut-off rule with it is to be split Boundary of land block has intersection point, and has the cut-off rule of part to be located in plot to be split so that cut-off rule can divide it is to be split Plot.

The 7th selected action based on user, obtains the 6th cut-point on the map；

In this embodiment, operating personnel select a bit (the 6th point of reference point as cut-off rule on terminal interface Cutpoint), and select in terminal the direction (the second extending direction and third extending direction) of two cut-off rules, such as selected cut-off rule North orientation east deviates 30 ° and north west and deviates 45 °, then starting point (or endpoint) of the cut-off rule using the reference point as cut-off rule be simultaneously Deviate 30 ° and north west in north orientation east and deviate 45 ° of side and upwardly extend to obtain the cut-off rule of V-shaped, this method can be treated point It cuts plot adjacent two boundaries angle plot to be split more outstanding to be split, more convex polygonal son ground can be partitioned into Block.Specifically, when cut-off rule and plot to be split are without intersection point, map or cut-off rule can be dragged so that cut-off rule and waiting for point Cutting boundary of land block has intersection point, and has the cut-off rule of part to be located in plot to be split, so that cut-off rule can be divided and wait for point Cut plot.

In this embodiment, operating personnel select a bit (the 7th point of reference point as cut-off rule on terminal interface Cutpoint), and select in terminal the direction (the 4th extending direction and the 5th extending direction) of two cut-off rules, such as selected cut-off rule North orientation east deviates 30 °, north west deviates 45 ° and north orientation east deviates 60 °, then starting of the cut-off rule using the reference point as cut-off rule Point (or endpoint) and north orientation east deviates 30 °, north west deviates 45 ° and north orientation east and deviate 60 ° of side and upwardly extend and sent out The cut-off rule of shape is dissipated, and then the number for treating the segmentation of segmentation plot can be reduced, can disposably be treated point according to a plurality of cut-off rule It cuts plot and is divided into multiple sub- plot, improve the operating efficiency of operating personnel.

The 14th selected action based on user, obtains the 8th cut-point on the map；

In this embodiment, operating personnel select a bit (the 8th point of reference point as cut-off rule on terminal interface Cutpoint), operating personnel drag map in terminal, change position and/or the rotation map of map, determine that operating personnel are divided The ideal position in plot to be split, is dragged by operating personnel and/or rotation map determines cut-off rule extending direction, then terminal Operation based on user, generation obtains the instruction of cut-off rule, and generates corresponding cut-off rule based on the instruction, and cut-off rule is with this Reference point as cut-off rule starting point (or endpoint) and to map move direction extend to obtain cut-off rule so that operator Member more convenient can treat segmentation plot and be split operation.

In this embodiment, it is selected can to carry out multi-pass operation in terminal by operating personnel, to obtain at least three points Each cut-point is attached by cutpoint, and each cut-point connects two boundary lines, to obtain closed shape changeable, and cut-point The sub- plot of connecting line operation boundary line, i.e. the boundary line is the cut-off rule for dividing plot to be split, can be with by this method What is settled at one go obtains operating personnel preferably sub- plot.

In a kind of plot segmenting device provided in an embodiment of the present invention, as shown in figure 9, in wherein a kind of embodiment, Including：

Map acquisition module 100, for obtain include plot to be split map.

As it was noted above, when operating personnel carry out operation, it includes plot to be split to obtain on mobile terminals first Map, so that operating personnel can intuitively obtain plot landform to be split.Wherein, as shown in Fig. 2, including in the map Physical location of the plot in actual landform, the true form in plot, the plot and surrounding terrain line of demarcation etc..Preferably, On the basis of above-mentioned, mobile device can be obtained barrier and be filled relative to mobile in real time by self-contained sensing device The distance and bearing set, the characteristic manner of map can be one kind in grating map, the map of tree structure, topological diagram etc.. Specifically when establishing map, using the initial transfer point of mobile device as origin, establishing current locale coordinate system, (it sits to be horizontal Mark system's either three-dimensional system of coordinate) in the laser sensor or visual sensor etc. carried by mobile device itself, determine barrier Hinder position of the object on the coordinate system, determines that mobile device is currently located geographical location and is working as simultaneously also by sensor above-mentioned Coordinate value in preceding Area Coordinates system, and then establish grid as the aforementioned according to obstacle position information and mobile device location information One kind in lattice map, the map of tree structure, topological diagram etc., and barrier is identified or shown in the map.

Cut-off rule determining module 200 is determined for the trigger action in response to user for dividing the plot to be split Cut-off rule.

Further, it in wherein a kind of embodiment, as shown in Figure 10, in the cut-off rule determining module, also wraps It includes：

First cut-point obtaining unit 210 obtains first on the map for the first selected action based on user Cut-point,

Second cut-point obtaining unit 211 obtains second on the map for the second selected action based on user Cut-point；

Judging unit 212, for judging first cut-point and second cut-point whether described to be split Boundary outside plot, and without two opposite plot to be split between first cut-point and second cut-point；

First cut-off rule generation unit 213 is used for if it is not, being generated according to first cut-point and second cut-point The cut-off rule.

Divide module 300, for the plot to be split to be divided at least two sub- plot according to the cut-off rule.

Specifically, due to containing multiple virtual and/or entity controls in terminal, in order to which user is based on control realization pair Plot operates.Before dividing plot in terminal, interface is divided in the plot that operating personnel enter terminal by the space of dividing function, In wherein a kind of embodiment, operating personnel are moved to map cursor the starting point for needing picture cutting line, such as Fig. 4, click Point button draws lower cut-off rule starting point, such as Fig. 5, and dragging map pulls out a cut-off rule, clicks end point button and completes segmentation line gauge It draws, such as Fig. 6.Wherein, the first selected action includes that operating personnel are moved to map cursor the starting point for needing picture cutting line, click Starting point button draws the lower a series of action of cut-off rule starting point, and the first cut-point is starting point；Second selected action includes operator The action that member's dragging map pulls out a cut-off rule, clicks end point button, the second cut-point are last point.

Preferably, it in wherein a kind of embodiment, in the cut-off rule determining module, specifically includes：

Further, it in wherein a kind of embodiment, as shown in figure 11, in the segmentation module, specifically includes：

Intersection point acquiring unit 311, the intersection point for obtaining the cut-off rule and the boundary of land block to be split；

First cutting unit 312, for when the quantity of the intersection point is more than or equal to 2, being based on the cut-off rule will The plot to be split is divided into at least two sub- plot.

Further, it in wherein a kind of embodiment, in the segmentation module, specifically includes：

Further, it in wherein a kind of embodiment, as shown in figure 12, in the segmentation module, specifically includes：

Polygon acquiring unit 313, for obtaining by the intramassif cut-off rule to be split and described to be split The polygon of the boundary composition in plot；

Whether detection unit 314 detects the polygon described for reducing the polygon according to preset multiple In boundary of land block to be split；

Third cutting unit 315, for when the polygon is located in the boundary of land block to be split, being divided based on described The plot to be split is divided into at least two sub- plot by secant.

Preferably, in wherein a kind of embodiment, in the cut-off rule determining module, further include：

Further, in wherein a kind of embodiment, further include：

It should be noted that plot dividing method provided by the invention, is not only applicable to the plot of irregular shape, It can be used for the larger plot of area, in order to which unmanned plane can timely receive the signal of terminal, so that unmanned plane can By terminal control, plot can be divided into multiple sub- plot by operating personnel in terminal.Equally to the sub- plot split, behaviour Again segmentation of the method realization above-mentioned to sub- plot is again may be by as personnel, improves operation effect of the unmanned plane on plot Rate.

A kind of computer readable storage medium provided in the embodiment of the present invention, is stored thereon with computer program, the meter The step of calculation machine program realizes the plot dividing method described in any technical solution when executing.

A kind of plot segmentation terminal provided in the embodiment of the present invention, including processor, memory, the memory are used for Computer program is stored, the computer program realizes that the plot described in any technical solution is divided when being executed by the processor The step of method.

A kind of flight course planning method provided in the embodiment of the present invention, in wherein a kind of embodiment, including：

Course line is planned to the sub- plot.

Further, after described the step of planning course line to the sub- plot, in wherein a kind of embodiment, packet It includes：

It obtains the sub- plot and presets course line execution order；

On the basis of aforementioned plot is divided, the plot to be split is partitioned into sub- ground by operating personnel by aforementioned process After block, operating personnel click the boundary in former plot to be split, are navigated automatically to all sub- plot by flight course planning algorithm Line gauge is drawn.After course line is cooked up in sub- plot, every sub- plot is ranked up, so that unmanned plane can be arranged according to sub- plot Sequence carries out operation to each sub- plot successively.Group ground block sequencing when being not optimal, the unmanned plane in order to be can be more efficient Ground carries out operation, and terminal obtains sub- plot and presets course line execution order, i.e., the operation in each sub- plot of default allocation is suitable in terminal The sequence of sequence, sub- plot shows in the form of sub- plot list of entries, as shown in figure 13, naturally it is also possible to be other display sides Formula shows sub- plot by the sequence of operation on row table of articles, and operating personnel pull sub- plot list of entries on terminal interface, Sequence of each sub- plot in list of entries is adjusted, and then changes each sub- plot by the sequence of operation, that is, adjusts the course line in sub- plot Execution order.Specifically, when operating personnel pull sub- plot list of entries, then ground block sequencing is triggered in terminal for user and referred to It enables, when sub- plot list of entries is adjusted to corresponding position by operating personnel, in order to enable the sequence of unmanned machine operation can be with The sequence in list of entries neutron plot is corresponding, when user completes to operate, corresponding plot adjust instruction is generated, in the instruction Information, the course lines for changing sub- plot by the information such as the sequence in list of entries neutron plot, the position in sub- plot is contained to hold Row order, so convenient for unmanned machine operation when, according to the course line execution order in sub- plot operation can be carried out to sub- plot successively.

A kind of mobile device control method provided in the embodiment of the present invention, which is characterized in that including：

It is moved in the course line of the control mobile device based on planning.

On the basis of above-mentioned, in order to enable unmanned plane can be carried out according to the plot of segmentation above-mentioned and ground block sequencing Operation, unmanned plane receives the course line that flight course planning method described in any technical solution is planned, when unmanned plane receives the message, Unmanned plane is moved according to the course line of planning and the course line execution order control mobile device in sub- plot, and is carried out to sub- plot Operation.And then unmanned plane is avoided to carry out repeating operation to subregion, the operating efficiency of unmanned plane is improved, is avoided due to course line mistake It is long and the case where unmanned plane electricity is wasted occur or the case where terminal can not control unmanned plane in time.

Specifically, flight course planning can construct environment coordinate system based on Gauss-Ke Lvge orthomorphic methods, to different works Industry course has carried out coordinate system conversion, and effective mathematics environment is provided for unmanned plane flight course planning research.For convex-edge shape list Operating area can plan course line by the operation flight course planning method of Grid Method, to reduce the energy consumption and medicine that make entire operation process Consumption.For concave polygon single job region, course line is planned by depth first traversal, to reduce non-operation airline distance.Needle To the single job region containing obstacle, cell decomposition is ploughed using ox, operating area is divided, by the tandem sequence of subregion Planning is converted into the Traversal Problem on Reeb figures side, and the corresponding Europe of Reeb figures is constructed hereby based on Floyd algorithms and Hungarian method Figure is drawn, and Euler's circuit is calculated based on improved Fleury algorithms, and then proposes the course line based on Reeb figure Euler's circuits Planing method, final to realize the planning of subregion tandem sequence, it is optimal to make scheduling airline distance.For more operating areas or recessed more The covering sequence that integer-coded genetic algorithms determine each region can be used in side shape single job region division, is based on binary coding side The interregional scheduling flight course planning method of formula genetic algorithm reduces the non-operation airline distance of unmanned plane, reduces unmanned function Consumption.

A kind of computer readable storage medium provided in the embodiment of the present invention, which is characterized in that be stored thereon with calculating Machine program, the step of mobile device control method is realized when which executes.

A kind of mobile device control terminal provided in the embodiment of the present invention, which is characterized in that including processor, storage Device, the memory realize the shifting for storing computer program when the computer program is executed by the processor The step of dynamic apparatus control method.

A kind of mobile device provided in the embodiment of the present invention, which is characterized in that including：The computer-readable storage medium Matter or the mobile device control terminal.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer In read/write memory medium.

Storage medium mentioned above can be read-only memory, disk or CD etc..

The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of plot dividing method, which is characterized in that including：

Acquisition includes the map in plot to be split；

2. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, further include：

The first selected action based on user, obtains the first cut-point on the map；

First cut-point and second cut-point are judged whether outside the plot to be split, and first segmentation Boundary without two opposite plot to be split between point and second cut-point；

3. plot dividing method according to claim 2, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

When first cut-point and second cut-point are on the boundary in the plot to be split, or when described the One cut-point and second cut-point be outside the plot to be split, and first cut-point and it is described second segmentation When having the boundary in two opposite plot to be split between point, generated according to first cut-point and second cut-point The cut-off rule.

4. plot dividing method according to claim 3, which is characterized in that waited for described according to the cut-off rule described In the step of segmentation plot is divided at least two sub- plot, specifically include：

When the quantity of the intersection point is more than or equal to 2, the plot to be split is divided at least based on the cut-off rule The two sub- plot.

5. plot dividing method according to claim 4, which is characterized in that waited for described according to the cut-off rule described In the step of segmentation plot is divided at least two sub- plot, specifically include：

When the quantity of the intersection point is more than 2, and there are the cut-off rules between adjacent two intersection point described to be split When in plot, based on the cut-off rule between adjacent two intersection point, the plot to be split is divided at least two institutes State sub- plot.

6. plot dividing method according to claim 5, which is characterized in that waited for described according to the cut-off rule described In the step of segmentation plot is divided at least two sub- plot, specifically include：

The polygon is reduced according to preset multiple, detects the polygon whether in the boundary of land block to be split；

When the polygon is located in the boundary of land block to be split, the plot to be split is divided based on the cut-off rule At at least two sub- plot.

7. plot dividing method according to claim 2, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

When first cut-point and second cut-point are in the plot to be split, according to first segmentation Point and second cut-point generate the cut-off rule, and the cut-off rule is starting point backwards to described the using first cut-point Two cut-points extend, so that the cut-off rule has the first intersection point with the boundary of land block to be split, the cut-off rule is with described Second cut-point is that starting point extends backwards to first cut-point, so that the cut-off rule has with the boundary of land block to be split Second intersection point.

8. plot dividing method according to claim 2, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

When first cut-point is in the plot to be split, and second cut-point outside the plot to be split or When on the boundary of land block to be split, the cut-off rule, and institute are generated according to first cut-point and second cut-point It states cut-off rule using second cut-point as starting point to extend backwards to first cut-point, so that the cut-off rule waits for point with described Cutting boundary of land block has third intersection point.

9. plot dividing method according to claim 2, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

When second cut-point is in the plot to be split, and first cut-point outside the plot to be split or When on the boundary of land block to be split, the cut-off rule, and institute are generated according to first cut-point and second cut-point It states cut-off rule using first cut-point as starting point to extend backwards to second cut-point, so that the cut-off rule waits for point with described Cutting boundary of land block has the 4th intersection point.

10. plot dividing method according to claim 2, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, further include：

In first cut-point outside the boundary of land block to be split or on boundary, second cut-point is described to be split When there is the plot to be split outside boundary of land block or on boundary, and between first cut-point and second cut-point, The cut-off rule is generated according to first cut-point and second cut-point.

11. the plot dividing method according to claims 1 to 10 any one, which is characterized in that it is described in response to The trigger action at family, after the step of determining cut-off rule for dividing the plot to be split, including：

The operational order for changing the cut-off rule direction and/or position in response to user adjusts the cut-off rule and is waited for point with described Cut the relative position in plot；

Or change the instruction of the direction in map-making and/or position in response to user, adjust the cut-off rule with it is described to be split The relative position in plot.

12. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

In response to the paddling operation of user, the cut-off rule for dividing the plot to be split is determined, and the cut-off rule is straight Line or curve.

13. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

In response to the drag operation of user, the cut-off rule parallel with the lines is determined based on the lines in the map.

14. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

The 5th selected action based on user, obtains the 5th cut-point on the map；

15. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

The 7th selected action based on user, obtains the 6th cut-point on the map；

It is put on the basis of the 6th cut-point to second extending direction and the third extending direction and extends straight line determination The cut-off rule.

16. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

It is put on the basis of the 7th cut-point to the 4th extending direction, the 5th extending direction and the 6th extending direction and is extended Straight line determines the cut-off rule.

17. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

The 14th selected action based on user, obtains the 8th cut-point on the map；

Based on the direction and/or position of the map after change, point carries out extension straight line on the basis of the 8th cut-point Determine the cut-off rule.

18. plot dividing method according to claim 1, which is characterized in that in the trigger action in response to user, In the step of determining the cut-off rule for dividing the plot to be split, specifically include：

It is sequentially connected the cut-point and determines the polygon for constituting the sub- boundary of land block, and the boundary line of the polygon is institute State cut-off rule.

19. a kind of plot segmenting device, which is characterized in that including：

Map acquisition module, for obtain include plot to be split map；

Cut-off rule determining module determines the segmentation for dividing the plot to be split for the trigger action in response to user Line；

20. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which holds The step of claim 1 to 18 any one of them plot dividing method is realized when row.

21. terminal is divided in a kind of plot, which is characterized in that including processor, memory, the memory is for storing computer Program realizes claim 1 to 18 any one of them plot segmentation side when the computer program is executed by the processor The step of method.

22. a kind of flight course planning method, which is characterized in that including：

The plot to be split is divided into at least two son ground based on the plot dividing method described in claim 1 to 18 Block；

Course line is planned to the sub- plot.

23. flight course planning method according to claim 22, which is characterized in that plan course line to the sub- plot described The step of after, including：

It obtains the sub- plot and presets course line execution order；

24. a kind of mobile device control method, which is characterized in that including：

Receive the course line of the flight course planning method planning of claim 22 or 23；

It is moved in the course line of the control mobile device based on planning.

25. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which holds The step of mobile device control method described in claim 24 is realized when row.

26. a kind of mobile device control terminal, which is characterized in that including processor, memory, the memory is based on storing Calculation machine program realizes the mobile device control method described in claim 24 when the computer program is executed by the processor The step of.

27. a kind of mobile device, which is characterized in that including：Computer readable storage medium or right are wanted described in claim 25 Seek the mobile device control terminal described in 26.