CN115793903A

CN115793903A - Method, device and equipment for determining land parcel and storage medium

Info

Publication number: CN115793903A
Application number: CN202211323592.1A
Authority: CN
Inventors: 陈佳鹤; 吴尧晓; 吴斌; 陈杰
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2023-03-14

Abstract

The embodiment of the application discloses a method, a device, equipment and a storage medium for determining a region. According to the technical scheme, the first dotting operation is carried out on the top point of the first plot on the plot to be operated by utilizing the dotting equipment in response, the position and the direction of the first top point are determined, the second dotting operation is carried out on the top point of the second plot of the plot to be operated, the position and the direction of the second top point are determined, the plot area information can be generated based on the position and the direction of the first top point, the position and the direction of the second top point, and operators can finish the rapid generation of the plot area information only by respectively carrying out the dotting operation on the top point of the first plot and the top point of the second plot, so that the plot determining operation is effectively simplified, and the plot determining efficiency is greatly improved.

Description

Method, device and equipment for determining region and storage medium

Technical Field

The embodiment of the application relates to the technical field of surveying and mapping, in particular to a method, a device, equipment and a storage medium for determining a region.

Background

When the work equipment is used for working on the land parcel, the work equipment needs to perform corresponding work based on the area information corresponding to the land parcel, namely, the work equipment needs to perform corresponding work on the basis of the determined land parcel area.

Generally, the determination of the land parcel area information requires that a worker holds a positioning device to perform dotting positioning at each land parcel vertex of a land parcel, and then generates corresponding land parcel area information based on positioning information of the dotting positioning. The land parcel determination mode can finish dotting and positioning operation only by holding the positioning device by an operator for one circle around the land parcel, and has more land parcel determination operation steps, complicated flow and lower land parcel determination efficiency.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a storage medium for determining a land parcel, which are used for solving the technical problems of more steps, complex flow and low efficiency of determining the land parcel in the prior art, simplifying the operation of determining the land parcel and effectively improving the efficiency of determining the land parcel.

In a first aspect, an embodiment of the present application provides a method for determining a location, including:

in response to a first dotting operation performed on a dotting device at a first parcel vertex, determining a first vertex position corresponding to the first parcel vertex and a first direction towards which the dotting device faces;

in response to a second dotting operation performed on the dotting device at a second parcel vertex, determining a second vertex position corresponding to the second parcel vertex and a second direction towards which the dotting device faces;

generating parcel region information based on the first vertex position, the first direction, the second vertex position, and the second direction.

In a second aspect, an embodiment of the present application provides a job control method, including:

acquiring land parcel area information of a land parcel to be operated by the land parcel determining method provided by the first aspect;

and controlling the moving operation of the operation equipment based on the land area information.

In a third aspect, an embodiment of the present application provides a region determining apparatus, including a first dotting module, a second dotting module, and a boundary determining module, where:

the first dotting module is used for responding to a first dotting operation performed on a dotting device at a first plot vertex, and determining a first vertex position corresponding to the first plot vertex and a first direction towards which the dotting device faces;

the second dotting module is used for responding to second dotting operation performed on the dotting equipment at the top of a second block, and determining a second top point position corresponding to the top of the second block and a second direction towards which the dotting equipment faces;

the boundary determining module is configured to generate parcel region information based on the first vertex position, the first direction, the second vertex position, and the second direction.

In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory and one or more processors;

the memory to store one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the parcel determination method as described in the first aspect, and/or the job control method as described in the second aspect.

In a fifth aspect, embodiments of the present application provide a storage medium storing computer-executable instructions for performing the parcel determination method as described in the first aspect, and/or the job control method as described in the second aspect, when executed by a computer processor.

According to the method and the device, the first dotting operation is carried out on the first plot vertex on the plot to be worked in response to the utilization of the dotting equipment, the first vertex position and the first direction are determined, the second dotting operation is carried out on the second plot vertex of the plot to be worked, the second vertex position and the second direction are determined, plot area information can be generated based on the first vertex position, the first direction, the second vertex position and the second direction, operators can finish the rapid generation of the plot area information only by respectively carrying out the dotting operation once on the first plot vertex and the second plot vertex, the plot determining operation is effectively simplified, and the plot determining efficiency is greatly improved.

Drawings

Fig. 1 is a flowchart of a method for determining a location according to an embodiment of the present application;

fig. 2 is a flowchart of another method for determining a parcel according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a first dotting operation provided in the embodiment of the present application;

FIG. 4 is a schematic diagram of a first and second dotting operation provided by an embodiment of the present application;

FIG. 5 is a second schematic diagram of a dotting operation according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a first third dotting operation provided by the embodiment of the present application;

FIG. 7 is a schematic diagram of a second third dotting operation provided in the embodiment of the present application;

fig. 8 is a schematic structural diagram of a region determination apparatus according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an electronic device provided in this embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in greater detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The above process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes described above may correspond to methods, functions, procedures, subroutines, and the like.

The method for determining the land parcel can be applied to determination of a land parcel operation area and rapid operation of operation equipment in a land parcel, and aims to determine a first vertex position, a first direction, a second vertex position and a second direction through dotting operations of operators on two adjacent land parcel vertexes by using dotting equipment respectively so as to rapidly generate land parcel area information corresponding to a land parcel to be operated and improve land parcel determination efficiency. For a traditional land parcel determination mode, an operator needs to hold a dotting device to dotte at each land parcel vertex of a land parcel to be operated, a land parcel region is generated according to a region enclosed by each dotting position, the operator needs to move to a plurality of positions and perform multiple dotting operations, the land parcel determination step is complicated, and the efficiency is low. Therefore, the plot determining method provided by the embodiment of the application is provided to solve the technical problems of complex plot determining steps and low efficiency in the existing plot determining mode.

Fig. 1 is a flowchart of a method for determining a parcel, which is provided in an embodiment of the present application, and may be executed by a parcel determination apparatus, which may be implemented by hardware and/or software and integrated in an electronic device (e.g., a parcel determination device). Optionally, the electronic device provided by the present application may be a dotting device, and may also be a working device (e.g., an unmanned aerial vehicle, an unmanned vehicle, an agricultural machine, etc.) or other terminal devices (e.g., a server, a computer, a mobile device, etc.).

The following description will be made taking as an example a land parcel determination method performed by a land parcel determination apparatus. Referring to fig. 1, the parcel determination method comprises:

s101: in response to a first dotting operation performed on the dotting device at a first parcel vertex, a first vertex position corresponding to the first parcel vertex and a first direction in which the dotting device is oriented are determined.

The dotting equipment provided by the embodiment of the application is equipment capable of carrying out dotting operation and determining the direction of the dotting operation based on the position of the dotting equipment. The dotting operation can be understood as an operation of triggering the dotting device to determine the current position (which can be represented by coordinates) through a local operation mode or a remote operation mode, and in addition, when the dotting device is subjected to the dotting operation, the orientation of the dotting device can also be determined. Optionally, the dotting device is configured with a positioning unit (e.g. a GPS positioning unit, an RTK positioning unit, etc.) and an orientation determining unit (e.g. a GPS positioning unit, an RTK positioning unit, a gyroscope, etc.), which respectively determine the position and the orientation of the dotting device. Alternatively, the positioning unit and the orientation determining unit may be provided as separate unit modules, or may be integrated in the same unit module. Optionally, the dotting equipment that this scheme provided can be plant protection unmanned aerial vehicle, unmanned car, ground robot, remote controller, location basic station, self-driving appearance etc..

For example, when the land parcel region information corresponding to the land parcel to be worked needs to be determined, the dotting device can be moved to a top point (head) of the land parcel on the land parcel to be worked, the orientation of the working device is adjusted to be consistent with the direction of the boundary (ridge and ridge) of the land parcel, and the dotting device is controlled to carry out dotting operation. At this time, the plot vertex is a first plot vertex, and the corresponding dotting operation is a first dotting operation. When detecting that a first dotting operation is performed on the dotting device at the vertex of the first plot, determining position information and orientation information corresponding to the dotting device, wherein the position reflected by the position information is the position of the first vertex corresponding to the vertex of the first plot, and the direction reflected by the orientation information is the first direction faced by the dotting device.

S102: in response to a second dotting operation performed on the dotting device at the second geographic location, a second vertex position corresponding to the second geographic location vertex and a second direction in which the dotting device is oriented are determined.

The first plot vertex and the second plot vertex can be adjacent plots on the plot to be operated.

For example, after determining the first vertex position and the first direction, the dotting device may be moved to a vertex of the land to be worked, which is adjacent to the first vertex, and the direction of the working device may be adjusted to a direction consistent with the direction of the boundary of the land, and the dotting device may be controlled to perform the dotting operation. At this time, the plot vertex where the current dotting device is located is a second plot vertex, and the corresponding dotting operation is a second dotting operation. When detecting that a second dotting operation is performed on the dotting device at the second geographic position, determining position information and orientation information corresponding to the dotting device, wherein the position reflected by the position information is a second vertex position corresponding to the second geographic position, and the direction reflected by the orientation information is a second direction towards which the dotting device faces.

And in each dotting operation, the top point of the land parcel corresponding to the other dotting operation is not positioned on the boundary of the land parcel corresponding to the orientation of the dotting equipment in the current dotting operation. In one embodiment, the direction of the moving operation of the working equipment is parallel to a connecting line between the first vertex position and the second vertex position (or a land boundary connecting the first vertex position and the second vertex position), when the working equipment moves the current row of the working targets on the land to be operated and moves to the next row of the working targets when the working equipment moves to the vicinity of the land boundary corresponding to the first direction or the second direction, the turning operation needs to be executed, and the working equipment moves the working equipment towards the direction of the land boundary corresponding to the second direction or the first direction.

For example, the operator moves the dotting device to a nearest one of the feature points (i.e., a first feature point), directs the dotting device in a direction corresponding to a feature point boundary connected to the first feature point (e.g., a feature point boundary parallel to the arrangement direction of the work targets in the adjacent columns on the feature point), controls the dotting device to perform the first dotting operation, and determines a position and a direction corresponding to the first dotting operation as a first feature point position corresponding to the feature point of the first feature point and a first direction corresponding to the dotting device.

After the first dotting operation is completed, the operator may move the dotting device to an adjacent block vertex (i.e., a second block vertex) along a direction corresponding to another block boundary connected to the first block vertex (e.g., a block boundary parallel to the arrangement direction of the work targets on the same row of work targets on the block to be worked), and control the dotting device to perform a second dotting operation, and determine a position and a direction corresponding to the second dotting operation as a second vertex position corresponding to the second block vertex and a second direction corresponding to the dotting device. In a possible embodiment, the dotting devices corresponding to the first dotting operation and the second dotting operation provided by the scheme may be the same dotting device or different dotting devices. If the same dotting device is used, the dotting device needs to be controlled to perform dotting operation on one land top point, and then the dotting device is moved to the adjacent land top point to perform dotting operation. If the number of the dotting devices is different (namely two dotting devices), the two dotting devices can be controlled to move to the top points of two adjacent plots simultaneously or respectively to perform dotting operation, and the plot determination efficiency is improved.

S103: the parcel region information is generated based on the first vertex position, the first direction, the second vertex position, and the second direction.

For example, a land area surrounded by the determined first vertex position, the first direction, the second vertex position and the second direction is determined, and the land area is used as land area information corresponding to a land to be currently operated. The area range corresponding to the initially determined parcel area information is a range surrounded by a connecting line of the first vertex position and the second vertex position, a boundary line which takes the first vertex position as a starting point and extends towards the first direction, and a boundary line which takes the second vertex position as a starting point and extends towards the second direction.

In one embodiment, the area range corresponding to the initially determined parcel area information may be a closed range or an open range. For example, when two boundary lines extending in the first direction and the second direction have an intersection (when an angle between the first direction and the second direction is between 0 and-90 degrees (excluding 0 and-90 degrees)) starting from the first vertex position and the second vertex position, an area range corresponding to the initially determined parcel area information is a closed range, and when two boundary lines extending in the first direction and the second direction have no intersection (when an angle between the first direction and the second direction is between 0 and 90 degrees (excluding 90 degrees)) starting from the first vertex position and the second vertex position, an area range corresponding to the initially determined parcel area information is an open range.

Although the above description has been given by taking the first block vertex and the second block vertex as the adjacent block vertices on the block to be worked, in one possible embodiment, the first block vertex and the second block vertex may be non-adjacent block vertices on the block to be worked, for example, the two block vertices may be points on the diagonal of the block, in which case, the first boundary may be determined according to the first vertex position and the first direction, and the second boundary may be determined according to the second vertex position and the second direction, based on which, the block area information may be determined in two cases:

the first method comprises the following steps: when the first boundary and the second boundary are non-adjacent boundaries, generating a third boundary line which passes through the first vertex position and intersects the second boundary based on a first set angle, and generating a fourth boundary line which passes through the second vertex position and intersects the first boundary based on a second set angle; the first set angle represents an angle between the third boundary line and the first boundary or the second boundary, and the second set angle represents an angle between the fourth boundary line and the first boundary or the second boundary. The first set angle and the second set angle may be default angles of the system or user-defined angles.

In this way, the area surrounded by the first boundary, the second boundary, the third boundary, and the fourth boundary can be used as the parcel area information.

And the second method comprises the following steps: when the first boundary and the second boundary are adjacent boundaries, a third boundary passing through the first vertex position or the second vertex position is generated according to a third set angle, and the third set angle is used for representing an angle between the third boundary and the first boundary or the second boundary, and can be a default angle of the system or a user-defined angle.

Thus, the area formed by the first boundary, the second boundary, and the third boundary may be used as the parcel area information, and the area may be a closed area (when the third boundary intersects with the first boundary and the second boundary at the same time) or an open area (when the third boundary intersects with only the first boundary or the second boundary).

The method and the device have the advantages that the first dotting operation is carried out on the first plot vertex on the plot to be operated by using the dotting equipment in response, the first vertex position and the first direction are determined, the second dotting operation is carried out on the second plot vertex of the plot to be operated, the second vertex position and the second direction are determined, the plot region information can be generated based on the first vertex position, the first direction, the second vertex position and the second direction, an operator can complete the rapid generation of the plot region information only by carrying out the dotting operation once respectively on the first plot vertex and the second plot vertex, the plot determining operation is effectively simplified, and the plot determining efficiency is greatly improved.

On the basis of the foregoing embodiment, fig. 2 shows a flowchart of another parcel determination method provided in the embodiment of the present application. Referring to fig. 2, the parcel determination method includes:

s201: in response to a first dotting operation performed on the dotting device at a first parcel vertex, a first vertex position corresponding to the first parcel vertex and a first direction in which the dotting device is oriented are determined.

S202: in response to a second dotting operation performed on the dotting device at the second geographic location, a second vertex position corresponding to the second geographic location vertex and a second direction in which the dotting device is oriented are determined.

S203: determining a first boundary based on the first vertex position and the first direction, determining a second boundary based on the second vertex position and the second direction, and determining a third boundary based on the first vertex position and the second vertex position.

For example, after determining the first vertex position, the first direction, the second vertex position and the second direction, a boundary line is determined with the first vertex position as a starting point and the first direction as an extending direction, and the boundary line is a first boundary corresponding to the first direction. And determining a boundary line by taking the second vertex position as a starting point and the second direction as an extending direction, wherein the boundary line is a second boundary corresponding to the second direction. And connecting the first vertex position and the second vertex position, and taking a connecting line of the first vertex position and the second vertex position as a third boundary.

S204: the parcel zone information is generated based on the first boundary, the second boundary, and the third boundary.

For example, a land area formed by the first boundary, the second boundary, and the third boundary is determined, and the land area is determined as land area information of the land to be worked. According to the scheme, the three land parcel boundaries corresponding to the first land parcel vertex and the second land parcel vertex are determined according to the first vertex position, the first direction, the second vertex position and the second direction, the land parcel region can be rapidly determined to serve as the initial land parcel region based on the adjacent three land parcel boundaries, the operation equipment can rapidly operate according to land parcel region information, after the dotting operation on each land parcel vertex of the whole land parcel to be operated is not required to be finished, the operation is performed based on the complete land parcel region, and the land parcel determination efficiency and the operation efficiency are improved.

In one possible embodiment, before generating the parcel region information based on the first vertex position, the first direction, the second vertex position and the second direction, it may be determined whether the first boundary or the second boundary needs to be reversely processed according to whether the parcel region can be formed based on the first boundary, the second boundary and the third boundary, so as to reduce a situation that the correct parcel region information cannot be generated due to setting an error orientation of the dotting device during the dotting operation, and ensure that the valid parcel region information is correctly generated. When the first boundary, the second boundary, and the third boundary may form a land area, the land area may be directly determined as land area information of the land to be worked. And when the formation of the land parcel region based on the first boundary, the second boundary and the third boundary is found to be failed, the first boundary or the second boundary can be processed in a reverse way, so that the first boundary, the second boundary and the third boundary can form an effective land parcel region.

In one possible embodiment, whether a parcel region may be formed based on the first boundary, the second boundary, and the third boundary may be determined according to an angle between the first boundary and the second boundary. Based on this, before generating the parcel region information based on the first vertex position, the first direction, the second vertex position, and the second direction, the present solution further includes: and under the condition that a first included angle between the first direction and the second direction exceeds a set included angle range, performing reverse processing on the first boundary or the second boundary.

Illustratively, after determining the first direction and the second direction, a first included angle between the first direction and the second direction is determined, and it is determined whether the first included angle is within a set included angle range. If the first included angle does not exceed the set included angle range (that is, the first included angle is within the set included angle range), it is considered that a parcel region can be formed based on the first boundary, the second boundary and the third boundary, and parcel region information is generated directly based on the initial first vertex position, the first direction, the second vertex position and the second direction, that is, a parcel region formed by the first boundary, the second boundary and the third boundary is used as parcel region information. And when the first included angle exceeds the set included angle range (namely the first included angle is not in the set included angle range), the parcel area cannot be formed on the basis of the first boundary, the second boundary and the third boundary, the first boundary or the second boundary is subjected to reverse processing, parcel area information is generated on the basis of the parcel area formed by the updated first boundary, the second boundary and the third boundary, and the parcel area formed by the first boundary, the second boundary and the third boundary determined on the basis of the updated first direction or the second direction is used as the parcel area information.

Here, the reversing of the first direction or the second direction may be understood as rotating the first direction or the second direction by 180 °. Optionally, the set included angle range may be-90 ° to 90 °, that is, when the first included angle between the first direction and the second direction is within an angle range of-90 ° to 90 °, an effective parcel area may be formed based on the first boundary, the second boundary, and the third boundary.

For example, when the first included angle is not within the set included angle range, the second direction may be processed in reverse, and when the information of the block area is generated, the first boundary may be determined according to the original first vertex position and the first direction, the second boundary may be determined according to the original second vertex position and the second direction after the reverse processing, the third boundary may be determined according to the original first vertex position and the original second vertex position, and then the information of the block area may be generated based on the first boundary, the second boundary, and the third boundary. Or the first direction is subjected to reverse processing, and the information of the block area is generated by determining a first boundary according to the original first vertex position and the first direction after the reverse processing, determining a second boundary according to the original second vertex position and the original second direction, determining a third boundary according to the original first vertex position and the original second vertex position, and generating the information of the block area based on the first boundary, the second boundary and the third boundary.

In a possible embodiment, when it is determined that the first included angle is not within the set included angle range or the land parcel area cannot be formed based on the first boundary, the second boundary and the third boundary, the first direction or the second direction may be automatically reversed according to the set direction updating mode, and an operator may be reminded of a result of the reversal processing, and may determine whether to use the result of the reversal processing, or remind the operator of the inability to form the land parcel area, query the operator whether to reverse the first direction or the second direction, and determine whether to reverse the processing according to a reply instruction of the operator, and an object of the reversal processing (the first direction or the second direction), or the operator may readjust the position or the orientation of the dotting device, and re-trigger the first dotting operation or the second dotting operation to re-determine the first direction or the second direction, so as to ensure that valid land parcel area information is correctly generated.

In one possible embodiment, after the initial land area information is determined, the operation equipment can be controlled to perform operation based on the land area information. After the initial land parcel area information is determined, or in the process of controlling operation equipment to operate based on the land parcel area information, if the land parcel to be operated is not a quadrangular land parcel, at least 5 land parcel vertexes exist in the land parcel to be operated, and the situation that at least one land parcel boundary is bent and turned exists, an operator can perform dotting operation once at the corresponding land parcel vertex to update the corresponding first boundary or second boundary, and at the moment, the first boundary or the second boundary comprises a plurality of segments in different directions.

In a possible embodiment, after generating the parcel region information, the parcel determination method provided by the present scheme further includes: in response to a third dotting operation performed on the first boundary or the second boundary, determining a third vertex position corresponding to the vertex of the first parcel and a third direction towards which the dotting device faces; the first boundary or the second boundary is updated based on the third vertex position and the third direction.

The optional third plot vertex is the plot vertex of the plot to be worked on the first boundary or the second boundary. Exemplarily, moving the dotting device to the first boundary or the second boundary, updating a position in the boundary direction, where the position is a third plot vertex on the plot boundary corresponding to the to-be-worked plot, adjusting the orientation of the working device to a direction consistent with the orientation of the subsequent plot boundary of the plot vertex, and controlling the dotting device to perform a third dotting operation. When detecting that a third dotting operation is performed on the dotting equipment at the vertex of the third plot, determining position information and orientation information corresponding to the dotting equipment, wherein the position reflected by the position information is the position of the third vertex corresponding to the vertex of the third plot, and the direction reflected by the orientation information is the third direction faced by the dotting equipment.

Further, the parcel region information is updated based on the third vertex position and the third direction. If the third vertex position is within the first direction range, the area range corresponding to the updated area information is a range surrounded by a connecting line between the first vertex position and the second vertex position, a connecting line between the first vertex position and the third vertex position, a boundary line extending in the third direction from the third vertex position, and a boundary line extending in the second direction from the second vertex position. If the third vertex position is within the second direction range, the area range corresponding to the updated area information is a range surrounded by a connecting line of the first vertex position and the second vertex position, a connecting line of the second vertex position and the third vertex position, a boundary line extending in the third direction with the third vertex position as a starting point, and a boundary line extending in the first direction with the first vertex position as a starting point.

For example, when the plot area information is updated in response to the third dotting operation, it may be that, in response to the third dotting operation performed on the first boundary or the second boundary, the third vertex position corresponding to the first plot vertex and the third direction toward which the dotting device is directed are determined; the first boundary or the second boundary is updated based on the third vertex position and the third direction. Illustratively, the first boundary or the second boundary is updated based on the third vertex position and the third direction. For example, when the third vertex position is on the first boundary, the first boundary is updated according to the third vertex position and the third direction, and at this time, the updated first boundary is a boundary line extending from a connecting line (the direction is consistent with the first direction) of the first vertex position and the third vertex position and from the third vertex position to the third direction. And when the third vertex position is on the second boundary, updating the second boundary according to the third vertex position and the third direction, wherein the updated second boundary is a boundary line which is formed by connecting the second vertex position with the third vertex position (the direction is consistent with the second direction) and extends from the third vertex position to the third direction.

In one embodiment, one or more third dotting operations may be performed on at least one of the land parcel boundaries (e.g., the first boundary and/or the second boundary) to bring the updated land parcel area information closer to the actual land parcel area of the land parcel to be worked. For example, when the third dotting operation is performed on the first boundary for a plurality of times, the updated first boundary is a boundary line extending from a connecting line (the direction is consistent with the first direction) between the first vertex position and the third vertex position determined for the first time on the first boundary, a connecting line between every two adjacent third vertex positions determined on the first boundary, and a boundary line extending from the third vertex position determined last on the first boundary to the third direction determined last. When the third dotting operation is performed on the second boundary for a plurality of times, the updated second boundary is a boundary line extending from a connecting line (the direction is consistent with the second direction) of the second vertex position and a third vertex position determined for the second time on the second boundary, a connecting line of every two adjacent third vertex positions determined on the second boundary, and a boundary line extending from the last determined third vertex position on the second boundary to the last determined third direction. Optionally, after the operation on the to-be-operated plot is completed, plot operation information corresponding to the to-be-operated plot can be generated based on the latest plot area information corresponding to the first boundary, the second boundary and the third boundary, and when the to-be-operated plot is subsequently operated, the operation can be directly performed based on the plot operation information without performing dotting operation, and the updated plot area information is closer to the actual plot based on the third dotting operation, so that the operation effect is effectively ensured.

In one possible embodiment, the dotting device provided by the present disclosure may be an unmanned device (e.g., an unmanned aerial vehicle), a first person main viewing angle camera (FPV camera) is disposed on the unmanned device, and a shooting direction of the first person main viewing angle camera is set to be consistent with an orientation of the dotting device, at this time, a direction corresponding to a picture obtained by shooting with the first person main viewing angle camera is an orientation of the dotting device, an operator may control the unmanned device to move in a remote control manner, and determine a position where the unmanned device is located and a corresponding orientation by collecting a real-time picture obtained by shooting with the first person main viewing angle camera. Based on this, the method for determining a parcel provided by this solution further includes, before responding to the dotting operation performed on the dotting device: displaying a first picture shot by a first person called a main viewing angle camera on the unmanned equipment; and receiving a dotting operation performed on the unmanned device under the condition that the unmanned device is in a hovering state.

For example, an operator may control the unmanned device to move to a plot vertex (including a first plot vertex, a second plot vertex and a third plot vertex) that needs to be dotted, obtain a first picture obtained by shooting with the first person main viewing angle camera in real time, and display the first picture (for example, display the first picture on a display screen arranged on or externally connected to the remote controller in real time), where the operator may determine a real-time position and a real-time orientation of the unmanned device through the first picture.

When the unmanned equipment needs to be controlled to perform dotting operation on the plot top point, the unmanned equipment can be controlled to hover, an operator can observe based on a first picture obtained by shooting in the hovering state of the unmanned equipment, and can judge whether the unmanned equipment reaches the plot top point needing the dotting operation or not and whether the orientation of the unmanned equipment is consistent with the plot boundary or not through the first picture.

When it is determined that the unmanned aerial vehicle has reached a plot vertex where dotting is required and the orientation of the unmanned aerial vehicle coincides with a plot boundary, the unmanned aerial vehicle is notified to perform dotting based on the current position and orientation, thereby determining a corresponding fixed point position and direction, for example, a first vertex position and a first direction obtained by performing a first dotting operation on a first plot vertex, a second vertex position and a second direction obtained by performing a second dotting operation on a second plot vertex, and a third vertex position and a third direction obtained by performing a third dotting operation on a third plot vertex. According to the scheme, the first picture shot by the first person-name main visual angle camera is collected and displayed, the headland the ridges of the field can be observed by the first picture of the operator, the position and the orientation of the unmanned equipment can be rapidly and accurately judged, the efficiency and the accuracy of dotting operation are improved, and the land parcel determination efficiency is improved.

In one possible embodiment, the method for determining a parcel, provided by the present solution, further includes, after displaying a first picture taken by a first person, namely a main perspective camera, on the unmanned device: carrying out boundary identification on the first picture to obtain a reference boundary; a reference boundary and a fourth direction corresponding to an orientation of the first person-referred main-perspective camera are identified in the first picture.

For example, a boundary recognition is performed on a first picture captured by the first-person main perspective camera to identify a reference boundary in the first picture (e.g., a parcel boundary appearing in the first picture), and a fourth direction corresponding to the orientation of the first-person main perspective camera (e.g., a direction corresponding to the center line of the first picture) is determined. While the first picture is displayed, a reference boundary and a fourth direction are identified in the first picture, and the reference boundary and the fourth direction may be displayed in a line segment manner in the first picture. The operator may determine whether the orientation of the unmanned device corresponds to the parcel vertex parcel boundary according to the reference boundary and the fourth direction in the first screen, for example, determine whether the orientation of the unmanned device meets the orientation requirement for performing the dotting operation based on an included angle and/or a degree of overlap between the reference boundary and the fourth direction, so as to improve the accuracy of the dotting operation.

Optionally, the boundary recognition of the first picture may be performed based on a boundary recognition model trained in advance, that is, a sample image set labeled with a reference boundary is collected in advance, and the boundary recognition model is trained by using the sample image set. The first picture shot in real time can be input into the trained boundary recognition model, and the first picture is analyzed and processed by the boundary recognition model and the reference boundary in the first picture is output. In addition, the boundary identification of the first picture may be to identify a straight line in the first picture, and the identified straight line may be used as a reference boundary, and the straight line identification may be based on a Hough transform algorithm (Hough transform algorithm), a boundary tracking algorithm, a straight line detection segmentation algorithm (LSD straight line detection algorithm), a fast line segment detection algorithm (FLD straight line detection algorithm), an edge segment detection algorithm (EDlines straight line detection algorithm), or the like.

In a possible embodiment, after identifying the reference boundary and a fourth direction corresponding to the orientation of the first person-named main-perspective camera in the first picture, the method for determining the parcel further includes: issuing an orientation adjustment alert based on the reference boundary and a second angle of the fourth direction.

Illustratively, a reference boundary and a fourth direction are marked in a first picture, a second included angle between the reference boundary and the fourth direction is calculated, and when the second included angle exceeds a set included angle range, an orientation adjustment prompt is sent according to the second included angle so as to prompt an operator to adjust the orientation of the unmanned equipment, and the efficiency and the accuracy of dotting operation are improved.

As shown in a first dotting operation diagram provided in fig. 3, D is a land to be worked, A1-A5 are 5 land vertices of the land to be worked, L is a working target on the land to be worked, and the working targets are arranged in a row on the land to be worked. Assume that the operator controls the dotting device to move to the nearest block vertex A1, sets the orientation of the dotting device to a direction that coincides with the block boundary B1-5 (the line connecting the block vertices A1 and A5), and controls the dotting device to perform a first dotting operation to determine a first vertex position and a first direction (the direction in which the block vertex A1 faces the block vertex A5).

As shown in the first and second dotting operation diagrams provided in fig. 4, after the first dotting operation is completed, the operator controls the dotting device to move to a plot vertex A2 corresponding to the extending direction of the work target in the same column, sets the direction of the dotting device to be the same as the direction of a plot boundary B2-3 (the connecting line of the plot vertices A2 and A3), and controls the dotting device to perform the second dotting operation to determine the second vertex position and the second direction (the direction of the plot vertex A2 toward the plot vertex A3). At this time, the first boundary L1 may be determined according to the first vertex position and the first direction, the second boundary L2 may be determined according to the second vertex position and the second direction, and the third boundary L3 may be determined according to the first vertex position and the second vertex position, and then the parcel region information E1 may be generated based on the first boundary L1, the second boundary L2, and the third boundary L3, where the parcel region information E1 is an open area surrounded by the first boundary L1, the second boundary L2, and the third boundary L3 in the drawing. The operator can generate initial plot area information only by dotting on the plot vertexes A1 and A2, and the operation equipment can quickly start operation.

As shown in the second schematic drawing of the dotting operation provided in fig. 5, after the first dotting operation is completed, the operator controls the dotting device to move to the corresponding plot vertex A2 in the extending direction of the work target in the same column, but the operator sets the orientation of the dotting device to the direction opposite to the plot boundary B2-3 due to the misoperation, and controls the dotting device to perform the second dotting operation to determine the second vertex position and the second direction (the direction of the plot vertex A3 toward the plot vertex A2). At this time, the first boundary L1 may be determined according to the first vertex position and the first direction, the second boundary L2 'may be determined according to the second vertex position and the second direction, and the third boundary L3 may be determined according to the first vertex position and the second vertex position, and if it is found that the first included angle between the first direction and the second direction exceeds the set included angle range, the operator is prompted to perform reverse processing on the second boundary L2' to obtain the second boundary L2, and the parcel area information E1 may be generated based on the first boundary L1, the second boundary L2, and the third boundary L3.

As shown in the first and third schematic diagrams for dotting operation provided in fig. 6, after obtaining the initial parcel area information E1, the operating device may be controlled to perform fast operation based on the initial parcel area information, before or during operation of the operating device, the operator may control the dotting device to move to a parcel vertex A3 where a parcel to be operated is bent at the second boundary L2, set the orientation of the dotting device to be in the same direction as the parcel boundary B3-4 (the connecting line between the parcel vertices A3 and A4), and control the dotting device to perform the third dotting operation to determine the third vertex position and the third direction (the direction from the parcel vertex A3 to the parcel vertex A4). At this time, the second boundary L2 may be updated according to the third vertex position and the third direction to obtain the second boundary L22, at this time, the updated second boundary L22 is a connecting line extending from the parcel vertex A2 to A3 to a direction corresponding to the parcel vertex A4 to a position A6 intersecting the first boundary L1, and the parcel region information may be updated based on the latest first boundary L1, second boundary L22, and third boundary L3 to obtain the latest parcel region information E2, where the parcel region information E2 in the drawing is a closed region (i.e., a quadrangle A1A2A3A6 shown in fig. 6) surrounded by the first boundary L1, the second boundary L22, and the third boundary L3.

As shown in the second third dotting operation diagram provided in fig. 7, after obtaining the updated parcel region information E2, the operator may control the dotting device to move to a parcel vertex A5 where the parcel to be worked is bent at the first boundary L1, set the direction of the dotting device to be the same as the parcel boundary B5-4 (the connecting line between the parcel vertices A5 and A4), and control the dotting device to perform the third dotting operation to determine a new third vertex position and a third direction (the direction from the parcel vertex A5 to the parcel vertex A4). At this time, the first boundary L1 may be updated according to the new third vertex position and the third direction to obtain the second boundary L12, where the updated first boundary L12 is a connecting line extending from the parcel vertex A1 to A5 to a direction corresponding to the parcel vertex A4 to a position intersecting the first boundary L22 (in this case, the parcel vertex A4), and the parcel region information E3 may be updated based on the latest first boundary L12, second boundary L22, and third boundary L3 to obtain the latest parcel region information E3, where the parcel region information E3 is a closed region (i.e., a pentagon A1A2A3A4A5 shown in fig. 7) surrounded by the first boundary L12, second boundary L22, and third boundary L3. At this time, the latest land area information E3 coincides with the actual land area of the land to be worked, and the working equipment can perform more accurate work on the land to be worked.

The method and the device have the advantages that the first dotting operation is carried out on the first plot vertex on the plot to be operated by using the dotting equipment in response, the first vertex position and the first direction are determined, the second dotting operation is carried out on the second plot vertex of the plot to be operated, the second vertex position and the second direction are determined, the plot region information can be generated based on the first vertex position, the first direction, the second vertex position and the second direction, an operator can complete the rapid generation of the plot region information only by carrying out the dotting operation once respectively on the first plot vertex and the second plot vertex, the plot determining operation is effectively simplified, and the plot determining efficiency is greatly improved. And the first boundary, the second boundary and the third boundary are determined according to the first vertex position, the first direction, the second vertex position and the second direction, so that the land parcel region information is accurately generated, the first boundary or the second boundary can be updated in response to the third dotting operation, the updated land parcel region information is closer to the actual land parcel region of the land parcel to be operated, and the operation effect is effectively ensured.

Embodiments of the present application also provide a job control method, which may be executed by a job control apparatus, which may be implemented by hardware and/or software and integrated in an electronic device (e.g., a job control device). Optionally, the electronic device provided by the present application may be a working device (e.g., a drone, an unmanned vehicle, an agricultural machine, etc.). The following is described taking as an example that the job control apparatus executes a job control method including:

s301: in response to a first dotting operation performed on the dotting device at a first parcel vertex, a first vertex position corresponding to the first parcel vertex and a first direction in which the dotting device is oriented are determined.

S302: in response to a second dotting operation performed on the dotting device at the second geographic location, a second vertex position corresponding to the second geographic location vertex and a second direction in which the dotting device is oriented are determined.

S303: the parcel region information is generated based on the first vertex position, the first direction, the second vertex position, and the second direction.

S304: and controlling the operation equipment to move on the basis of the land area information.

In steps S301 to S303, the method for determining a parcel provided in the above embodiment may be referred to, and corresponding technical effects are achieved, which is not described in detail in this embodiment.

For example, after the land area information is generated, the work equipment may be controlled to perform the moving operation on the land to be worked based on the land area information, for example, the work equipment may be controlled to perform the moving operation on the first row of work targets on the land to be worked, and the moving operation may be assumed to be performed toward the boundary line corresponding to the second direction from the work target near the first vertex position. And when the moving direction of the working equipment reaches the vicinity of the boundary line corresponding to the first direction, controlling the working equipment to turn around to the next row of working targets, controlling the working equipment to move to the boundary line corresponding to the first direction, controlling the working equipment to turn around to the next row of working targets, continuously controlling the working equipment to move to the boundary line corresponding to the second direction, and moving the working targets on the land to be worked to and fro according to the moving direction.

According to the scheme, the plot regional information can be quickly generated only by dotting the first plot vertex and the second plot vertex by the operator, the operator does not need to move to each plot vertex to dotte, the operator only needs to perform two steps of operations (the first dotting operation and the second dotting operation) in the operation to realize the dotting and circle plot operation on the plots to be operated, and the operation equipment can quickly operate based on the plot regional information.

The method comprises the steps of determining a first vertex position and a first direction by responding to a first dotting operation performed by a dotting device at a first vertex of a to-be-operated land, determining a second vertex position and a second direction by performing a second dotting operation at a second vertex of the to-be-operated land, and generating land area information based on the first vertex position, the first direction, the second vertex position and the second direction.

In one possible embodiment, the job control method provided by the present solution further includes:

s305: and in the moving operation process, when the third dotting operation is detected, in response to the third dotting operation performed on the dotting device at the vertex of the third plot, determining a third vertex position corresponding to the vertex of the third plot and a third direction towards which the dotting device faces.

S306: the parcel region information is updated based on the third vertex position and the third direction.

S307: and controlling the work equipment to move the work based on the updated land area information.

In steps S305 to S306, reference may be made to the description related to responding to the third dotting operation in the method for determining a parcel provided in the foregoing embodiment, and corresponding technical effects are achieved, which are not described in detail in this embodiment.

Illustratively, after updated land area information is obtained, the control unit controls the work equipment to move the work based on the updated land area information. For example, in the process of controlling the moving operation of the operation equipment based on the originally determined land area information, the third dotting operation can be executed on the top points of other lands again, the land area information is updated according to the third dotting operation, the dotting operation can be performed in the operation process of the operation equipment to update the land area information, the moving operation of the operation equipment is started quickly, the dotting operation is performed simultaneously, and the operation quality is ensured while the operation efficiency is improved.

Fig. 8 is a schematic structural diagram of a region determination apparatus according to an embodiment of the present application. Referring to fig. 8, the parcel determination apparatus comprises a first dotting module 81, a second dotting module 82 and a boundary determination module 83.

The first dotting module 81 is configured to determine, in response to a first dotting operation performed on a dotting device at a first parcel vertex, a first vertex position corresponding to the first parcel vertex and a first direction toward which the dotting device faces; a second dotting module 82, configured to determine, in response to a second dotting operation performed on the dotting device at a second geographic vertex, a second vertex position corresponding to the second geographic vertex, and a second direction toward which the dotting device is oriented; a boundary determining module 83, configured to generate the parcel region information based on the first vertex position, the first direction, the second vertex position, and the second direction.

On the basis of the embodiment, the first plot vertex and the second plot vertex are adjacent plots on the plot to be operated; the boundary determining module 83 is specifically configured to:

determining a first boundary according to the first vertex position and the first direction;

determining a second boundary according to the second vertex position and the second direction;

determining a third boundary according to the first vertex position and the second vertex position;

and generating parcel region information based on the first boundary, the second boundary and the third boundary.

On the basis of the embodiment, the first plot vertex and the second plot vertex are non-adjacent plot vertices on the plot to be operated; the boundary determining module 83 is specifically configured to:

when the first boundary and the second boundary are non-adjacent boundaries, generating a third boundary line which passes through the first vertex position and intersects the second boundary based on a first set angle, and generating a fourth boundary line which passes through the second vertex position and intersects the first boundary based on a second set angle;

and generating the land parcel area information according to the first boundary, the second boundary, the third boundary and the fourth boundary.

On the basis of the above embodiment, the boundary determining module 83 is further configured to:

when the first boundary and the second boundary are adjacent boundaries, generating a third boundary line passing through the first vertex position or the second vertex position according to a third set angle, wherein the third set angle is used for representing an angle between the third boundary line and the first boundary or the second boundary;

the parcel zone information is generated from the first boundary, the second boundary and the third boundary.

On the basis of the above embodiment, the parcel determination apparatus further includes a third dotting module, where the third dotting module is configured to:

in response to a third dotting operation performed on the dotting device at the vertex of the third land parcel, determining a third vertex position corresponding to the vertex of the third land parcel and a third direction towards which the dotting device faces; the parcel region information is updated based on the third vertex position and the third direction.

On the basis of the above embodiment, the parcel determination apparatus further includes an adjustment reminding module, and the adjustment reminding module is configured to perform reverse processing on the first boundary or the second boundary when a first included angle between the first direction and the second direction exceeds a set included angle range.

On the basis of the above embodiment, the dotting device is an unmanned device, the unmanned device is provided with a first-person main perspective camera, the shooting direction of the first-person main perspective camera is the orientation of the dotting device, the parcel determination apparatus further comprises a dotting response module, and the dotting response module is used for:

displaying a first picture shot by a first person-called main viewing angle camera on the unmanned equipment;

and receiving a dotting operation performed on the unmanned equipment under the condition that the unmanned equipment is in the hovering state.

On the basis of the above embodiment, the parcel determination apparatus further includes a direction identification module, and the direction identification module is configured to:

carrying out boundary identification on the first picture to obtain a reference boundary;

a reference boundary and a fourth direction corresponding to an orientation of the first person-referred main-perspective camera are identified in the first picture.

On the basis of the above embodiment, the parcel determination apparatus further comprises an orientation reminding module, and the orientation reminding module is configured to issue an orientation adjustment reminder based on the reference boundary and a second included angle in the fourth direction.

It should be noted that, in the embodiment of the land parcel determination apparatus, each included unit and module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.

The embodiment of the application also provides electronic equipment which can integrate the land parcel determination device provided by the embodiment of the application. Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 9, the electronic device includes: an input device 93, an output device 94, a memory 92, and one or more processors 91; a memory 92 for storing one or more programs; when the one or more programs are executed by the one or more processors 91, the one or more processors 91 are caused to implement the parcel determination method and/or the job control method as provided in the above-described embodiments. The input device 93, the output device 94, the memory 92 and the processor 91 may be connected by a bus or other means, and fig. 9 illustrates the connection by the bus as an example.

The memory 92, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the method for determining a parcel and/or the method for controlling a job provided by any embodiment of the present application (e.g., the first dotting module 81, the second dotting module 82, and the boundary determining module 83 in the parcel determination apparatus). The memory 92 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, memory 92 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 92 may further include memory located remotely from the processor 91, which may be connected to the device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 93 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the apparatus. The output device 94 may include a display device such as a display screen.

The processor 91 executes various functional applications of the apparatus and data processing by executing software programs, instructions, and modules stored in the memory 92, that is, implements the above-described parcel determination method.

The land parcel determination apparatus, device and computer provided above may be used to perform the land parcel determination method and/or the job control method provided in any of the embodiments above, with corresponding functions and advantages.

Embodiments of the present application further provide a storage medium storing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for determining a parcel and/or the method for controlling a job provided by the above embodiments, wherein the method for determining a parcel comprises: in response to a first dotting operation performed on a dotting device at a first parcel vertex, determining a first vertex position corresponding to the first parcel vertex and a first direction towards which the dotting device faces; responding to a second dotting operation performed on the dotting device at the second plot vertex, and determining a second vertex position corresponding to the second plot vertex and a second direction towards which the dotting device faces, wherein the first plot vertex and the second plot vertex are adjacent plot vertices on a plot to be operated; the parcel region information is generated based on the first vertex position, the first direction, the second vertex position, and the second direction.

Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (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. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage media" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.

Of course, the storage medium storing computer-executable instructions provided in the embodiments of the present application is not limited to the land parcel determination method and/or the job control method provided above, and may also perform related operations in the land parcel determination method and/or the job control method provided in any embodiment of the present application.

The parcel determination apparatus, the device and the storage medium provided in the above embodiments may execute the parcel determination method provided in any embodiment of the present application, and reference may be made to the parcel determination method provided in any embodiment of the present application without detailed technical details described in the above embodiments.

The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments provided herein, and it will be apparent to those skilled in the art that various changes, rearrangements, and substitutions may be made without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for determining a location, comprising:

in response to a second dotting operation performed on the dotting device at a second geographic vertex, determining a second vertex position corresponding to the second geographic vertex and a second direction towards which the dotting device faces;

generating parcel zone information based on the first vertex position, the first direction, the second vertex position, and the second direction.

2. The parcel determination method according to claim 1, wherein the first parcel vertex and the second parcel vertex are adjacent parcel vertices on a parcel to be worked; generating parcel region information based on the first vertex position, the first direction, the second vertex position, and the second direction, comprising:

determining a third boundary from the first vertex position and the second vertex position;

generating parcel zone information based on the first boundary, the second boundary, and the third boundary.

3. The parcel determination method according to claim 1, wherein the first parcel vertex and the second parcel vertex are non-adjacent parcel vertices on a parcel to be worked; generating parcel region information based on the first vertex position, the first direction, the second vertex position, and the second direction, comprising:

when the first boundary and the second boundary are non-adjacent boundaries, generating a third boundary line which passes through the first vertex position and intersects with the second boundary based on a first set angle, and generating a fourth boundary line which passes through the second vertex position and intersects with the first boundary based on a second set angle;

4. The method of claim 3, wherein generating parcel region information based on the first vertex position, the first orientation, the second vertex position and the second orientation further comprises:

and generating parcel region information according to the first boundary, the second boundary and the third boundary.

5. The method according to claim 2 or 3, wherein after the generating the parcel area information, further comprising:

in response to a third dotting operation performed on a dotting device at a third parcel vertex, determining a third vertex position corresponding to the third parcel vertex and a third direction towards which the dotting device faces;

updating the parcel region information based on the third vertex position and the third direction.

6. The method of claim 2 or 3, wherein before generating parcel zone information based on the first vertex position, the first direction, the second vertex position, and the second direction, further comprising:

and under the condition that a first included angle between the first direction and the second direction exceeds a set included angle range, carrying out reverse processing on the first boundary or the second boundary.

7. The parcel determination method according to claim 1, wherein the dotting device is an unmanned device provided with a first-person main perspective camera whose shooting direction is an orientation of the dotting device, the parcel determination method further comprising:

receiving a dotting operation performed on the unmanned device under the condition that the unmanned device is in a hovering state.

8. The parcel determination method of claim 7, wherein after said displaying a first picture taken by a first person-named main-view camera on the unmanned aerial device, further comprising:

identifying a fourth direction in the first picture corresponding to the reference boundary and an orientation of the first personal dominant perspective camera.

9. The method of claim 8, wherein after identifying the reference boundary in the first picture and a fourth orientation corresponding to an orientation of the first personal primary perspective camera, further comprising:

sending out a direction adjustment prompt based on the reference boundary and a second included angle of the fourth direction.

10. An operation control method, comprising:

acquiring plot area information of a plot to be worked by the method of any one of claims 1 to 9;

11. The work control method according to claim 10, characterized by further comprising:

obtaining updated parcel area information by the method of claim 5 when a third dotting operation is detected during the moving operation;

and controlling the operation equipment to continue moving operation based on the updated land area information.

12. A parcel determination apparatus comprising a first dotting module, a second dotting module and a boundary determination module, wherein:

the first dotting module is used for responding to a first dotting operation performed on a dotting device at a first land parcel vertex, and determining a first vertex position corresponding to the first land parcel vertex and a first direction towards which the dotting device faces;

the second dotting module is used for responding to second dotting operation performed on the dotting device at the top point of a second block, and determining a second top point position corresponding to the top point of the second block and a second direction towards which the dotting device faces;

13. An electronic device, comprising: a memory and one or more processors;

the memory for storing one or more programs;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the parcel determination method of any of claims 1 to 9, and/or the job control method of any of claims 10 to 11.

14. A storage medium storing computer-executable instructions for performing the parcel determination method of any of claims 1 to 9 and/or the job control method of any of claims 10 to 11 when executed by a computer processor.