CN112180987A

CN112180987A - Cooperative operation method, system, device, computer equipment and storage medium

Info

Publication number: CN112180987A
Application number: CN202011036134.0A
Authority: CN
Inventors: 吴奔; 霍金玲
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2021-01-05
Anticipated expiration: 2040-09-27
Also published as: CN112180987B

Abstract

The embodiment of the invention discloses a cooperative operation method, a system, a device, computer equipment and a storage medium, wherein the method comprises the following steps: determining plant morphological parameters of each plant in the area to be operated; determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment; and determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route. The technical scheme of the embodiment of the invention provides a novel cooperative plant protection operation mode, further ensures the plant protection operation effect and improves the plant protection operation efficiency.

Description

Cooperative operation method, system, device, computer equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of automatic operation, in particular to a cooperative operation method, a system, a device, computer equipment and a storage medium.

Background

At present, the plant protection of agricultural fruit trees and the like usually adopts the traditional modes of manual pesticide spraying, pesticide spraying of fruit tree pesticide spraying machines or pesticide spraying of plant protection unmanned aerial vehicles according to Real-time kinematic (RTK) fixed-point routes and the like.

The defects of the prior art are as follows: the traditional manual orchard pesticide spraying method is the most common domestic pesticide applying method by carrying a pesticide box and spraying pesticides on crops while walking, however, the height of people is limited, and some fruit trees growing to be tall may have the phenomenon of pesticide spraying and pesticide spraying imperviousness, so that the fruit trees grow abnormally or even die; although the pesticide spraying effect of the pesticide spraying machine for the fruit trees is good, the pesticide spraying effect can be influenced by the height of the fruit trees, the crown width or wind power, so that the pesticide spraying is not uniform and the fruit trees cannot spray thoroughly; although efficiency of pesticide spraying of the plant protection unmanned aerial vehicle according to the RTK fixed point route is higher than that of manual pesticide spraying, the plant protection unmanned aerial vehicle can more accurately spray pesticide to each fruit tree, coordinate information data are required to be obtained by manually holding the RTK equipment to the top of each fruit tree, the plant protection unmanned aerial vehicle is commanded to spray pesticide according to the coordinate information data, the plant protection unmanned aerial vehicle is limited by the spraying amplitude of the unmanned aerial vehicle, and the phenomenon that pesticide spraying and pesticide spraying are impervious can also exist for some relatively tall fruit trees.

Disclosure of Invention

The embodiment of the invention provides a cooperative operation method, a system, a device, computer equipment and a storage medium, and aims to provide a novel cooperative plant protection operation mode to ensure the plant protection operation effect and improve the plant protection operation efficiency.

In a first aspect, an embodiment of the present invention provides a cooperative work method, including:

determining plant morphological parameters of each plant in the area to be operated;

determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment;

determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route, wherein the operation types of the first unmanned equipment and the second unmanned equipment are different;

the first operation route is used for indicating the first unmanned equipment and the second unmanned equipment to carry out cooperative operation on the cooperative operation plant set.

Optionally, determining plant morphological parameters of each plant in the region to be operated includes:

and determining the plant height and/or crown width of each plant in the area to be operated as the plant morphological parameters.

Optionally, determining the plant height and/or crown width of each plant in the region to be operated as plant form parameters, including:

identifying the peripheral outline of each plant according to the digital orthophoto map matched with the area to be operated to obtain the crown width of each plant;

and identifying the plant height of each plant according to the digital earth surface model matched with the area to be operated, the data ground model and the peripheral outline of each plant.

Optionally, identifying the plant height of each plant according to the digital earth surface model matched with the area to be operated, the data ground model and the peripheral outline of each plant, includes:

superposing the digital earth surface model matched with the area to be operated with the peripheral outline of each plant, determining the maximum elevation point of each plant in the peripheral outline, and acquiring the maximum elevation value corresponding to each maximum elevation point;

acquiring a ground height value corresponding to each maximum elevation point in a digital ground model matched with a region to be operated;

and calculating the difference value between each maximum elevation value and the matched ground height value to serve as the plant height of each plant.

Optionally, according to the plant morphological parameter and the individual plant operation parameter of the first unmanned device, determining a collaborative operation plant set in the area to be operated, specifically including:

determining a cooperative operation plant set and an independent operation plant set in an area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment;

after determining the cooperative operation plant set and the independent operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment, the method further comprises the following steps:

determining a second operation route matched with the individual operation plant set, and controlling the first unmanned equipment to operate based on the second operation route;

the second operation route is used for instructing the first unmanned equipment to carry out independent operation on the independent operation plant set.

Optionally, the single plant operation parameters include: the width range of the spraying amplitude and the height range of the spraying amplitude;

according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment, determining a cooperative operation plant set and an individual operation plant set in the area to be operated, comprising the following steps:

if the crown width of the currently processed first target plant is determined to exceed the width range of the spraying width of the first unmanned equipment, and/or the plant height of the first target plant exceeds the height range of the spraying width of the first unmanned equipment, adding the first target plant into the cooperative operation plant set;

and if the crown width of the currently processed second target plant is determined not to exceed the range of the spraying width of the first unmanned equipment, and the plant height of the second target plant is determined not to exceed the range of the spraying height of the first unmanned equipment, adding the second target plant into the single operation plant set.

Optionally, after determining the cooperative operation plant set and the individual operation plant set in the area to be operated according to the plant morphological parameter and the individual plant operation parameter of the first unmanned device, the method further includes:

generating an operation prescription chart matched with the area to be operated according to the cooperative operation plant set and the independent operation plant set;

and in the operation prescription chart, a cooperative operation plant set and the independent operation plant set are respectively displayed.

Optionally, the obtaining of the first operation route matched with the cooperative operation plant set includes:

determining at least one target cooperative work plant in response to a user's selection of a cooperative work plant of the set of cooperative work plants in the work prescription map;

determining the first operation route according to the target cooperative operation plants and the operation parameters of the first unmanned equipment and the second unmanned equipment; and/or the presence of a gas in the gas,

obtaining a second work route matching the set of individually worked plants, comprising:

determining at least one target individual work plant in response to a user selection of an individual work plant from the set of individual work plants in the work recipe map;

and determining the second operation route according to each target individual operation plant and the operation parameters of the first unmanned equipment.

Optionally, determining the first operation route according to each target cooperative operation plant and operation parameters of the first unmanned device and the second unmanned device includes:

taking the operation parameters of each target cooperative operation plant and the first unmanned equipment and the second unmanned equipment as first operation route planning parameters, and sending the first operation route planning parameters to a management platform;

receiving the first operation route generated and fed back by the management platform according to the first operation route planning parameter; and/or the presence of a gas in the gas,

determining the second operation route according to each target individual operation plant and the operation parameters of the first unmanned equipment, wherein the determining comprises the following steps:

sending the target individual operation plants and the operation parameters of the first unmanned equipment as second operation route planning parameters to a management platform;

and receiving the second operation route generated and fed back by the management platform according to the second operation route planning parameter.

In a second aspect, an embodiment of the present invention further provides a cooperative work system, including: terminal, first unmanned equipment and second unmanned equipment:

the terminal is used for determining plant morphological parameters of each plant in the area to be operated; determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment; determining a first work route matched with a set of collaborative work plants and providing the first work route to the first unmanned device and the second unmanned device;

the first unmanned equipment and the second unmanned equipment are used for carrying out cooperative operation on a cooperative operation plant set based on the first operation route;

wherein the first drone and the second drone are of different job types.

In a third aspect, an embodiment of the present invention further provides a cooperative work apparatus, including:

the plant morphological parameter determination module is used for determining plant morphological parameters of each plant in the area to be operated;

the cooperative operation plant set determining module is used for determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the single plant operation parameters of the first unmanned equipment;

the first operation route determining module is used for determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route, wherein the operation types of the first unmanned equipment and the second unmanned equipment are different;

In a fourth aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:

one or more processors;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors implement the cooperative work method provided by any embodiment of the present invention.

In a fifth aspect, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the cooperative work method provided in any embodiment of the present invention.

According to the technical scheme of the embodiment of the invention, a single plant in a region to be operated is taken as a minimum unit, a cooperative operation plant set which needs a plurality of unmanned equipment to perform cooperative operation is determined according to plant morphological parameters of each plant and single plant operation parameters of the unmanned equipment, a first operation route matched with the cooperative operation plant set is determined, and the first unmanned equipment and the second unmanned equipment are controlled to perform cooperative operation based on the first operation route, so that a novel cooperative plant protection operation mode is provided, the plant protection operation effect is further ensured, and the plant protection operation efficiency is improved.

Drawings

Fig. 1 is a flowchart illustrating an implementation of a cooperative operation method according to an embodiment of the present invention;

fig. 2a is a flowchart of an implementation of a cooperative operation method according to a second embodiment of the present invention;

FIG. 2b is a schematic diagram of a digital surface model and a digital ground model according to a second embodiment of the present invention;

FIG. 2c is a flow chart for obtaining plant height of a plant according to the second embodiment of the present invention;

fig. 3 is a flowchart of an implementation of a cooperative operation method according to a third embodiment of the present invention;

fig. 4a is a flowchart of an implementation of a cooperative operation method according to a fourth embodiment of the present invention;

FIG. 4b is a schematic diagram of a cooperative plant set in a working prescription chart according to a fourth embodiment of the present invention;

FIG. 4c is a schematic diagram of a single plant set in an operation recipe chart according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a cooperative operating system according to a fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of a cooperative operation apparatus according to a sixth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a computer device according to a seventh embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.

It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example one

Fig. 1 is a flowchart of a cooperative work method according to an embodiment of the present invention, and this embodiment is applicable to a case where a work route is generated based on a cooperative work plant set (a plant set that requires a plurality of unmanned devices to perform common work) in an area to be worked, and the work route is sent to each unmanned device to perform cooperative work. The method may be performed by a cooperative work apparatus, which may be implemented by software and/or hardware, and may be generally integrated in a terminal (e.g., an unmanned device control panel) or a server having a data processing function. Accordingly, as shown in fig. 1, the method comprises the following operations:

s110, determining plant morphological parameters of each plant in the area to be operated.

The area to be operated comprises a plurality of plants which need to be subjected to plant protection operation. Typically, the area to be operated can be an orchard, the plants can be fruit trees, and the plant protection operation mode can be water spraying or pesticide spraying and the like.

Among the prior art, can take certain specific unmanned aerial vehicle (for example, (plant protection) unmanned aerial vehicle or (plant protection) unmanned car etc.) to treat the operation area and carry out the plant protection operation, this will appear when the plant shape that needs carry out plant protection is irregular, or when great, this unmanned aerial vehicle can't be to its abundant plant protection, and then probably cause the dead condition of plant. For example, when the fruit tree is tall or the crown width is large, the plant protection unmanned aerial vehicle cannot spray pesticide and cannot penetrate when spraying pesticide on the plant protection unmanned aerial vehicle.

In this embodiment, first, among all plants included in the area to be operated, plants that may not be sufficiently plant protected by a single unmanned device are found, and then two different types of unmanned devices are used for the plants to perform cooperative plant protection, so as to solve the problems in the prior art.

Specifically, the plants which cannot be fully plant-protected by the single unmanned equipment can be found by comparing plant morphological parameters of the plants in the area to be operated with single plant operation parameters of the unmanned equipment.

The plant form parameter may be a parameter for reflecting the plant shape, for example, information such as the height of the plant, the size of the crown, the outline of the crown, the thickness of the crown, and the like, and the individual plant operation parameter specifically refers to the range of the plant form parameter of the individual plant which the unmanned device can operate.

Wherein, if the plant form parameter of a plant falls into the operation range limited by the single plant operation parameter of an unmanned device, the plant form parameter indicates that the plant can be fully plant-protected only by the unmanned device; if the plant form parameter of a plant does not fall within the operation range defined by the single plant operation parameter of the unmanned equipment, the unmanned equipment needs to cooperate with other types of unmanned equipment to complete the full plant protection operation of the plant.

Optionally, the plant height of each plant in the area to be operated can be acquired as a plant form parameter, the crown width of each plant in the area to be operated can be acquired as a plant form parameter, and the plant height and crown width of each plant in the area to be operated can be acquired as a plant form parameter.

Optionally, plant morphological parameters of each plant in the to-be-operated area may be directly obtained from a pre-established plant morphological database, or aerial photography, three-dimensional modeling and the like may be performed on the to-be-operated area by an unmanned aerial vehicle, and finally, the plant morphological parameters of each plant in the to-be-operated area are determined in an image recognition manner.

And S120, determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the single plant operation parameters of the first unmanned equipment.

In this embodiment, the first unmanned device is an unmanned device that mainly performs plant protection operation on the area to be operated, and the individual plant operation parameter of the first unmanned device specifically refers to a range of plant morphological parameters of an individual plant that the first unmanned device can operate.

Wherein, individual plant operation parameter can be based on unmanned aerial vehicle's each item parameter, (for example, flying speed, flying height, shower nozzle quantity and shower nozzle spray amplitude etc.) and actual plant protection operation effect predetermine the settlement, and this embodiment does not restrict this.

In a specific example, the plant form parameters may include a canopy width and a plant height, and the individual plant operation parameters of the first unmanned aerial device may be a range of the jet width and a range of the jet height.

Specifically, the cooperative work plant set includes one or more plants that require the first unmanned facility to cooperate with other types of second unmanned facilities to perform sufficient plant protection work. In the previous example, if the plant morphological parameter of a plant in the area to be operated does not fall within the operation range defined by the single plant operation parameter of the first unmanned equipment, the plant is added into the cooperative operation plant set.

S130, determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route, wherein the operation types of the first unmanned equipment and the second unmanned equipment are different.

In order to perform plant protection operations of two types of unmanned devices on the cooperative operation plant set, a plant protection operation route corresponding to each plant included in the cooperative operation plant set, that is, a first operation route, needs to be generated first. The first operation route is used for indicating the first unmanned equipment and the second unmanned equipment to carry out cooperative operation on the cooperative operation plant set.

Specifically, a first operation route with the shortest route or the shortest turning direction may be automatically generated according to the arrangement positions of all the plants in the cooperative operation plant set in the to-be-operated area, or a first operation route matched with each plant selected by the user may be generated according to one or more plants selected by the user in the cooperative operation plant set, or a first operation route matched with the cooperative operation plant set may be generated according to an operation sequence determined by the user for each plant in the cooperative operation plant set, according to the operation sequence, and the like, which is not limited in this embodiment.

Optionally, considering that the operation capability and the operation range of the unmanned aerial vehicle are superior to those of the unmanned vehicle, the unmanned aerial vehicle can be used as a main power device for plant protection operation, and the unmanned vehicle can be used as an auxiliary device for plant protection operation. Correspondingly, the first unmanned equipment can be unmanned aerial vehicle, the second unmanned equipment can be unmanned vehicle.

Of course, it can be understood that, for some areas to be operated in special terrain environments, the unmanned vehicle can be used as a main power device for plant protection operation, and the unmanned vehicle can be used as an auxiliary device for plant protection operation. Correspondingly, the first unmanned equipment can be unmanned vehicles, and the second unmanned equipment can be unmanned aerial vehicles.

Correspondingly, after the first operation route is obtained, the first unmanned aerial vehicle and the second unmanned aerial vehicle need to be controlled to perform cooperative operation according to the first operation route, so that the two types of unmanned aerial vehicles can simultaneously operate each plant on the operation route, and it is ensured that each plant in a special form included in the cooperative operation plant set can be fully protected.

Optionally, the first unmanned device and the second unmanned device may be remotely controlled in real time according to the first operation route to control the first unmanned device and the second unmanned device to perform cooperative operation; alternatively, the first work route may be provided to the first unmanned device and the second unmanned device in synchronization, so that the first unmanned device and the second unmanned device each perform a cooperative work according to the received first work route.

According to the technical scheme of the embodiment of the invention, a single plant in a to-be-operated area is taken as a minimum unit, a cooperative operation plant set which needs a plurality of unmanned equipment to perform cooperative operation is determined according to plant morphological parameters of each plant and individual plant operation parameters of the unmanned equipment, a first operation route matched with the cooperative operation plant set is determined, and the first unmanned equipment and the second unmanned equipment are controlled to perform cooperative operation based on the first operation route, so that a novel cooperative plant protection operation mode is provided, the plant protection operation effect is further ensured, and the plant protection operation efficiency is improved.

Example two

Fig. 2a is a flowchart of a cooperative work method according to a second embodiment of the present invention, which is embodied based on the above embodiments, and in this embodiment, the plant height and/or crown width of each plant in the area to be worked is determined and further detailed as the operation of plant morphological parameters. Accordingly, as shown in fig. 2a, the method of the present embodiment may include:

s210, according to the digital orthophoto map matched with the area to be operated, the peripheral outline of each plant is identified, and the crown width of each plant is obtained.

First, in this embodiment, the plant height and crown width of each plant in the area to be worked are used as plant morphological parameters.

DOM (Digital ortho Map) is a Digital ortho image set generated by digitally differentially correcting and mosaicing an aerial (or aerospace) photograph and cropping the photograph according to a certain range of image size. It is an image with both map geometric accuracy and imagery features. The DOM in the area to be operated can be obtained by using an aerial photogrammetry technology, or the DOM in the area to be operated can be obtained from a professional DOM database based on the longitude and latitude range of the area to be operated.

Optionally, after obtaining the DOM in the to-be-operated area, the peripheral outline of each plant in the to-be-operated area can be obtained by identification through an image identification technology, and then the crown of each plant can be determined according to the peripheral outline of each plant. Wherein, the crown width generally refers to the average value of the width of the plants in the north-south or east-west direction.

Optionally, after the peripheral outline of the plant is obtained, the circumscribed rectangle of the peripheral outline may be determined first, and then the side length of the longer side of the circumscribed rectangle is used as the crown width of the plant.

And S220, identifying the plant height of each plant according to the digital earth surface model matched with the area to be operated, the data ground model and the peripheral outline of each plant.

DSM (Digital Surface Model) is a ground elevation Model that includes the height of Surface buildings, bridges, trees, etc.

A DTM (digital terrestrial model) is a database representing the spatial distribution of terrestrial features, and is a digital terrestrial model generally formed by forming a data array with a series of terrestrial point coordinates (x, y, z) and surface attributes (object type or feature, etc.).

Fig. 2b is a schematic diagram illustrating a difference between a Digital Surface Model (DSM) and a Digital Terrestrial Model (DTM) according to a second embodiment of the present invention. As shown in fig. 2b, after the height of the ground surface and the height of the ground surface of the same plant are obtained, the height of the ground surface is subtracted from the height of the ground surface to obtain the height of the plant.

Correspondingly, DSMs and DTMs in the area to be worked can also be obtained by using the aerial photogrammetry technology; or acquiring the DSM and the DTM in the area to be operated from the professional DSM and DTM databases based on the longitude and latitude range of the area to be operated.

Specifically, after the peripheral contour of each plant is obtained, the surface height and the ground height of each point in the peripheral contour can be obtained by combining the DSM and the DTM, and then the plant height of each plant can be calculated based on the surface height and the ground height of each point in the peripheral contour of each plant.

In a specific example, the mean value of the surface height and the mean value of the ground height of each point in the peripheral outline of the target plant can be calculated, and the difference obtained by subtracting the mean value of the ground height from the mean value of the surface height is used as the plant height of the target plant; or, the earth surface height of the highest point and the ground height of the highest point in the peripheral outline of the target plant can be obtained, and the difference obtained by subtracting the ground height of the highest point from the earth surface height of the highest point is used as the plant height of the target plant; alternatively, the ground surface height and the ground surface height of any point in the peripheral outline of the target plant may also be obtained, and a difference obtained by subtracting the ground surface height from the ground surface height of any point is used as the plant height of the target plant, and the like, which is not limited in this embodiment.

Wherein, FIG. 2c is a flow chart of obtaining plant height of plants according to the second embodiment of the present invention. As shown in fig. 2c, firstly, an area image of the area to be worked may be acquired by the unmanned spacecraft, and DOM, DSM, and DTM in the area to be worked may be obtained based on the aerial photogrammetry technology. And then, carrying out image recognition on the DOM to obtain the outline and the crown of each plant in the area to be operated, obtaining the maximum elevation value of the maximum elevation point in each outline by using the outline of each plant and the DSM, and finally obtaining the plant height of each plant by determining the ground value of each maximum elevation point by combining the DTM.

Specifically, the plant height of each plant is identified according to the digital earth surface model matched with the area to be operated, the data ground model and the peripheral outline of each plant, and may be:

superposing the digital earth surface model matched with the area to be operated with the peripheral outline of each plant, determining the maximum elevation point of each plant in the peripheral outline, and acquiring the maximum elevation value corresponding to each maximum elevation point; acquiring a ground height value corresponding to each maximum elevation point in a digital ground model matched with a region to be operated; and calculating the difference value between each maximum elevation value and the matched ground height value to serve as the plant height of each plant.

The maximum elevation point is an image point with the maximum elevation value in the peripheral contour.

And S230, determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the single plant operation parameters of the first unmanned equipment.

S240, determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route, wherein the operation types of the first unmanned equipment and the second unmanned equipment are different.

According to the technical scheme of the embodiment of the invention, by using the DOM, DSM and DTM in the area to be operated, the crown width and the plant height of each plant in the area to be operated can be automatically identified and obtained without any manual operation, so that the cooperative operation plant set included in the area to be operated can be simply and conveniently determined, the labor cost of the scheme is further reduced, and the plant protection operation efficiency is improved.

EXAMPLE III

Fig. 3 is a flowchart of a cooperative work method according to a third embodiment of the present invention, which is embodied based on the above-described embodiments, and in this embodiment, the operation of determining a cooperative work plant set in a to-be-worked area according to plant morphological parameters and individual plant working parameters of a first unmanned device is embodied as: determining a cooperative operation plant set and an independent operation plant set in an area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment; at the same time, the user can select the desired position,

after determining the operation of the cooperative operation plant set and the individual operation plant set in the area to be operated according to the plant morphological parameters and the individual operation parameters of the first unmanned device, the method further specifically comprises the following steps: determining a second operation route matched with the individual operation plant set, and controlling the first unmanned equipment to perform operation based on the second operation route.

Accordingly, as shown in fig. 3, the method of the present embodiment may include:

s310, determining the plant height and crown width of each plant in the area to be operated as plant morphological parameters.

And S320, sequentially acquiring a plant as a current processing plant in the area to be operated.

In S320-S360 in this embodiment, a specific implementation form for determining the cooperative operation plant set and the individual operation plant set in the area to be operated according to the plant form parameter and the individual operation parameter of the first unmanned device is given.

As previously mentioned, one or more plants included in the set of co-operating plants may require different types of first and second unmanned devices to co-operate in order to provide adequate plant protection. Similarly, in this embodiment, one or more plants included in the set of plants for individual operation only need to be operated by the first unmanned device alone, so that sufficient plant protection can be performed.

Wherein the individual plant operation parameters comprise: the width range of the spray width, and the height range of the spray height.

Specifically, according to the plant morphological parameter and the individual plant operation parameter of the first unmanned device, the cooperative operation plant set and the individual operation plant set are determined in the area to be operated, and the method specifically includes:

if the crown width of the currently processed first target plant is determined to exceed the width range of the spraying width of the first unmanned equipment, or the plant height of the first target plant exceeds the height range of the spraying width of the first unmanned equipment, adding the first target plant into the cooperative operation plant set;

S330, judging whether the crown width of the plant to be treated currently exceeds the width range of the spraying width of the first unmanned equipment: if so, go to S340, otherwise, go to S350.

And S340, adding the currently processed plant serving as a first target plant into the cooperative operation plant set. S370 is performed.

S350, judging whether the plant height of the currently processed plant exceeds the spraying width height range of the first unmanned equipment: if yes, returning to execute S340; otherwise, S360 is performed.

And S360, adding the currently processed plant serving as a second target plant into the single operation plant set, and executing S370.

S370, judging whether the treatment of all plants in the area to be operated is finished: if yes, go to S380; otherwise, return to execute S320.

And S380, determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route.

The first unmanned equipment and the second unmanned equipment are different in operation type, and the first operation route is used for indicating the first unmanned equipment and the second unmanned equipment to carry out cooperative operation on the cooperative operation plant set.

And S390, determining a second operation route matched with the individual operation plant set, and controlling the first unmanned equipment to operate based on the second operation route.

In order to perform an individual plant protection operation on the set of independent work plants by using the first unmanned aerial vehicle, it is necessary to first generate a plant protection operation route corresponding to each plant included in the set of independent work plants, that is, a second operation route. The second operation route is used for instructing the first unmanned equipment to carry out independent operation on the independent operation plant set.

Specifically, a second operation route with the shortest route or the minimum turning direction may be automatically generated according to the arrangement positions of all the plants in the independent operation plant set in the to-be-operated area, or a second operation route matched with the plant selected by the user may be generated according to one or more plants selected by the user in the independent operation plant set, or a second operation route matched with the independent operation plant set may be generated according to an operation sequence determined by the user for each plant in the independent operation plant set according to the operation sequence, which is not limited in this embodiment.

According to the technical scheme of the embodiment of the invention, the first operation route and the second operation route are respectively generated by determining the cooperative operation plant set and the independent operation plant set in the area to be operated, so that the complete operation mode in the whole area to be operated can be determined in one planning process, the operation planning process is simplified, and the operation efficiency is further improved.

Example four

Fig. 4a is a flowchart of a cooperative work method according to a fourth embodiment of the present invention, which is embodied on the basis of the foregoing embodiment, and in this embodiment, after determining the operation of the cooperative work plant set and the individual work plant set in the area to be worked according to the plant morphological parameter and the individual work parameter of the first unmanned device, the method further includes: and generating an operation prescription chart matched with the area to be operated according to the cooperative operation plant set and the independent operation plant set.

Accordingly, as shown in fig. 4a, the method of the present embodiment may include:

s410, determining plant morphological parameters of each plant in the area to be operated.

And S420, determining a cooperative operation plant set and an independent operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment.

And S430, generating an operation prescription chart matched with the area to be operated according to the cooperative operation plant set and the independent operation plant set.

And in the operation prescription chart, a cooperative operation plant set and an independent operation plant set are respectively displayed.

Specifically, two operation processing diagrams respectively marked with the cooperative operation plant set and the individual operation plant set may be generated, or one operation prescription diagram simultaneously marked with the cooperative operation plant set and the individual operation plant set may be generated, and in the operation prescription diagram, the plants in the cooperative operation plant set and the individual operation plant set are respectively marked with different colors.

For example, each plant utilization code included in the set of cooperating plants may be automatically labeled green and each plant utilization code included in the set of independently operating plants may be automatically labeled red. Green plant in the operation prescription picture represents this plant and needs unmanned aerial vehicle and unmanned vehicle collaborative work together just can make this plant thoroughly completely, and red plant in the operation prescription picture represents this plant and only needs unmanned aerial vehicle independent operation can make this plant thoroughly completely.

Optionally, after generating the job prescription chart matched with the area to be worked, the job prescription chart may be displayed on a screen.

S440, responding to the selection of the user on the cooperative work plants in the cooperative work plant set in the work prescription chart, determining at least one target cooperative work plant, and determining the first work route according to the target cooperative work plants and the work parameters of the first unmanned equipment and the second unmanned equipment.

In an optional implementation manner of this embodiment, after the job prescription map is displayed on the screen, the user may click one, a plurality of or all the plants in the cooperation plant set which is displayed distinctively as the target cooperation plant. Furthermore, the first operation route can be determined according to the target cooperative operation plants and the operation parameters of the first unmanned equipment and the second unmanned equipment.

Wherein, use first unmanned aerial vehicle as unmanned aerial vehicle, the second unmanned aerial vehicle is as an example, and the operation parameter of first unmanned aerial vehicle can include: flight altitude, flight speed and other parameters, and the operation parameters of the second unmanned aerial vehicle may include: travel speed body size, etc.

Optionally, the first operation route may be determined according to a processing unit or a calculation unit of a terminal local, and the operation parameters of each target cooperative operation plant and the first unmanned equipment and the second unmanned equipment may also be used as first operation route planning parameters, sent to a management platform, and received the first operation route generated and fed back by the management platform for the first operation route planning parameters.

The management platform may be a unified data computing platform (also referred to as a server), and considering that the computing capability of the terminal is weaker than that of the management platform, the task generating the first job route may be handed over to the management platform, and the terminal only provides the first route planning parameter to the management platform and obtains a computing result of the management platform for the first route planning parameter. S450, responding to selection of the user for the individual operation plants in the individual operation plant set in the operation prescription chart, determining at least one target individual operation plant, and determining the second operation route according to the target individual operation plants and operation parameters of the first unmanned equipment.

In this embodiment, after the operation prescription chart is displayed on the screen, the user can click one, a plurality of or all the plants in the separately displayed independent operation plant set as the target independent operation plant. And determining the second operation route according to each target individual operation plant and the operation parameters of the first unmanned equipment.

Optionally, the second operation route may be determined according to a processing unit or a calculation unit of a terminal local, and the operation parameters of each target individual operation plant and the first unmanned equipment may also be used as second operation route planning parameters, sent to a management platform, and received the second operation route generated and fed back by the management platform for the second operation route planning parameters.

In a specific example, the first unmanned device is an unmanned aerial vehicle, the second unmanned device is an unmanned vehicle, and assuming that the optimal spraying range of the unmanned aerial vehicle is less than or equal to (2 meters high and 1.5 meters wide), a fruit tree is arbitrarily selected from the DOM, the peripheral outline of the fruit tree is identified by using an image identification method, and the crown width of the fruit tree is 2.5 meters. And then overlapping the peripheral outline of the fruit tree to DSM data, obtaining that the plant height of the fruit tree is 3.4 m by using the difference between the maximum elevation value and the DTM in the outline, marking the crown width and the plant height of the fruit tree beyond the optimal spraying width range of the unmanned aerial vehicle, and marking the code on the identified DOM as green to represent that the fruit tree can be thoroughly penetrated by plant protection operation in a mode of cooperation of the unmanned aerial vehicle and the unmanned aerial vehicle.

Fig. 4b is a schematic diagram showing a display of a cooperating plant set in a working formula diagram according to a fourth embodiment of the present invention. As shown in fig. 4b, the first fruit tree 411, the second fruit tree 412 and the third fruit tree 413 are all green fruit trees (not shown) marked in the operation prescription chart, and the three fruit trees need to be operated by using the unmanned aerial vehicle and the unmanned vehicle.

In another specific example, assuming that the optimal spraying range of the unmanned aerial vehicle is less than or equal to (2 meters high and 1.5 meters wide), a fruit tree is arbitrarily selected from the DOM, the peripheral outline of the fruit tree is identified by using an image identification method, and the crown width of the fruit tree is 1.3 meters. And then overlapping the peripheral outline of the fruit tree to DSM data, obtaining that the plant height of the fruit tree is 1.8 m by using the difference between the maximum elevation value and the DTM in the outline, marking the crown width and the plant height of the fruit tree in the plant protection range of the unmanned aerial vehicle, and marking the identified DOM with a code in red to represent that the fruit tree can be completely penetrated by the plant protection of the unmanned aerial vehicle.

Fig. 4c is a schematic diagram showing a display of a single working plant set in a working prescription chart applicable to the fourth embodiment of the present invention. As shown in fig. 4c, the fourth fruit tree 421, the fifth fruit tree 422 and the sixth fruit tree 423 are all red fruit trees (not shown in the figure) marked in the operation prescription chart, and the three fruit trees only need to use the unmanned aerial vehicle to perform separate plant protection operations.

And S460, controlling the first unmanned equipment and the second unmanned equipment to carry out cooperative work based on the first work route, and controlling the first unmanned equipment to carry out work based on the second work route.

According to the technical scheme, crown factors such as plant height and crown width are obtained through DOM, DSM and DTM data obtained by an aerial photogrammetry technology, it is analyzed which plants can be completely penetrated when the unmanned aerial vehicle is used for plant protection and which unmanned aerial vehicles cannot be completely penetrated and need to use an unmanned vehicle to assist plant protection operation, and then one or two matched unmanned devices can be selected for plant protection operation aiming at different plants, so that the problems that the pesticide application of a fruit tree is not penetrated, the fruit tree cannot grow normally and even the fruit tree is reduced in production and dies due to the fact that the agricultural plant protection mode at the present stage is possibly affected by the crown factors such as the plant height and the crown width are solved, the plant protection operation effect is guaranteed, and the operation efficiency is improved.

EXAMPLE five

Fig. 5 is a schematic structural diagram of a cooperative work system according to a fifth embodiment of the present invention, and as shown in fig. 5, the cooperative work system includes: a terminal 510, a first drone 520, and a second drone 530.

The terminal 510 is configured to determine plant morphological parameters of each plant in the area to be operated; determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment; determining a first work route matched with a set of collaborative work plants and providing the first work route to the first unmanned device and the second unmanned device;

the first unmanned aerial vehicle 520 and the second unmanned aerial vehicle 530 are used for performing cooperative work on a cooperative work plant set based on the first work route;

wherein the first drone 520 and the second drone 530 are of different job types.

Optionally, the first drone 520 may be an unmanned vehicle and the second drone 530 may be an unmanned aerial vehicle; alternatively, the first drone 520 may be a drone and the second drone 530 may be an drone vehicle.

In an optional implementation manner of this embodiment, the terminal 510 may specifically be configured to: determining a cooperative operation plant set and an independent operation plant set in an area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment;

the terminal 510 may be further configured to: after determining the set of individual work plants, determining a second work route that matches the set of individual work plants and providing the second work route to the first unmanned device;

the second operation route is used for instructing the first unmanned equipment to carry out independent operation on the independent operation plant set;

accordingly, the first drone 520 is further configured to: and performing independent operation on the independent operation plant set based on the second operation route.

In this optional embodiment, the first unmanned device may be a master device for plant protection (for example, the first unmanned device may be an unmanned aerial vehicle), the first unmanned device may separately complete a plant for plant protection, and only the first unmanned device may perform separate operations.

According to the cooperative operation system provided by the technical scheme of the embodiment of the invention, a novel cooperative plant protection operation mode is provided through the common cooperation of the terminal, the first unmanned equipment and the second unmanned equipment, so that the plant protection operation effect is further ensured, and the plant protection operation efficiency is improved.

EXAMPLE six

Fig. 6 is a schematic view of a cooperative operation apparatus according to a sixth embodiment of the present invention, and as shown in fig. 6, the apparatus includes: plant form parameter determination module 610, collaborative work plant set determination module 620 and first work route determination module 630.

A plant form parameter acquiring module 610, configured to determine plant form parameters of plants in the area to be operated.

And a cooperative work plant set determining module 620, configured to determine a cooperative work plant set in the area to be worked according to the plant morphological parameter and the individual plant working parameter of the first unmanned device.

A first operation route obtaining module 630, configured to determine a first operation route matching the set of collaborative operation plants, and control the first unmanned device and the second unmanned device to perform collaborative operation based on the first operation route, where operation types of the first unmanned device and the second unmanned device are different.

On the basis of the above embodiments, the plant form parameter determining module 610 may include:

and the height crown width determining unit is used for determining the plant height and/or crown width of each plant in the area to be operated as the plant morphological parameters.

On the basis of the foregoing embodiments, the height crown width determining unit may specifically include:

the canopy width acquisition subunit is used for identifying the peripheral outline of each plant according to the digital orthophoto map matched with the area to be operated to obtain the canopy width of each plant;

and the plant height identification subunit is used for identifying the plant height of each plant according to the digital ground surface model matched with the area to be operated, the data ground model and the peripheral outline of each plant.

On the basis of the above embodiments, the plant height identifier subunit may be specifically used for:

On the basis of the foregoing embodiments, the cooperative working plant set determining module 620 may specifically include a working plant set determining unit, configured to:

the apparatus may further include a second work route determination module to:

after a cooperative operation plant set and an individual operation plant set are determined in an area to be operated according to plant morphological parameters and individual plant operation parameters of first unmanned equipment, determining a second operation route matched with the individual operation plant set, and controlling the first unmanned equipment to operate based on the second operation route;

On the basis of the above embodiments, the individual plant operation parameters may include: the width range of the spraying amplitude and the height range of the spraying amplitude;

the working plant set determining unit may be specifically configured to:

On the basis of the foregoing embodiments, the method may further include a job recipe map generation module, configured to:

after a cooperative operation plant set and an independent operation plant set are determined in an area to be operated according to plant morphological parameters and single plant operation parameters of first unmanned equipment, an operation prescription chart matched with the area to be operated is generated according to the cooperative operation plant set and the independent operation plant set;

On the basis of the foregoing embodiments, the first work route determining module 630 may specifically include:

the target cooperative work plant determining unit is used for responding to the selection of the cooperative work plants in the cooperative work plant set in the work prescription diagram by a user and determining at least one target cooperative work plant;

the first operation route determining unit is used for determining the first operation route according to the target cooperative operation plants and the operation parameters of the first unmanned equipment and the second unmanned equipment; and/or the presence of a gas in the gas,

the second operation route obtaining module specifically includes:

a target individual working plant determination unit for determining at least one target individual working plant in response to a user selection of an individual working plant in the individual working plant set in the working prescription chart;

and the second operation route determining unit is used for determining the second operation route according to each target individual operation plant and the operation parameters of the first unmanned equipment.

On the basis of the foregoing embodiments, the first work route determining unit is specifically configured to:

receiving the first operation route generated and fed back by the management platform according to the first operation route planning parameter; and/or;

the second work route determination unit is specifically configured to:

The cooperative operation device provided by the embodiment of the invention can execute the cooperative operation method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

EXAMPLE seven

Fig. 7 is a schematic structural diagram of a computer device according to a seventh embodiment of the present invention. FIG. 7 shows a block diagram of a computer device 412 used to implement an embodiment of the invention. The computer device 412 shown in FIG. 7 is only one example and should not impose any limitations on the functionality or scope of use of embodiments of the present invention.

As shown in FIG. 7, computer device 412 is in the form of a general purpose computing device. Components of computer device 412 may include, but are not limited to: one or more processors 416, a storage device 428, and a bus 418 that couples the various system components including the storage device 428 and the processors 416.

Bus 418 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

Computer device 412 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 412 and includes both volatile and nonvolatile media, removable and non-removable media.

Storage 428 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 430 and/or cache Memory 432. The computer device 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 434 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), a Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 418 by one or more data media interfaces. Storage 428 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

Program 436 having a set (at least one) of program modules 426 may be stored, for example, in storage 428, such program modules 426 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination may comprise an implementation of a network environment. Program modules 426 generally perform the functions and/or methodologies of embodiments of the invention as described herein.

The computer device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, camera, display 424, etc.), with one or more devices that enable a user to interact with the computer device 412, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 412 to communicate with one or more other computing devices. Such communication may be through an Input/Output (I/O) interface 422. Also, computer device 412 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), and/or a public Network, such as the internet) through Network adapter 420. As shown, network adapter 420 communicates with the other modules of computer device 412 over bus 418. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer device 412, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.

The processor 416 executes various functional applications and data processing, for example, by executing programs stored in the storage device 428, thereby implementing the cooperative job method provided by the above-described embodiment of the present invention.

That is, the processing unit implements, when executing the program: determining plant morphological parameters of each plant in the area to be operated; determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment; determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route, wherein the operation types of the first unmanned equipment and the second unmanned equipment are different; the first operation route is used for indicating the first unmanned equipment and the second unmanned equipment to carry out cooperative operation on the cooperative operation plant set.

In a specific example, the computer device may be a control panel or a remote control of the drone, and/or a control panel or a remote control of the drone vehicle, etc.

Example eight

An eighth embodiment of the present invention further provides a computer storage medium storing a computer program, which is used to execute the cooperative work method according to any one of the above-described embodiments of the present invention when executed by a computer processor. Namely: determining plant morphological parameters of each plant in the area to be operated; determining a cooperative operation plant set in the area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment; determining a first operation route matched with the cooperative operation plant set, and controlling the first unmanned equipment and the second unmanned equipment to perform cooperative operation based on the first operation route, wherein the operation types of the first unmanned equipment and the second unmanned equipment are different; the first operation route is used for indicating the first unmanned equipment and the second unmanned equipment to carry out cooperative operation on the cooperative operation plant set.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM) or flash Memory), an optical fiber, a portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cooperative work method, characterized by comprising:

2. The method of claim 1, wherein determining plant morphological parameters of each plant in the area to be worked comprises:

3. The method according to claim 2, wherein determining the plant height and/or crown width of each plant in the area to be worked as plant morphological parameters comprises:

4. The method of claim 3, wherein identifying the plant height of each plant from the digital surface model matched to the area to be worked, the data ground model, and the peripheral outline of each plant comprises:

5. The method according to claim 1, wherein determining a set of cooperating plants in the area to be worked according to the plant morphology parameters and the individual plant working parameters of the first unmanned aerial vehicle comprises:

6. The method of claim 5, wherein the individual job parameters comprise: the width range of the spraying amplitude and the height range of the spraying amplitude;

7. The method of claim 5, further comprising, after determining the set of cooperating plants and the set of individual plants in the area to be worked based on the plant morphology parameters and the individual plant work parameters of the first unmanned aerial device:

8. The method of claim 7, wherein obtaining a first work route matching a set of co-operating plants comprises:

9. The method of claim 8, wherein determining the first work route based on the respective target cooperative work plants and the work parameters of the first and second drone comprises:

10. A cooperative work system, comprising: terminal, first unmanned equipment and second unmanned equipment:

wherein the first drone and the second drone are of different job types.

11. The collaborative work system according to claim 10, wherein the terminal is specifically configured to: determining a cooperative operation plant set and an independent operation plant set in an area to be operated according to the plant morphological parameters and the individual plant operation parameters of the first unmanned equipment;

the terminal is further configured to: after determining the set of individual work plants, determining a second work route that matches the set of individual work plants and providing the second work route to the first unmanned device;

the first drone is further to: and performing independent operation on the independent operation plant set based on the second operation route.

12. A cooperative work apparatus, comprising:

13. The apparatus according to claim 12, wherein the cooperative working plant set determining module specifically comprises a working plant set determining unit configured to:

the apparatus further comprises a second work route determination module for:

14. The apparatus of claim 13, wherein the individual job parameters comprise: the width range of the spraying amplitude and the height range of the spraying amplitude;

the operation plant set determining unit is specifically used for:

15. The apparatus of claim 13, further comprising a job recipe generation module to:

16. A computer device, characterized in that the computer device comprises:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the collaborative work method according to any one of claims 1-9.

17. A computer storage medium on which a computer program is stored, the program, when executed by a processor, implementing a collaborative work method according to any one of claims 1-9.