WO2020119247A1 - 为作业设备设置作业路线的方法和控制设备 - Google Patents

为作业设备设置作业路线的方法和控制设备 Download PDF

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Publication number
WO2020119247A1
WO2020119247A1 PCT/CN2019/111771 CN2019111771W WO2020119247A1 WO 2020119247 A1 WO2020119247 A1 WO 2020119247A1 CN 2019111771 W CN2019111771 W CN 2019111771W WO 2020119247 A1 WO2020119247 A1 WO 2020119247A1
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WO
WIPO (PCT)
Prior art keywords
movable
route
planned route
divided
sign
Prior art date
Application number
PCT/CN2019/111771
Other languages
English (en)
French (fr)
Inventor
邱永恒
彭斌
Original Assignee
广州极飞科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Priority to RU2021118676A priority Critical patent/RU2770245C1/ru
Priority to KR1020217020061A priority patent/KR20210096642A/ko
Priority to CA3119873A priority patent/CA3119873A1/en
Priority to US17/309,513 priority patent/US20220128991A1/en
Priority to AU2019400131A priority patent/AU2019400131A1/en
Priority to EP19894680.8A priority patent/EP3869289A4/en
Priority to JP2021531822A priority patent/JP2022510016A/ja
Publication of WO2020119247A1 publication Critical patent/WO2020119247A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/0486—Drag-and-drop
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the field of agricultural plant protection operations, and in particular to a method and a control device for setting an operation route for operation equipment.
  • one of the objects of the embodiments of the present application is to provide a method and a control device for setting a work route for a work device.
  • an embodiment of the present application provides a method for setting a work route for a work device, the method includes: displaying a map on a display interface, displaying target parcel information on the map, and displaying on the map Planning a route for the target parcel and displaying a movable sign on the map, wherein the target parcel information includes boundary information of the target parcel; in response to a user dragging the movable parcel The operation changes the stop position of the movable sign; and determines the operation route from the planned route according to the stop position.
  • the changing the stay position of the movable logo in response to the user's drag operation on the movable logo includes: controlling the movable logo in response to a user's selection operation on the movable logo Entering a movable state; in response to a user's movement operation with respect to the movable logo entering the movable state, controlling the movable logo to follow the movement operation; and in response to the user's movement into the movable state
  • the stopping operation of the movable sign determines the staying position of the movable sign.
  • a plurality of positions to be divided are provided on the planned route, and the determining the stop position of the movable sign in response to the user's stopping operation of the movable sign entering the movable state includes: Determining a stop position of the movable sign corresponding to the stopping operation; determining the stay position according to the position to be divided closest to the stop position of the movable sign; and controlling the movable sign to move to the Where to stay.
  • the determining the operation route from the planned route according to the stop position includes: determining the operation route from the planned route according to the positional relationship between the stop position and the planned route.
  • a plurality of positions to be divided are provided on the planned route; the determining the operation route from the planned route according to the positional relationship between the stop position and the planned route includes: selecting a distance The position to be divided closest to the stop position is taken as a division position, and the planned route is divided according to the division position to determine the operation route.
  • the dividing the planned route according to the division position to determine the operation route includes: using a route between the division position and the starting point of the planned route as the operation route; or The route between the divided position and the end point of the planned route is used as the work route.
  • the movable sign includes a starting point movable sign and an end point movable sign
  • the segmentation position includes a segmentation start point position and a segmentation end point position
  • the operation route includes: determining the segmentation starting position according to the staying position of the starting point movable sign; determining the segmentation ending position according to the stopping position of the end point movable sign; and The route between the division start position and the division end position is used as the work route.
  • the to-be-segmented position includes a to-be-segmented starting point position corresponding to the starting point movable mark and a to-be-segmented end position corresponding to the end point movable mark;
  • the segmentation starting point position includes: determining the segmentation starting point position from the starting point position to be segmented according to the staying position of the starting point movable mark; the determining the segmentation end position according to the staying position of the end point movable mark Including: determining the segmentation end position from the endpoint position to be segmented according to the staying position of the end point movable identifier;
  • the determining the operation route from the planned route according to the positional relationship between the stay position and the planned route includes: determining that the dragged route is dragged from the planned route according to the stay position The template route covered by the movement track of the operation; and the operation route is segmented from the planned route according to the target route.
  • the method further includes displaying at least one of the position of the working equipment, the position of the medicine filling machine, the position of the control device including the display interface, and the position of the obstacle on the map.
  • the method further includes displaying the planned route within the boundary indicated by the boundary information, and when the movable sign is at the stop position, the movable sign is at least partially related to the The planned routes coincide.
  • an embodiment of the present application also provides a control device for setting a work route for a work device
  • the control device includes a touch screen and a processor
  • the touch screen includes a display interface
  • the processor is configured to : Display a map on the display interface, display target parcel information in the map, display a planned route for the target parcel in the map, and display a movable sign in the map, wherein the target The parcel information includes boundary information of the target parcel; responsive to a user's drag operation on the movable sign to change the stay position of the movable sign; and determining the location from the planned route according to the stay position Describe the work route.
  • the processor changing the staying position of the movable logo in response to a user's drag operation on the movable logo includes: in response to a user's selection operation on the movable logo, controlling the The mobile identity enters a movable state; in response to a user's movement operation with respect to the movable identity entering the movable state, controlling the movable identity to follow the movement operation; and in response to the user's intention to enter the movable state The stop operation of the movable sign in the state determines the staying position of the movable sign.
  • a plurality of positions to be divided are provided on the planned route; the processor determines the stop position of the movable sign in response to a user's stopping operation of the movable sign entering the movable state, The method includes: determining a stop position of the movable mark corresponding to the stop operation; determining the stay position according to the position to be divided closest to the stop position of the movable mark; and controlling the movable mark to move to The stop position.
  • the processor is specifically configured to determine the operation route from the planned route according to the positional relationship between the stop position and the planned route.
  • the planned route is provided with a plurality of positions to be divided; the processor determining the operation route from the planned route according to the positional relationship between the stop position and the planned route includes: selecting The position to be divided closest to the stop position is taken as the division position, and the planned route is divided according to the division position to determine the operation route.
  • the processor divides the planned route according to the division position to determine the operation route, including: using a route between the division position and the starting point of the planned route as the operation route Or the route between the split position and the end of the planned route is used as the working route.
  • the movable sign includes a starting point movable sign and an end point movable sign
  • the dividing position includes a dividing starting point position and a dividing end point position
  • the processor divides the planned route according to the dividing position to Determining the operation route includes: determining the segmentation start position according to the stop position of the starting point movable sign; determining the segmentation end position according to the stopping position of the end point movable sign; and The route between the division start position and the division end position is used as the work route.
  • the to-be-segmented position includes a to-be-segmented starting point position corresponding to the starting point movable mark and a to-be-segmented end position corresponding to the end point movable mark;
  • Determining the location of the segmentation starting point includes: determining the location of the segmentation starting point from the location of the starting point to be segmented according to the staying position of the movable marker of the starting point;
  • the segmentation end position includes: determining the segmentation end position from the to-be-segmented end position according to the stop position of the end point movable identifier;
  • the processor determining the operation route from the planned route according to the positional relationship between the stop position and the planned route includes: determining that the planned route is determined according to the stop position A target route covered by the movement trajectory of the drag operation; and dividing the work route from the planned route according to the target route.
  • the processor is further configured to: display at least one of the position of the working device, the position of the medicine filling machine, the position of the control device including the display interface, and the position of the obstacle on the map By.
  • the processor is further configured to: display the planned route within the boundary indicated by the boundary information, and when the movable sign is at the stop position, the movable sign is at least partially It coincides with the planned route.
  • FIG. 1 exemplarily shows a flowchart of a method for setting a work route for a work device provided by an embodiment of the present application
  • FIG. 2 exemplarily shows a schematic diagram of a display interface provided by an embodiment of the present application
  • FIG. 3 exemplarily shows a flowchart of a method for setting a work route for a work device provided by an embodiment of the present application
  • FIG. 4 exemplarily shows a schematic diagram of another display interface provided by an embodiment of the present application.
  • FIG. 5 exemplarily shows a block diagram of a control device for setting a work route for a work device provided by an embodiment of the present application.
  • the directional terms such as "up, down, top, bottom, vertical, horizontal, left, and right" are generally referred to the directions shown in the drawings unless otherwise stated.
  • the target parcels, planned routes, and operation routes described in the embodiments of the present application generally refer to the identifiers corresponding to the target parcels, planned routes, and operation routes displayed on the map, respectively.
  • this embodiment provides a method for setting a work route for a work device.
  • the method may be executed by a control device.
  • the method includes:
  • step S110 a map is displayed on the display interface, and the target parcel information, the planned route for the target parcel, and the movable logo are displayed on the map, where the target parcel information includes the boundary information of the target parcel.
  • step S120 in response to the user's drag operation on the movable logo, the staying position of the movable logo is changed.
  • step S130 the operation route is determined from the planned route according to the stop position.
  • the user can directly set the operation route by dragging the movable marker on the map displayed on the display interface.
  • the entire human-computer interaction process is intuitive and convenient, and is convenient for the user to learn and operate.
  • the operation route can be set directly on the map, the user can refer to the geographic information displayed on the map as a reference object to more clearly and accurately determine the actual geographic area corresponding to each route in the planned route, thereby facilitating The user accurately sets the required operation route for the operation equipment.
  • the operation equipment may be, for example, plant protection equipment (eg, unmanned aerial vehicle, unmanned vehicle, etc.), and the target land parcel may be a geographical area that requires operation equipment for plant protection operations, such as farmland or fruit trees Wait.
  • plant protection equipment eg, unmanned aerial vehicle, unmanned vehicle, etc.
  • the target land parcel may be a geographical area that requires operation equipment for plant protection operations, such as farmland or fruit trees Wait.
  • the control device may include a display interface, and the user may operate on the display interface through a hand (eg, palm, finger, etc.) or a stylus.
  • the control device can detect the user's operation and perform corresponding processing according to the user's operation.
  • the control device may display a map on the display interface, and may display target parcel information on the map.
  • the target parcel information may include boundary information of the target parcel, which is used to indicate the boundary of the target parcel in the map s position.
  • the boundary information of the target parcel may be a bounding box.
  • the planned route for the target parcel may be displayed within the boundary of the target parcel.
  • the planned route may be obtained by, for example, field measurement of the target parcel by a device with a positioning function.
  • the operation equipment performs operations according to the planned route, generally Able to complete plant protection operations for the entire target plot.
  • the planned route may be, for example, the “bow” route shown in FIG. 2, which is also referred to as a “round trip route”, and traversing the parcel may be performed based on the operation route.
  • the operation equipment may not need to perform plant protection operations on the entire target plot, so it is necessary to determine the operation route that requires plant protection operations from the planned route of the target plot.
  • the control device may also display a movable sign on the map for the user to operate.
  • the initial position of the movable identifier may be located at the position of the boundary of the target parcel displayed on the map, that is, the position indicated by the boundary information.
  • the user can drag the movable sign in the map, and the control device can change the stay position of the movable sign within the boundary in response to the user's drag operation on the movable sign, and according to the stay position and The position relationship of the planned route, and the operation route is determined from the planned route.
  • the user when setting the operation route section of the operation equipment such as a drone, the user is required to open the route modification page to select the operation section for the operation equipment.
  • the level of the route modification page is deeper, which leads to a more abstract process of setting the route section of the operation, the operation is not intuitive, and it is not convenient for users to learn and use.
  • the user can intuitively and conveniently set the operation route of the operation equipment on the target plot, reducing the cost of learning and using the user.
  • step S120 may include:
  • step S121 in response to the user's selection operation of the movable logo, the movable logo is controlled to enter a movable state.
  • step S122 in response to the user's movement operation on the movable logo that enters the movable state, the movable logo is controlled to follow the movement operation.
  • step S123 in response to the user's stop operation with respect to the movable sign that enters the movable state, the stop position of the movable sign is determined.
  • the selection operation may be, for example, long-pressing (for example, holding the pressing state for more than a preset duration) or double-clicking the movable logo, etc.
  • the moving operation may be, for example, pressing and moving the movable logo, etc.
  • the stopping operation may be, for example, lifting off or Double-click again to move the logo, etc.
  • the user can select the movable logo 4 by pressing and holding the movable logo 4 with a finger 6, for example, and the control device controls the movable logo 4 when the user selects the movable logo.
  • the movable sign enters the movable state, and may prompt the user that the movable sign has entered the movable state, for example, by shaking.
  • the control device controls the movable sign to follow the user's condition when it detects that the user's finger 6 presses the movable sign and moves on the map Finger 6 moves on the map.
  • the control device determines the stay position of the movable sign according to the designated position when detecting that the finger 6 is lifted away from the movable sign. In this way, the dragging operation of the movable logo can be performed simply and conveniently, and the operation efficiency of the user is improved.
  • Movable signs can be divided into start signs and end signs, and their use can be marked with intuitive text or patterns. For more obvious and easier operation, larger or thicker signs can be displayed and alignment lines are displayed, thereby It makes it easier for users to select the route that needs to be operated from the planned route, that is, the operation route.
  • control device may set a plurality of positions to be divided on the planned route.
  • step S123 may include:
  • Step S1231 Determine the stop position of the movable mark corresponding to the stop operation
  • Step S1232 Determine a stay position according to the position to be divided closest to the stop position of the movable sign.
  • Step S1233 Control the movable sign to move to the staying position.
  • the target parcel 2 in the map on the display interface, may be, for example, a rectangular area, and the planned route is a “bow” route covering the rectangular area, and the “bow” route may include end to end Multiple vertical routes and multiple horizontal routes.
  • the planned route is a “bow” route covering the rectangular area
  • the “bow” route may include end to end Multiple vertical routes and multiple horizontal routes.
  • multiple longitudinal routes are arranged in parallel at intervals, and each two adjacent longitudinal routes are connected by a horizontal route.
  • the lengths of the multiple longitudinal routes may be the same, and the lengths of the multiple horizontal routes may also be the same.
  • the position of the starting point and/or the end point (ie, at least one of the two end points) of each longitudinal route may be set as the position to be divided.
  • the movable sign 3 and the movable sign 4 may be elongated drag bars, and the shape of the drag bar may be, for example, rectangular or oval, and the length of the drag bar is basically the same as the length of the longitudinal route in the planned route The same or close, the width of the drag bar is smaller than the width of the horizontal route in the planned route.
  • the shape of the movable logo is only an example, and is not limited to a rectangle or an ellipse, for example, it may also be a triangle, a circle, or a semicircle.
  • the initial positions of the movable sign 3 and the movable sign 4 can be respectively located at the boundary positions of the left and right sides of the target parcel 2 and the length direction is parallel to the longitudinal route.
  • the user can drag the movable sign 3 or the movable sign 4 to Change its location. For example, as shown in FIG. 2, the user can drag the movable marker 4 to a position near the middle of the target parcel.
  • the control device may first determine the stop position of the movable mark when the stop operation occurs in response to the user's stop operation. Then, the stay position is determined according to the position to be divided closest to the stop position of the movable mark.
  • the control device can calculate the vertical distance between the end point of each longitudinal route and the stop position of the movable sign, and determine The position of a longitudinal route.
  • the endpoint of the longitudinal route is the endpoint with the smallest vertical distance from the stop position of the movable sign.
  • the control device may determine the stay position of the movable sign according to the position of the longitudinal route, so that when the movable sign is located at the stay position, it at least partially coincides with the longitudinal route. Then, the control device may control the movable sign to move to the stay position.
  • the control device will automatically move the dragged sign to the desired precise position (for example, the position where the longitudinal route is located) , So as to reduce the user's operation difficulty, improve the user's operation efficiency, and can also more intuitively and clearly show the selected operation route on the map.
  • control device may determine the operation route according to the positional relationship between the stay position and the planned route.
  • control device may be provided with a plurality of positions to be divided on the planned route.
  • step of determining the operation route from the planned route according to the positional relationship between the stop position and the planned route may include:
  • step S131 the position to be divided closest to the stop position is selected as the divided position, and the planned route is divided according to the divided position to determine the operation route.
  • an endpoint can be selected as the position to be divided on each longitudinal route in the planned route.
  • the control device can determine the vertical distance between each position to be divided and the movable sign, and select the position to be divided that has the smallest vertical distance from the movable sign as the dividing position to plan the route Perform segmentation to generate the required work route.
  • the movable sign when the user just drags the movable sign onto a longitudinal route or the control device automatically moves the movable sign onto a longitudinal route, the movable sign may be different from the longitudinal route.
  • the positions to be divided coincide with each other. At this time, the distance between the position to be divided that coincides with the movable mark and the staying position of the movable mark is the closest, and the planned route is divided using the position to be divided as the divided position.
  • one movable logo may be displayed on the map of the display interface, or two movable logos may also be displayed.
  • only the movable sign 3 or the movable sign 4 may be displayed on the map.
  • the initial position of the movable sign 3 may be located at the left border of the target parcel, and the user may drag the movable sign 3 to change the movable sign 3
  • the stop position of the control device may determine a split position according to the stop position of the movable marker 3, and take the route between the split position and the starting point of the planned route in the planned route as the working route.
  • the initial position of the movable sign 4 can be located at the right border of the target parcel, and the user can drag the movable sign 4 to change the movable sign 4
  • the stop position of the mobile sign 4 can be determined by the control device according to the stop position of the movable sign 4, and the route between the split position and the end point of the planned route in the planned route is used as the work route.
  • the movable sign 3 and the movable sign 4 may be displayed on the map at the same time, wherein the movable sign 3 may be defined as a starting point movable sign, and the movable sign 4 may be defined as an ending point movable sign. Accordingly, when determining the operation route, two segmentation positions can be determined on the planned route, namely, the segmentation starting point position corresponding to the starting point movable sign and the segmentation ending point position corresponding to the end point movable sign. Wherein, the initial position of the movable marker 3 may be located at the left border of the target parcel, and the initial position of the movable marker 4 may be located at the right border of the target parcel.
  • the user can drag the movable logo 3 and the movable logo 4 respectively to change the respective staying positions of the movable logo 3 and the movable logo 4, respectively, and then the control device can control the stay of the movable logo 3 according to The position determines a division start position, a division end position is determined according to the stay position of the movable marker 4, and the route 5 located between the division start position and the division end position in the planned route is used as the work route.
  • the selection interval of the operation route is more flexible, which is conducive to more accurate plant protection operations.
  • the movable marker 3 may be provided with a starting point position to be divided
  • the movable marker 4 may be provided with an end point position to be divided.
  • the end point with a shorter distance from the starting point of the planned route among the two end points of each longitudinal route may be set as the starting point position to be divided
  • the end point with a shorter distance from the end point of the planned route is set as the end point position to be divided.
  • the distance from the starting point of the planned route or the end point of the planned route refers to the distance along the planned route.
  • the starting point position to be divided closest to the stop position of the movable marker 3 can be taken as the dividing start position
  • the end point position to be divided closest to the stopping position of the movable marker 4 can be taken as the dividing end position.
  • the route between the division start position and the division end position is used as the work route.
  • step S130 may include:
  • step S132 the target route covered by the moving track of the dragging operation of the movable identifier in the planned route is determined according to the stay position of the movable identifier.
  • Step S133 Divide the operation route from the planned route according to the target route.
  • the initial position of the movable identification may be predetermined.
  • the initial position of the movable marker 3 may be located at the left border of the target parcel, and the initial position of the movable marker 4 may be located at the right border of the target parcel.
  • the control device may determine the respective initial positions and stay positions of the movable logos 3 and 4 respectively. Exemplarily, please refer to FIG. 4, it is assumed that the control device determines that the initial position of the movable sign 3 is A1 and the staying position is A2, and the initial position of the movable sign 4 is A3 and the staying position is A4. 4 are all strips.
  • the movement trajectory defined by the initial position A1 and the staying position A2 of the movable sign 3 is the area S1
  • the movement trajectory defined by the initial position A3 and the staying position A4 of the movable sign 4 is the area S2.
  • the areas S1 and S2 respectively cover part of the planned route, and the covered part of the route is the above-mentioned target route.
  • control device may set a route to be covered by the movement trajectory (ie, a target route) as a working route according to a preset or a route other than the target route in the planned route as a working route.
  • a route to be covered by the movement trajectory ie, a target route
  • the route covered by the movement track of the movable sign can be used as the working route; when two movable signs are displayed on the map (for example, the movable sign 3 in FIG. 2) And the movable marker 4), the route other than the route covered by the movement trajectories of the two movable markers in the planned route can be used as the working route.
  • the method for setting a working route for a working device may further include: displaying at least one of the position of the working device, the position of the medicine filling machine, the position of the control device including the display interface, and the position of the obstacle on the map One.
  • the position of the above-mentioned work equipment, the position of the medicine filling machine, the position of the control equipment and the position of the obstacle can be measured in advance.
  • the user can more conveniently determine the actual geographic location corresponding to each section of the planned route in the map, thereby facilitating The user reasonably sets the operation route.
  • the location of the working device 1 is displayed on the map, so that when the user formulates the working route, the user can refer to the location of the working device to formulate the working route more reasonably.
  • the planned route is displayed within the boundary indicated by the boundary information, and when the movable sign is at the stop position, the movable sign at least partially coincides with the planned route.
  • the movement range of the movable marker in the map may be limited to the boundary indicated by the boundary information of the target parcel.
  • an embodiment of the present application further provides a control device that sets a work route for a work device.
  • the control device includes a touch screen 10 and a processor 20.
  • the touch screen 10 includes a display interface.
  • the processor 20 is configured to: display a map on the display interface, display target parcel information, a planned route for the target parcel, and a movable identifier on the map, where the target parcel information includes boundary information of the target parcel; respond to The user's dragging operation on the movable sign changes the stay position of the movable sign; the operation route is determined from the planned route according to the stay position.
  • the user can directly set the operation route by dragging the movable marker on the map displayed on the display interface.
  • the entire human-computer interaction process is intuitive and convenient, and is convenient for the user to learn and operate.
  • the operation route is directly set on the map, the user can refer to the geographic information displayed on the map as a reference object to more clearly and accurately determine the actual geographic area corresponding to each route in the planned route, so that the user can easily
  • the operation equipment accurately sets the required operation route.
  • the operation equipment may be, for example, plant protection equipment (such as drones, unmanned vehicles, etc.), and the target plot may be a geographic area that requires operation equipment for plant protection operations, such as farmland or fruit trees.
  • plant protection equipment such as drones, unmanned vehicles, etc.
  • the target plot may be a geographic area that requires operation equipment for plant protection operations, such as farmland or fruit trees.
  • the control device may include a touch screen 10 and a processor 20, where the touch screen 10 may be a capacitive touch screen or a resistive touch screen, etc., and the processor 20 may be a single chip microcomputer, chip, microcontroller or central processing unit And so on, and can have certain graphics processing capabilities.
  • the touch control screen 10 may include a display interface, and the user may operate on the display interface by hand or stylus.
  • the touch screen 10 can detect the user's operation and convert the detected operation into an electric signal to the processor 20, and the processor 20 can perform corresponding processing according to the electric signal indicating the user's operation.
  • the processor 20 may display a map on the display interface, and the target parcel information may be displayed on the map.
  • the target parcel information may include boundary information of the target parcel, and the boundary information indicates the boundary of the target parcel in the map. position.
  • the boundary information of the target parcel may be a boundary box.
  • the planned route for the target parcel may be displayed within the boundary of the target parcel.
  • the planned route may be obtained by, for example, field measurement of the target parcel by a device with a positioning function. When the operation equipment performs operations according to the planned route, Generally, it is possible to complete plant protection operations for the entire target plot.
  • the planned route may be, for example, the “bow” shaped route shown in FIG. 2.
  • the operation equipment may not need to perform plant protection operations on the entire target plot, so it is necessary to determine the operation route of the operation equipment for plant protection operations from the planned route of the target plot. Therefore, in this embodiment, the processor 20 may also display a movable marker on the map, and the initial position of the movable marker may be located at the boundary position of the target parcel displayed on the map.
  • the processor 20 can change the stay position of the movable sign within the boundary in response to the user's drag operation on the movable sign, and according to the stay position and The position relationship of the planned route, and the operation route is determined from the planned route.
  • the processor 20 changes the stay position of the movable logo in response to the user's drag operation on the movable logo, which may include: in response to the user's selection operation on the movable logo, controlling the movable logo to enter the movable state ; In response to the user's movement operation for the movable logo that enters the movable state, the movable logo is controlled to follow the movement operation; in response to the user's stop operation for the movable logo that enters the movable state, the stop position of the movable logo is determined.
  • the selection operation may be, for example, long-pressing or double-clicking the movable logo, etc.
  • the movement operation may be, for example, pressing and moving the movable logo, etc.
  • the stopping operation may be, for example, lifting off or double-clicking the movable logo, etc.
  • the user can select the movable logo 4 by pressing and holding the movable logo 4 with a finger 6 for example, and the processor 20 detects that the user selects the movable logo, The movable sign is controlled to enter the movable state, and the user can be reminded that the movable sign has entered the movable state by, for example, vibration.
  • the user's finger 6 keeps pressing the movable logo 4 and moves left and right on the map, and the processor 20 controls the movable logo to follow the user when it detects that the user's finger 6 presses the movable logo and moves on the map
  • the finger 6 moves on the map.
  • the processor 20 determines the stay position of the movable sign according to the designated position when detecting that the finger 6 is lifted away from the movable sign. In this way, the dragging operation of the movable logo can be performed simply and conveniently, and the operation efficiency of the user is improved.
  • the processor 20 may set a plurality of positions to be divided on the planned route.
  • the processor 20 determines the position of the movable sign in response to the user's stopping operation of the movable sign into the movable state
  • the stop position may include: determining a stop position of the movable sign corresponding to the stop operation; determining a stop position according to a position to be divided closest to the stop position of the movable sign; and controlling the movable sign to move to the stop position.
  • the target parcel 2 in the map on the display interface, may be, for example, a rectangular area, and the planned route is a “bow” shaped route covering the rectangular area, and the “bow” shaped route may include Multiple vertical routes and multiple horizontal routes connected end to end.
  • multiple longitudinal routes are arranged in parallel and spaced apart, and each two adjacent longitudinal routes are connected to each other by a horizontal route.
  • the length of the plurality of longitudinal routes may be the same, and the length of the plurality of horizontal routes may also be the same.
  • the starting point and/or end point position of each longitudinal route can be set as the position to be divided.
  • the movable sign 3 and the movable sign 4 may be elongated drag bars, and the shape of the drag bar may be, for example, rectangular or oval, and the length of the drag bar is basically the same as the length of the longitudinal route in the planned route The same or close, the width of the drag bar is smaller than the width of the horizontal route in the planned route.
  • the movable logo is not limited to being rectangular or oval, but can also be triangular or semi-circular.
  • the initial positions of the movable sign 3 and the movable sign 4 can be respectively located at the boundary positions of the left and right sides of the target parcel 2 and the length direction is parallel to the longitudinal route.
  • the user can drag the movable sign 3 or the movable sign 4 to Change its location. For example, as shown in FIG. 2, the user can drag the movable marker 4 to a position near the middle of the target parcel.
  • the processor 20 may first determine the stop position of the movable mark when the stop operation occurs in response to the user's stop operation. Then, the processor 20 determines the stay position according to the position to be divided closest to the stop position of the movable identifier.
  • the processor 20 can calculate the vertical distance between the end point of each longitudinal route and the stop position of the movable sign, and determine The position of a longitudinal route, the endpoint of the longitudinal route is the endpoint with the smallest vertical distance from the stop position of the movable sign.
  • the processor 20 may determine the stay position of the movable sign according to the position of the longitudinal route, so that when the movable sign is located at the stay position, it at least partially coincides with the longitudinal route. Then, the processor 20 may control the movable sign to move to the stay position.
  • the processor 20 will automatically move the dragged sign to the desired precise position (such as the position of the longitudinal route) ), thereby reducing the user's difficulty of operation and improving the user's operation efficiency, and can also more intuitively and clearly show the selected operation route on the map.
  • the processor 20 may determine the operation route from the planned route according to the positional relationship between the stay position and the planned route.
  • the processor 20 may set a plurality of positions to be divided on the planned route. In this case, the processor 20 determines the operation route from the planned route according to the positional relationship between the stop position and the planned route. Including: selecting the position to be divided closest to the stop position as the division position, and dividing the planned route according to the division position to determine the operation route.
  • an endpoint can be selected as the position to be divided on each longitudinal route in the planned route.
  • the processor 20 may determine the vertical distance between each position to be divided and the movable mark, and select the position to be divided that has the smallest vertical distance from the movable mark as the dividing position to plan The route is divided to generate the required operation route.
  • the movable sign when the user just drags the movable sign onto a longitudinal route or the processor 20 automatically moves the movable sign onto a longitudinal route, the movable sign may be associated with the longitudinal route
  • the positions to be divided coincide with each other. At this time, the distance between the position to be divided that coincides with the movable sign and the staying position of the movable sign is the closest, and the planned route is divided by using the position to be divided as the dividing position.
  • one movable logo may be displayed on the map of the display interface, or two movable logos may also be displayed.
  • only the movable sign 3 or the movable sign 4 may be displayed on the map.
  • the initial position of the movable sign 3 may be located at the left border of the target parcel, and the user may drag the movable sign 3 to change the movable sign 3
  • the processor 20 may determine a segmentation position according to the location of the movable marker 3, and take the route between the segmentation position and the starting point of the planned route in the planned route as the working route.
  • the initial position of the movable sign 4 can be located at the right border of the target parcel, and the user can drag the movable sign 4 to change the movable sign 4
  • the stop position of the mobile sign 4 can be determined by the processor 20 according to the stop position of the movable sign 4, and the route between the split position and the end point of the planned route in the planned route is used as the work route.
  • the movable sign 3 and the movable sign 4 may be displayed on the map at the same time, wherein the movable sign 3 may be defined as a starting point movable sign, and the movable sign 4 may be defined as an ending point movable sign. Accordingly, when determining the operation route, two segmentation positions can be determined on the planned route, namely, the segmentation starting point position corresponding to the starting point movable sign and the segmentation ending point position corresponding to the end point movable sign. Wherein, the initial position of the movable marker 3 may be located at the left border of the target parcel, and the initial position of the movable marker 4 may be located at the right border of the target parcel.
  • the user When in use, the user can respectively drag the movable logo 3 and the movable logo 4 to change the respective staying positions of the movable logo 3 and the movable logo 4, respectively, and then the processor 20 can The stop position determines a division start position, a division end position is determined according to the stop position of the movable marker 4, and the route 5 between the division start position and the division end position in the planned route is used as the work route. In this way, when setting the operation route, the selection interval of the operation route is more flexible, which is conducive to more accurate plant protection operations.
  • the movable marker 3 may be provided with a starting point position to be divided
  • the movable marker 4 may be provided with an end point position to be divided.
  • the end point with a shorter distance from the starting point of the planned route among the two end points of each longitudinal route may be set as the starting point position to be divided
  • the end point with a shorter distance from the end point of the planned route is set as the end point position to be divided.
  • the distance from the starting point of the planned route or the end point of the planned route refers to the distance along the planned route.
  • the starting point position to be divided closest to the stop position of the movable marker 3 can be taken as the dividing start position
  • the end point position to be divided closest to the stopping position of the movable marker 4 can be taken as the dividing end position.
  • the route between the division start position and the division end position is used as the work route.
  • the processor 20 determines the operation route from the planned route according to the positional relationship between the stay position and the planned route, which may include: determining the target covered by the moving track of the drag operation in the planned route according to the stay position Route; and segment the operation route from the planned route according to the target route.
  • the initial position of the movable identification may be predetermined.
  • the initial position of the movable marker 3 may be located at the left border of the target parcel, and the initial position of the movable marker 4 may be located at the right border of the target parcel.
  • the processor 20 may determine the respective initial positions and stay positions of the movable signs 3 and 4 respectively.
  • the route The route covered by the movement trajectory of the mobile logo is the target route.
  • the processor 20 may set the target route covered by the movement trajectory as the operation route according to a preset or a route other than the route covered by the movement trajectory in the planned route as the operation route.
  • the processor 20 may use the route covered by the movement trajectory of the movable sign as the work route; when two movable signs are displayed on the map (such as Mobile Sign 3 and Movable Sign 4), the processor 20 may use the route other than the route covered by the movement trajectories of the two mobile signs in the planned route as the working route, for example, the area not shown in FIG. 4 in the planned route
  • the route covered by S1 and S2 is determined as the operation route.
  • the processor 20 may be further configured to display at least one of the position of the working device, the position of the medicine filling machine, the position of the control device including the display interface, and the position of the obstacle in the map.
  • the position of the above-mentioned work equipment, the position of the medicine filling machine, the position of the control equipment and the position of the obstacle can be measured in advance.
  • the user can more conveniently determine the actual geographic location corresponding to each section of the planned route in the map, thereby facilitating The user reasonably sets the operation route.
  • the location of the working device 1 is displayed on the map, so that when the user formulates the working route, the user can refer to the location of the working device to formulate the working route more reasonably.
  • the processor 20 may be further configured to display the planned route within the boundary indicated by the boundary information, and when the movable sign is in the stop position, the movable sign at least partially coincides with the planned route.
  • the movement range of the movable marker in the map may be limited to the boundary indicated by the boundary information of the target parcel.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .
  • any combination of various embodiments of the present application can also be arbitrarily combined, as long as it does not violate the idea of the present application, it should also be regarded as the content disclosed in the present application.
  • the method and control device for setting a work route for a work device provided by the embodiments of the present application provide users with an intuitive and convenient way to set a work route, and reduce the learning and usage cost for the user to set the work route.

Abstract

一种为作业设备设置作业路线的方法和控制设备，属于农业植保作业领域。方法包括：在显示界面上显示地图，在地图中显示目标地块信息，在地图中显示针对目标地块的规划路线，以及在地图中显示可移动标识，其中目标地块信息包括目标地块的边界信息（S110）；响应于用户对可移动标识的拖动操作改变可移动标识的停留位置（S120）；以及根据停留位置从规划路线中确定作业路线（S130）。用户可以直接在显示界面所显示的地图中通过拖动可移动标识来设置作业路线，整个人机交互过程直观、方便，便于用户学习和操作。

Description

为作业设备设置作业路线的方法和控制设备
相关申请的交叉引用
本申请要求于2018年12月14日提交中国专利局的申请号为201811531605.8，名称为“为作业设备设置作业路线的方法和控制设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及农业植保作业领域，具体地涉及为作业设备设置作业路线的方法和控制设备。
背景技术
当前社会，为了提高农业的劳动生产率、降低成本以及提高经济效益，农业逐渐朝向规模化经营、机械化经营的方向发展。在农业植保作业领域，植保无人机等作业设备的出现，降低了农业作业人员的工作强度，提高了农药、营养液等植保药水的喷洒效率。并且，采用植保无人机等作业设备进行农药喷洒作业，还能够降低农业作业人员与农药的接触时间，降低农药对农业作业人员的身体危害。
在作业设备进行植保作业前，需要为作业设备分配地块，并针对所分配的地块规划进行植保作业的路线。
发明内容
为至少部分地解决现有技术中存在的上述问题，本申请实施例的目的之一是提供一种为作业设备设置作业路线的方法和控制设备。
为了实现上述目的，本申请实施例提供一种为作业设备设置作业路线的方法，所述方法包括：在显示界面上显示地图，在所述地图中显示目标地块信息，在所述地图中显示针对所述目标地块的规划路线，以及在所述地图中显示可移动标识，其中所述目标地块信息包括所述目标地块的边界信息；响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置；以及根据所述停留位置从所述规划路线中确定所述作业路线。
可选地，所述响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置，包括：响应于用户对所述可移动标识的选择操作，控制所述可移动标识进入可移动状态；响应于用户针对进入所述可移动状态的所述可移动标识的移动操作，控制所述可移动标识跟随所述移动操作移动；以及响应于用户针对进入所述可移动状态的所述可移动标识的停止操作，确定所述可移动标识的停留位置。
可选地，所述规划路线上设有多个待分割位置，所述响应于用户针对进入所述可移动状态的所述可移动标识的停止操作确定所述可移动标识的停留位置，包括：确定所述停止操作对应的所述可移动标识的停止位置；根据距离所述可移动标识的停止位置最近的所述待分割位置确定所述停留位置；以及控制所述可移动标识移动至所述停留位置。
可选地，所述根据停留位置从所述规划路线中确定作业路线，包括：根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线。
可选地，所述规划路线上设有多个待分割位置；所述根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线，包括：选择距离所述停留位置最近的所述待分割位置作为分割位置，并根据所述分割位置对所述规划路线进行分割以确定所述作业路线。
可选地，所述根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：以所述分割位置与所述规划路线的起点之间的路线作为所述作业路线；或者以所述分割位置与所述规划路线的终点之间的路线作为所述作业路线。
可选地，所述可移动标识包括起点可移动标识和终点可移动标识，所述分割位置包括分割起点位置和分割终点位置；所述根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：根据所述起点可移动标识的停留位置确定所述分割起点位置；根据所述终点可移动标识的停留位置确定所述分割终点位置；以及以所述规划路线中位于所述分割起点位置与所述分割终点位置之间的路线作为所述作业路线。
可选地，所述待分割位置包括对应所述起点可移动标识的待分割起点位置和对应所述终点可移动标识的待分割终点位置；所述根据所述起点可移动标识的停留位置确定所述分割起点位置，包括：根据所述起点可移动标识的停留位置从所述待分割起点位置中确定所述分割起点位置；所述根据所述终点可移动标识的停留位置确定所述分割终点位置，包括：根据所述终点可移动标识的停留位置从所述待分割终点位置中确定所述分割终点位置；
可选地，所述根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线，包括：根据所述停留位置确定所述规划路线中被所述拖动操作的移动轨迹覆盖的模板路线；以及根据所述目标路线从所述规划路线中分割出所述作业路线。
可选地，所述方法还包括：在所述地图中显示所述作业设备的位置、灌药机的位置、包括该显示界面的控制设备的位置以及障碍物的位置中的至少一者。
可选地，所述方法还包括：在所述边界信息所指示的边界内显示所述规划路线，并且当所述可移动标识处于所述停留位置时，所述可移动标识至少部分与所述规划路线重合。
另一方面，本申请实施例还提供一种为作业设备设置作业路线的控制设备，所述控制设备包括触控屏和处理器，所述触控屏包括显示界面，所述处理器被配置为：在显示界面上显示地图，在所述地图中显示目标地块信息，在所述地图中显示针对所述目标地块的规划路线，以及在所述地图中显示可移动标识，其中所述目标地块信息包括所述目标地块的边界信息；响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置；以及根据所述停留位置从所述规划路线中确定所述作业路线。
可选地，所述处理器响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置，包括：响应于用户对所述可移动标识的选择操作，控制所述可移动标识进入可移动状态；响应于用户针对进入所述可移动状态的所述可移动标识的移动操作，控制所述可移动标识跟随所述移动操作移动；以及响应于用户针对进入所述可移动状态的所述可移动标识的停止操作，确定所述可移动标识的停留位置。
可选地，所述规划路线上设有多个待分割位置；所述处理器响应于用户针对进入所述可移动状态的所述可移动标识的停止操作确定所述可移动标识的停留位置，包括：确定所述停止操作对应的所述可移动标识的停止位置；根据距离所述可移动标识的停止位置最近的所述待分割位置确定所述停留位置；以及控制所述可移动标识移动至所述停留位置。
可选地，所述处理器具体被配置为根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线。
可选地，所述规划路线上设有多个待分割位置；所述处理器根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线，包括：选择距离所述停留位置最近的所述待分割位置作为分割位置，并根据所述分割位置对所述规划路线进行分割以确定所述作业路线。
可选地，所述处理器根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：以所述分割位置与所述规划路线的起点之间的路线作为所述作业路线；或者以所述分割位置与所述规划路线的终点之间的路线作为所述作业路线。
可选地，所述可移动标识包括起点可移动标识和终点可移动标识，所述分割位置包括分割起点位置和分割终点位置；所述处理器根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：根据所述起点可移动标识的停留位置确定所述分割起点位置；根据所述终点可移动标识的停留位置确定所述分割终点位置；以及以所述规划路线中位于所述分割起点位置与所述分割终点位置之间的路线作为所述作业路线。
可选地，所述待分割位置包括对应所述起点可移动标识的待分割起点位置和对应所述终点可移动标识的待分割终点位置；所述处理器根据所述起点可移动标识的停留位置确定所述分割起点位置，包括：根据所述起点可移动标识的停留位置从所述待分割起点位置中确定所述分割起点位置；所述处理器根据所述终点可移动标识的停留位置确定所述分割终点位置，包括：根据所述终点可移动标识的停留位置从所述待分割终点位置中确定所述分割终点位置；
可选地，所述处理器根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线，包括：根据所述停留位置确定所述规划路线中被所述拖动操作的移动轨迹覆盖的目标路线；以及根据所述目标路线从所述规划路线中分割出所述作业路线。
可选地，所述处理器还被配置为：在所述地图中显示所述作业设备的位置、灌药机的位置、包括该显示界面的控制设备的位置以及障碍物的位置中的至少一者。
可选地，所述处理器还被配置为：在所述边界信息所指示的边界内显示所述规划路线，并且当所述可移动标识处于所述停留位置时，所述可移动标识至少部分与所述规划路线重合。
本申请实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本申请实施例的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请的实施例，但并不构成对本申请的限制。在附图中：
图1示例性示出了本申请实施例提供的一种为作业设备设置作业路线的方法的流程图；
图2示例性示出了本申请实施例提供的一种显示界面的示意图；
图3示例性示出了本申请实施例提供的一种为作业设备设置作业路线的方法的流程图；
图4示例性示出了本申请实施例提供的另一显示界面的示意图；以及
图5示例性示出了本申请实施例提供的一种为作业设备设置作业路线的控制设备的框图。
附图标记说明：1-作业设备；2-目标地块；3-可移动标识；4-可移动标识；5-路线；6-手指；10-触控屏；20-处理器。
具体实施方式
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请的实施例，并不用于限制本申请。
在本申请实施例中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底、纵、横、左、右”通常是针对附图所示的方向而言，本申请实施例所述的目标地块、规划路线以及作业路线通常是指地图中所显示的与该目标地块、规划路线以及作业路线分别对应的标识。
如图1所示，本实施例提供一种为作业设备设置作业路线的方法，该方法可以由控制设备执行，该方法包括：
步骤S110，在显示界面上显示地图，在地图中显示目标地块信息、针对目标地块的规划路线以及可移动标识，其中目标地块信息包括目标地块的边界信息。
步骤S120，响应于用户对可移动标识的拖动操作改变可移动标识的停留位置。
步骤S130，根据停留位置从规划路线中确定作业路线。
如此，用户可以直接在显示界面所显示的地图中通过拖动可移动标识来设置作业路线，整个人机交互过程直观、方便，便于用户学习和操作。并且，由于可以直接在地图上设置作业路线，用户可以将地图上显示的地理信息作为参照物来进行参考，以更清晰、准确地确定规划路线中每段路线所对应的实际地理区域，从而便于用户为作业设备准确设置所需的作业路线。
可选地，本实施例中，作业设备可以例如为植保设备(如，无人机、无人车等)，，目标地块可以为需要作业设备进行植保作业的地理区域，如农田或果树林等。在需要进行植保作业时，可以通过手持地 面站或手机等控制设备来为作业设备分配待作业的目标地块，并针对目标地块设置需要作业设备进行植保作业的作业路线。该控制设备可以包括显示界面，用户可以通过手(如，手掌、手指等)或者触控笔在显示界面上进行操作。控制设备可以检测到用户的操作，并根据用户的操作进行相应的处理。
其中，控制设备可以在显示界面上显示地图，可以在地图中显示目标地块信息，该目标地块信息可以包括目标地块的边界信息，该边界信息用于指示目标地块的边界在地图中的位置。例如，该目标地块的边界信息可以为一个边界框。
针对该目标地块的规划路线可以显示于目标地块的边界内，该规划路线可以例如通过具有定位功能的设备对目标地块进行实地测量得到，当作业设备根据该规划路线进行作业时，一般能够完成对整个目标地块的植保作业。该规划路线例如可以为图2所示的“弓”形路线，该路线也称为“往返航线”，基于该作业路线可以进行遍历地块作业。
在使用中，作业设备可能不需要对整个目标地块进行植保作业，因此需要从该目标地块的规划路线中确定需要进行植保作业的作业路线。基于此，在本实施例的一种实施方式中，控制设备还可以在地图中显示可移动标识，以供用户操作。该可移动标识的初始位置可以位于地图上所显示的目标地块的边界的位置，即所述边界信息指示的位置。
在需要设置作业路线时，用户可以拖动地图中的可移动标识，控制设备可以响应于用户对该可移动标识的拖动操作，改变可移动标识在边界内的停留位置，并根据停留位置与规划路线的位置关系，从规划路线中确定作业路线。
一些实施例中，在设定无人机等作业设备的作业航线区段时，需要用户打开航线修改页面为作业设备选取作业区段。航线修改页面的层级较深，导致设定作业航线区段的过程比较抽象，操作不直观，不便于用户学习和使用。然而，通过本实施例提供的方法，用户可以非常直观、方便地设置作业设备在目标地块的作业路线，降低了用户学习使用的成本。
下面示例性地对拖动可移动标识的过程进行阐述。如图3所示，在本实施例中，上述步骤S120可以包括：
步骤S121，响应于用户对可移动标识的选择操作，控制可移动标识进入可移动状态。
步骤S122，响应于用户针对进入可移动状态的可移动标识的移动操作，控制可移动标识跟随移动操作移动。
步骤S123，响应于用户针对进入可移动状态的可移动标识的停止操作，确定可移动标识的停留位置。
可选地，选择操作可以例如为长按(比如，保持按压状态超过预设时长)或双击可移动标识等，移动操作可以例如为按压并移动可移动标识等，停止操作可以例如为抬离或再次双击可移动标识等。举例来说，如图2所示，用户可以例如通过手指6长按可移动标识4来对该可移动标识4进行选择，控制设 备在检测到用户对可移动标识的选择操作的情况下，控制可移动标识进入可移动状态，并可以例如通过震动提示用户可移动标识已经进入可移动状态。
随后，用户的手指6保持按压该可移动标识4并在地图上左右移动，控制设备在检测到用户手指6按压该可移动标识并在地图上进行移动的情况下，控制可移动标识跟随用户的手指6移动在地图上移动。当用户将可移动标识移动至指定位置时，可以抬离手指6，控制设备在检测到手指6抬离可移动标识的情况下，根据该指定位置确定可移动标识的停留位置。如此，可以简单、便捷地对可移动标识进行拖动操作，提高用户的操作效率。
可移动标识可以分为开始标识和结束标识，并可以用直观的文字或图案标识其用途，为了更明显，更易操作，可以显示比较大，或者比较粗的标识，且显示出对准线，从而使得用户更容易从规划路线中选择需要作业的航线，即作业路线。
在本实施例中，控制设备可以在规划路线上设有多个待分割位置，在此情况下，上述步骤S123可以包括：
步骤S1231，确定停止操作对应的可移动标识的停止位置；
步骤S1232，根据距离可移动标识的停止位置最近的所述待分割位置确定停留位置；以及
步骤S1233，控制可移动标识移动至停留位置。
例如，请参照图2，在显示界面的地图中，目标地块2可以例如为一矩形区域，规划路线为覆盖该矩形区域的“弓”形路线，该“弓”形路线可以包括依次首尾相连的多条纵向路线以及多条横向路线。其中，多条纵向路线并行间隔设置，每两条相邻的纵向路线通过一横向路线相连，多条纵向路线的长度可以相同，多条横向路线的长度也可以相同。
其中，可以将每条纵向路线的起点和/或终点(即，两个端点中的至少一者)的位置设为待分割位置。可移动标识3和可移动标识4可以为长条状的拖动条，该拖动条的形状例如可以为矩形或椭圆形，并且该拖动条的长度与规划路线中的纵向路线的长度基本相同或接近，该拖动条的宽度小于规划路线中的横向路线的宽度。
可以理解的是，可移动标识的形状仅为举例，不限于为矩形或椭圆形，例如还可以为三角形、圆形或半圆形等。
可移动标识3和可移动标识4各自的初始位置可以分别位于目标地块2的左右两侧的边界位置并且长度方向与纵向路线平行，用户可以通过拖动可移动标识3或可移动标识4来改变其停留位置。例如，如图2所示，用户可以将可移动标识4拖动至目标地块的靠近中间的位置。
由于用户在拖动可移动标识时，一般需要将可移动标识拖动至一精确位置，以用于准确地确定作业路线。然而，在用户拖动可移动标识的过程中，由于操作误差或视觉误差的存在，很难将可移动标识拖动到精确的目标位置。为解决上述问题，在本实施例中，控制设备可以首先响应于用户的停止操作确定 该停止操作发生时可移动标识的停止位置。随后根据距离可移动标识的停止位置最近的所述待分割位置确定停留位置。
例如，由于待分割位置可以位于纵向路线的端点位置，因此控制设备在确定可移动标识的停止位置后，可以计算每条纵向路线的端点与可移动标识的停止位置之间的垂直距离，并确定一纵向路线的位置，该纵向路线的端点是与可移动标识的停止位置垂直距离最小的端点。控制设备可以根据该纵向路线的位置确定可移动标识的停留位置，以使得可移动标识位于该停留位置时，至少部分与该纵向路线重合。然后，控制设备可以控制可移动标识移动至停留位置。
如此，用户在对可移动标识进行拖动操作时，仅需要将可移动标识拖动至一粗略位置，控制设备会自动将拖动标识移动至所需的精确位置(例如纵向路线所在的位置)，从而降低用户的操作难度，提高用户的操作效率，并且也可以在地图上更加直观清晰地表示出所选取的作业路线。
在本实施例中，控制设备根据停留位置与规划路线的位置关系来确定作业路线的方式可以有多种。
在一种实施方式中，控制设备可以在规划路线上设有多个待分割位置，在此情况下，根据停留位置与规划路线的位置关系，从规划路线中确定作业路线的步骤，可以包括：
步骤S131，选择距离停留位置最近的待分割位置作为分割位置，并根据分割位置对规划路线进行分割以确定作业路线。
例如图2所示，可以在规划路线中的每个纵向路线上选择一个端点作为待分割位置。在可移动标识处于停留位置时，控制设备可以确定每个待分割位置与可移动标识之间的垂直距离，并选择与可移动标识的垂直距离最小的待分割位置作为分割位置，以对规划路线进行分割，从而生成所需的作业路线。
其中，在一些情况下，当用户刚好将可移动标识拖动至某一纵向路线上或控制设备自动将可移动标识移动至某一纵向路线上时，可移动标识可能会与该纵向路线上的待分割位置重合，此时可以认为与可移动标识重合的该待分割位置与可移动标识的停留位置的距离最近，并将该待分割位置作为分割位置来对规划路线进行分割。
本实施例中，在显示界面的地图上可以显示一个可移动标识，也可以显示两个可移动标识。
在一个例子中，请参照图2，在地图上可以仅显示可移动标识3或可移动标识4。当地图上仅显示可移动标识3时，该可移动标识3的初始位置可以位于目标地块的左侧边界处，用户可以对该可移动标识3进行拖动操作，以改变该可移动标识3的停留位置，控制设备可以根据可移动标识3的停留位置确定一个分割位置，并以规划路线中位于该分割位置与规划路线的起点之间的路线作为作业路线。
相应地，当地图上仅显示可移动标识4时，该可移动标识4的初始位置可以位于目标地块的右侧边界处，用户可以对该可移动标识4进行拖动操作，以改变该可移动标识4的停留位置，控制设备可以根据可移动标识4的停留位置确定一个分割位置，并以规划路线中位于该分割位置与规划路线的终点之间的路线作为作业路线。
在另一个例子中，在地图上可以同时显示可移动标识3和可移动标识4，其中可移动标识3可以定义为起点可移动标识，可移动标识4可以定义为终点可移动标识。相应地，在确定作业路线时，在规划路线上可以确定两个分割位置，即与起点可移动标识对应的分割起点位置和与终点可移动标识对应的分割终点位置。其中，可移动标识3的初始位置可以位于目标地块的左侧边界处，可移动标识4的初始位置可以位于目标地块的右侧边界处。在使用时，用户可以分别对可移动标识3和可移动标识4进行拖动操作，以分别改变可移动标识3和可移动标识4各自的停留位置，随后控制设备可以根据可移动标识3的停留位置确定一个分割起点位置，根据可移动标识4的停留位置确定一个分割终点位置，并将规划路线中位于分割起点位置与分割终点位置之间的路线5作为作业路线。如此，在设置作业路线时，作业路线的选择区间更加灵活，有利于进行更加精准的植保作业。
需要说明的是，在规划路线上可以分别对应可移动标识3和可移动标识4设有不同的待分割位置。例如，在规划路线上可以对应于可移动标识3设有待分割起点位置，对应于可移动标识4设有待分割终点位置。其中，可以将每个纵向路线的两个端点中的与规划路线起点之间距离更短的端点设为待分割起点位置，与规划路线终点之间距离更短的端点设为待分割终点位置。其中，所述与规划路线起点或规划路线终点之间的距离是指沿规划路线的距离。在使用时，可以将距离可移动标识3的停留位置最近的待分割起点位置作为分割起点位置，将距离可移动标识4的停留位置最近的待分割终点位置作为分割终点位置，并以规划路线中位于分割起点位置与分割终点位置之间的路线作为作业路线。
在本实施例的另一种实施方式中，上述步骤S130可以包括：
步骤S132，根据可移动标识的停留位置确定规划路线中被该可移动标识的拖动操作的移动轨迹覆盖的目标路线。
步骤S133，根据所述目标路线从规划路线中分割出作业路线。
可选地，可移动标识的初始位置可以预先确定。例如，可移动标识3的初始位置可以位于目标地块的左侧边界处，可移动标识4的初始位置可以位于目标地块的右侧边界处。在用户完成对可移动标识的拖动操作后，控制设备可以分别确定可移动标识3和4各自的初始位置和停留位置。示例性地，请参照图4，假设控制设备确定可移动标识3的初始位置为A1、停留位置为A2，确定可移动标识4的初始位置为A3、停留位置为A4，由于可移动标识3和4均为长条状，可移动标识3的初始位置A1和停留位置A2界定的移动轨迹为区域S1，可移动标识4的初始位置A3和停留位置A4界定的移动轨迹为区域S2。区域S1和S2分别覆盖了规划路线的部分路线，被覆盖的部分路线即为上述的目标路线。
随后，控制设备可以根据预先设定将被移动轨迹覆盖的路线(即，目标路线)作为作业路线或者将规划路线中除目标路线以外的路线作为作业路线。
例如，当地图上仅显示一个可移动标识时，可以将该可移动标识的移动轨迹所覆盖的路线作为作业路线；当地图上显示两个可移动标识时(例如图2中的可移动标识3和可移动标识4)，可以将规划路线中除两个移动标识的移动轨迹所覆盖的路线以外的路线作为作业路线。
在本实施例中，为作业设备设置作业路线的方法还可以包括：在地图中显示作业设备的位置、灌药机的位置、包括该显示界面的控制设备的位置以及障碍物的位置中的至少一者。
其中，上述的作业设备的位置、灌药机的位置、控制设备的位置和障碍物的位置可以提前进行测定。通过在地图中显示作业设备的位置、灌药机的位置、控制设备的位置和障碍物的位置，可以使用户更加方便地确定地图中规划路线的各个区段所对应的实际地理位置，从而便于用户合理制定作业路线。例如，在图2中，地图中显示了作业设备1的位置，从而用户在制定作业路线时，可以参考该作业设备的所在的位置，以更合理地制定作业路线。
在本实施例中，在边界信息所指示的边界内显示规划路线，并且当可移动标识处于停留位置时，所述可移动标识至少部分与规划路线重合。其中，为了便于用户操作，可选地，可移动标识在地图中的移动范围可以被限制在目标地块的边界信息所指示的边界中。通过在目标地块的边界内显示规划路线，可以使用户更加清楚地确定规划路线与目标地块的位置关系，便于用户制定作业路线。在规划路线所在区域内拖动可移动标识来分割规划路线，使得用户的操作过程更加方便、直观。其中，在从规划路线中得到作业路线后，规划路线中除作业路线外的其余路线可以不再进行显示。
如图5所示，本申请实施例还提供一种为作业设备设置作业路线的控制设备，该控制设备包括触控屏10和处理器20，触控屏10包括显示界面。处理器20被配置为：在显示界面上显示地图，在地图中显示目标地块信息、针对目标地块的规划路线以及可移动标识，其中目标地块信息包括目标地块的边界信息；响应于用户对可移动标识的拖动操作改变可移动标识的停留位置；根据停留位置从规划路线中确定作业路线。
如此，用户可以直接在显示界面所显示的地图中通过拖动可移动标识来设置作业路线，整个人机交互过程直观、方便，便于用户学习和操作。并且由于直接在地图上设置作业路线，用户可以将地图上显示的地理信息作为参照物来进行参考，以更清晰、准确地确定规划路线中每段路线所对应的实际地理区域，从而便于用户为作业设备准确设置所需的作业路线。
可选地，作业设备可以例如为植保设备(如，无人机、无人车等设备)，目标地块可以为需要作业设备进行植保作业的地理区域，如农田或果树林等。在需要进行植保作业时，可以通过手持地面站或手机等控制设备来为作业设备分配待作业的目标地块，并针对目标地块设置需要作业设备进行植保作业的作业路线。
该控制设备可以包括触控屏10和处理器20，其中，触控屏10可以为电容式触控屏或电阻式触控屏等，处理器20可以是单片机、芯片、微控制器或中央处理器等，并可以具有一定的图形处理能力。触 控屏10可以包括显示界面，用户可以通过手或者触控笔在显示界面上进行操作。触控屏10能够检测到用户的操作并将检测到的操作转换为电信号传递给处理器20，处理器20可以根据指示用户的操作的该电信号进行相应的处理。
其中，处理器20可以在显示界面上显示地图，在地图中可以显示目标地块信息，该目标地块信息可以包括目标地块的边界信息，该边界信息指示目标地块的边界在地图中的位置。示例性地，该目标地块的边界信息可以为一个边界框。针对该目标地块的规划路线可以显示于在目标地块的边界内，该规划路线可以例如通过具有定位功能的设备对目标地块进行实地测量得到，当作业设备根据该规划路线进行作业时，一般能够完成对整个目标地块的植保作业。该规划路线例如可以为图2所示的“弓”形路线。
在使用中，作业设备可能不需要对整个目标地块进行植保作业，因此需要从该目标地块的规划路线中确定作业设备进行植保作业的作业路线。因此，在本实施例中，处理器20还可以在地图中显示可移动标识，该可移动标识的初始位置可以位于地图上所显示的目标地块的边界位置。在需要设置作业路线时，用户可以拖动地图中的可移动标识，处理器20可以响应于用户对该可移动标识的拖动操作改变可移动标识在边界内的停留位置，并根据停留位置与规划路线的位置关系，从规划路线中确定作业路线。
在本实施例中，处理器20响应于用户对可移动标识的拖动操作改变可移动标识的停留位置，可以包括：响应于用户对可移动标识的选择操作，控制可移动标识进入可移动状态；响应于用户针对进入可移动状态的可移动标识的移动操作，控制可移动标识跟随移动操作移动；响应于用户针对进入可移动状态的可移动标识的停止操作，确定可移动标识的停留位置。
可选地，选择操作可以例如为长按或双击可移动标识等，移动操作可以例如为按压并移动可移动标识等，停止操作可以例如为抬离或再次双击可移动标识等。举例来说，如图2所示，用户可以例如通过手指6长按可移动标识4来对该可移动标识4进行选择，处理器20在检测到用户对可移动标识的选择操作的情况下，控制可移动标识进入可移动状态，并可以例如通过震动提示用户可移动标识已经进入可移动状态。随后，用户的手指6保持按压该可移动标识4并在地图上左右移动，处理器20在检测到用户手指6按压该可移动标识并在地图上进行移动的情况下，控制可移动标识跟随用户的手指6移动在地图上移动。当用户将可移动标识移动至指定位置时，可以抬离手指6，处理器20在检测到手指6抬离可移动标识的情况下，根据该指定位置确定可移动标识的停留位置。如此，可以简单、便捷地对可移动标识进行拖动操作，提高用户的操作效率。
在本实施例中，处理器20可以在规划路线上设有多个待分割位置，在此情况下，处理器20响应于用户针对进入可移动状态的可移动标识的停止操作确定可移动标识的停留位置，可以包括：确定停止操作对应的可移动标识的停止位置；根据距离可移动标识的停止位置最近的待分割位置确定停留位置；以及控制可移动标识移动至停留位置。
可选地，如图2所示，在显示界面的地图中，目标地块2可以例如为一矩形区域，规划路线为覆盖该矩形区域的“弓”形路线，该“弓”形路线可以包括依次首尾连接的多条纵向路线以及多条横向路线。其中，多条纵向路线并行间隔设置，每两条相邻的纵向路线通过一横向路线相互连接，多条纵向路线的长度可以相同，多条横向路线的长度也可以相同。
其中，可以将每条纵向路线的起点和/或终点位置设为待分割位置。可移动标识3和可移动标识4可以为长条状的拖动条，该拖动条的形状例如可以为矩形或椭圆形，并且该拖动条的长度与规划路线中的纵向路线的长度基本相同或接近，该拖动条的宽度小于规划路线中的横向路线的宽度。可以理解的是，可移动标识不限于为矩形或椭圆形，还可以为三角形或半圆形等。
可移动标识3和可移动标识4各自的初始位置可以分别位于目标地块2的左右两侧的边界位置并且长度方向与纵向路线平行，用户可以通过拖动可移动标识3或可移动标识4来改变其停留位置。例如，如图2所示，用户可以将可移动标识4拖动至目标地块的靠近中间的位置。
用户在拖动可移动标识时，一般需要将可移动标识拖动至一精确位置，从而能准确地确定作业路线。然而，在用户拖动可移动标识的过程中，由于操作误差或视觉误差的存在，很难将可移动标识拖动到精确的目标位置。
为解决上述问题，在本实施例中，处理器20可以首先响应于用户的停止操作确定该停止操作发生时可移动标识的停止位置。随后处理器20根据距离可移动标识的停止位置最近的所述待分割位置确定停留位置。
例如，由于待分割位置可以位于纵向路线的端点位置，处理器20在确定可移动标识的停止位置后，可以计算每条纵向路线的端点与可移动标识的停止位置之间的垂直距离，并确定一纵向路线的位置，该纵向路线的端点是与可移动标识的停止位置的垂直距离最小的端点。处理器20可以根据该纵向路线的位置确定可移动标识的停留位置，以使得可移动标识位于该停留位置时，至少部分与该纵向路线重合。然后，处理器20可以控制可移动标识移动至停留位置。
如此，用户在对可移动标识进行拖动操作时，仅需要将可移动标识拖动至一粗略位置，处理器20会自动将拖动标识移动至所需的精确位置(例如纵向路线所在的位置)，从而降低用户的操作难度，提高用户的操作效率，并且也可以在地图上更加直观清晰地表示出所选取的作业路线。
在本实施例中，处理器20根据停留位置与规划路线的位置关系，从规划路线中确定作业路线的方式可以有多种。
在一种实施方式中，处理器20可以在规划路线上设有多个待分割位置，在此情况下，处理器20根据停留位置与规划路线的位置关系，从规划路线中确定作业路线，可以包括：选择距离停留位置最近的待分割位置作为分割位置，并根据分割位置对规划路线进行分割以确定作业路线。
例如图2所示，可以在规划路线中的每个纵向路线上选择一个端点作为待分割位置。在可移动标识处于停留位置时，处理器20可以确定每个待分割位置与可移动标识之间的垂直距离，并选择与可移动标识的垂直距离最小的待分割位置作为分割位置，以对规划路线进行分割，从而生成所需的作业路线。
其中，在一些情况下，当用户刚好将可移动标识拖动至某一纵向路线上或处理器20自动将可移动标识移动至某一纵向路线上时，可移动标识可能会与该纵向路线上的待分割位置重合，此时可以认为与可移动标识重合的该待分割位置与可移动标识的停留位置的距离最近，并将该待分割位置作为分割位置来对规划路线进行分割。
本实施例中，在显示界面的地图上可以显示一个可移动标识，也可以显示两个可移动标识。
在一个例子中，请参照图2，在地图上可以仅显示可移动标识3或可移动标识4。当地图上仅显示可移动标识3时，该可移动标识3的初始位置可以位于目标地块的左侧边界处，用户可以对该可移动标识3进行拖动操作，以改变该可移动标识3的停留位置，处理器20可以根据可移动标识3的停留位置确定一个分割位置，并以规划路线中位于该分割位置与规划路线的起点之间的路线作为作业路线。
相应地，当地图上仅显示可移动标识4时，该可移动标识4的初始位置可以位于目标地块的右侧边界处，用户可以对该可移动标识4进行拖动操作，以改变该可移动标识4的停留位置，处理器20可以根据可移动标识4的停留位置确定一个分割位置，并以规划路线中位于该分割位置与规划路线的终点之间的路线作为作业路线。
在另一个例子中，在地图上可以同时显示可移动标识3和可移动标识4，其中可移动标识3可以定义为起点可移动标识，可移动标识4可以定义为终点可移动标识。相应地，在确定作业路线时，在规划路线上可以确定两个分割位置，即与起点可移动标识对应的分割起点位置和与终点可移动标识对应的分割终点位置。其中，可移动标识3的初始位置可以位于目标地块的左侧边界处，可移动标识4的初始位置可以位于目标地块的右侧边界处。
在使用时，用户可以分别对可移动标识3和可移动标识4进行拖动操作，以分别改变可移动标识3和可移动标识4各自的停留位置，随后处理器20可以根据可移动标识3的停留位置确定一个分割起点位置，根据可移动标识4的停留位置确定一个分割终点位置，并将规划路线中位于分割起点位置与分割终点位置之间的路线5作为作业路线。如此，在设置作业路线时，作业路线的选择区间更加灵活，有利于进行更加精准的植保作业。
需要说明的是，在规划路线上可以分别对应可移动标识3和可移动标识4设有不同的待分割位置。例如，在规划路线上可以对应于可移动标识3设有待分割起点位置，对应于可移动标识4设有待分割终点位置。其中，可以将每个纵向路线的两个端点中的与规划路线起点之间距离更短的端点设为待分割起点位置，与规划路线终点之间距离更短的端点设为待分割终点位置。其中，所述与规划路线起点或规划路线终点之间的距离是指沿规划路线的距离。在使用时，可以将距离可移动标识3的停留位置最近的待 分割起点位置作为分割起点位置，将距离可移动标识4的停留位置最近的待分割终点位置作为分割终点位置，并以规划路线中位于分割起点位置与分割终点位置之间的路线作为作业路线。
在本另一种实施方式中，处理器20根据停留位置与规划路线的位置关系，从规划路线中确定作业路线，可以包括：根据停留位置确定规划路线中被拖动操作的移动轨迹覆盖的目标路线；以及根据目标路线从规划路线中分割出作业路线。
可选地，可移动标识的初始位置可以预先确定。例如，可移动标识3的初始位置可以位于目标地块的左侧边界处，可移动标识4的初始位置可以位于目标地块的右侧边界处。在用户完成对可移动标识的拖动操作后，处理器20可以分别确定可移动标识3和4各自的初始位置和停留位置确定在拖动该可移动标识的过程中，规划路线中被该可移动标识的移动轨迹覆盖的路线，被移动轨迹覆盖的路线即为目标路线。其中，确定目标路线的详细过程可以参照前文关于图4的相关描述，在此不再赘述。
随后，处理器20可以根据预先设定将被移动轨迹覆盖的目标路线作为作业路线或者将规划路线中除移动轨迹所覆盖的路线以外的路线作为作业路线。
例如，当地图上仅显示一个可移动标识时，处理器20可以将该可移动标识的移动轨迹所覆盖的路线作为作业路线；当地图上显示两个可移动标识时(例如图2中的可移动标识3和可移动标识4)，处理器20可以将规划路线中除两个移动标识的移动轨迹所覆盖的路线以外的路线作为作业路线，例如，将规划路线中未被图4所示区域S1和S2覆盖的路线确定为作业路线。
在本实施例中，处理器20还可以被配置为：在地图中显示作业设备的位置、灌药机的位置、包括该显示界面的控制设备的位置以及障碍物的位置中的至少一者。其中，上述的作业设备的位置、灌药机的位置、控制设备的位置和障碍物的位置可以提前进行测定。通过在地图中显示作业设备的位置、灌药机的位置、控制设备的位置和障碍物的位置，可以使用户更加方便的确定地图中规划路线的各个区段所对应的实际地理位置，从而便于用户合理制定作业路线。例如，在图2中，地图中显示了作业设备1的位置，从而用户在制定作业路线时，可以参考该作业设备的所在的位置，以更合理地制定作业路线。
在本实施例中，处理器20还可以被配置为：在边界信息所指示的边界内显示规划路线，并且当可移动标识处于停留位置时，该可移动标识至少部分与规划路线重合。其中，为了便于用户操作，在本实施例中，可移动标识在地图中的移动范围可以被限制在目标地块的边界信息所指示的边界中。通过在目标地块的边界内显示规划路线，可以使用户更加清楚地确定规划路线与目标地块的位置关系，便于用户制定作业路线。在规划路线所在区域内拖动可移动标识来分割规划路线，使得用户的操作过程更加方便、直观。其中，在从规划路线中得到作业路线后，规划路线中除作业路线外的其余路线可以不再进行显示。
以上结合附图详细描述了本实施例的可选实施方式，但是，本申请并不限于上述实施例中的具体细节，在本申请的技术构思范围内，可以对本申请的技术方案进行多种简单变型，这些简单变型均属于本申请的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本实施例对各种可能的组合方式不再另行说明。
本领域技术人员可以理解实现上述实施方式方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
此外，本申请的各种不同的实施方式之间也可以进行任意组合，只要其不违背本申请的思想，其同样应当视为本申请所公开的内容。
工业实用性
本申请实施例提供的为作业设备设置作业路线的方法和控制设备，为用户提供了直观、方便的作业路线设置方式，降低了用户进行作业路线设置的学习使用成本。

Claims (22)

  1. 一种为作业设备设置作业路线的方法，其特征在于，所述方法包括：
    在显示界面上显示地图，在所述地图中显示目标地块信息，在所述地图中显示针对所述目标地块的规划路线，以及在所述地图中显示可移动标识，其中所述目标地块信息包括所述目标地块的边界信息；
    响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置；以及
    根据所述停留位置从所述规划路线中确定所述作业路线。
  2. 根据权利要求1所述的方法，其特征在于，所述响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置，包括：
    响应于用户对所述可移动标识的选择操作，控制所述可移动标识进入可移动状态；
    响应于用户针对进入所述可移动状态的所述可移动标识的移动操作，控制所述可移动标识跟随所述移动操作移动；以及
    响应于用户针对进入所述可移动状态的所述可移动标识的停止操作，确定所述可移动标识的停留位置。
  3. 根据权要求2所述的方法，其特征在于，所述规划路线上设有多个待分割位置，所述响应于用户针对进入所述可移动状态的所述可移动标识的停止操作确定所述可移动标识的停留位置，包括：
    确定所述停止操作对应的所述可移动标识的停止位置；
    根据距离所述可移动标识的停止位置最近的所述待分割位置确定所述停留位置；以及
    控制所述可移动标识移动至所述停留位置。
  4. 根据权利要求1至3中任意一项所述的方法，其特征在于，所述根据所述停留位置从所述规划路线中确定所述作业路线，包括：
    根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线。
  5. 根据权利要求4所述的方法，其特征在于，所述规划路线上设有多个待分割位置；所述根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线，包括：
    选择距离所述停留位置最近的所述待分割位置作为分割位置，并根据所述分割位置对所述规划路线进行分割以确定所述作业路线。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：
    以所述分割位置与所述规划路线的起点之间的路线作为所述作业路线；或者
    以所述分割位置与所述规划路线的终点之间的路线作为所述作业路线。
  7. 根据权利要求5所述的方法，其特征在于，所述可移动标识包括起点可移动标识和终点可移动标识，所述分割位置包括分割起点位置和分割终点位置；所述根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：
    根据所述起点可移动标识的停留位置确定所述分割起点位置；
    根据所述终点可移动标识的停留位置确定所述分割终点位置；以及
    以所述规划路线中位于所述分割起点位置与所述分割终点位置之间的路线作为所述作业路线。
  8. 根据权利要求7所述的方法，其特征在于，所述待分割位置包括对应所述起点可移动标识的待分割起点位置和对应所述终点可移动标识的待分割终点位置；
    所述根据所述起点可移动标识的停留位置确定所述分割起点位置，包括：根据所述起点可移动标识的停留位置从所述待分割起点位置中确定所述分割起点位置；
    所述根据所述终点可移动标识的停留位置确定所述分割终点位置，包括：根据所述终点可移动标识的停留位置从所述待分割终点位置中确定所述分割终点位置；
  9. 根据权利要求4所述的方法，其特征在于，所述根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线，包括：
    根据所述停留位置确定所述规划路线中被所述拖动操作的移动轨迹覆盖的目标路线；以及
    根据所述目标路线从所述规划路线中分割出所述作业路线。
  10. 根据权利要求1至9中任意一项所述的方法，其特征在于，所述方法还包括：
    在所述地图中显示所述作业设备的位置、灌药机的位置、包括该显示界面的控制设备的位置以及障碍物的位置中的至少一者。
  11. 根据权利要求1至10中任意一项所述的方法，其特征在于，所述方法还包括：
    在所述边界信息所指示的边界内显示所述规划路线，并且当所述可移动标识处于所述停留位置时，所述可移动标识至少部分与所述规划路线重合。
  12. 一种为作业设备设置作业路线的控制设备，其特征在于，所述控制设备包括触控屏和处理器，所述触控屏包括显示界面，所述处理器被配置为：
    在显示界面上显示地图，在所述地图中显示目标地块信息，在所述地图中显示针对所述目标地块的规划路线，以及在所述地图中显示可移动标识，其中所述目标地块信息包括所述目标地块的边界信息；
    响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置；以及
    根据所述停留位置从所述规划路线中确定所述作业路线。
  13. 根据权利要求12所述的控制设备，其特征在于，所述处理器响应于用户对所述可移动标识的拖动操作改变所述可移动标识的停留位置，包括：
    响应于用户对所述可移动标识的选择操作，控制所述可移动标识进入可移动状态；
    响应于用户针对进入所述可移动状态的所述可移动标识的移动操作，控制所述可移动标识跟随所述移动操作移动；以及
    响应于用户针对进入所述可移动状态的所述可移动标识的停止操作，确定所述可移动标识的停留位置。
  14. 根据权要求13所述的控制设备，其特征在于，所述规划路线上设有多个待分割位置；所述处理器响应于用户针对进入所述可移动状态的所述可移动标识的停止操作确定所述可移动标识的停留位置，包括：
    确定所述停止操作对应的所述可移动标识的停止位置；
    根据距离所述可移动标识的停止位置最近的所述待分割位置确定所述停留位置；以及
    控制所述可移动标识移动至所述停留位置。
  15. 根据权利要求12至14中任意一项所述的控制设备，其特征在于，所述处理器具体被配置为根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线。
  16. 根据权利要求15所述的控制设备，其特征在于，所述规划路线上设有多个待分割位置；所述处理器根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线包括：
    选择距离所述停留位置最近的所述待分割位置作为分割位置，并根据所述分割位置对所述规划路线进行分割以确定所述作业路线。
  17. 根据权利要求16所述的控制设备，其特征在于，所述处理器根据所述分割位置对所述规划路线进行分割以确定所述作业路线包括：
    以所述分割位置与所述规划路线的起点之间的路线作为所述作业路线；或者
    以所述分割位置与所述规划路线的终点之间的路线作为所述作业路线。
  18. 根据权利要求16所述的控制设备，其特征在于，所述可移动标识包括起点可移动标识和终点可移动标识，所述分割位置包括分割起点位置和分割终点位置；所述处理器根据所述分割位置对所述规划路线进行分割以确定所述作业路线，包括：
    根据所述起点可移动标识的停留位置确定所述分割起点位置；
    根据所述终点可移动标识的停留位置确定所述分割终点位置；以及
    以所述规划路线中位于所述分割起点位置与所述分割终点位置之间的路线作为所述作业路线。
  19. 根据权利要求18所述的控制设备，其特征在于，所述待分割位置包括对应所述起点可移动标识的待分割起点位置和对应所述终点可移动标识的待分割终点位置；
    所述处理器根据所述起点可移动标识的停留位置确定所述分割起点位置，包括：根据所述起点可移动标识的停留位置从所述待分割起点位置中确定所述分割起点位置；
    所述处理器根据所述终点可移动标识的停留位置确定所述分割终点位置，包括：根据所述终点可移动标识的停留位置从所述待分割终点位置中确定所述分割终点位置；
  20. 根据权利要求15所述的控制设备，其特征在于，所述处理器根据所述停留位置与所述规划路线的位置关系，从所述规划路线中确定所述作业路线包括：
    根据所述停留位置确定所述规划路线中被所述拖动操作的移动轨迹覆盖的目标路线；以及
    根据所述目标路线从所述规划路线中分割出所述作业路线。
  21. 根据权利要求12至20中任意一项所述的控制设备，其特征在于，所述处理器还被配置为：
    在所述地图中显示所述作业设备的位置、灌药机的位置、包括该显示界面的控制设备的位置以及障碍物的位置中的至少一者。
  22. 根据权利要求12至21中任意一项所述的控制设备，其特征在于，所述处理器还被配置为：
    在所述边界信息所指示的边界内显示所述规划路线，并且当所述可移动标识处于所述停留位置时，所述可移动标识至少部分与所述规划路线重合。
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