CN115981339A - Secondary operation method and device for operation vehicle, operation vehicle and storage medium - Google Patents
Secondary operation method and device for operation vehicle, operation vehicle and storage medium Download PDFInfo
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- CN115981339A CN115981339A CN202310082300.8A CN202310082300A CN115981339A CN 115981339 A CN115981339 A CN 115981339A CN 202310082300 A CN202310082300 A CN 202310082300A CN 115981339 A CN115981339 A CN 115981339A
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- 238000000034 method Methods 0.000 title claims abstract description 78
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 241000196324 Embryophyta Species 0.000 description 83
- 229920000742 Cotton Polymers 0.000 description 15
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000019005 Digitaria californica Nutrition 0.000 description 1
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- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The embodiment of the application discloses a secondary operation method and device for an operation vehicle, the operation vehicle and a storage medium, wherein the method comprises the following steps: in the process of one-time operation of the operation vehicle, recording the positions of plants with omitted operation; determining whether a condition of returning to secondary operation is met or not based on the relative relationship between the plant position and the current operation position of the operation vehicle; and controlling the operation vehicle to return to perform secondary operation under the condition that the condition of returning to the secondary operation is met. According to the scheme, the operation leakage rate of the land parcel can be reduced as fast as possible, and the secondary operation efficiency is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of equipment control, in particular to a secondary operation method and device for an operation vehicle, the operation vehicle and a storage medium.
Background
Along with the promotion of hardware equipment intelligent degree, use the operation car to carry out the automation mechanized operation to the operation region and can show and promote the operating efficiency. In the process of operation of the operation vehicle, operation omission usually occurs, and in order to ensure the operation effect, the operation vehicle needs to be controlled to perform secondary operation on the operation area, so that the operation effect is in accordance with the expectation. In the operation scene of using the operation vehicle to carry out topping on cotton, the condition that topping buds are missed to be topped often appears.
In the related art, when the work vehicle is controlled to perform the secondary work, it takes a long time to perform the secondary work again on the land after the primary work is performed on the entire land.
Disclosure of Invention
The embodiment of the application provides a secondary operation method and device for an operation vehicle, the operation vehicle and a storage medium, and solves the problem that in the related technology, when secondary operation is performed on a land parcel, the operation vehicle returns to the secondary operation and takes a long time, the operation missing rate of the land parcel can be reduced as soon as possible, and the secondary operation efficiency is improved.
In a first aspect, an embodiment of the present application provides a method for secondary work of a work vehicle, where the method includes:
in the process of one-time operation of the operation vehicle, recording the positions of plants with omitted operation;
determining whether a condition of returning to secondary operation is met or not based on the relative relationship between the plant position and the current operation position of the operation vehicle;
and controlling the operation vehicle to return to perform secondary operation under the condition that the condition of returning to the secondary operation is met.
In a second aspect, an embodiment of the present application further provides a secondary work device for a work vehicle, where the device includes:
the recording module is configured to record the plant positions with omitted operation in the process of one-time operation of the operation vehicle;
the condition judging module is configured to determine whether a condition for returning to secondary operation is met or not based on the relative relation between the plant position and the current operation position of the operation vehicle;
and the operation control module is configured to control the operation vehicle to return to perform secondary operation under the condition that the condition of returning to the secondary operation is met.
In a third aspect, an embodiment of the present application further provides an apparatus, where the apparatus includes:
one or more processors;
a storage device 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 are enabled to implement the method for secondary operation of the work vehicle.
In a fourth aspect, embodiments of the present application further provide a storage medium storing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for performing secondary work on a work vehicle according to embodiments of the present application.
In the embodiment of the application, in the process of primary operation of the operation vehicle, the plant position where the operation is omitted is recorded, whether the condition of returning to the secondary operation is met or not is determined based on the relative relation between the plant position and the current operation position of the operation vehicle, and the operation vehicle is controlled to return to perform the secondary operation under the condition that the condition of returning to the secondary operation is met. According to the scheme, after primary operation is not required to be carried out on all the plots, secondary operation of the plots is carried out again, timely return secondary operation in the operation process can be achieved, the operation leakage rate of the plots can be reduced as quickly as possible, the whole secondary operation time is shortened, and the secondary operation efficiency is improved.
Drawings
Fig. 1 is a schematic view of an exemplary work vehicle provided in an embodiment of the present disclosure;
fig. 2 is a flowchart of a secondary operation method of an operation vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for determining whether a condition for returning to secondary operations is satisfied according to an embodiment of the present application;
FIG. 4 is a flowchart of another method for determining whether a condition for returning to secondary operations is satisfied according to an embodiment of the present application;
FIG. 5 is a flowchart of another method for determining whether a condition for returning to secondary operations is satisfied according to an embodiment of the present application;
FIG. 6 is a flowchart of another method for determining whether a condition for returning to secondary operations is satisfied according to an embodiment of the present application;
fig. 7 is a schematic operation diagram of an operation vehicle according to an embodiment of the present application;
fig. 8 is a schematic block diagram of a secondary working device of a working vehicle according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a work vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived from the embodiments in the present application by a person skilled in the art, are within the scope of protection of the present application.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes in detail the secondary operation method of the work vehicle provided in the embodiment of the present application with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
In this embodiment, the work vehicle may be an unmanned device that automatically operates a work area. Optionally, the operation content can be fruit picking, pesticide spraying, crop sowing, cotton topping and the like. Fig. 1 is a schematic view of an exemplary work vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the working vehicle comprises an unmanned vehicle chassis used for walking, wheels mounted on the chassis can move in a working area, the working vehicle further comprises a cotton topping device carried on the chassis, the cotton topping device comprises a mechanical arm and a depth recognition camera, and the tail end of the mechanical arm is provided with a rotary blade used for removing cotton top buds. This operation car is at the in-process of operation region operation, and accessible degree of depth discernment camera discerns cotton terminal bud position to the removal that cotton terminal bud was carried out through the rotating blade that the end had to the corresponding position that the control arm removed this cotton terminal bud, is in order to realize the automatic operation to the operation region from this.
Fig. 2 is a flowchart of a method for performing a secondary operation on a work vehicle according to an embodiment of the present application, where the method may be performed by the work vehicle, and specifically includes the following steps:
and step S101, recording the plant positions of the missed operation in the process of one-time operation of the operation vehicle.
In one embodiment, when the working vehicle works, the position of a plant needing to be worked can be identified through the integrated depth camera, and the mechanical device is correspondingly controlled to work. Taking cotton topping as an example, when the operation vehicle operates in a land, the position of the terminal bud is identified through the depth camera, and the terminal bud is removed through controlling the mechanical arm. Optionally, the position of the cotton terminal bud can be identified through an artificial intelligence learning and training mode. The cotton terminal buds are randomly distributed, so that the number of the cotton terminal buds appearing in a visual field of the camera is large at a certain moment, and the mechanical arm cannot cut off all the terminal buds within a set time due to continuous advancing of the operation vehicle. Therefore, a certain miss rate exists when the mechanical arm is used for topping. The cotton topping aims to remove the top advantages of cotton, enable nutrients to be supplied to cotton bolls on lateral branches more, and improve the per mu yield of cotton. If the miss rate is too high, the production will be reduced, so that the secondary operation is required.
In one embodiment, when the plant position of the identified missed work is recorded, the recording can be performed by using the RTK positioning technology to determine the plant position of the missed work by using the position of the plant of the missed work in the image identified by the depth camera and the position of the camera in the work vehicle.
And S102, determining whether a condition of returning to secondary operation is met or not based on the relative relation between the plant position and the current operation position of the operation vehicle.
In one embodiment, when determining whether to return to perform the secondary operation, a return secondary operation condition is set accordingly, and when the return secondary operation condition is satisfied, it is determined to return to perform the secondary operation from the current time, otherwise, the operation vehicle continues to perform the primary operation. When the returning secondary operation is judged, whether the returning secondary operation condition is met or not is determined based on the relative relation between the plant position and the current operation position of the operation vehicle.
In an embodiment, as shown in fig. 3, fig. 3 is a flowchart of a method for determining whether a condition for returning to a secondary operation is satisfied according to an embodiment of the present application, where a plant position of a missed operation includes a first recorded plant position of a last missed operation, and the method specifically includes:
and S1021, determining whether the first plant position and the current operation position of the operation vehicle are greater than a first preset distance.
And step S1022, controlling the operation vehicle to return to perform secondary operation under the condition that the first plant position and the current operation position of the operation vehicle are greater than a first preset distance.
Wherein, the size of the first preset distance can be set by an operator. And recording the current working position of the working vehicle in real time in the working process of the working vehicle. And under the condition that the first plant position and the current operation position of the operation vehicle are greater than the first preset distance, judging that a condition of returning to the secondary operation is met, and controlling the operation vehicle to return to perform the secondary operation.
In another embodiment, as shown in fig. 4, fig. 4 is a flowchart of another method for determining whether a condition for returning to a secondary operation is satisfied according to an embodiment of the present application, where the method further includes recording the number of plants from which an operation is omitted, and the method specifically includes:
and S1023, determining whether the number of the plants is larger than the preset number or not under the condition that the first plant position and the current operation position of the operation vehicle are not larger than a first preset distance.
And step S1024, controlling the operation vehicle to return to perform secondary operation under the condition that the number of the plants is larger than the preset number.
Illustratively, as in the process of starting to perform one operation, with the determination of the plant position of the missing operation, statistics on the number of plants corresponding to the missing operation are performed accordingly, for example, when the plant position of the first missing operation is identified, the number of plants corresponding to the missing operation is recorded as 1, when the plant position of the second missing operation is identified, the number of plants corresponding to the missing operation is recorded as 2, and so on.
Wherein, the size of the preset quantity can be set by the operator. If the number of the plants is larger than the preset number, the number of the plants with the missed operation is more, and in order to quickly reduce the missed operation rate, the condition of returning to the secondary operation is met by corresponding judgment, and the operation vehicle needs to be controlled to perform the secondary operation.
In another embodiment, as shown in fig. 5, fig. 5 is a flowchart of another method for determining whether a condition for returning to a secondary job is satisfied according to an embodiment of the present application, where the method specifically includes:
step S1025, determining whether the first plant position and the current operation position of the operation vehicle are greater than a first preset distance and whether the operation position is an edge position.
And S1026, controlling the operation vehicle to perform secondary operation under the condition that the first plant position and the current operation position of the operation vehicle are not more than a first preset distance and the operation position is an edge position.
And in the operation process of the operation vehicle, if the position of the first plant and the current operation position of the operation vehicle are not more than a first preset distance, and the operation position of the operation vehicle is at the edge position at the moment, judging that the operation vehicle meets the condition of returning to the secondary operation. The edge position can be the position of each ridge in the land immediately before the operation is finished, the condition of returning to the secondary operation is judged to be met, the operation vehicle is not controlled to perform the primary operation of line changing, but performs the secondary operation, and the operation is switched to other ridges to perform the operation after the secondary operation is finished.
In another embodiment, as shown in fig. 6, fig. 6 is a flowchart of another method for determining whether the condition of returning to the secondary operation is satisfied according to the embodiment of the present application, wherein during the process of performing one operation by the operation vehicle, a missed operation rate is calculated, where the missed operation rate is a ratio of the counted number of plants with missed operation to the number of plants needing to be operated, which is identified during the operation. And the plant position of the missed operation comprises a second recorded plant position of the first missed operation, and the method specifically comprises the following steps:
step S1027, determining whether the second plant position and the current operation position of the operation vehicle are greater than a second preset distance, and whether the operation omission rate is greater than a preset operation omission rate.
And step S1028, controlling the operation vehicle to perform secondary operation under the condition that the second plant position and the current operation position of the operation vehicle are larger than a second preset distance and the operation leakage rate is larger than a preset operation leakage rate.
The second preset distance can be set by an operator, and is smaller than the first preset distance. The missing operation rate is obtained by dividing the number of the plants which are recorded in real time and need to be operated by the number of the identified plants. The magnitude of the preset operation leakage rate can be set by an operator. And when the second plant position and the current operation position of the operation vehicle are greater than a second preset distance, namely the current position of the operation vehicle and the recorded first plant position with omitted operation are greater than the second preset distance, acquiring the calculated omitted operation rate, and if the omitted operation rate is greater than the preset omitted operation rate, judging that the condition of returning to the secondary operation is met, and starting to control the operation vehicle to perform the secondary operation.
In one embodiment, the recorded second plant position is deleted when the second plant position is greater than a second preset distance from the current operation position of the operation vehicle and the operation missing rate is not greater than the preset operation missing rate. That is, when the second operation is performed subsequently, the second operation is not performed on the deleted plant position, but the deleted plant position is similarly used for calculating the missing operation rate. The purpose of this processing method is to allow a small number of missing jobs to occur in a job site. In another embodiment, the second plant position may be deleted when the second plant position is greater than a second preset distance from the current operation position of the operation vehicle and a new plant position where an operation is missed is not detected.
And step S103, controlling the operation vehicle to return to perform secondary operation under the condition that the condition of returning the secondary operation is met.
In one embodiment, the work vehicle is immediately controlled to perform the secondary work in case the return secondary work condition is satisfied. Optionally, the secondary operation mode may be: and controlling the operation vehicle to return to the recorded plant position where the first operation is omitted, and starting to perform secondary operation. Another secondary operation mode may be: and controlling the operation vehicle to start secondary operation from the recorded plant position where the operation is missed last time, wherein the operation direction of the operation vehicle in the secondary operation is opposite to the operation direction in the primary operation. As shown in fig. 7, fig. 7 is a schematic operation diagram of a work vehicle according to an embodiment of the present application. The operation vehicle starts to operate along the ridge starting point, the plant position of the missed operation is recorded in the operation process, the black dots in the figure 7 represent the plant position of the missed operation, when the distance between the operation position and the first plant position of the latest missed operation is larger than D, the condition of returning to the secondary operation is judged to be met, and the operation equipment is controlled to start to perform the secondary operation from the recorded plant position of the latest missed operation.
Therefore, in the process of performing primary operation by the operation vehicle, the plant positions with omitted operation are recorded, whether the condition of returning to the secondary operation is met is determined based on the relative relation between the plant positions and the current operation position of the operation vehicle, and the operation vehicle is controlled to return to perform the secondary operation under the condition that the condition of returning to the secondary operation is met. According to the scheme, secondary operation of the land parcel is performed after primary operation of all the land parcels is finished, timely secondary operation in the operation process can be achieved, the operation leakage rate of the land parcel can be reduced as soon as possible, the whole secondary operation time is shortened, and the secondary operation efficiency is improved.
Fig. 8 is a schematic block diagram of a secondary operation device of a work vehicle according to an embodiment of the present application, where the device is used to execute the above-described secondary operation method of the work vehicle, and has functional blocks and beneficial effects corresponding to the execution method. As shown in fig. 8, the apparatus specifically includes: a recording module 101, a condition judging module 102, and a job control module 103, wherein,
the recording module 101 is configured to record the positions of plants with missing operation in the process of one-time operation of the operation vehicle;
a condition judging module 102, configured to determine whether a condition for returning to secondary operation is satisfied based on a relative relationship between the plant position and the current operation position of the operation vehicle;
and the work control module 103 is configured to control the work vehicle to return to perform the secondary work when the condition of returning the secondary work is met.
According to the scheme, in the process of performing primary operation on the operation vehicle, the plant positions with missed operation are recorded, whether the condition of returning to secondary operation is met or not is determined based on the relative relation between the plant positions and the current operation position of the operation vehicle, and the operation vehicle is controlled to return to perform secondary operation under the condition that the condition of returning to secondary operation is met. According to the scheme, after primary operation of all the plots is not needed, secondary operation of the plots is performed again, timely secondary operation in the operation process can be achieved, the operation leakage rate of the plots can be reduced as soon as possible, the whole secondary operation time is shortened, and the secondary operation efficiency is improved.
In a possible embodiment, the plant position of the missing operation includes a first plant position of a last recorded missing operation, and the condition determining module 102 is configured to:
determining whether the first plant position and the current operation position of the operation vehicle are greater than a first preset distance;
the job control module 103 is configured to:
and controlling the operation vehicle to return to perform secondary operation under the condition that the first plant position and the current operation position of the operation vehicle are greater than the first preset distance.
In a possible embodiment, the recording module 101 is further configured to:
recording the number of plants with omitted operation in the process of one-time operation of the operation vehicle;
the condition determining module 102 is configured to:
determining whether the number of the plants is greater than a preset number or not under the condition that the first plant position and the current operation position of the operation vehicle are not greater than the first preset distance;
accordingly, the job control module 103 is configured to:
and controlling the operation vehicle to return to perform secondary operation under the condition that the number of the plants is greater than the preset number.
In a possible embodiment, the condition determining module 102 is configured to:
determining whether the first plant position and the current operation position of the operation vehicle are greater than a first preset distance and whether the operation position is an edge position;
the job control module 103 is configured to:
and controlling the operation vehicle to return to perform secondary operation under the condition that the first plant position and the current operation position of the operation vehicle are not more than the first preset distance and the operation position is an edge position.
In a possible embodiment, the plant position of the missing job comprises a second plant position of a first recorded missing job, and the recording module 101 is further configured to:
calculating the missing operation rate, wherein the missing operation rate is the ratio of the counted number of the plants with missing operation to the number of the plants needing to be operated and identified in the operation process;
the condition determining module 102 is configured to:
determining whether the position of the second plant and the current operation position of the operation vehicle are greater than a second preset distance and whether the operation missing rate is greater than a preset operation missing rate;
the job control module 103 is configured to:
and controlling the operation vehicle to return to perform secondary operation under the condition that the second plant position and the current operation position of the operation vehicle are greater than the second preset distance and the operation leakage rate is greater than the preset operation leakage rate.
In a possible embodiment, the recording module 101 is further configured to:
and deleting the recorded second plant position under the condition that the second plant position and the current operation position of the operation vehicle are greater than the second preset distance and the operation leakage rate is not greater than the preset operation leakage rate.
In one possible embodiment, the job control module 103 is configured to:
controlling the operation vehicle to return to the recorded plant position where the first operation is omitted, and starting to perform secondary operation; alternatively, the first and second liquid crystal display panels may be,
and controlling the operation vehicle to start secondary operation from the recorded plant position where the operation is missed last time, wherein the operation direction of the operation vehicle in the secondary operation is opposite to the operation direction in the primary operation.
Fig. 9 is a schematic structural diagram of a work vehicle according to an embodiment of the present application, and as shown in fig. 9, the work vehicle includes a processor 201 and a memory 202. The number of the processors 201 in the working vehicle may be one or more, and one processor 201 is taken as an example in fig. 9; the processor 201 and the memory 202 in the work vehicle may be connected by a bus or other means, and fig. 9 illustrates the case of connection by a bus. The memory 202 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the secondary operation method of the work vehicle in the embodiment of the present application. The processor 201 executes various functional applications and data processing of the work vehicle by running software programs, instructions and modules stored in the memory 202, that is, the above-described secondary work method of the work vehicle is realized.
Embodiments of the present application also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for secondary work on a work vehicle, the method comprising:
in the process of one-time operation of the operation vehicle, recording the positions of plants with omitted operation;
determining whether a condition of returning to secondary operation is met or not based on the relative relationship between the plant position and the current operation position of the operation vehicle;
and controlling the operation vehicle to return to perform secondary operation under the condition that the condition of returning to the secondary operation is met.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application or portions thereof contributing to the prior art may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (which may be a mobile device, a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The secondary operation method of the operation vehicle is characterized by comprising the following steps:
in the process of one-time operation of the operation vehicle, recording the positions of plants with omitted operation;
determining whether a condition of returning to secondary operation is met or not based on the relative relationship between the plant position and the current operation position of the operation vehicle;
and controlling the operation vehicle to return to perform secondary operation under the condition that the condition of returning to the secondary operation is met.
2. The method of claim 1, wherein said plant location of the missed work comprises a first plant location of a last missed work recorded, and said determining whether a return to secondary work condition is satisfied based on a relative relationship between said plant location and a current work location of said work vehicle comprises:
determining whether the first plant position and the current operation position of the operation vehicle are greater than a first preset distance;
correspondingly, in the case that the condition of returning to the secondary operation is met, controlling the operation vehicle to return to perform the secondary operation comprises the following steps:
and controlling the operation vehicle to return to perform secondary operation under the condition that the first plant position and the current operation position of the operation vehicle are greater than the first preset distance.
3. The work vehicle secondary work method as claimed in claim 2, further comprising:
recording the number of plants with omitted operation in the process of one-time operation of the operation vehicle;
correspondingly, the determining whether the condition of returning to the secondary operation is met or not based on the relative relationship between the plant position and the current operation position of the operation vehicle comprises the following steps:
determining whether the number of the plants is greater than a preset number or not under the condition that the first plant position and the current operation position of the operation vehicle are not greater than the first preset distance;
correspondingly, under the condition that the condition of returning the secondary operation is met, controlling the operation vehicle to return to perform the secondary operation comprises the following steps:
and controlling the operation vehicle to return to perform secondary operation under the condition that the number of the plants is greater than the preset number.
4. The method for the secondary operation of the operation vehicle according to claim 2, wherein the determining whether the condition of the secondary operation is satisfied based on the relative relationship between the plant position and the current operation position of the operation vehicle comprises:
determining whether the first plant position and the current operation position of the operation vehicle are greater than a first preset distance and whether the operation position is an edge position;
correspondingly, under the condition that the condition of returning the secondary operation is met, controlling the operation vehicle to return to perform the secondary operation comprises the following steps:
and controlling the operation vehicle to return to perform secondary operation under the condition that the first plant position and the current operation position of the operation vehicle are not more than the first preset distance and the operation position is an edge position.
5. The work vehicle secondary work method according to claim 1, wherein said plant location of the missed work comprises a second plant location of a first missed work recorded, said work vehicle secondary work method further comprising:
calculating the missing operation rate, wherein the missing operation rate is the ratio of the counted number of the plants with missing operation to the number of the plants needing to be operated and identified in the operation process;
the determining whether the condition of returning to the secondary operation is met or not based on the relative relationship between the plant position and the current operation position of the operation vehicle comprises the following steps:
determining whether the position of the second plant and the current operation position of the operation vehicle are greater than a second preset distance or not, and whether the operation missing rate is greater than a preset operation missing rate or not;
correspondingly, under the condition that the condition of returning the secondary operation is met, controlling the operation vehicle to return to perform the secondary operation comprises the following steps:
and controlling the operation vehicle to return to perform secondary operation under the condition that the second plant position and the current operation position of the operation vehicle are greater than the second preset distance and the operation leakage rate is greater than the preset operation leakage rate.
6. The work vehicle secondary work method of claim 5, further comprising:
and deleting the recorded second plant position under the condition that the second plant position and the current operation position of the operation vehicle are greater than the second preset distance and the operation leakage rate is not greater than the preset operation leakage rate.
7. The work vehicle secondary work method according to any one of claims 1 to 6, wherein said controlling the work vehicle to return to perform a secondary work includes:
controlling the operation vehicle to return to the recorded plant position where the first operation is omitted, and starting to perform secondary operation; alternatively, the first and second electrodes may be,
and controlling the operation vehicle to start secondary operation from the recorded plant position of the last missed operation, wherein the operation direction of the operation vehicle in the secondary operation is opposite to the operation direction in the primary operation.
8. Operation car secondary operation device, its characterized in that includes:
the recording module is configured to record the plant positions with omitted operation in the process of one-time operation of the operation vehicle;
the condition judging module is configured to determine whether a condition for returning to secondary operation is met or not based on the relative relation between the plant position and the current operation position of the operation vehicle;
and the operation control module is configured to control the operation vehicle to return to perform secondary operation under the condition that the condition of returning the secondary operation is met.
9. A work vehicle, the work vehicle comprising: one or more processors; a storage device to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of secondary work on a work vehicle of any of claims 1-7.
10. A storage medium storing computer-executable instructions for performing the method of work vehicle secondary work of any of claims 1-7 when executed by a computer processor.
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