CN110716508A

CN110716508A - Operation control method, control terminal, operation server and operation system

Info

Publication number: CN110716508A
Application number: CN201810770397.0A
Authority: CN
Inventors: 翁立宇; 刘鹏
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2018-07-13
Filing date: 2018-07-13
Publication date: 2020-01-21
Also published as: CN113985764A

Abstract

The invention discloses an operation control method, a control terminal, an operation server and an operation system thereof, relating to the technical field of control and aiming at meeting the operation requirements of different operation objects in the same operation area. The control method comprises the following steps: performing virtual division processing on the operation area, and acquiring at least one operation block control strategy according to operation object state information corresponding to at least one operation block and the acquired position information of the plurality of operation blocks; and controlling the operation equipment to operate corresponding to the operation block according to at least one operation block control strategy. The job control terminal applies the above-mentioned job control method. The invention provides a job control method, a control terminal thereof, a job server and a job system.

Description

Operation control method, control terminal, operation server and operation system

Technical Field

The present invention relates to the field of control technologies, and in particular, to a job control method, a control terminal thereof, a job server, and a job system.

Background

In the existing plant protection operation process, plant protection operation on a plant protection area by using plant protection equipment adopts the same plant protection strategy to carry out plant protection, so that crops in the plant protection area can be managed uniformly.

However, the growth conditions, pest and disease grades and the like of crops in the same plant protection area are different, and the same plant protection strategy is adopted to perform plant protection on all the crops in the same plant protection area, so that the plant protection strategy cannot meet the plant protection requirement of the crops with high plant protection strength requirement in the plant protection area, and the plant protection effect of the crops with high plant protection strength requirement in the plant protection area is poor; for the crops with low requirement on plant protection strength in the plant protection area, the plant protection strategy can cause the crops with low requirement on plant protection strength in the plant protection area to generate excessive plant protection. For example: when the plant protection operation is spraying plant protection agents, if some crops in the plant protection area need less plant protection agents, and the amount of the plant protection agents sprayed is more, the crops can generate the problem of plant protection agent residue.

Disclosure of Invention

The invention aims to provide a job control method, a control terminal thereof, a job server and a job system, which are used for reducing the problem caused by inconsistent job requirements of jobs to be operated in the same job area.

In order to achieve the above purpose, the invention provides the following technical scheme:

a job control method, comprising:

performing virtual division processing on a working area to obtain position information of a plurality of working blocks;

receiving the state information of a job object corresponding to at least one job block; acquiring at least one block control strategy according to the state information of the operation object corresponding to at least one operation block and the position information of the corresponding operation block; the operation block control strategy comprises operation block position information and an operation strategy corresponding to the operation block;

and controlling the operation equipment to operate corresponding to the operation block according to the at least one operation block control strategy.

Optionally, the performing virtual division processing on the job region to obtain the position information of the plurality of job blocks includes:

and obtaining the position information of the plurality of operation blocks according to the geographic coordinates of the operation area and the structural parameters of the operation equipment.

Preferably, the obtaining the position information of the plurality of operation blocks according to the geographic coordinates of the operation area and the structural parameters of the operation device includes:

obtaining the operation range of the operation equipment according to the structural parameters of the operation equipment;

and according to the working range of the working equipment, dividing the geographic coordinates of the working area to obtain the position information of a plurality of working blocks.

Optionally, after obtaining the position information of the plurality of job blocks, before obtaining at least one piece of job block control information according to the job object state information and the corresponding job block position information corresponding to at least one job block, the job control method further includes:

and sequencing the plurality of job block position information according to the job path information of the job equipment to obtain the serialized job block position information.

Preferably, the sorting the plurality of pieces of job block position information according to the job path information of the job device, and the obtaining of serialized job block position information includes:

obtaining arrangement information of a plurality of job blocks from a starting point to an end point along a job path according to the job path information of the job device and the position information of the plurality of job blocks;

and obtaining the position information of the serialized job block according to the arrangement information of the plurality of job blocks from the starting point to the end point along the job path and the position information of the plurality of job blocks.

Preferably, before obtaining at least one job block control policy according to job object state information and corresponding job block position information corresponding to at least one job block, the job control method further includes:

receiving all operation object state information in an operation area and positioning information of acquisition equipment, wherein the operation object state information is transmitted by the acquisition equipment;

the obtaining at least one job block control policy according to the job object state information and the corresponding job block position information corresponding to the at least one job block includes:

acquiring all control object distribution information in the operation area according to all operation object state information in the operation area, acquisition parameters of the acquisition equipment and positioning information of the acquisition equipment;

segmenting all control object distribution information in the operation area according to the position information of the serialized operation block to obtain the serialized control object distribution information;

obtaining an operation strategy of the serialized operation block according to the serialized control object distribution information;

and obtaining a serialized operation block control strategy according to the operation strategy of the serialized operation block and the position information of the serialized operation block, wherein the serialized operation block operation control strategy comprises the position information of the serialized operation block and the operation strategy of the corresponding operation block.

Further, the obtaining of the distribution information of the control objects in the working area according to the state information of all the working objects in the working area and the acquisition parameters of the acquisition device includes:

acquiring density estimation information of all control objects in the operation area according to the state information of all the operation objects in the operation area;

acquiring distribution information of the control objects in the operation area according to density pre-estimation information of all the control objects in the operation area, acquisition parameters of the acquisition equipment and positioning information of the acquisition equipment; the control object distribution information within the work area includes all control object density distribution information within the work area.

Further, the obtaining of the operation strategy of the serialized operation block according to the serialized control object distribution information includes:

carrying out grading processing on the distribution information of the serialized control objects according to the distribution levels of the historical control objects to obtain the grades of the serialized control objects;

and obtaining the operation strategy of the serialized operation block according to the historical operation strategy corresponding to the historical control object distribution level and the serialized control object level.

Further, the acquisition parameters of the acquisition equipment are the acquisition direction and the acquisition angle of the acquisition equipment; the job object state information includes a visible light image of the job object and/or an invisible light image of the job object.

Preferably, the obtaining at least one job block control policy according to the job object state information and the corresponding job block position information corresponding to at least one job block includes:

receiving positioning information of the operating equipment; receiving operation block operation object state information which is transmitted by acquisition equipment and is adjacent to an operation block where the operation equipment is located, wherein the adjacent operation block operation object state information at least comprises operation object state information of a target operation block;

acquiring an unoperated operation block operation strategy according to the positioning information of the operation equipment and the state information of the operation object of the adjacent operation block;

acquiring an unoperated operation block control strategy according to the serialized operation block position information and the unoperated operation block operation strategy;

acquiring a target operation block control strategy from an unoperated operation block operation strategy according to acquisition parameters of the acquisition equipment;

the controlling the operating equipment to operate corresponding to the operating block according to the at least one operating block control strategy comprises:

judging whether the operation block where the operation equipment is located is updated according to the positioning information of the operation equipment and the serialized operation position information;

and when the operation block where the operation equipment is located is updated, controlling the operation equipment to operate corresponding to the operation block according to the target operation block control strategy.

Further, the target work block is a work block next to the work block where the work equipment is located along the advancing direction of the work path of the work area.

Further, the obtaining of the non-operated operation block operation policy according to the positioning information of the operation device and the state information of the adjacent operation block operation object includes:

acquiring the state information of the operation object of the unoperated operation block from the state information of the operation object of the adjacent operation block according to the positioning information and the position information of the serialized operation block of the operation equipment;

acquiring the distribution information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block, the acquisition parameters of the acquisition equipment and the positioning information of the acquisition equipment;

and obtaining the operation strategy of the unoperated operation block according to the distribution information of the unoperated operation block control object.

Further, the obtaining of the distribution information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block, the acquisition parameter of the acquisition device, and the positioning information of the acquisition device includes:

obtaining density estimation information of the unoperated operation block control object according to the state information of the unoperated operation block operation object;

obtaining the control object distribution information of the non-operated operation block according to the density estimation information of the non-operated operation block control object, the acquisition parameters of the acquisition equipment and the positioning information of the acquisition equipment; the control object distribution information of the non-worked work block includes control object density distribution information of the non-worked work block.

Further, the obtaining of the non-operated operation block operation policy according to the non-operated operation block control object distribution information includes:

carrying out grading processing on the unoperated job block control object distribution information according to the historical control object distribution level to obtain an unoperated job block control object level;

and obtaining the job block job strategy of the non-job according to the historical job strategy corresponding to the historical control object distribution level and the job block control object level of the non-job.

Further, the obtaining of the non-operated operation block control policy according to the serialized operation block position information and the non-operated operation block operation policy includes:

obtaining the position information of the operation block which is not operated according to the positioning information of the operation equipment and the position information of the serialized operation block;

and obtaining the unoperated job block control strategy according to the unoperated job block position information and the unoperated job block operation strategy.

Further, after obtaining the at least one job block control policy, before controlling the operating device to perform the operation on the corresponding job block according to the at least one job block control policy, the job control method further includes:

storing the unoperated job block control strategy;

after judging whether the job block where the job equipment is located is updated according to the positioning information of the job equipment and the serialized job position information, the job control method further comprises the following steps:

and when the operation block where the operation equipment is located is updated, updating the positioning information of the operation equipment and the operation object state information of the operation block, which is transmitted by the acquisition equipment and is adjacent to the operation block where the operation equipment is located.

Specifically, after receiving the positioning information of the operating device and before receiving the operating block operating object state information of the operating block adjacent to the operating block where the operating device is located and transmitted by the acquisition device, obtaining at least one operating block control policy according to at least one operating block information and the operating object state information of the corresponding operating block further includes:

judging whether a target operation block control strategy exists in the stored operation block operation strategies which are not operated according to the positioning information of the operation equipment and the serialized operation block information;

if yes, obtaining a target operation block control strategy from an operation block operation strategy of the non-operation, and executing operation block operation object state information which is transmitted by the receiving and collecting equipment and is adjacent to the operation block where the operation equipment is located;

otherwise, executing the job block job object state information which is transmitted by the receiving and collecting device and is adjacent to the job block where the job device is located.

Compared with the prior art, the job control method provided by the invention has the advantages that the virtual division processing is carried out on the job area to obtain the position information of a plurality of job blocks, and then at least one job block control strategy is obtained according to the job object state information corresponding to at least one job block and the position information of the corresponding job block, so that the job equipment can be controlled to operate the corresponding job block by using the at least one job block control strategy. Because the job block control strategy is obtained by the job block position information and the corresponding job object state information, each job block control strategy is determined by the state information of the job object of the corresponding job block, so that the job control strategies of each job block have difference, and each job block control strategy is ensured to be matched with the job object of the corresponding job block. Because the operation control strategies of each operation block have difference and the control strategy of each operation block is ensured to be matched with the operation object of the corresponding operation block, the operation control method provided by the invention can provide different operation control strategies aiming at different operation blocks so as to reduce the problem caused by inconsistent operation requirements of operation objects in the same operation area.

The present invention also provides an operation control terminal, including:

the block dividing unit is used for virtually dividing the operation area to obtain position information of a plurality of operation blocks;

the first receiving unit is used for receiving the state information of the job object corresponding to at least one job block;

the strategy setting unit is used for acquiring at least one operation block control strategy according to the operation object state information corresponding to at least one operation block and the position information of the corresponding operation block; the operation block control strategy comprises operation block position information and an operation strategy corresponding to the operation block;

and the first control unit is used for controlling the operation equipment to operate corresponding to the operation block according to at least one operation block control strategy.

Optionally, the block dividing unit is specifically configured to obtain an operation range of the operation device according to the structural parameter of the operation device; and according to the working range of the working equipment, dividing the geographic coordinates of the working area to obtain the position information of a plurality of working blocks.

Preferably, the block dividing unit is specifically configured to obtain an operation range of the operation device according to the structural parameter of the operation device; and according to the working range of the working equipment, dividing the geographic coordinates of the working area to obtain the position information of a plurality of working blocks.

Optionally, the job control terminal further includes a sorting unit, configured to, after obtaining the position information of the plurality of job blocks, before obtaining at least one job block control information according to job object state information and corresponding job block position information corresponding to at least one job block, perform sorting processing on the position information of the plurality of job blocks according to job path information of the job device, and obtain serialized job block position information.

Preferably, the sorting unit is specifically configured to obtain arrangement information of the plurality of job blocks from a start point to an end point along the job path, based on the job path information of the job device and the plurality of job block position information; and obtaining the position information of the serialized job block according to the arrangement information of the plurality of job blocks from the starting point to the end point along the job path and the position information of the plurality of job blocks.

Preferably, the first receiving unit is configured to receive all the job object state information and the positioning information of the collecting device in the job area transmitted by the collecting device before obtaining at least one job block control policy according to the job object state information and the corresponding job block position information corresponding to at least one job block;

the strategy setting unit is specifically used for acquiring distribution information of all control objects in the operation area according to state information of all operation objects in the operation area, acquisition parameters of the acquisition equipment and positioning information of the acquisition equipment; segmenting all control object distribution information in the operation area according to the position information of the serialized operation block to obtain the serialized control object distribution information; obtaining an operation strategy of the serialized operation block according to the serialized control object distribution information; and obtaining a serialized operation block control strategy according to the operation strategy of the serialized operation block and the position information of the serialized operation block, wherein the serialized operation block operation control strategy comprises the position information of the serialized operation block and the operation strategy of the corresponding operation block.

Further, the policy setting unit is specifically configured to obtain density estimation information of all control objects in the operation area according to state information of all operation objects in the operation area; acquiring distribution information of the control objects in the operation area according to density pre-estimation information of all the control objects in the operation area, acquisition parameters of the acquisition equipment and positioning information of the acquisition equipment; the control object distribution information within the work area includes all control object density distribution information within the work area.

Further, the policy setting unit is specifically configured to perform a hierarchical processing on the serialized control object distribution information according to a historical control object distribution level to obtain a serialized control object level; and obtaining the operation strategy of the serialized operation block according to the historical operation strategy corresponding to the historical control object distribution level and the serialized control object level.

Preferably, the first receiving unit is configured to receive positioning information of the operating device, and receive operating block operating object state information of an operating block adjacent to the operating block where the operating device is located, where the adjacent operating block operating object state information at least includes operating object state information of a target operating block, and the acquiring device is configured to acquire, from the operating device, operating block operating object state information of the target operating block;

the strategy setting unit is specifically used for obtaining an unoperated operation block operation strategy according to the positioning information of the operation equipment and the state information of the adjacent operation block operation object; acquiring an unoperated operation block control strategy according to the serialized operation block position information and the unoperated operation block operation strategy; acquiring a target operation block control strategy from an unoperated operation block operation strategy according to acquisition parameters of the acquisition equipment; judging whether the operation block where the operation equipment is located is updated according to the positioning information of the operation equipment and the serialized operation position information;

the first control unit is specifically configured to control the operating equipment to perform operation on a corresponding operating block according to the target operating block control policy when the operating block where the operating equipment is located is updated.

Further, the policy setting unit is specifically configured to acquire the status information of the job block job object that is not operated from the status information of the job block job object adjacent to the positioning information of the job device and the serialized job block location information; acquiring the distribution information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block, the acquisition parameters of the acquisition equipment and the positioning information of the acquisition equipment; and obtaining the operation strategy of the unoperated operation block according to the distribution information of the unoperated operation block control object.

Furthermore, the policy setting unit is specifically configured to obtain estimated density information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block; obtaining the control object distribution information of the non-operated operation block according to the density estimation information of the non-operated operation block control object, the acquisition parameters of the acquisition equipment and the positioning information of the acquisition equipment; the control object distribution information of the non-worked work block includes control object density distribution information of the non-worked work block.

Furthermore, the policy setting unit is specifically configured to perform a ranking process on the non-operated job block control object distribution information according to a historical control object distribution level to obtain a non-operated job block control object level; and obtaining the job block job strategy of the non-job according to the historical job strategy corresponding to the historical control object distribution level and the job block control object level of the non-job.

Further, the policy setting unit is specifically configured to obtain the location information of the non-operated operation block according to the location information of the operation device and the serialized operation block location information; and obtaining the unoperated job block control strategy according to the unoperated job block position information and the unoperated job block operation strategy.

Further, the operation control terminal further includes a storage unit, configured to store the unoperated operation block control policy after the at least one operation block control policy is obtained, before the operation device is controlled to perform an operation on the corresponding operation block according to the at least one operation block control policy;

the first receiving unit is further used for updating the positioning information of the operating equipment and acquiring the operating block object state information of the operating block adjacent to the operating block where the operating equipment is located, wherein the operating block where the operating equipment is located is updated.

Furthermore, the policy setting unit is further configured to, after receiving the positioning information of the operation device and before receiving the operation block operation object state information, which is transmitted by the acquisition device and is adjacent to the operation block where the operation device is located, determine whether the stored operation block operation policy of the operation block which is not operated has a target operation block control policy according to the positioning information of the operation device and the serialized operation block information; if yes, obtaining a target operation block control strategy from an operation block operation strategy of the non-operation, and executing operation block operation object state information which is transmitted by the receiving and collecting equipment and is adjacent to the operation block where the operation equipment is located; otherwise, executing the job block job object state information which is transmitted by the receiving and collecting device and is adjacent to the job block where the job device is located.

Compared with the prior art, the beneficial effects of the operation control terminal provided by the invention are the same as those of the operation control method in the technical scheme, and are not repeated herein.

The invention also provides an operation control method, which is applied to the operation equipment; the job control method includes:

receiving a job block control strategy transmitted by a job control terminal; the operation block control strategy comprises operation block position information and an operation block operation strategy;

and controlling the operation equipment to operate the operation block according to the operation block control strategy.

Compared with the prior art, the beneficial effects of the operation control method provided by the invention are the same as those of the operation control method in the technical scheme, and are not repeated herein.

Optionally, the receiving of the job block control policy transmitted by the job control terminal includes:

receiving control strategies of all the job blocks transmitted by the job control terminal; the control strategies of all the operation blocks comprise serialized operation block position information and operation strategies corresponding to the operation blocks;

after receiving at least one job block control strategy transmitted by the job control terminal, before controlling the job equipment to perform job on a job block according to the job block control strategy, the job control method further comprises:

receiving positioning information of the operating equipment;

obtaining a target job block control strategy from the control strategies of all job blocks according to the positioning information of the job equipment, wherein the target job block control strategy comprises position information of the target job block and the job strategy of the target job block, and the target job block is the next job block of the job block where the job equipment is located along the advancing direction of the job path of the job area;

judging whether the operation block where the operation equipment is located is updated or not according to the position information of the target operation block and the positioning information of the operation equipment; when the operation block where the operation equipment is located is updated, updating the positioning information of the operation equipment;

the controlling the operation equipment to operate the operation block according to the operation block control strategy comprises the following steps:

and when the operation block where the operation equipment is located is updated, controlling the operation equipment to operate the operation block according to the target operation block control strategy.

receiving a target job block control strategy transmitted by the job control terminal, wherein the target job block control strategy comprises position information of a target job block and a job strategy of the target job block; the target operation block is a next operation block of the operation block where the operation equipment is located along the advancing direction of the operation path of the operation area;

after receiving the job block control strategy transmitted by the job control terminal, before controlling the job device to perform job on the job block according to the job block control strategy, the job control method further includes:

receiving positioning information of the operating equipment; judging whether the operation block where the operation equipment is located is updated or not according to the position information of the target operation block and the positioning information of the operation equipment;

when the operation block where the operation equipment is located is updated, the target operation block control strategy and the positioning information of the operation equipment are updated;

The present invention also provides a job server, including:

a second receiving unit, configured to receive the job block control policy transmitted by the job control terminal; the operation block control strategy comprises operation block position information and an operation block operation strategy;

and the second control unit is used for operating the operation block according to the operation block control strategy.

Optionally, the second receiving unit is specifically configured to receive control policies of all job blocks transmitted by the job control terminal; the control strategies of all the operation blocks comprise serialized operation block position information and operation strategies corresponding to the operation blocks;

the second receiving unit is further configured to receive positioning information of the job device after receiving at least one job block control policy transmitted by the job control terminal and before controlling the job device to perform a job on the job block according to the job block control policy;

the job server further comprises a processing unit, configured to obtain a target job block control policy from the control policies of all job blocks according to the positioning information of the job device, where the target job block control policy includes location information of a target job block and a job policy of the target job block, and the target job block is a job block next to a job block where the job device is located along an advancing direction of a job path of a job area;

judging whether the operation block where the operation equipment is located is updated or not according to the position information of the target operation block and the positioning information of the operation equipment;

the second receiving unit is further configured to update the positioning information of the operating device when the operating block where the operating device is located is updated;

the second control unit is specifically configured to control the operating equipment to operate on the operating block according to the target operating block control policy when the operating block where the operating equipment is located is updated.

Optionally, the second receiving unit is specifically configured to receive a target job block control policy transmitted by the job control terminal; the target work block control strategy comprises position information of a target work block and a work strategy of the target work block, wherein the target work block is a work block next to the work block where the work equipment is located along the advancing direction of a work path of a work area;

the second receiving unit is further configured to receive positioning information of the job device after receiving the job block control policy transmitted by the job control terminal and before controlling the job device to perform job on the job block according to the job block control policy;

the operation server also comprises a processing unit, which is used for judging whether the operation block where the operation equipment is located is updated according to the position information of the target operation block and the positioning information of the operation equipment;

the second receiving unit is further used for updating the target job block control strategy and the positioning information of the job equipment when the job block where the job equipment is located is updated;

Compared with the prior art, the beneficial effects of the job server provided by the invention are the same as those of the job control method in the technical scheme, and are not repeated herein.

The invention also provides an operation system, which comprises the operation control terminal and the operation server in the technical scheme; the operation control terminal is connected with the operation server, and the operation server is connected with the operation equipment.

Compared with the prior art, the beneficial effects of the operation system provided by the invention are the same as those of the operation control method in the technical scheme, and are not repeated herein.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of an operating system according to an embodiment of the present invention;

FIG. 2 is a first flowchart of an operation control method according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating a virtual partition process performed on a working area according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating a virtual partition process performed on a working area according to an embodiment of the present invention;

FIG. 5 is a flowchart of obtaining serialized job block location information in an embodiment of the present invention;

FIG. 6 is a flowchart illustrating a first process for obtaining at least one operation block control strategy according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating obtaining control object distribution information within a work area according to an embodiment of the present invention;

FIG. 8 is a flowchart illustrating a method for obtaining a control strategy for a serialized job block in accordance with an embodiment of the present invention;

FIG. 9 is a flowchart illustrating a second process for obtaining at least one control strategy for a job block according to an embodiment of the present invention;

FIG. 10 is a flowchart of obtaining a job block job policy for a non-job in an embodiment of the present invention;

FIG. 11 is a flowchart illustrating exemplary implementation of the method for obtaining a job block control policy for a non-job;

fig. 12 is a connection block diagram of a job control terminal and a job server provided in the embodiment of the present invention;

FIG. 13 is a flowchart illustrating a second method for controlling operations according to an embodiment of the present invention;

fig. 14 is a first flowchart illustrating an operation control method according to an embodiment of the present invention;

FIG. 15 is a flowchart of the determination of a target job control strategy of FIG. 14;

fig. 16 is a specific flowchart of a job control method according to an embodiment of the present invention;

FIG. 17 is a flowchart of the determination of a target job control strategy of FIG. 16;

fig. 18 is a signal flow diagram illustrating a job control method according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the prior art, when pesticide such as insecticide, nutrition and the like is sprayed on plants (such as crops) in an operation area, the components and the content of the sprayed pesticide are the same, so that the pesticide amount sprayed on the plants with higher pesticide demand in the operation area is less (relative to the pesticide amount required by the plants), and the plants with higher pesticide demand cannot be effectively protected; the plants with less medicament demand in the operation area are sprayed with more medicament (relative to the medicament demand of the plants), so that the problem of medicament residue of the plants with less medicament demand is caused.

In view of the above problems, embodiments of the present invention provide a job control method, a control terminal thereof, a job server 200, and an operating system, which are applied to the operating system shown in fig. 1. The job system shown in fig. 1 mainly includes a job control terminal 100 and a job server 200; the job control terminal 100 is connected to the job server 200 by wire or wirelessly, and the job server 200 is connected to the job device 300 by wire or wirelessly.

Of course, some auxiliary devices, such as the client 600, the collecting device 700, the mapping device 400, the positioning device 500, and the working device 300 shown in fig. 1; the working device 300 may be an unmanned aerial vehicle, a ground robot, a ground farm machine, etc., but is not limited thereto; the positioning device 500 is an RTK positioning system, and specifically includes a navigation satellite and an RTK (Real-time-kinematic, abbreviated as RTK) information service platform, where the RTK information service platform obtains navigation correction data by using a carrier-phase differential technology (RTK technology), and then issues the navigation correction data in a broadcast manner, so that after receiving the navigation correction data, a user corrects the navigation positioning information by using the navigation correction data to obtain positioning information required by the user.

In the work system shown in fig. 1, the positioning device 500 is used to position the collecting device 700 and the work device 300 to obtain the positioning information of the work device 300 and the positioning information of the collecting device 700. The mapping device 400 may map the work area to obtain geographic coordinates of the work area, which are generally latitude and longitude information of the work area; the collection device 700 may collect status information of an operation object in an operation area, the client 600 may receive various information set by a user, such as operation path information of the operation device, structural information of the operation device 300, and collection parameters of the collection device 700, the collection parameters of the collection device 700 may be a collection direction or a collection angle, the collection angle refers to an included angle between the collection direction and the ground, and the collection device 700 may have different collection ranges due to the problem of the collection direction or the collection angle. And the client can set the collection parameters of the collection device 700 through the client 600 to adjust the collection range of the collection device 700, and at this time, the collection device 700 and the client 600 communicate with each other. The various information set by the client 600 may be stored in a desired device in a pre-stored manner.

For example, the types of the location information of the above-described work apparatus 300 and the location information of the collection apparatus 700 are determined according to the location apparatus. For example, if the positioning device 500 is an RTK positioning system, the type of the positioning information of the work device 300 and the type of the positioning information of the acquisition device 700 are both RTK positioning information. For another example, if the positioning device 500 is a Global Positioning System (GPS), the type of the positioning information of the working device 300 and the type of the positioning information of the collecting device 700 are both GPS positioning information.

The work path information of the work equipment may be a work path automatically generated, which is generally a serpentine work path, but may be a work path having another shape. The configuration information of the work equipment 300 includes a floor area of the work equipment, a volume of the work equipment, and the like.

The operation area can be an area such as a farmland, a pasture, a forest farm and the like, and the operation object can be crops such as cotton, wheat, rice, fruit trees and the like, and can also be trees, forests, pastures and the like in an agriculture, forestry and pasture farm. The control target state information includes information related to the work purpose, such as pest information, leaf density information, growth condition information, and the like. For example: the control object is pest and disease damage information, and then the operation aim is to inhibit pest and disease damage; if the control object is the blade density information, the operation aim can be to control the blade density by spraying the defoliant; if the control object is growth condition information such as growth vigor of crops and pasture, the operation aim is to promote the rapid growth of the crops.

The type of the job object state information transmitted by the above-described collection device 700 may include a visible light image of the job object and/or an invisible light image of the job object, and the specific kind thereof is related to the type of the collection device. For example: the collecting device is an RGB camera, a multispectral camera or a laser radar, and the corresponding operation object state information is color image information, multispectral image information or image depth information.

The acquisition parameters of the acquisition device 700 include an acquisition direction and an acquisition angle of the acquisition device; the collecting direction of the collecting device determines the relative position of the operation object corresponding to the collected operation object state information and the collecting device, and the collecting angle of the collecting device determines the range of the operation object corresponding to the collected operation object state information.

Further, the harvesting device 700 and the surveying device 400 may be provided on the work apparatus 300 such that the work apparatus 300 has the harvesting function and the surveying function of the work apparatus 300; of course, it may also be formed that the acquisition device 700 is disposed on the mapping device 400, so that the mapping device 400 also has an acquisition function when performing mapping work, for example, the existing mapping aircraft generally has functions of image pickup, geographic mapping, and the like.

The above-mentioned working equipment 300 includes a plant protection unmanned aerial vehicle, a ground robot, a tractor, ground unmanned working equipment, and the like.

The following describes the operation control method provided by the embodiment of the present invention in detail from different points of view with reference to the accompanying drawings.

As shown in fig. 1, fig. 2, fig. 12, and fig. 18, a job control method according to an embodiment of the present invention includes:

step S110: performing virtual division processing on a working area to obtain position information of a plurality of working blocks; the virtual division of the work area may be divided into a plurality of regular work blocks such as rectangles, squares, or diamonds, or may be divided into irregular multi-deformed work blocks, but is not limited thereto.

Step S130: receiving the state information of a job object corresponding to at least one job block, and acquiring a control strategy of the at least one job block according to the state information of the job object corresponding to the at least one job block and the position information of the corresponding job block; the job block job control policy includes job block location information and a job policy corresponding to the job block.

The operation block control strategies are different for different operation objects, and when the control object is the pest information of the operation object, the visual sensor or the multispectral sensor can be used as the acquisition device 700. Acquiring image information of an operation object by using a visual sensor or a multispectral sensor, analyzing plant leaf curling degree, insect eye degree, withering degree and other pest and disease damage conditions according to the image information of the operation object, generating spraying dosage of the operation object in an operation block according to the pest and disease damage information conditions, and taking the spraying dosage of the operation object in the operation block as an operation strategy of the operation block; at the same time, the geographical coordinates of the image information of the acquired job object should also be determined, and the geographical coordinates of the image information of the acquired job object should be used as the position information of the job object, in which case the position information of the job object and the constituent job block control policies of the job object within the job block. When the operation equipment works, the operation block needing to be sprayed with the medicament is determined according to the position information of the operation object included in the operation block control strategy, and then the operation equipment is used for operating all the operation objects in the operation block needing to be sprayed with the medicament according to the spraying dosage of the operation objects in the operation block included in the operation block control strategy.

In a specific implementation manner, when the control object is blade density information, a crop of a work block is monitored or photographed through a vision sensor or a laser radar, and the like, so as to obtain point cloud information of the work block. The average value of the point cloud information of the operation block is defined as the density information of the operation block. And then, generating the spraying dosage of the crops in the operation block by referring to the density information of the operation block, and defining the spraying dosage of the crops in the operation block as an operation strategy of the operation block so as to utilize the spraying dosage of the crops in the operation block for controlling the spraying dosage of the defoliant.

In another specific implementation manner, when the control object is the growth condition of the working object, the crop of the working block is monitored or photographed by a visual sensor or a laser radar, etc., so as to obtain a picture or other sensing information of the working block within a period of time, and then the growth information of the crop in the working block is analyzed according to the plant radius of the crop displayed by the picture or other sensing information of the working block within the period of time. Then, the fertilizing amount of the crops or the picking data of the crops are generated according to the growth information of the crops in the operation block. The fertilizing amount of the crops or the picking data of the crops are defined as an operation strategy of an operation block, the fertilizing amount of the crops or the picking data of the crops are utilized to determine the amount of the leaf fertilizer supplemented during the growth period of the crop plants, the watering and fertilizing amount of ground equipment is controlled, and time nodes of the ground equipment for collecting mature fruits or time nodes of the bottom equipment for picking tops of cotton are controlled.

Step S140: and controlling the operation equipment 300 to operate the corresponding operation block according to the at least one operation block control strategy.

In the job control method provided above, the job area is virtually divided to obtain the position information of the plurality of job blocks, and then at least one job block control policy is obtained according to the job object state information corresponding to at least one job block and the position information of the corresponding job block, so that the job device can be controlled to perform the job on the corresponding job block by using the at least one job block control policy. Because the job block control strategy is obtained by the job block position information and the corresponding job object state information, each job block control strategy is determined by the state information of the job object of the corresponding job block, so that the job control strategies of each job block have difference, and each job block control strategy is ensured to be matched with the job object of the corresponding job block. Because the operation control strategies of each operation block have difference and the control strategy of each operation block is ensured to be matched with the operation object of the corresponding operation block, the operation control method provided by the embodiment of the invention can provide different operation control strategies for different operation blocks so as to reduce the problem caused by inconsistent operation requirements of operation objects in the same operation area. For example, the method generates low spraying amount even no spraying for crops with good growth and no plant diseases and insect pests, and generates more spraying amount for crops with serious diseases, so that the operation control method can reduce the problems of pesticide residue and the like as far as possible, and simultaneously avoid resource waste.

Specifically, as shown in fig. 1, 3, 12, and 18, the obtaining of the plurality of pieces of work block position information by virtually dividing the work area includes:

step S111: the structural parameters of work device 300 and the geographic coordinates of the work area are received. The configuration parameters of the work apparatus 300 may be configuration parameters of the work apparatus 300 prestored in advance, or may be configuration parameters of the work apparatus 300 provided by the client 600, such as: the structural parameters can be the length and width values of the unmanned aerial vehicle, so that the operation width amplitude of the unmanned aerial vehicle can be determined. For another example, the structural parameter may be a width of the ground working equipment, such that a working amplitude of the ground working equipment may be determined; the geographic coordinates of the work area may be stored in advance or may be provided by mapping device 400. When the configuration parameters of the work apparatus 300 and the geographical coordinates of the work area are both the configuration parameters of the work apparatus 300 pre-stored in advance, the step S112 is directly performed without receiving the configuration parameters of the work apparatus 300.

Step S112: and obtaining the position information of the plurality of operation blocks according to the geographic coordinates of the operation area and the structural parameters of the operation equipment.

Specifically, as shown in fig. 1, 4, 12, and 18, obtaining the plurality of pieces of work position information from the geographical coordinates of the work area and the configuration parameters of the work equipment 300 includes:

step S1121: obtaining the working range of the working equipment 300 according to the structural parameters of the working equipment 300;

step S1122: the geographical coordinates of the work area are divided according to the work range of work implement 300, and a plurality of pieces of work block position information are obtained.

The following are exemplary: the construction parameters of the work equipment 300 include its own volume and installation position of the working device on the work equipment 300, which determine the working range of the work equipment 300, including the working width, the working area per unit time and the like. The length and the width of the operation block can be determined by referring to the operation range, the operation block can be divided after the length and the width of the operation block are determined, and the position information of each operation block can be obtained by combining the geographic coordinates of the operation area, wherein the obtaining of the position information of each operation block comprises obtaining the boundary position information and/or the center position information of each operation block.

As can be seen from the above, when the operation area is virtually divided, the operation path information of the operation device is not considered, so that the operation device lacks data indicating whether the corresponding operation block has already operated when operating the corresponding operation block according to at least one operation block control policy. Based on this, after obtaining the position information of the plurality of job blocks, before obtaining at least one job block control information based on the job object state information corresponding to at least one job block and the corresponding job block position information, as shown in fig. 1, 2, and 18, the job control method further includes:

step S120: the position information of the plurality of operation blocks is sequenced according to the operation path information of the operation equipment 300 to obtain the position information of the sequenced operation blocks, so that the operation of the operation equipment 300 can be performed in sequence when the operation equipment 300 operates along the operation path, the operation of the operation equipment 300 is facilitated, the operation efficiency is improved, and repeated operation or operation omission is avoided.

Illustratively, as shown in fig. 1, 5, 12 and 18, the above-mentioned performing the sorting process on the plurality of pieces of job block location information according to the job path information of the job device, and obtaining the serialized job block location information includes:

step S121: obtaining arrangement information of the plurality of job blocks from a start point to an end point along the job path, based on the job path information of the job device 300 and the geographical coordinates of the plurality of job blocks; the arrangement information is the order of the work path advance direction of each work block in the work area. The job path information of the job device 300 may be job path information of the job device received after the client sets the job device by the client 600, or may be automatically generated job path information of the job device, specifically, job path information of the job region is generated based on geographical coordinates of the job region.

Step S122: serialized job block position information is obtained from arrangement information of a plurality of job blocks from a start point to an end point along a job path and a plurality of job block position information.

Alternatively, the job object state information of each job block may be the job object state information of all job blocks collected by the collection device 700 at one time before the job device 300 performs the job on all job blocks of the job device 300, or the job object state information of the job block which is not operated and collected by the collection device 700 may be received when the job device is controlled to perform the job on the corresponding job block according to the at least one job block control policy.

Before acquiring at least one job block control policy according to job object state information corresponding to at least one job block and corresponding job block position information, and when acquiring job object state information of all job blocks by the acquisition device 700 at a time, and before acquiring a serialized block control policy according to serialized job block position information and job object state information of each job block, as shown in fig. 1, 6, 12, and 18, a job control method according to an embodiment of the present invention further includes:

step S131 a: receiving the positioning information of the acquisition device 700 transmitted by the acquisition device 700; when the surveying device 400 surveys the geographical coordinates of the work area, the collecting device 700 may be provided on the surveying device 400 so that the work object state information and the positioning information of the collecting device 700 within the work area are collected when the geographical coordinates of the work area are surveyed.

step S132 a: acquiring control object distribution information in the operation area according to the operation object state information in the operation area, the acquisition parameters of the acquisition equipment 700 and the positioning information of the acquisition equipment 700; the acquisition parameters of the acquisition device 700 may be preset in advance, or may be provided by the client 600.

Specifically, as shown in fig. 1, 7, 12, and 18, obtaining control object distribution information in the work area according to the work object state information in the work area, the acquisition parameters of the acquisition device 700, and the positioning information of the acquisition device 700 includes:

step S1321 a: and obtaining estimated control object density information in the working area according to the working object state information in the working area.

Step S1322 a: and obtaining the distribution information of the control objects in the operation area according to the estimated density information of the control objects in the operation area, the acquisition parameters of the acquisition equipment 700 and the positioning information of the acquisition equipment, wherein the distribution information of the control objects in the operation area comprises the density distribution information of the control objects in the operation area.

In one embodiment, when the collecting device 700 is a camera, the operation object is crops such as cotton and wheat, and the control object is plant diseases and insect pests; the type of the work object state information collected by the collection device 700 is image information of crops such as cotton and wheat. The image information of the crops such as cotton and wheat can be identified through a learning algorithm (such as a Convolutional Neural Network (CNN) algorithm) to determine estimated pest and disease density information of the crops such as cotton and wheat in the working area. Then, according to the acquisition parameters of the acquisition equipment 700 such as the acquisition angle of the acquisition equipment 700 and the positioning information of the acquisition equipment 700, the acquired estimated pest and disease density information of crops such as cotton, wheat and the like in the operation area is projected to the ground of the operation area, so that the density distribution information of crops such as cotton, wheat and the like in the operation area can be obtained.

Step S133 a: acquiring an operation strategy of the serialized operation block according to the serialization control object distribution information;

specifically, as shown in fig. 1, 8, 12, and 18, obtaining the serialized job block control policy based on the job policy of the serialized job block and the serialized job block location information includes:

step S1331 a: carrying out grading processing on the distribution information of the serialized control objects according to the distribution levels of the historical control objects to obtain the grades of the serialized control objects;

step S1332 a: and obtaining the operation strategy of the serialized operation block according to the historical operation strategy corresponding to the historical control object distribution level and the serialized control object level.

Step S134 a: and obtaining a serialized job block control strategy according to the job strategy of the serialized job block and the serialized job block position information, wherein the serialized job block job control strategy comprises the serialized job block position information and the job strategy of the corresponding job block.

It should be noted that, in the process of obtaining the serialized job block control policy, the historical control object distribution information and the corresponding historical job policy are substantially counted in a big data manner, and the historical control object distribution information is subjected to hierarchical processing to establish the corresponding relationship between the historical control object distribution level and the historical job policy. Based on the above, carrying out grading processing on the distribution information of the serialized control objects according to the distribution levels of the historical control objects to obtain the serialized control levels; then, the serialized block job policy can be obtained only according to the job policy corresponding to the historical control object distribution level and the serialized control level.

Receiving job object state information of a non-job block collected by the collection device 700 while the job device 300 performs a job on the job block, as shown in fig. 1, 9, 12, and 18, when the collection device 700 is provided on the job device 300; the step of obtaining at least one job block control strategy according to the job object state information and the corresponding job block position information corresponding to at least one job block comprises the following steps:

step S131 b: receiving positioning information of the work apparatus 300; the location information of the collection device 700 may include its position information and installation angle information with respect to the working device, and the like.

Step S133 b: receiving the work block work object state information which is transmitted by the acquisition equipment 700 and is adjacent to the work block where the work equipment 300 is located, wherein the adjacent work block work object state information at least comprises the work object state information of the target work block; the target work block may be a work block next to the work block where the work apparatus 300 is located along the advancing direction of the work path of the work area;

step S134 b: acquiring an unoperated operation block operation strategy according to the positioning information of the operation equipment and the state information of the operation object of the adjacent operation block; specifically, as shown in fig. 1, 10, 12, and 18, obtaining the non-job block job policy based on the positioning information of the job device 300 and the adjacent job block job object state information includes:

step S134b 1: the job block job object state information of the non-job is acquired from the adjacent job block job object state information based on the positioning information and the serialized job block position information of the job device 300. For example: the collection equipment of accessible installation on unmanned aerial vehicle obtains the operation object state information of the operation piece in the operation region, and through operation equipment positional information and collection equipment's relative mounted position, the positional information that can obtain collection equipment can obtain operation piece positional information, also can adjust collection equipment's position and be used for obtaining the operation object information of adjacent not operation piece.

Step S134b 2: acquiring the distribution information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block, the acquisition parameters of the acquisition equipment 700 and the positioning information of the acquisition equipment 700; specifically, obtaining the distribution information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block, the acquisition parameter of the acquisition device and the positioning information of the acquisition device comprises:

obtaining density estimation information of a control object of an unoperated operation block according to the state information of the operation object of the unoperated operation block; acquiring control object distribution information of the non-operated operation block according to density estimation information of the non-operated operation block control object, acquisition parameters of the acquisition equipment 700 and positioning information of the acquisition equipment 700; the control target distribution information of the non-worked work block includes control target density distribution information of the non-worked work block.

Step S134b 3: and obtaining the operation strategy of the unoperated operation block according to the distribution information of the unoperated operation block control object.

Step S135 b: acquiring an unoperated operation block control strategy according to the serialized operation block position information and the unoperated operation block operation strategy; specifically, as shown in fig. 1, 11, 12, and 18, obtaining the non-job block control policy based on the serialized job block location information and the non-job block job policy includes:

step S135b 1: obtaining the position information of the operation block which is not operated according to the positioning information of the operation equipment and the position information of the serialized operation block;

step S135b 2: and obtaining the unoperated job block control strategy according to the unoperated job block position information and the unoperated job block operation strategy.

Step S137 b: acquiring a target operation block control strategy from an unoperated operation block operation strategy according to acquisition parameters of the acquisition equipment;

based on the above-described process, as illustrated in fig. 1, 9, 12, and 18, controlling the job device 300 to perform a job on a corresponding job block according to at least one job block control policy includes:

step S141: judging whether the job block where the job equipment is located is updated according to the positioning information and the serialized job position information of the job equipment 300;

step S142: and when the operation block where the operation equipment is located is updated, controlling the operation equipment to operate corresponding to the operation block according to the target operation block control strategy.

It is to be noted that, when the collecting device is provided only in front of the work device 300, the job object state information of the adjacent job blocks in the above-described embodiment includes only the job object state information of the target job block; the target work block is the next work block to the work block where the work apparatus 300 is located along the advancing direction of the work path of the work apparatus 300; when the collection device 700 includes a plurality of collection modules, if the plurality of collection modules are disposed in front of, on both sides of, and behind the work device 300 in a one-to-one correspondence manner, at this time, the state information of the work object of the adjacent work block in the above-described embodiment includes not only the state information of the work object of the target work block, but also the state information of the work object of the work block on both sides of the work block where the work device 300 is located, and the state information of the work object of the work block on the rear side.

Further, after obtaining at least one job block control policy, before controlling the work equipment to perform a job on the corresponding job block according to the at least one job block control policy, as shown in fig. 1, 9, 12 and 18, the job control method further includes:

step S136 b: storing the unoperated operation block control strategy;

step S150: when the operation block where the operation equipment is located is updated, the positioning information of the operation equipment and the operation object state information of the operation block, which is transmitted by the acquisition equipment and is adjacent to the operation block where the operation equipment is located, of the operation equipment are updated.

When the collection device 700 includes a plurality of collection modules provided in front, both sides, and the rear of the work device 300 in one-to-one correspondence, the non-working work block control policy stored in step S125b includes some non-working work block control policies that may be used as target work block control policies for work blocks at a future time period in addition to the target work block control policies. Therefore, after receiving the positioning information of the work equipment 300 and before receiving the work block work object status information of the work block adjacent to the work block where the work equipment 300 is located, which is transmitted by the collecting equipment 700, as shown in fig. 1, 9, 12 and 18, the obtaining of the at least one work block control policy according to the at least one work block information and the work object status information of the corresponding work block further includes:

step S132 b: judging whether the stored operation block operation strategy of the unoperated operation has a target operation block control strategy or not according to the positioning information of the operation equipment 300 and the position information of the serialized operation block;

otherwise, the job block job object status information transmitted by the above-mentioned reception acquisition device 700 and adjacent to the job block where the job device 300 is located is executed.

As can be seen from the above, if the non-operated job block job policy stores the target job block control policy, the target job block control policy can be directly obtained from the originally stored non-operated job block job policy, thereby increasing the generation speed of the target job block control policy.

As shown in fig. 1, fig. 2, fig. 12, and fig. 18, an embodiment of the present invention further provides a job control terminal 100 including:

the first receiving unit 110 connected to the collecting apparatus 700 receives job object state information corresponding to at least one job block;

the block dividing unit 120 is connected to the first receiving unit 110, and configured to perform virtual division processing on the job area to obtain the plurality of job block position information.

A policy setting unit 140 connected to the first receiving unit 110 and the block dividing unit 120, configured to obtain at least one job block control policy based on job object state information and corresponding job block position information corresponding to the at least one job block; the job block control policy includes serialized job block location information and job policies corresponding to the job blocks.

The first control unit 150 connected to the policy setting unit 140 is configured to control the work equipment 300 to perform work on a corresponding work block according to at least one work block control policy.

Compared with the prior art, the beneficial effects of the job control terminal 100 provided by the embodiment of the present invention are the same as those of the job control method provided by the above embodiment, and are not described herein again.

The operation control terminal 100 may be a terminal having a data processing function, such as a desktop computer, a notebook, a tablet computer, and a mobile phone, or may be a central processing unit of an operation device, for example, an unmanned aerial vehicle flight controller.

Specifically, as shown in fig. 1, 3, 12 and 18, the block dividing unit 120 is specifically configured to obtain the position information of the plurality of job blocks according to the geographic coordinates of the job area and the configuration parameters of the job device 300. Wherein the content of the first and second substances,

as shown in fig. 1, 3, 12 and 18, the geographic coordinates of the work area may be stored in advance or provided by the mapping device 400; based on this, when the geographic coordinates of the work area are provided by the surveying device 400, the first receiving unit 110 is in communication with the surveying device 400, and the first receiving unit 110 is connected to the block dividing unit 120, so that the first receiving unit 110 can receive the geographic coordinates of the work area provided by the surveying device 400 and ensure that the geographic coordinates of the work area are transmitted to the block dividing unit 120.

Further, as shown in fig. 1, 4, 12 and 18, the block dividing unit 120 is specifically configured to obtain the working range of the working device 300 according to the configuration parameters of the working device 300; the geographic coordinates of the work area are divided according to the work range of work implement 300, and a plurality of pieces of work block position information are obtained. The configuration parameters of the work equipment 300 may be stored in the work control terminal 100, or the first receiving unit 110 may communicate with the client 600, and the first receiving unit 110 receives the configuration parameters of the work equipment 300 provided by the client 600. The configuration parameters of the work equipment 300 may be stored in the work control terminal 100, or may be set by the client through the client 600. When the configuration parameter of the job device 300 is set by the client 600, the first receiving unit 110 is configured to receive the job scope of the job device 300 provided by the client 600 and transmit the job scope of the job device 300 to the block dividing unit 120.

In order to facilitate the operation of the operation device 300, as shown in fig. 1, 5, 12 and 18, the operation control terminal 100 further includes a sorting unit 130 connected to the block dividing unit 120 and the policy setting unit 140, and configured to, after obtaining the plurality of operation block position information, sort the plurality of operation block position information according to the operation path information of the operation device to obtain the serialized operation block position information before obtaining at least one operation block control information according to the operation object state information and the corresponding operation block position information corresponding to at least one operation block.

As shown in fig. 1, 12 and 18, the job path information of the job device 300 may be job path information of the job device 300 received after the client sets the job path information by the client 600, or may be automatically generated job path information of the job device 300, specifically, job path information of the job region is generated based on geographical coordinates of the job region. When the job path information of the job device 300 is set by the client through the client 600, the first receiving unit 110 further communicates with the client 600, so that the first receiving unit 110 receives the job path information of the job device 300 input by the user provided by the client 600. And the first receiving unit 110 should also be connected with the sorting unit 130 so that the job path information of the job device 300 is provided to the sorting unit 130.

Alternatively, as shown in fig. 1 and 18, the job target state information of each job block may be acquired by the acquisition device 700 at a time before the job device 300 performs the job on all job blocks of the job device 300, or may be acquired by the acquisition device 700 while the job device 300 performs the job on the job block and receiving the job target state information of the job block which is not operated and acquired by the acquisition device 700.

As shown in fig. 1, 6, 12, and 18, when the collecting device 700 collects the work object state information of all the work blocks at one time before the work device 300 performs work on all the work blocks of the work device 300, the collecting device 700 may be provided on the surveying device 400 at this time so that the collecting device 700 can collect the work object state information within the work area when the surveying device 400 surveys the geographical coordinates of the work area. Specifically, the first receiving unit 110 is configured to receive job object state information in a job area transmitted by the collecting device 700 and location information of the collecting device 700 before obtaining at least one job block control policy according to job object state information corresponding to at least one job block and corresponding job block location information. The policy setting unit 140 is specifically configured to obtain control object distribution information in the work area according to the work object state information in the work area, the acquisition parameters of the acquisition device 700, and the positioning information of the acquisition device 700; dividing control object distribution information in the operation area according to the position information of the serialized operation block to obtain the serialized control object distribution information; and acquiring a serialized operation block control strategy according to the serialized control object distribution information and the serialized operation block position information, wherein the serialized block operation control strategy comprises the serialized operation block position information and an operation strategy corresponding to the operation block. The acquisition parameters of the acquisition device 700 may be directly stored in the job control terminal 100 to be called when needed, or the client may set the acquisition parameters of the acquisition device 700 through the client 600, and the client 600 sends the acquisition parameters of the acquisition device 700 to the job control terminal 100, so that the first receiving unit 110 included in the job control terminal 100 receives the acquisition parameters of the acquisition device 700.

Further, as shown in fig. 1, 7, 12 and 18, the policy setting unit 140 is specifically configured to obtain estimated control object density information in the work area according to the work object state information in the work area; and obtaining the distribution information of the control objects in the operation area according to the estimated density information of the control objects in the operation area, the acquisition parameters of the acquisition equipment 700 and the positioning information of the acquisition equipment 700, wherein the distribution information of the control objects in the operation area comprises the density distribution information of the control objects in the operation area.

As shown in fig. 1, 8, 12, and 18, the policy setting unit 140 is specifically configured to perform a hierarchical processing on the serialization control object distribution information according to the historical control object distribution level to obtain a serialization control object level; and obtaining the operation strategy of the serialized operation block according to the historical operation strategy corresponding to the historical control object distribution level and the serialized control level.

As shown in fig. 1, 9, 12, and 18, when the job device 300 performs a job on one of the job blocks, job target state information of a job block which is not operated and acquired by the acquisition device 700 is received, the acquisition device 700 being provided on the job device 300; the first receiving unit 110 described above communicates with the collecting apparatus 700 and the working apparatus 300 at this time. The first receiving unit 110 is configured to receive positioning information of the work equipment 300, and receive work block work object status information, which is transmitted by the acquisition equipment 700 and is adjacent to a work block where the work equipment 300 is located, where the adjacent work block work object status information at least includes work object status information of a target work block; the target work block is the next work block of the work block in which the work equipment 300 is located along the advancing direction of the work path of the work area. The acquisition parameters of the acquisition device 700 may be stored in the job control terminal 100 or may be received by the client 600.

As shown in fig. 1, 10, 12 and 18, the policy setting unit 140 is specifically configured to obtain a job block job policy of an unharvested job according to the positioning information of the job device 300 and the status information of the job object of the adjacent job block; acquiring an unoperated operation block control strategy according to the serialized operation block position information and the unoperated operation block operation strategy; acquiring a target operation block control strategy from an unoperated operation block operation strategy according to acquisition parameters of the acquisition equipment 300; and judging whether the job block where the job equipment 300 is positioned is updated or not according to the positioning information and the serialized job position information of the job equipment 300. The first control unit 150 is specifically configured to, when a job block where the job device 300 is located is updated, control the operated device 300 to perform a job on the corresponding job block according to the target job block control policy.

Specifically, the policy setting unit 140 is specifically configured to obtain the status information of the job block job object that is not operated from the status information of the job block job object adjacent to the positioning information of the job device 300 and the serialized job block position information; acquiring the distribution information of the control objects of the non-operated operation blocks according to the state information of the operation objects of the non-operated operation blocks, the acquisition parameters of the acquisition equipment 300 and the positioning information of the acquisition equipment 700; and obtaining the operation strategy of the unoperated operation block according to the distribution information of the unoperated operation block control object.

Illustratively, the policy setting unit 140 is specifically configured to obtain density estimation information of a job block control object that is not operated according to job block operation object state information that is not operated; acquiring control object distribution information of the non-operated operation block according to density estimation information of the non-operated operation block control object, acquisition parameters of the acquisition equipment 700 and positioning information of the acquisition equipment 700; the control object distribution information of the non-worked work block includes control object density distribution information of the non-worked work block.

The policy setting unit 140 is specifically configured to perform a ranking process on the distribution information of the job block control objects that are not operated according to the historical distribution levels of the control objects, and obtain the level of the job block control objects that are not operated; and obtaining the job block job strategy of the non-job according to the historical job strategy corresponding to the historical control object distribution level and the job block control object level of the non-job. The policy setting unit 140 is specifically configured to obtain the position information of the non-operated operation block according to the positioning information of the operation device 300 and the position information of the serialized operation block; and obtaining the unoperated job block control strategy according to the unoperated job block position information and the unoperated job block operation strategy.

Further, as shown in fig. 1, 9, 12 and 18, the job control terminal 100 further includes a storage unit 160 connected to the policy setting unit 140, and configured to store a job block control policy that is not operated before controlling the operation device to operate on a corresponding job block according to at least one job block control policy after obtaining the at least one job block control policy;

the first receiving unit 110 is further configured to update the positioning information of the work equipment and collect the status information of the work object of the work block adjacent to the work block where the work equipment is located, where the work block where the work equipment is located is updated. Specifically, when the job block where the job device 300 is located is updated, the policy setting unit 140 may generate an update control instruction and transmit the update control instruction to the first receiving unit 110, so that the first receiving unit 110 updates the positioning information of the job device and the job block job object state information, which is transmitted by the collection device and is adjacent to the job block where the job device is located, according to the update control instruction.

It is considered that there is a possibility that a target job block control policy exists among the job block control policies of the non-jobs stored in the storage unit 160. Based on this, the policy setting unit 140 is further configured to, after receiving the positioning information of the work equipment 300, before receiving the work block operation object state information of the work block adjacent to the work block where the work equipment 300 is located and transmitted by the acquisition equipment 700, determine whether the stored non-operated work block operation policy has the target work block control policy according to the positioning information of the work equipment 300 and the serialized work block information; if yes, obtaining a target operation block control strategy from an operation strategy of an unoperated operation block, and executing and receiving operation block operation object state information which is transmitted by the acquisition equipment and is adjacent to the operation block where the operation equipment is located; otherwise, executing the operation block operation object state information which is transmitted by the receiving and collecting device and is adjacent to the operation block where the operation device is located. If the target job block control policy is acquired from the job block job policy of the non-job, the generation process of the target job block control policy is omitted, thereby saving the generation time of the target job block control policy.

The storage unit 160 may be a single storage device, or may be a collective term for a plurality of storage elements, and is used to store executable program codes and the like. And the memory 402 may include a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, a Flash memory (Flash), and the like.

It should be noted that the acquisition parameters of the acquisition device 700 are the acquisition direction and the acquisition angle of the acquisition device 700; the job object state information includes a visible light image of the job object and/or an invisible light image of the job object.

Further, when information such as the configuration parameters of the work equipment 300, the acquisition parameters of the acquisition equipment 700, the work path information of the work equipment 700, and the geographical coordinates of the work equipment 300 is stored in the work control terminal 100 in advance, the information is specifically stored in the storage unit 150.

As shown in fig. 1, 13 to 16, and 18, an embodiment of the present invention also provides a job control method applied to the job device 300; the job control method includes:

step S210: receiving a job block control policy transmitted by the job control terminal 100; the job block control strategy comprises job block position information and a job block job strategy;

step S230: the job device 300 is controlled to perform a job on a job block according to the job block control policy.

Compared with the prior art, the operation control method provided by the embodiment of the invention has the same beneficial effects as the operation control method provided by the embodiment, and the details are not repeated herein.

When the collecting device 700 collects job object status information of all job blocks at one time before the job device 300 performs a job on all job blocks in the job area, as shown in fig. 1, 13 and 17, the job block control policy transmitted by the receiving job control terminal 100 includes:

step S210 a: receiving control policies of all job blocks transmitted by the job control terminal 100; the control policies for all job blocks include serialized job block location information and job policies for corresponding job blocks.

As shown in fig. 1, 13, 15, and 18, after receiving at least one job block control policy transmitted by the job control terminal 100, before controlling the job device 300 to perform a job on a job block according to the job block control policy, the job control method further includes:

step S220 a: determining a target job control policy, specifically, determining a target job control policy comprises:

step S221 a: location information of the work apparatus 300 is received.

Step S222 a: a target work block control strategy is obtained from the control strategies of all the work blocks according to the positioning information of the work equipment 300, the target work block control strategy comprises position information of the target work block and the work strategy of the target work block, and the target work block is the next work block of the work block where the work equipment is located along the advancing direction of the work path of the work area.

Step S223 a: and judging whether the operation block where the operation equipment is located is updated or not according to the position information of the target operation block and the positioning information of the operation equipment.

Step S224 a: and when the operation block where the operation equipment is located is updated, updating the positioning information of the operation equipment.

As shown in fig. 1, 13, 15, and 18, the above-described controlling the job device 300 to perform the job on the job block according to the job block control policy includes:

step S230 a: and when the operation block where the operation equipment is located is updated, controlling the operation equipment to operate the operation block according to the target operation block control strategy.

As shown in fig. 16 to 18, while the job device 300 performs a job on one of the job blocks, receiving job object status information of a job block which is not processed and collected by the collection device 700, the job block control policy transmitted by the receiving job control terminal 100 includes:

step S210 b: receiving a target job block control policy transmitted by the job control terminal 100; the target job block control strategy comprises position information of the target job block and a job strategy of the target job block; the target work block is the next work block of the work block where the work equipment 300 is located along the advancing direction of the work path of the work area;

after receiving the job block control policy transmitted by the job control terminal 100, before controlling the job device to perform the job on the job block according to the job block control policy, the job control method further includes step S220 b: it is determined whether to transmit the target job block control policy. As shown in fig. 17 and 18, determining whether to transmit the target job block control policy specifically includes:

step S221 b: receiving positioning information of the work apparatus 300;

step S222 b: judging whether the job block where the job equipment 300 is located is updated or not according to the position information of the target job block and the positioning information of the job equipment 300;

when the job block where the job equipment 300 is located is updated, updating the target job block control strategy and the positioning information of the job equipment;

as shown in fig. 1, 16 to 18, the above-described controlling the job device 300 to perform the job on the job block according to the job block control policy includes:

step S230 b: when the job block where the job device 300 is located is updated, the job device is controlled to perform the job on the job block according to the target job block control strategy.

The embodiment of the invention also provides a job server 200 which is applied to the job equipment 300. As shown in fig. 1, 12 to 18, the job server 200 includes:

a second receiving unit 210 for receiving the job block control policy transmitted by the job control terminal 100; the job block control policy includes job block location information and a job block job policy.

And a second control unit 230 for controlling the job device 300 to perform a job on the job block according to the job block control policy.

Compared with the prior art, the beneficial effects of the job server 200 provided by the embodiment of the present invention are the same as those of the job control method provided by the above embodiment, and are not described herein again.

When the collecting device 700 collects job object status information of all job blocks at one time before the job device 300 performs a job on all job blocks in the job area, as shown in fig. 1, 12, 14, and 18, the second receiving unit 210 is specifically configured to receive a control policy of all job blocks transmitted by the job control terminal 100; the control policies for all job blocks include serialized job block location information and job policies for corresponding job blocks. The second receiving unit 210 is further configured to receive positioning information of the job device after receiving at least one job block control policy transmitted by the job control terminal 100 and before controlling the job device 300 to perform a job on a job block according to the job block control policy.

At this time, as shown in fig. 1, 12, 15 and 18, the job server 200 further includes a processing unit 220 connected to the second receiving unit 210 and the second control unit 230, and configured to obtain a target job block control policy from the control policies of all job blocks according to the positioning information of the job device 300, the target job block control policy including position information of the target job block and the job policy of the target job block, the target job block being a job block next to the job block where the job device 300 is located along the advancing direction of the job path of the job area; and judging whether the operation block where the operation equipment is located is updated or not according to the position information of the target operation block and the positioning information of the operation equipment.

As shown in fig. 1, 12, 15, and 18, the second receiving unit 210 is further configured to update the positioning information of the work equipment when the work block where the work equipment is located is updated. Specifically, the second receiving unit 210 communicates with the processing unit 220, and when the job block where the job device is located is updated, the processing unit 220 generates an update control instruction and transmits the update control instruction to the second receiving unit 210, so that the second receiving unit 210 updates the positioning information of the job device according to the update control instruction. At this time, the second control unit 230 is specifically configured to control the work equipment to perform the work on the work block according to the target work block control policy when the work block where the work equipment 300 is located is updated.

While the job device 300 performs a job on one of the job blocks, receiving job object status information of a job block which is not operated and collected by the collection device 700, as shown in fig. 1, 12 and 17, the second receiving unit 210 is specifically configured to receive a target job block control policy transmitted by the job control terminal 100; the target job block control strategy comprises position information of the target job block and a job strategy of the target job block; the target work block is the next work block of the work block where the work equipment 300 is located along the advancing direction of the work path of the work area; the second receiving unit 210 communicates with the work apparatus 300, and is also used to receive positioning information of the work apparatus 300. Meanwhile, after receiving the job block control policy transmitted by the job control terminal 100, the second receiving unit 210 receives the positioning information of the job device before controlling the job device to perform the job on the job block according to the job block control policy.

As shown in fig. 1, 12, 17, and 18, the job server 200 further includes a processing unit 220 connected to the second receiving unit 210 and the second control unit 230, respectively, and the processing unit 220 is configured to determine whether or not the job block where the job device 300 is located is updated, based on the position information of the target job block and the positioning information of the job device 300.

As shown in fig. 1, 12, 17 and 18, the second receiving unit 210 is further configured to update the target job block control policy and the positioning information of the job device 300 when the job block where the job device is located is updated. Specifically, the second receiving unit 210 communicates with the processing unit 220, and when the job block where the job device is located is updated, the processing unit 220 generates an update control instruction and transmits the update control instruction to the second receiving unit 210, so that the second receiving unit 210 updates the positioning information of the job device according to the update control instruction.

As shown in fig. 1, 12, 17 and 18, the second control unit 230 is specifically configured to send a target job block control policy to the job device 300 when the job block where the job device 300 is located is updated.

The Processing Unit 220 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention, such as: one or more microprocessors (digital signal processors, DSP for short), or one or more Field programmable gate arrays (FPGA for short).

In summary, as shown in fig. 12, the job system according to the embodiment of the present invention includes the job control terminal 100 and the job server 200; the job control terminal 100 is connected to the job server 200, and the job server 200 is connected to the job device 300. Here, the first transmission unit 140 included in the job control terminal 100 is connected to the second reception unit 210 included in the job server 200.

Compared with the prior art, the beneficial effects of the operation system provided by the embodiment of the invention are the same as those of the operation control method provided by the embodiment, and are not repeated herein.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An operation control method, comprising:

receiving the state information of a job object corresponding to at least one job block; acquiring at least one operation block control strategy according to the operation object state information corresponding to at least one operation block and the position information of the corresponding operation block; the operation block control strategy comprises operation block position information and an operation strategy corresponding to the operation block;

2. The job control method according to claim 1, wherein the performing virtual division processing on the job region to obtain the plurality of pieces of job block position information includes:

3. The work control method according to claim 2, wherein the obtaining of the plurality of pieces of work position information based on the geographical coordinates of the work area and the configuration parameters of the work equipment comprises:

4. The job control method according to claim 1, wherein after the obtaining of the plurality of pieces of job block position information, before the obtaining of the at least one piece of job block control information based on the job object state information corresponding to the at least one piece of job block and the corresponding piece of job block position information, the job control method further comprises:

5. The job control method according to claim 4, wherein the performing the sorting process on the plurality of pieces of job location information according to the job path information of the job device, and the obtaining the serialized job piece location information includes:

6. The job control method according to claim 4 or 5, wherein before obtaining at least one job block control policy based on the job object state information and the corresponding job block position information corresponding to at least one job block, the job control method further comprises:

7. The work control method according to claim 6, wherein the obtaining of the control object distribution information in the work area based on the state information of all the work objects in the work area and the collection parameters of the collection device comprises:

8. The job control method according to claim 6, wherein the obtaining the job policy of the serialized job block according to the serialization control object distribution information comprises:

9. The work control method according to claim 6, wherein the collection parameters of the collection device are a collection direction and a collection angle of the collection device; the job object state information includes a visible light image of the job object and/or an invisible light image of the job object.

10. The job control method according to claim 4 or 5, wherein the obtaining at least one job block control policy based on the job object state information and the corresponding job block position information corresponding to at least one job block comprises:

11. The job control method according to claim 10, wherein the target work block is a work block next to a work block where the working equipment is located along a forward direction of a work path of a work area.

12. The job control method according to claim 10, wherein the obtaining of the non-job block job policy based on the positioning information of the job device and the adjacent job block job object state information comprises:

13. The job control method according to claim 12, wherein the obtaining of the distribution information of the non-worked job block control objects based on the non-worked job block job object state information, the acquisition parameters of the acquisition device, and the positioning information of the acquisition device comprises:

14. The job control method according to claim 12, wherein the obtaining of the job block job policy of the non-job based on the non-job block control object distribution information includes:

15. The job control method according to claim 10, wherein the obtaining of the non-job block control policy based on the serialized job block location information and the non-job block job policy comprises:

16. The job control method according to claim 15, wherein after the obtaining of the at least one job block control policy, before the controlling of the working equipment to perform the job for the corresponding job block according to the at least one job block control policy, the job control method further comprises:

storing the unoperated job block control strategy;

17. The work control method according to claim 16,

after receiving the positioning information of the operating equipment and before receiving the operating block operating object state information of the operating block adjacent to the operating block where the operating equipment is located, which is transmitted by the acquisition equipment, obtaining at least one operating block control strategy according to at least one operating block information and the operating object state information of the corresponding operating block further comprises:

18. The work control method according to claim 10, wherein the collection parameters of the collection device are a collection direction and a collection angle of the collection device; the job object state information includes a visible light image of the job object and/or an invisible light image of the job object.

19. An operation control terminal characterized by comprising:

20. The work control terminal according to claim 19, wherein the block division unit is configured to obtain a plurality of pieces of work block position information based on geographic coordinates of the work area and configuration parameters of the work equipment.

21. The job control terminal according to claim 20, wherein the block division unit is specifically configured to obtain a job scope of a job device according to a configuration parameter of the job device; and according to the working range of the working equipment, dividing the geographic coordinates of the working area to obtain the position information of a plurality of working blocks.

22. The job control terminal according to claim 19, further comprising a sorting unit configured to, after the obtaining of the plurality of pieces of job block position information, obtain serialized job block position information by performing sorting processing on the plurality of pieces of job block position information based on the job path information of the job device before the obtaining of the at least one piece of job block control information based on the job object state information corresponding to the at least one job block and the corresponding job block position information.

23. The job control terminal according to claim 22, wherein the sorting unit is specifically configured to obtain arrangement information of a plurality of job blocks from a start point to an end point along a job path, based on the job path information of the job device and the plurality of job block position information; and obtaining the position information of the serialized job block according to the arrangement information of the plurality of job blocks from the starting point to the end point along the job path and the position information of the plurality of job blocks.

24. The terminal according to claim 22 or 23, wherein the first receiving unit is configured to receive all the job object state information and the positioning information of the collecting device in the job area transmitted by the collecting device before obtaining at least one job block control policy according to the job object state information and the corresponding job block position information corresponding to at least one job block;

25. The job control terminal according to claim 24, wherein the policy setting unit is specifically configured to obtain density estimation information of all control objects in the work area according to state information of all work objects in the work area; acquiring distribution information of the control objects in the operation area according to density pre-estimation information of all the control objects in the operation area, acquisition parameters of the acquisition equipment and positioning information of the acquisition equipment; the control object distribution information within the work area includes all control object density distribution information within the work area.

26. The operation control terminal according to claim 24, wherein the policy setting unit is specifically configured to perform a ranking process on the serialization control object distribution information according to a historical control object distribution level to obtain a serialization control object level; and obtaining the operation strategy of the serialized operation block according to the historical operation strategy corresponding to the historical control object distribution level and the serialized control object level.

27. The operation control terminal according to claim 24, wherein the collection parameters of the collection device are a collection direction and a collection angle of the collection device; the job object state information includes a visible light image of the job object and/or an invisible light image of the job object.

28. The terminal according to claim 22 or 23, wherein the first receiving unit is configured to receive positioning information of the work equipment, and receive work block work object status information, which is transmitted by the collecting device and is adjacent to a work block where the work equipment is located, where the adjacent work block work object status information at least includes work object status information of a target work block;

29. The work control terminal according to claim 28, wherein the target work block is a work block next to a work block where the work equipment is located along an advancing direction of a work path of a work area.

30. The work control terminal according to claim 28, wherein the policy setting unit is specifically configured to acquire the non-worked work block work object state information from the adjacent work block work object state information based on the positioning information of the work equipment and the serialized work block position information; acquiring the distribution information of the control object of the non-operated operation block according to the state information of the operation object of the non-operated operation block, the acquisition parameters of the acquisition equipment and the positioning information of the acquisition equipment; and obtaining the operation strategy of the unoperated operation block according to the distribution information of the unoperated operation block control object.

31. The job control terminal according to claim 30, wherein the policy setting unit is specifically configured to obtain density estimation information of the unoperated job block control object based on the information on the state of the unoperated job block job object; obtaining the control object distribution information of the non-operated operation block according to the density estimation information of the non-operated operation block control object, the acquisition parameters of the acquisition equipment and the positioning information of the acquisition equipment; the control object distribution information of the non-worked work block includes control object density distribution information of the non-worked work block.

32. The job control terminal according to claim 30, wherein the policy setting unit is configured to perform a ranking process on the non-job block control object distribution information according to a historical control object distribution level to obtain a non-job block control object level; and obtaining the job block job strategy of the non-job according to the historical job strategy corresponding to the historical control object distribution level and the job block control object level of the non-job.

33. The work control terminal according to claim 28, wherein the policy setting unit is specifically configured to obtain the position information of the non-worked work block based on the positioning information of the work equipment and the serialized work block position information; and obtaining the unoperated job block control strategy according to the unoperated job block position information and the unoperated job block operation strategy.

34. The job control terminal according to claim 28, further comprising a storage unit configured to store the non-job block control policy after said obtaining at least one job block control policy, before said controlling the job device to perform a job for a corresponding job block according to the at least one job block control policy;

35. The terminal according to claim 34, wherein the policy setting unit is further configured to determine whether a target work block control policy exists in the stored non-operated work block operation policies based on the positioning information of the work device and the serialized work block information after the positioning information of the work device is received and before the status information of the work block operation object adjacent to the work block where the work device is located and transmitted by the acquisition device is received; if yes, obtaining a target operation block control strategy from an operation block operation strategy of the non-operation, and executing operation block operation object state information which is transmitted by the receiving and collecting equipment and is adjacent to the operation block where the operation equipment is located; otherwise, executing the job block job object state information which is transmitted by the receiving and collecting device and is adjacent to the job block where the job device is located.

36. The operation control terminal according to claim 28, wherein the collection parameters of the collection device are a collection direction and a collection angle of the collection device; the job object state information includes a visible light image of the job object and/or an invisible light image of the job object.

37. A job control method applied to a job device, the job control method comprising:

38. The work control method according to claim 37,

the receiving of the job block control policy transmitted by the job control terminal includes:

receiving positioning information of the operating equipment;

39. The job control method according to claim 37, wherein the receiving of the job block control policy transmitted by the job control terminal comprises:

40. A job server applied to a job device includes:

and the second control unit is used for controlling the operation equipment to operate the operation block according to the operation block control strategy.

41. The job server according to claim 40,

the second receiving unit is specifically configured to receive control policies of all job blocks transmitted by the job control terminal; the control strategies of all the operation blocks comprise serialized operation block position information and operation strategies corresponding to the operation blocks;

42. The job server according to claim 40, wherein the second receiving unit is specifically configured to receive a target job block control policy transmitted by the job control terminal; the target work block control strategy comprises position information of a target work block and a work strategy of the target work block, wherein the target work block is a work block next to the work block where the work equipment is located along the advancing direction of a work path of a work area;

43. An operation system comprising an operation control terminal according to any one of claims 19 to 36 and an operation server according to any one of claims 40 to 42; the operation control terminal is connected with the operation server, and the operation server is connected with the operation equipment.