WO2021135355A1 - Hybrid operation method and related apparatus - Google Patents

Hybrid operation method and related apparatus Download PDF

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Publication number
WO2021135355A1
WO2021135355A1 PCT/CN2020/113808 CN2020113808W WO2021135355A1 WO 2021135355 A1 WO2021135355 A1 WO 2021135355A1 CN 2020113808 W CN2020113808 W CN 2020113808W WO 2021135355 A1 WO2021135355 A1 WO 2021135355A1
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WO
WIPO (PCT)
Prior art keywords
information
work
spraying
equipment
instruction
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PCT/CN2020/113808
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French (fr)
Chinese (zh)
Inventor
何俊毅
苏家豪
陈艳青
李媛媛
陈世印
Original Assignee
广州极飞科技有限公司
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Publication of WO2021135355A1 publication Critical patent/WO2021135355A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06313—Resource planning in a project environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • This application relates to the field of plant protection technology, and specifically, to a mixed operation method and related devices.
  • plant protection tools such as drones and unmanned vehicles are spraying separately.
  • unmanned vehicle When the unmanned vehicle is used alone for spraying operations, due to the high height of the target and the influence of obstacles, it will cause the spraying problem of the target.
  • the drone When the drone is used alone for spraying operations, it will also cause the spraying problem of the target due to the dense foliage and obstacles of the target.
  • the present application provides a hybrid operation method, which is applied to a control terminal, and the control terminal communicates with a first operation device and a second operation device of different types, and the method includes:
  • the first work instruction is sent to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; wherein, the unworked
  • the information includes information about the area where the work object has not been sprayed and/or the location information of the work object that has missed spraying;
  • the second operation instruction is sent to the second operation equipment, so that the second operation equipment can spray the area where the operation object is not sprayed and/or the missing operation object according to the second operation instruction Carry out spraying operations.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal
  • the collection device is configured to collect and obtain contour information of the work object
  • the unworked information is generated by the first processor according to the contour information and the first spraying information.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal
  • the collection device is configured to collect and obtain contour information of the work object
  • the first processor is configured to adjust the first spraying information according to the contour information to obtain the adjusted first Spray information
  • the unworked information is generated by the first processor according to the contour information and the adjusted first spraying information.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal ,
  • the collection device is configured to collect and obtain location information of obstacles;
  • the non-operation information is generated by the first processor according to the position information of the obstacle and the first spraying information.
  • generating a second operation instruction according to the unworked information includes:
  • the second operation instruction is generated according to the supplementary spraying position, the supplementary spraying amount, and the supplementary spraying range.
  • the present application provides another method of mixed operation, which is applied to a mixed operation system.
  • the mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively connected to the The first working device and the second working device are in communication connection, and the method includes:
  • the control terminal generates a corresponding first work instruction in response to a user operation, and sends the first work instruction to the first work device;
  • the first work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal; wherein, the non-operation information includes the operation Information about the area where the object is not sprayed and/or the location information of the object of the missed spray operation;
  • the control terminal generates a second work instruction according to the unworked information, and sends the second work instruction to the second work equipment;
  • the second work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
  • the method includes:
  • the ground work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal;
  • the aerial work equipment performs a spraying operation on the area where the work object is not sprayed and/or the missing spray work object.
  • the method includes:
  • the aerial work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal;
  • the ground work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal
  • the method further includes:
  • the collecting device collects and obtains contour information of the work object
  • the step of generating non-working information by the first working device includes:
  • the first processor generates the non-operation information according to the contour information and the first spray information.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal
  • the method further includes:
  • the collecting device collects and obtains the location information of the obstacle
  • the step of generating non-working information by the first working device includes:
  • the first processor generates the non-operation information according to the location information of the obstacle and the first spraying information.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal
  • the method further includes:
  • the collecting device collects and obtains contour information of the work object
  • the first processor adjusts the first spray information according to the profile information to obtain adjusted first spray information
  • the step of generating non-working information by the first working device includes:
  • the first processor generates the non-operation information according to the contour information and the adjusted first spraying information.
  • the step of the first working device sending the non-working information to the control terminal includes:
  • the first working device sends the non-working information to the control terminal in real time
  • the first working device summarizes the unworked information and sends it to the control terminal.
  • the present application provides a hybrid operation device, which is applied to a control terminal, and the control terminal is respectively communicatively connected with a first operation device and a second operation device of different types, and the device includes:
  • the instruction generation module is configured to generate a corresponding first operation instruction in response to a user operation
  • An instruction sending module configured to send the first work instruction to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information;
  • the non-operation information includes area information to which the operation object has not been sprayed and/or position information of the missing spray operation object;
  • An information receiving module configured to receive the unworked information
  • the instruction generation module is further configured to generate a second operation instruction according to the unworked information
  • the instruction sending module is further configured to send the second work instruction to the second work equipment, so that the second work equipment can spray the area to which the work object is not sprayed according to the second work instruction And/or the spraying operation is performed on the missing spraying operation object.
  • the present application provides a control terminal including a second processor and a memory, the memory stores machine executable instructions that can be executed by the second processor, and the second processor can execute the The machine can execute instructions to implement the method described in the first aspect.
  • the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a second processor, the method described in the first aspect is implemented.
  • the present application provides a hybrid operating system, including a control terminal, a first operating device and a second operating device of different types, and the control terminal communicates with the first operating device and the second operating device, respectively connection;
  • the control terminal is configured to generate a corresponding first work instruction in response to a user operation, and send the work instruction to the first work device;
  • the first work equipment is configured to perform spraying work on the work object according to the first work instruction, and generate non-operation information, and send the non-operation information to the control terminal; wherein, the non-operation information includes all State the information of the area where the work object has not been sprayed and/or the location information of the object of the missed spraying operation;
  • the control terminal is configured to generate a second work instruction according to the unworked information, and send the second work instruction to the second work equipment;
  • the second work equipment is configured to perform spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal ;
  • the collecting device is configured to collect and obtain contour information of the work object
  • the first processor is configured to generate the non-working information according to the contour information and the first spraying information.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal ;
  • the collecting device is configured to collect and obtain position information of obstacles
  • the first processor is configured to generate the non-operation information according to the position information of the obstacle and the first spraying information.
  • the first operation instruction includes first spraying information
  • the first operation equipment includes a collection device and a first processor
  • the first processor is respectively communicatively connected with the collection device and the control terminal ;
  • the collecting device is configured to collect and obtain contour information of the work object
  • the first processor is configured to adjust the first spraying information according to the profile information to obtain the adjusted first spraying information
  • the first processor is further configured to generate the unworked information according to the contour information and the adjusted first spraying information.
  • the first work equipment and the second work equipment are work equipment with different driving modes and/or spraying modes.
  • the mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively communicatively connected with the first operation device and the second operation device.
  • the control terminal generates a corresponding first operation instruction in response to user operations, and sends the first operation instruction to the first operation device; the first operation device sprays the job object according to the first operation instruction, and at the same time generates non-operation information, And send the unworked information to the control terminal; the control terminal generates a second work instruction based on the unworked information, and sends the second work instruction to the second work equipment; the second work equipment does not spray the work object according to the second work instruction
  • the area and/or the missed spraying operation object shall be sprayed. It can be seen that through the overall control of the control terminal, the first operation equipment and the second operation equipment are coordinated to work. The first operation equipment does not spray the area, and the second operation equipment performs supplementary spraying operations, thereby solving the problem of missing spray The problem.
  • FIG. 1 shows a schematic structural diagram of a mixed operation system provided by an embodiment of the present application
  • Figure 2 shows a schematic structural diagram of a control terminal provided by an embodiment of the present application
  • FIG. 3 shows a schematic structural diagram of another hybrid operating system provided by an embodiment of the present application.
  • FIG. 4 shows a schematic structural diagram of a first working device of a mixed working system provided by an embodiment of the present application
  • FIG. 5 shows a schematic diagram of an application environment of a hybrid operating system provided by an embodiment of the present application
  • FIG. 6 shows a schematic diagram of an application environment of another hybrid operating system provided by an embodiment of the present application.
  • FIG. 7 shows a schematic diagram of an application environment of yet another hybrid operating system provided by an embodiment of the present application.
  • FIG. 8 shows a schematic flowchart of a mixed operation method provided by an embodiment of the present application.
  • FIG. 9 shows a schematic flowchart of another mixed operation method provided by an embodiment of the present application.
  • Fig. 10 shows a schematic structural diagram of a mixing operation device provided by an embodiment of the present application.
  • Icon 100-hybrid operating system; 110-control terminal; 111-memory; 112-second processor; 113-communication module; 114-interaction interface; 115-hybrid operating device; 1151-instruction generation module; 1152-instruction sending Module; 1153-information receiving module; 120-first operating equipment; 121-first processor; 122-collecting device; 130-second operating equipment.
  • first and “second” and other relational terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between.
  • the terms “include”, “include” or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence “including a" does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.
  • FIG. 1 is a schematic diagram of an implementable structure of a hybrid operating system 100 provided by an embodiment of this application.
  • the hybrid operating system 100 includes a control terminal 110, at least one first operating device 120, and at least one second operating device 130.
  • the first working equipment 120 and the second working equipment 130 are of different types.
  • the control terminal 110 may be respectively communicatively connected with the first working device 120 and the second working device 130.
  • the difference between the first work equipment 120 and the second work equipment 130 may include a driving mode, a spraying operation mode, and the like.
  • control terminal 110 is configured to generate a corresponding first job instruction in response to a user operation, and send the job instruction to the first job device 120; the first job device 120 is configured to perform operations on the job object according to the first job instruction. Spraying operation, and generating non-operation information, and sending the non-operation information to the control terminal 110; where the non-operation information includes the area information to which the operation object has not been sprayed and/or the position information of the missing operation object; the control terminal 110 is configured according to The non-operation information generates a second operation instruction, and sends the second operation instruction to the second operation equipment 130; the second operation equipment 130 is configured to spray the area and/or the missing operation object on the operation object according to the second operation instruction Carry out spraying operations.
  • the control terminal 110 may be a remote control, a ground station, etc.
  • the control terminal 110 stores multiple plots of information, and each plot can be used as an area to be operated, that is, multiple plots of information can be multiple Information about the area to be worked on.
  • the control terminal 110 can automatically plan according to the plot information corresponding to the target plot and generate the first operation instruction; the user can also select the target plot,
  • the operation requirement is set according to the actual operation requirement, and the control terminal 110 generates the corresponding first operation instruction according to the land parcel information and the operation requirement corresponding to the target land parcel.
  • control terminal 110 the number combination of the control terminal 110, the first working device 120, and the second working device 130 shown in FIG. 1 is only an example of this embodiment.
  • control terminal 110, the first working device 130 The one work equipment 120 and the second work equipment 130 may also have other quantity combinations.
  • one control terminal 110 may control multiple first work equipment 120 and multiple second work equipment 130.
  • FIG. 2 is an implementable structural block diagram of the control terminal 110 shown in FIG. 1.
  • the control terminal 110 includes a memory 111, a second processor 112, a communication module 113, and an interactive interface 114, a memory 111, and a second processor.
  • the device 112, the communication module 113, and the interaction interface 114 are directly or indirectly electrically connected to each other to realize data transmission or interaction.
  • these components can be electrically connected to each other through one or more communication buses or signal lines.
  • the memory 111 may be configured to store software programs and modules, such as the program instructions/modules corresponding to the mixed operation method provided in the embodiment of the present application, and the second processor 112 executes the software programs stored in the memory 111 And modules to perform various functional applications and data processing.
  • the communication module 113 may be configured to perform signaling or data communication with the first working device 120 and the second working device 130.
  • the control terminal 110 may have multiple communication modules 113.
  • the interactive interface 114 provides an output and input interface between the control terminal 110 and the user at the same time.
  • the memory 111 may be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable In addition to read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
  • RAM Random Access Memory
  • ROM read only memory
  • PROM programmable read-only memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrically erasable read-only memory
  • the second processor 112 may be an integrated circuit chip with signal processing capabilities.
  • the second processor 112 may be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • CPU central processing unit
  • NP Network Processor
  • DSP Digital Signal Processing
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • the interactive interface 114 can sense a touch or mouse click operation generated at a position of the interactive interface 114, and hand the sensed touch or mouse click operation to the second processor 112 for processing.
  • the user can perform touch or mouse click operations on the interactive interface 114 to realize the selection of the target plot and the setting of the job requirements.
  • the control terminal 110 may also be in communication connection with a mobile terminal (not shown in the figure), and the user may perform input operations on the mobile terminal, thereby realizing the selection of the target plot and the setting of the job requirements.
  • the mobile terminal can be a mobile phone, a tablet computer, etc.
  • FIG. 2 is only a schematic structural diagram of the control terminal 110, and the control terminal 110 may also include more or fewer components than those shown in FIG. 2, or have different components from those shown in FIG. Configuration.
  • the components shown in FIG. 2 can be implemented by hardware, software, or a combination thereof.
  • the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by the second processor 112, the hybrid operation method as in any one of the foregoing embodiments is implemented.
  • the computer-readable storage medium can be, but is not limited to, various mediums that can store program codes, such as U disk, mobile hard disk, ROM, RAM, PROM, EPROM, EEPROM, magnetic disk, or optical disk.
  • the first operation instruction may include the first operation route, the first travel speed, and the first spraying information, etc.
  • the first spraying information includes the first spraying range, the first spraying height, and the first spraying amount, etc.
  • the requirements may include information such as setting the driving speed, setting the spray range, and setting the spray height.
  • the first work equipment 120 may be ground work equipment or aerial work equipment; the second work equipment 130 may be ground work equipment or aerial work equipment. As shown in FIG. 1, when the first work equipment 120 is a ground work equipment, since the first work equipment 120 and the second work equipment 130 are different types of equipment, the second work equipment 130 is an aerial work equipment.
  • control terminal 110 sends the first operation instruction to the ground operation equipment; the ground operation equipment sprays the operation object according to the first operation instruction, generates non-operation information, and sends the non-operation information to the control terminal 110; control terminal 110 generates a second operation instruction according to the non-operation information sent by the ground operation equipment, and sends the second operation instruction to the aerial operation equipment; the aerial operation equipment performs operations on areas and/or missed sprays that are not sprayed by the operation object according to the second operation instruction Subject performs spraying operations.
  • the control terminal 110 will respond to the target plot based on the characteristic parameters of the ground work equipment (such as spraying range, spraying height range, and driving speed range, etc.)
  • the plot information and the job requirements set by the user generate the first job instruction.
  • the ground work equipment travels on the first work route at the first travel speed in the first work instruction, and sprays the work object according to the first spray information, records and generates non-operation information at the same time, and sends the non-operation information to the control Terminal 110.
  • the control terminal 110 generates a second operation instruction according to the unoperation information, and sends the second operation instruction to the aerial operation equipment; wherein, the second operation instruction includes the second operation route, the second travel speed, and the second spraying of the aerial operation equipment. information.
  • the aerial work equipment travels along the second operation route according to the second travel speed, and sprays the areas where the work object is not sprayed and the missing spray work object according to the second spraying information; or the aerial work equipment travels along the second work route according to the second travel speed.
  • the control terminal 110 sends the first operation instruction to the air operation equipment; the air operation equipment sprays the operation object according to the first operation instruction, generates unoperation information, and sends the unoperation information to the control terminal 110; control terminal 110 Generate a second operation instruction according to the non-operation information sent by the aerial operation equipment, and send the second operation instruction to the ground operation equipment; the ground operation equipment performs operations on the area and/or missed spraying of the operation object according to the second operation instruction Subject performs spraying operations.
  • the control terminal 110 will respond to the target plot according to the characteristic parameters of the aerial work equipment (such as spraying amplitude range, spraying height range, and driving speed range, etc.)
  • the plot information and the job requirements set by the user generate the first job instruction.
  • the aerial work equipment travels along the first work route at the first travel speed in the first work instruction, and sprays the work object according to the first spray information, records and generates non-operation information at the same time, and sends the non-operation information to the control terminal 110.
  • the control terminal 110 generates a second operation instruction based on the non-operation information, and sends the second operation instruction to the ground operation equipment; wherein, the second operation instruction includes the second operation route, the second travel speed, and the second spraying of the ground operation equipment. information.
  • the ground operation equipment travels on the second operation route according to the second travel speed, and sprays the areas where the work object is not sprayed and the missing spray operation object according to the second spraying information; or the ground work equipment travels on the second operation route according to the second travel speed. 2.
  • the job object is spraying.
  • the first operation instruction generated by the control terminal 110 when the ground work equipment is set as the first work equipment 120 is the same as the first work instruction generated by the control terminal 110 when the aerial work equipment is set as the first work equipment 120 different.
  • the second work instruction generated by the control terminal 110 when the ground work equipment is set as the first work equipment 120 is also different from the second work instruction generated by the control terminal 110 when the air work equipment is set as the first work equipment 120 .
  • both the first working equipment 120 and the second working equipment 130 include a spraying device (not shown), a driving device (not shown), and a first processor (not shown).
  • the first working equipment 120 and The first processors of the second working equipment 130 are all communicatively connected with the control terminal 110.
  • the first processor of the first working device 120 is configured to receive the first job instruction sent by the control terminal 110 and to send un-job information to the control terminal 110;
  • the first processor of the second working device 130 is configured to receive the first job instruction sent by the control terminal 110 The second job instruction.
  • the first processor is electrically connected to the spraying device and the driving device.
  • the first processor of the first working device 120 controls the driving device of the first working device 120 to operate according to the first traveling speed of the first working instruction.
  • the first processor controls the spraying device of the first operation equipment 120 to perform spraying work; the first processor of the second operation equipment 130 controls the first operation equipment according to the second travel speed of the second operation instruction
  • the driving device of the second working equipment 130 works, and the first processor of the second working equipment 130 controls the spraying device of the second working equipment 130 to perform spraying work according to the second spraying information of the second working instruction.
  • the ground operation equipment may be an unmanned vehicle
  • the aerial operation equipment may be an unmanned aerial vehicle.
  • the number of ground work equipment and aerial work equipment is set according to actual conditions, that is, the number of first work equipment 120 and second work equipment 130 is set according to actual conditions, which is not limited here.
  • control terminal 110, the first working device 120, and the second working device 130 may be relatively independent devices. In other possible implementation manners, the control terminal 110 may also be integrated in the first working device 120 or the second working device 130.
  • FIG. 4 is a schematic diagram of an implementable structure of the first work equipment 120 shown in FIG. 1 and FIG. 3.
  • the first work equipment 120 further includes a collection device 122, and the collection device 122 is communicatively connected with the first processor 121 .
  • the ground work equipment includes a collection device 122.
  • the aerial working equipment includes a collecting device 122.
  • the ground work equipment and the aerial work equipment may both include the collecting device 122, or they may have the collecting device 122 only when the first working equipment 120 is set. It is not limited here, and can be set according to the actual situation.
  • the collection device 122 may be a camera, a lidar, an infrared radar, etc.
  • the collection device 122 is a camera as an example for detailed description.
  • the first processor 121 may be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • CPU central processing unit
  • NP Network Processor
  • DSP Digital Signal Processing
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • FIG. 4 is only a schematic structural diagram of the first working device 120, and the first working device 120 may also include more or fewer components than those shown in FIG. 4 shows different configurations.
  • the components shown in FIG. 4 can be implemented by hardware, software, or a combination thereof.
  • the specific principle for the first working equipment 120 to generate the non-working information is: the collection device 122 is configured to collect and obtain the contour information of the working object; and the first processor 121 is configured to be based on the contour information and the first spray.
  • the information is generated without job information.
  • the collection device 122 of the first work equipment 120 is a camera, and when the first work equipment 120 sprays the work object according to the first work instruction, the collection device 122 of the first work equipment 120 also collects the first work equipment in real time. 120 passes through the image information of the area, and performs image segmentation on the image information to extract the contour information of the work object and/or the status information of the work route. The collection device 122 of the first work equipment 120 combines the contour information and/or the status information of the work route. It is transmitted to the first processor 121 of the first working device 120.
  • the contour information may include the branch and leaf crown width of the work object, the diameter of the tree trunk, and the height of the work object.
  • the first processor 121 of the first working equipment 120 calculates the sprayable area information of the working object according to the first spraying amplitude, the first spraying height, and the first spraying amount, where the sprayable area information may include the working object The range, height and thickness of the sprayable area of the first working device 120; the first processor 121 of the first working device 120 calculates the area information of the working object to be sprayed according to the branch and leaf crown width, the diameter of the tree trunk, and the height of the working object, where , The area information to be sprayed includes the range, height and thickness of the area to be sprayed of the work object; the first processor 121 of the first work equipment 120 depends on the area information to be sprayed of the work object and the area information to which the work object can be sprayed Calculate the area information that the work object has not sprayed. In addition, the first processor 121 may also determine whether the first working equipment 120 can smoothly travel along the preset working route according to the status information of the working route to perform spraying operation on the working object on the
  • control terminal 110 may also calculate and obtain the information about the area where the work object has not been sprayed by the second action device 130 according to the non-operation information sent by the first work equipment 120 and/or the missing spray work object needs supplementary spraying work.
  • the supplementary spraying position, supplementary spraying amount and supplementary spraying range are then generated according to the supplementary spraying position, supplementary spraying amount and supplementary spraying range, so as to prevent the second operation equipment 130 from overspraying the already sprayed operation object.
  • control device can also generate a second job according to the control terminal 110, and the first job device 120 can generate a second job based on the information about the area where the job object is not sprayed and/or the missed job object in the unworked information.
  • the instruction includes the second operation route, the second travel speed and the second spraying information of the aerial work equipment.
  • FIG. 5 it is a schematic diagram of an implementable application scenario of the hybrid operating system 100.
  • the first operating device 120 is a ground operating device and the second operating device 130 is an aerial operating device
  • the entire canopy of the fruit tree is the total operation area, that is, the total operation area is the area that needs to be sprayed.
  • the first operation equipment 120 sprays the fruit trees according to the first spraying information, it may only spray the first operation area of the fruit trees.
  • the first operation area shown in FIG. 5 is the sprayed area. Area, and the height b of the first work area corresponds to the first spray height of the first spray information.
  • the first processor 121 of the first working device 120 can calculate the area information to be supplemented by the fruit trees according to the area information of the total working area and the first spraying information.
  • the height c of the area is subtracted from the height b of the first work area to obtain the height a of the second work area, and then the maximum width d of the second work area can be obtained according to the width corresponding to each height of the total work area.
  • the control terminal 110 formulates the second spraying information according to the height a and the width d of the second working area, so that the second working equipment 130 can spray the second working area completely.
  • the second work area in FIG. 5 is not sprayed.
  • the reason may be that the maximum spray height of the ground work equipment is b, so the second work area higher than b cannot be sprayed by the ground work equipment.
  • the second work area in FIG. 5 was not sprayed.
  • the reason may also be that the target area information obtained by the control terminal 110 when formulating the first work instruction was not updated in time, and the contour information of the work object in the target area information It is smaller than the actual outline information of the work object.
  • the first work equipment 120 is an aerial work equipment and the second work equipment 130 is a ground work equipment
  • the entire canopy of the fruit tree is the total
  • the operating area that is, the total operating area is the area to be sprayed.
  • the first operating device 120 sprays the fruit trees according to the first spraying information, it can only spray the second operating area of the fruit trees, that is, the second operating area is the area that can be sprayed, and the second operating area is the area that can be sprayed.
  • the height a and the maximum width d of the work area correspond to the first spray height and the first spray range of the first spray information.
  • the first processor 121 of the first work equipment 120 can calculate the area information to be sprayed for fruit trees according to the area information of the total work area and the first spraying information, that is, the first processor 121 of the first work equipment 120 calculates the area information to be sprayed according to the total work area
  • the height c of the second work area is subtracted from the height a of the second work area to obtain the height b of the first work area, and then the maximum width e of the first work area can be obtained according to the width corresponding to each height of the total work area.
  • the control terminal 110 formulates the second spraying information according to the height b and the width e of the first work area, so that the second work equipment 130 can spray the second work area completely.
  • the first work area in Figure 5 has not been sprayed.
  • the reason may be that the maximum amplitude e of the first work area is smaller than the maximum amplitude d of the second work area, or the branches and leaves of fruit trees are relatively dense, and the aerial work equipment The penetration power of the spraying device is insufficient, and the first working area cannot be sprayed.
  • the principle for the first working equipment 120 to generate non-working information may also be: the collecting device 122 of the first working equipment 120 is configured to collect and obtain the contour information of the working object; the first working equipment 120 is configured to collect and obtain the contour information of the working object; A processor 121 is configured to adjust the first spraying information according to the contour information to obtain the adjusted first spraying information; the first processor 121 of the first work equipment 120 is also configured to adjust the first spraying information according to the contour information and the adjusted first spraying information.
  • the information is generated without job information.
  • the first working device 120 when it detects that it is unable to perform a complete spraying operation on a certain work object according to the currently set spraying range or spraying amount, it may first try to adjust its spraying range and/or spraying amount. Try to complete the spraying operation. If it is further detected, even after adjusting its spraying range and/or spraying amount, it is still unable to perform a complete spraying operation on the work object, and then generate non-operation information for the work object.
  • the crown width and the crown width of the working object obtained by the collecting device 122 of the first working device 120 are The height is greater than the first spraying range and the first spraying height.
  • the first processor 121 of the first working equipment 120 can increase the spraying device range and height of the first working equipment 120, that is, the first spraying range and the first spraying height. The spraying height is adjusted to be larger.
  • the first processor 121 of the first working equipment 120 adjusts the height according to the crown width and height of the working object.
  • the following first spraying range and height generate non-operation information.
  • the first processor 121 of the first working device 120 generates the un-operated information according to the crown width and height of the working object and the enlarged first spraying amplitude and height.
  • the specific principle can be referred to the outline information and the first spraying information. The principle of unworked information will not be described here.
  • the principle of generating unworked information by the first working device 120 may also be: the collection device 122 of the first working device 120 is configured to collect and obtain the position information of the obstacle, and the first working device 120 is configured to collect and obtain the position information of the obstacle.
  • the first processor 121 generates non-operation information according to the location information of the obstacle and the first spray information.
  • the first work equipment 120 is a ground work equipment and the second work equipment 130 is an aerial work equipment
  • the ground work equipment travels according to the first travel route
  • an obstacle appears on the first travel route.
  • the first working equipment 120 will bypass, and there are working objects in the areas where the first equipment cannot reach due to obstacles, and the working objects in the areas where the first equipment cannot reach are the objects of missed spraying operations.
  • the position information of the missed spray operation object can be obtained according to the position information of the obstacle and the travel route information of the first work equipment 120 circumventing.
  • FIG. 6 it is a schematic diagram of another applicable application environment of the hybrid operating system 100. Due to the existence of obstacles in the first operating route, the ground operating equipment can only follow the detour route, so that the ground operating equipment cannot be leaked.
  • the spraying operation object performs the spraying operation.
  • the control terminal 110 formulates a second operation route according to the position information of the missing spray operation object, so that the aerial work equipment performs spray operation on the missing spray operation object according to the second operation route.
  • the control terminal 110 formulates the second operation route according to the position information of the electric wire, so that the ground work equipment performs spraying operation on the operation object near the electric wire according to the second operation route.
  • first work equipment 120 and second work equipment 130 are the setting modes of ground work equipment and aerial work equipment respectively, which are only a possible implementation manner in this embodiment.
  • first working equipment 120 and the second working equipment 130 have different forms and/or spraying methods, so as to satisfy that the spraying areas of the two working equipments can be complementary to a certain extent.
  • the first work equipment 120 and the second work equipment 130 may both be ground work equipment, but the first work equipment 120 may be ground work equipment with a lower spraying work area, and the second work equipment
  • the work equipment 130 is a ground work equipment with a higher spraying work area, and the second work equipment 130 can perform supplementary spraying to locations where the first work equipment 120 cannot spray.
  • the first work equipment 120 and the second work equipment 130 may both be aerial work equipment, but the first work equipment 120 may have a larger load and a wider spraying range, but flying Aerial operation equipment with lower flexibility or spraying accuracy, while the second operation equipment 130 may be an aerial operation equipment with a smaller load and a smaller spraying range, but higher flying flexibility or higher spraying accuracy. 130 may perform supplementary spraying operations for locations where the first working equipment 120 misses spraying.
  • FIG. 7 it is a schematic diagram of another applicable application environment of the hybrid operating system 100. If the obstacle is close to the work object, the ground work equipment cannot spray the side of the work object where the obstacle exists. The spraying area on the side where the object has obstacles can be sprayed by aerial work equipment.
  • the first work equipment 120 may send un-worked information to the control terminal 110 in real time. For example, the first work equipment 120 sprays multiple work objects. When the first work equipment 120 records and obtains a work When the unsprayed area information of the object or the position information of a missed spraying operation object, the first work equipment 120 may send the unsprayed area information of the work object or the position information of the missed spraying operation object to the control terminal 110 .
  • the control terminal 110 can generate a second work instruction in real time according to the unworked information received from the first work equipment 120 and send it to the second work equipment 130, so that the second work equipment 130 can perform the refilling task in time; the control terminal 110 can also After waiting for the first work equipment 120 to finish spraying the work site or part of the work site, a second control instruction is generated according to all the unworked information received from the first work equipment 110 to control the second work equipment 130 to meet the needs at one time.
  • the goal of supplementary injection is to perform supplementary injection operations.
  • the first work equipment 120 may also collect the unworked information and send it to the control terminal 110.
  • the first work equipment 120 may also store the unsprayed area information of the work object or the position information of the missed work object in the first operation device.
  • the unsprayed area information of all the working objects and/or the information of all the missing spraying objects stored during the operation is collected and sent to the control terminal 110.
  • FIG. 8 is a schematic flowchart of a mixed operation method provided by an embodiment of this application. It should be noted that the basic principles and technical effects of the mixed operation method provided in the embodiments of this application are the same as those in the above embodiments. For a brief description, the parts not mentioned in this embodiment can be referred to in the above embodiments. Corresponding content. Moreover, the mixing operation method provided in the embodiment of the application is not limited to the specific sequence shown in FIG. 8 and the following.
  • Step S201 The control terminal generates a corresponding first operation instruction in response to the user operation, and sends the first operation instruction to the first operation device.
  • step S201 may be executed by the control terminal 110 described above.
  • step S202 the first work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal.
  • the non-operation information includes information about the area where the operation object is not sprayed and/or the position information of the missing operation object
  • the first operation instruction includes the first spray information
  • the first work equipment 120 includes a collection device 122 and a first processor 121.
  • the first processor 121 is respectively communicatively connected with the collection device 122 and the control terminal 110.
  • the collection device 122 collects and obtains the contour information of the work object.
  • the first processor 121 generates unworked information according to the contour information and the first spraying information.
  • the collecting device 122 may also collect and obtain the position information of the obstacle; the first processor 121 generates the unworked information according to the position information of the obstacle and the first spraying information.
  • the collection device 122 can also collect and obtain contour information of the work object; the first processor 121 adjusts the first spraying information according to the contour information to obtain the second spraying information; the first processor 121 according to The contour information and the second spraying information generate unworked information.
  • step S202 can be executed by the first working device 120 described above.
  • Step S203 The control terminal generates a second job instruction according to the un-job information, and sends the second job instruction to the second job device.
  • step S203 may be executed by the control terminal 110 described above.
  • step S204 the second work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
  • step S204 can be executed by the above-mentioned second working device 130.
  • FIG. 9 is a schematic diagram of another flow chart of the mixed operation method provided by the embodiment of this application.
  • FIG. 9 is a schematic diagram of another flow chart of the mixed operation method provided by the embodiment of this application.
  • the basic principles and technical effects of the mixed operation method provided in the embodiments of this application are the same as those in the above embodiments.
  • the parts not mentioned in this embodiment can be referred to in the above embodiments.
  • the mixing operation method provided in the embodiment of the application is not limited to the specific sequence shown in FIG. 9 and the following.
  • Step S301 Generate a corresponding first job instruction in response to a user operation.
  • the control terminal 110 stores multiple plots of information, and each plot can be used as a to-be-worked area, that is, the multiple plots of information can be multiple to-be-worked area information.
  • the second processor 112 of the control terminal 110 can automatically plan according to the plot information corresponding to the target plot, and generate the first operation instruction;
  • the user can also set the job requirements according to actual job requirements after selecting the target plot, and the second processor 112 of the control terminal 110 generates the corresponding first job instruction according to the plot information and job requirements corresponding to the target plot.
  • the first operation instruction may include the first operation route, the first travel speed, the first spraying information, etc.; the first spraying information includes the first spraying range, the first spraying height, and the first spraying amount; the operation requirements may include the design Set the driving speed, set the spray range, set the spray height and other information.
  • Step S302 Send the first work instruction to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; where the unworked information includes that the work object has not been sprayed to The area information and/or the location information of the missing spray job object.
  • the unworked information is generated by the first processor 121 according to the contour information and the first spraying information. Among them, the contour information is collected and obtained by the collecting device 122.
  • the unworked information is generated by the first processor 121 according to the contour information and the adjusted first spraying information.
  • the first processor 121 is configured to adjust the first spraying information according to the profile information to obtain the adjusted first spraying information.
  • the unworked information is generated by the first processor according to the location information of the obstacle and the first spraying information.
  • the collecting device is configured to collect and obtain the position information of the obstacle.
  • Step S303 receiving un-job information.
  • control terminal 110 receives the unjob information sent by the first processor through the communication module 113.
  • step S304 a second operation instruction is generated according to the unworked information.
  • the second working route, the second traveling speed, and the second spraying information of the second working equipment 130 may be included.
  • step S305 the second operation instruction is sent to the second operation equipment, so that the second operation equipment sprays the area where the operation object is not sprayed and/or the missing operation object according to the second operation instruction.
  • control terminal 110 sends the second operation instruction to the second operation device 130 through the communication module 113.
  • FIG. 10 is a functional module diagram of a hybrid operating device 115 provided by an embodiment of the application. It should be noted that the basic principle and technical effects of the mixing device 115 provided in this embodiment are the same as those of the above-mentioned embodiment. For a brief description, for the parts not mentioned in this embodiment, please refer to the above-mentioned embodiment. In the corresponding content.
  • the hybrid working device 115 includes: an instruction generating module 1151, an instruction sending module 1152, and an information receiving module 1153.
  • the instruction generation module 1151 is configured to generate a corresponding first job instruction in response to a user operation.
  • instruction generation module 1151 is configured to execute the content of the above step S301.
  • the instruction sending module 1152 is configured to send the first work instruction to the first work equipment 120, so that the first work equipment 120 sprays the work object according to the first work instruction and generates unworked information; wherein, the unworked information includes Information about the area where the work object is not sprayed and/or the location information of the work object that is missed.
  • instruction sending module 1152 is configured to execute the content of the above step S302.
  • the information receiving module 1153 is configured to receive unemployed information.
  • the information receiving module 1153 is configured to execute the content of the above step S303.
  • the instruction generation module 1151 is further configured to generate a second operation instruction according to the un-worked information.
  • instruction generation module 1151 is also configured to execute the content of the above step S304.
  • the instruction sending module is further configured to send the second work instruction to the second work equipment 130, so that the second work equipment 130 sprays the area where the work object is not sprayed and/or the missing work object according to the second work instruction operation.
  • instruction sending module 1152 is also configured to execute the content of the above step S305.
  • the aforementioned modules may be stored in the memory 111 shown in FIG. 2 in the form of software or firmware (Firmware) or solidified in the operating system (Operating System, OS) of the control terminal 110, and may be stored in the operating system (OS) of the control terminal 110 in the form of software or firmware (Firmware).
  • the second processor 112 executes.
  • data, program codes, etc. required to execute the above-mentioned modules may be stored in the memory 111.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of the code, and the module, program segment, or part of the code contains one or more functions for realizing the specified logical function. Executable instructions. It should also be noted that in some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.
  • the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
  • the embodiments of the present application provide a mixed operation method and related device.
  • the mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively connected to the first operation device and the second operation device.
  • the second working device is in communication connection.
  • the control terminal generates a corresponding first operation instruction in response to user operations, and sends the first operation instruction to the first operation device; the first operation device sprays the job object according to the first operation instruction, and at the same time generates non-operation information, And send the unworked information to the control terminal; the control terminal generates a second work instruction based on the unworked information, and sends the second work instruction to the second work equipment; the second work equipment does not spray the work object according to the second work instruction
  • the area and/or the missed spraying operation object shall be sprayed. It can be seen that through the overall control of the control terminal, the first operation equipment and the second operation equipment are coordinated to work. The first operation equipment does not spray the area, and the second operation equipment performs supplementary spraying operations, thereby solving the problem of missing spray The problem.
  • the mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively communicatively connected with the first operation device and the second operation device.
  • the control terminal generates a corresponding first operation instruction in response to user operations, and sends the first operation instruction to the first operation device; the first operation device sprays the job object according to the first operation instruction, and at the same time generates non-operation information, And send the unworked information to the control terminal; the control terminal generates a second work instruction based on the unworked information, and sends the second work instruction to the second work equipment; the second work equipment does not spray the work object according to the second work instruction
  • the area and/or the missed spraying operation object shall be sprayed. It can be seen that through the overall control of the control terminal, the first operation equipment and the second operation equipment are coordinated to work. The first operation equipment does not spray the area, and the second operation equipment performs supplementary spraying operations, thereby solving the problem of missing spray The problem.

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Abstract

A hybrid operation method and a related apparatus, which relate to the technical field of plant protection. A hybrid operation system (100) comprises a control terminal (110), and a first operation device (120) and second operation device (130) of different types, wherein the control terminal (110) is communicatively connected to the first operation device (120) and the second operation device (120) separately. The control terminal (110) generates a corresponding first operation instruction in response to a user operation, and sends the first operation instruction to the first operation device (120) (S201); the first operation device (120) performs a spraying operation on an operation object according to the first operation instruction, generates non-operation information and sends the non-operation information to the control terminal (110) (S202); the control terminal (110) generates a second operation instruction according to the non-operation information, and sends the second operation instruction to the second operation device (130) (S203); and according to the second operation instruction, the second operation device (130) performs a spraying operation on a region of the operation object that has not been sprayed and/or an operation object that missed spraying (S204). By means of the cooperative operation between the first operation device (120) and the second operation device (130), the hybrid operation system (100) solves the problem in which operation objects miss spraying.

Description

混合作业方法和相关装置Mixed operation method and related device
相关申请的交叉引用Cross-references to related applications
本申请要求于2019年12月31日提交中国专利局的申请号为2019114159707、名称为“混合作业方法和相关装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 2019114159707 and titled "Mixed Operation Method and Related Apparatus" filed with the Chinese Patent Office on December 31, 2019, the entire content of which is incorporated into this application by reference.
技术领域Technical field
本申请涉及植保技术领域，具体而言，涉及一种混合作业方法和相关装置。This application relates to the field of plant protection technology, and specifically, to a mixed operation method and related devices.
背景技术Background technique
目前，在植保领域中，无人机和无人车等植保工具都是单独进行喷洒作业。当单独使用无人车进行喷洒作业时，会因作业对象的高度过高及障碍物等影响，会造成作业对象的漏喷问题。当单独使用无人机进行喷洒作业时，也会因作业对象枝叶茂密及障碍物等影响，造成作业对象的漏喷问题。At present, in the field of plant protection, plant protection tools such as drones and unmanned vehicles are spraying separately. When the unmanned vehicle is used alone for spraying operations, due to the high height of the target and the influence of obstacles, it will cause the spraying problem of the target. When the drone is used alone for spraying operations, it will also cause the spraying problem of the target due to the dense foliage and obstacles of the target.
发明内容Summary of the invention
第一方面，本申请提供一种混合作业方法，应用于控制终端，所述控制终端分别与不同类型的第一作业设备和第二作业设备通信连接，所述方法包括：In a first aspect, the present application provides a hybrid operation method, which is applied to a control terminal, and the control terminal communicates with a first operation device and a second operation device of different types, and the method includes:
响应用户操作生成对应的第一作业指令；Generate the corresponding first operation instruction in response to the user operation;
将所述第一作业指令发送至所述第一作业设备，以使所述第一作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；The first work instruction is sent to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; wherein, the unworked The information includes information about the area where the work object has not been sprayed and/or the location information of the work object that has missed spraying;
接收所述未作业信息；Receiving the unworked information;
依据所述未作业信息生成第二作业指令；Generating a second operation instruction according to the unworked information;
将所述第二作业指令发送至所述第二作业设备，以使所述第二作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The second operation instruction is sent to the second operation equipment, so that the second operation equipment can spray the area where the operation object is not sprayed and/or the missing operation object according to the second operation instruction Carry out spraying operations.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述采集装置用于配置成采集并获取所述作业对象的轮廓信息；Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal , The collection device is configured to collect and obtain contour information of the work object;
所述未作业信息由所述第一处理器依据所述轮廓信息和所述第一喷洒信息生成。The unworked information is generated by the first processor according to the contour information and the first spraying information.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述采集装置用于配置成采集并获取所述作业对象的轮廓信息，所述第一处理器用于配置成依据所述轮廓信息对所述第一喷洒信息进行调节，得到调节后的第一喷洒信息；Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal The collection device is configured to collect and obtain contour information of the work object, and the first processor is configured to adjust the first spraying information according to the contour information to obtain the adjusted first Spray information;
所述未作业信息由所述第一处理器依据所述轮廓信息和所述调节后的第一喷洒信息生成。The unworked information is generated by the first processor according to the contour information and the adjusted first spraying information.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述采集装置用于配置成采集并获取障碍物的位置信息；Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal , The collection device is configured to collect and obtain location information of obstacles;
所述未作业信息由所述第一处理器依据所述障碍物的位置信息和所述第一喷洒信息生成。The non-operation information is generated by the first processor according to the position information of the obstacle and the first spraying information.
可选地，依据所述未作业信息生成第二作业指令，包括：Optionally, generating a second operation instruction according to the unworked information includes:
依据所述未作业信息确定需要执行补充喷洒的位置以及需要对所述作业对象未喷洒到的区域和/或所述漏喷作业对象执行补充喷洒作业的补充喷洒量和补充喷洒范围；Determine, according to the non-operation information, the location where the supplementary spraying needs to be performed and the area where the job object is not sprayed and/or the supplementary spraying amount and the supplementary spraying range of the supplementary spraying operation of the missing spraying operation object;
根据所述补充喷洒位置、所述补充喷洒量和补充喷洒范围生成所述第二作业指令。The second operation instruction is generated according to the supplementary spraying position, the supplementary spraying amount, and the supplementary spraying range.
第二方面，本申请提供另一种混合作业方法，应用于混合作业***，所述混合作业***包括控制终端、不同类型的第一作业设备和第二作业设备，所述控制终端分别与所述第一作业设备和所述第二作业设备通信连接，所述方法包括：In the second aspect, the present application provides another method of mixed operation, which is applied to a mixed operation system. The mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively connected to the The first working device and the second working device are in communication connection, and the method includes:
所述控制终端响应用户操作生成对应的第一作业指令，并将所述第一作业指令发送至所述第一作业设备；The control terminal generates a corresponding first work instruction in response to a user operation, and sends the first work instruction to the first work device;
所述第一作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；The first work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal; wherein, the non-operation information includes the operation Information about the area where the object is not sprayed and/or the location information of the object of the missed spray operation;
所述控制终端依据所述未作业信息生成第二作业指令，并将所述第二作业指令发送至所述第二作业设备；The control terminal generates a second work instruction according to the unworked information, and sends the second work instruction to the second work equipment;
所述第二作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The second work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
可选地，当所述第一作业设备为地面作业设备且所述第二作业设备为空中作业设备时，所述方法包括：Optionally, when the first work equipment is a ground work equipment and the second work equipment is an aerial work equipment, the method includes:
所述地面作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；The ground work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal;
所述空中作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。According to the second operation instruction, the aerial work equipment performs a spraying operation on the area where the work object is not sprayed and/or the missing spray work object.
可选地，当所述第一作业设备为空中作业设备且所述第二作业设备为地面作业设备时，所述方法包括：Optionally, when the first work equipment is an aerial work equipment and the second work equipment is a ground work equipment, the method includes:
所述空中作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；The aerial work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal;
所述地面作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。According to the second operation instruction, the ground work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述方法还包括：Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal , The method further includes:
所述采集装置采集并获取所述作业对象的轮廓信息；The collecting device collects and obtains contour information of the work object;
所述第一作业设备生成未作业信息的步骤包括：The step of generating non-working information by the first working device includes:
所述第一处理器依据所述轮廓信息和所述第一喷洒信息生成所述未作业信息。The first processor generates the non-operation information according to the contour information and the first spray information.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置 和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述方法还包括：Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal , The method further includes:
所述采集装置采集并获取障碍物的位置信息；The collecting device collects and obtains the location information of the obstacle;
所述第一作业设备生成未作业信息的步骤包括：The step of generating non-working information by the first working device includes:
所述第一处理器依据所述障碍物的位置信息和所述第一喷洒信息生成所述未作业信息。The first processor generates the non-operation information according to the location information of the obstacle and the first spraying information.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述方法还包括：Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal , The method further includes:
所述采集装置采集并获取所述作业对象的轮廓信息；The collecting device collects and obtains contour information of the work object;
所述第一处理器依据所述轮廓信息对所述第一喷洒信息进行调节，得到调节后的第一喷洒信息；The first processor adjusts the first spray information according to the profile information to obtain adjusted first spray information;
所述第一作业设备生成未作业信息的步骤包括：The step of generating non-working information by the first working device includes:
所述第一处理器依据所述轮廓信息和所述调节后的第一喷洒信息生成所述未作业信息。The first processor generates the non-operation information according to the contour information and the adjusted first spraying information.
可选地，所述第一作业设备将所述未作业信息发送至所述控制终端的步骤包括：Optionally, the step of the first working device sending the non-working information to the control terminal includes:
所述第一作业设备将所述未作业信息实时发送至所述控制终端；The first working device sends the non-working information to the control terminal in real time;
或所述第一作业设备将所述未作业信息汇总后发送至所述控制终端。Or, the first working device summarizes the unworked information and sends it to the control terminal.
第三方面，本申请提供一种混合作业装置，应用于控制终端，所述控制终端分别与不同类型的第一作业设备和第二作业设备通信连接，所述装置包括：In a third aspect, the present application provides a hybrid operation device, which is applied to a control terminal, and the control terminal is respectively communicatively connected with a first operation device and a second operation device of different types, and the device includes:
指令生成模块，配置成响应用户操作生成对应的第一作业指令；The instruction generation module is configured to generate a corresponding first operation instruction in response to a user operation;
指令发送模块，配置成将所述第一作业指令发送至所述第一作业设备，以使所述第一作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；An instruction sending module configured to send the first work instruction to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; Wherein, the non-operation information includes area information to which the operation object has not been sprayed and/or position information of the missing spray operation object;
信息接收模块，配置成接收所述未作业信息；An information receiving module configured to receive the unworked information;
所述指令生成模块，还配置成依据所述未作业信息生成第二作业指令；The instruction generation module is further configured to generate a second operation instruction according to the unworked information;
所述指令发送模块，还配置成将所述第二作业指令发送至所述第二作业设备，以使所述第二作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The instruction sending module is further configured to send the second work instruction to the second work equipment, so that the second work equipment can spray the area to which the work object is not sprayed according to the second work instruction And/or the spraying operation is performed on the missing spraying operation object.
第四方面，本申请提供一种控制终端，包括第二处理器和存储器，所述存储器存储有能够被所述第二处理器执行的机器可执行指令，所述第二处理器可执行所述机器可执行指令以实现第一方面所述的方法。In a fourth aspect, the present application provides a control terminal including a second processor and a memory, the memory stores machine executable instructions that can be executed by the second processor, and the second processor can execute the The machine can execute instructions to implement the method described in the first aspect.
第五方面，本申请提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被第二处理器执行时实现第一方面所述的方法。In a fifth aspect, the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a second processor, the method described in the first aspect is implemented.
第六方面，本申请提供一种混合作业***，包括控制终端、不同类型的第一作业设备和第二作业设备，所述控制终端分别与所述第一作业设备和所述第二作业设备通信连接；In a sixth aspect, the present application provides a hybrid operating system, including a control terminal, a first operating device and a second operating device of different types, and the control terminal communicates with the first operating device and the second operating device, respectively connection;
所述控制终端配置成响应用户操作生成对应的第一作业指令，并将所述作业指令发送 至所述第一作业设备；The control terminal is configured to generate a corresponding first work instruction in response to a user operation, and send the work instruction to the first work device;
所述第一作业设备配置成依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；The first work equipment is configured to perform spraying work on the work object according to the first work instruction, and generate non-operation information, and send the non-operation information to the control terminal; wherein, the non-operation information includes all State the information of the area where the work object has not been sprayed and/or the location information of the object of the missed spraying operation;
所述控制终端配置成依据所述未作业信息生成第二作业指令，并将所述第二作业指令发送至所述第二作业设备；The control terminal is configured to generate a second work instruction according to the unworked information, and send the second work instruction to the second work equipment;
所述第二作业设备配置成依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The second work equipment is configured to perform spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接；Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal ；
所述采集装置配置成采集并获取所述作业对象的轮廓信息；The collecting device is configured to collect and obtain contour information of the work object;
所述第一处理器配置成依据所述轮廓信息和所述第一喷洒信息生成所述未作业信息。The first processor is configured to generate the non-working information according to the contour information and the first spraying information.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接；Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal ；
所述采集装置配置成采集并获取障碍物的位置信息；The collecting device is configured to collect and obtain position information of obstacles;
所述第一处理器配置成依据所述障碍物的位置信息和所述第一喷洒信息生成所述未作业信息。The first processor is configured to generate the non-operation information according to the position information of the obstacle and the first spraying information.
可选地，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接；Optionally, the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively communicatively connected with the collection device and the control terminal ；
所述采集装置配置成采集并获取所述作业对象的轮廓信息；The collecting device is configured to collect and obtain contour information of the work object;
所述第一处理器配置成依据所述轮廓信息对所述第一喷洒信息进行调节，得到调节后的第一喷洒信息；The first processor is configured to adjust the first spraying information according to the profile information to obtain the adjusted first spraying information;
所述第一处理器还配置成依据所述轮廓信息和所述调节后的第一喷洒信息生成所述未作业信息。The first processor is further configured to generate the unworked information according to the contour information and the adjusted first spraying information.
可选地，所述第一作业设备和所述第二作业设备为行驶方式和/或喷洒方式不同的作业设备。Optionally, the first work equipment and the second work equipment are work equipment with different driving modes and/or spraying modes.
本申请实施例提供的混合作业方法和相关装置，该混合作业***包括控制终端、不同类型的第一作业设备和第二作业设备，控制终端分别与第一作业设备和第二作业设备通信连接。通过控制终端响应用户操作生成对应的第一作业指令，并将第一作业指令发送至第一作业设备；第一作业设备则依据第一作业指令对作业对象进行喷洒作业，同时生成未作业信息，并将未作业信息发送至控制终端；控制终端则依据未作业信息生成第二作业指令，并将第二作业指令发送至第二作业设备；第二作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。可见，通过控制终端的统筹调控，使得第一作业设备和第二作业设备之间进行配合作业，第一作业设备喷洒不到区域，由第二作业设备进行补充喷洒作业，进而解决作业对象漏喷的问题。In the mixed operation method and related device provided by the embodiments of the present application, the mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively communicatively connected with the first operation device and the second operation device. The control terminal generates a corresponding first operation instruction in response to user operations, and sends the first operation instruction to the first operation device; the first operation device sprays the job object according to the first operation instruction, and at the same time generates non-operation information, And send the unworked information to the control terminal; the control terminal generates a second work instruction based on the unworked information, and sends the second work instruction to the second work equipment; the second work equipment does not spray the work object according to the second work instruction The area and/or the missed spraying operation object shall be sprayed. It can be seen that through the overall control of the control terminal, the first operation equipment and the second operation equipment are coordinated to work. The first operation equipment does not spray the area, and the second operation equipment performs supplementary spraying operations, thereby solving the problem of missing spray The problem.
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所 附附图，作详细说明如下。In order to make the above-mentioned objectives, features and advantages of the present application more obvious and understandable, the preferred embodiments and accompanying drawings are described in detail below.
附图说明Description of the drawings
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative work.
图1示出了本申请实施例提供的一种混合作业***的结构示意图；FIG. 1 shows a schematic structural diagram of a mixed operation system provided by an embodiment of the present application;
图2示出了本申请实施例提供的控制终端的结构示意图；Figure 2 shows a schematic structural diagram of a control terminal provided by an embodiment of the present application;
图3示出了本申请实施例提供的另一种混合作业***的结构示意图；Figure 3 shows a schematic structural diagram of another hybrid operating system provided by an embodiment of the present application;
图4示出了本申请实施例提供的混合作业***的第一作业设备的结构示意图；FIG. 4 shows a schematic structural diagram of a first working device of a mixed working system provided by an embodiment of the present application;
图5示出了本申请实施例提供的一种混合作业***的应用环境示意图；FIG. 5 shows a schematic diagram of an application environment of a hybrid operating system provided by an embodiment of the present application;
图6示出了本申请实施例提供的另一种混合作业***的应用环境示意图；FIG. 6 shows a schematic diagram of an application environment of another hybrid operating system provided by an embodiment of the present application;
图7示出了本申请实施例提供的又一种混合作业***的应用环境示意图；FIG. 7 shows a schematic diagram of an application environment of yet another hybrid operating system provided by an embodiment of the present application;
图8示出了本申请实施例提供的一种混合作业方法的流程示意图；FIG. 8 shows a schematic flowchart of a mixed operation method provided by an embodiment of the present application;
图9示出了本申请实施例提供的另一种混合作业方法的流程示意图；FIG. 9 shows a schematic flowchart of another mixed operation method provided by an embodiment of the present application;
图10示出了本申请实施例提供的混合作业装置的结构示意图。Fig. 10 shows a schematic structural diagram of a mixing operation device provided by an embodiment of the present application.
图标：100-混合作业***；110-控制终端；111-存储器；112-第二处理器；113-通信模块；114-交互界面；115-混合作业装置；1151-指令生成模块；1152-指令发送模块；1153-信息接收模块；120-第一作业设备；121-第一处理器；122-采集装置；130-第二作业设备。Icon: 100-hybrid operating system; 110-control terminal; 111-memory; 112-second processor; 113-communication module; 114-interaction interface; 115-hybrid operating device; 1151-instruction generation module; 1152-instruction sending Module; 1153-information receiving module; 120-first operating equipment; 121-first processor; 122-collecting device; 130-second operating equipment.
具体实施方式Detailed ways
下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。The following describes the technical solutions in the embodiments of the present application clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various different configurations.
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present application.
需要说明的是，术语“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that the terms "first" and "second" and other relational terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.
请参照图1，为本申请实施例提供的混合作业***100的一种可实施的结构示意图，该混合作业***100包括控制终端110、至少一个第一作业设备120和至少一个第二作业设备130，第一作业设备120和第二作业设备130的类型不同。控制终端110可以分别与第一作业设备120和第二作业设备130通信连接。其中，第一作业设备120和第二作业设备 130的不同之处可以包括行驶方式、喷洒作业方式等。Please refer to FIG. 1, which is a schematic diagram of an implementable structure of a hybrid operating system 100 provided by an embodiment of this application. The hybrid operating system 100 includes a control terminal 110, at least one first operating device 120, and at least one second operating device 130. , The first working equipment 120 and the second working equipment 130 are of different types. The control terminal 110 may be respectively communicatively connected with the first working device 120 and the second working device 130. Among them, the difference between the first work equipment 120 and the second work equipment 130 may include a driving mode, a spraying operation mode, and the like.
在本实施例中，控制终端110配置成响应用户操作生成对应的第一作业指令，并将作业指令发送至第一作业设备120；第一作业设备120配置成依据第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将未作业信息发送至控制终端110；其中，未作业信息包括作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；控制终端110配置成依据未作业信息生成第二作业指令，并将第二作业指令发送至第二作业设备130；第二作业设备130配置成依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。In this embodiment, the control terminal 110 is configured to generate a corresponding first job instruction in response to a user operation, and send the job instruction to the first job device 120; the first job device 120 is configured to perform operations on the job object according to the first job instruction. Spraying operation, and generating non-operation information, and sending the non-operation information to the control terminal 110; where the non-operation information includes the area information to which the operation object has not been sprayed and/or the position information of the missing operation object; the control terminal 110 is configured according to The non-operation information generates a second operation instruction, and sends the second operation instruction to the second operation equipment 130; the second operation equipment 130 is configured to spray the area and/or the missing operation object on the operation object according to the second operation instruction Carry out spraying operations.
在一些实现方式中，控制终端110可以为遥控器及地面站等，控制终端110中存储有多个地块信息，每个地块可作为一个待作业区域，即多个地块信息可以为多个待作业区域信息。用户从多个地块中选择需要进行作业的目标地块后，控制终端110可以根据目标地块对应的地块信息自动规划，并生成第一作业指令；用户也可以在选择目标地块后，根据实际作业需求设置作业要求，控制终端110则根据目标地块对应的地块信息和作业要求生成相应的第一作业指令。In some implementations, the control terminal 110 may be a remote control, a ground station, etc. The control terminal 110 stores multiple plots of information, and each plot can be used as an area to be operated, that is, multiple plots of information can be multiple Information about the area to be worked on. After the user selects the target plot to be operated on from multiple plots, the control terminal 110 can automatically plan according to the plot information corresponding to the target plot and generate the first operation instruction; the user can also select the target plot, The operation requirement is set according to the actual operation requirement, and the control terminal 110 generates the corresponding first operation instruction according to the land parcel information and the operation requirement corresponding to the target land parcel.
值得说明的是，图1所示出的控制终端110、第一作业设备120及第二作业设备130的数量组合形式仅为本实施例的一个示例，在本实施例中，控制终端110、第一作业设备120及第二作业设备130也可以有其他的数量组合形式，例如，一个控制终端110可以控制多个第一作业设备120及多个第二作业设备130。It is worth noting that the number combination of the control terminal 110, the first working device 120, and the second working device 130 shown in FIG. 1 is only an example of this embodiment. In this embodiment, the control terminal 110, the first working device 130 The one work equipment 120 and the second work equipment 130 may also have other quantity combinations. For example, one control terminal 110 may control multiple first work equipment 120 and multiple second work equipment 130.
请参照图2，为图1所示的控制终端110的一种可实施的结构框图，控制终端110包括存储器111、第二处理器112、通信模块113和交互界面114，存储器111、第二处理器112、通信模块113和交互界面114相互之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。Please refer to FIG. 2, which is an implementable structural block diagram of the control terminal 110 shown in FIG. 1. The control terminal 110 includes a memory 111, a second processor 112, a communication module 113, and an interactive interface 114, a memory 111, and a second processor. The device 112, the communication module 113, and the interaction interface 114 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.
在本实施例中，存储器111可配置成存储软件程序及模块，如本申请实施例所提供的混合作业方法对应的程序指令/模块，第二处理器112通过执行存储在存储器111内的软件程序及模块，从而执行各种功能应用以及数据处理。该通信模块113可配置成与第一作业设备120和第二作业设备130进行信令或数据的通信。在本申请中该控制终端110可以具有多个通信模块113。该交互界面114在控制终端110与用户之间同时提供一个输出及输入界面。In this embodiment, the memory 111 may be configured to store software programs and modules, such as the program instructions/modules corresponding to the mixed operation method provided in the embodiment of the present application, and the second processor 112 executes the software programs stored in the memory 111 And modules to perform various functional applications and data processing. The communication module 113 may be configured to perform signaling or data communication with the first working device 120 and the second working device 130. In this application, the control terminal 110 may have multiple communication modules 113. The interactive interface 114 provides an output and input interface between the control terminal 110 and the user at the same time.
其中，存储器111可以是但不限于，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等。The memory 111 may be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable In addition to read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
第二处理器112可以是一种集成电路芯片，具有信号处理能力。该第二处理器112可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等；还可以是数字信号处理器(Digital Signal Processing，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、 分立硬件组件等。The second processor 112 may be an integrated circuit chip with signal processing capabilities. The second processor 112 may be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
交互界面114能够感应来自到该交互界面114一个位置处产生的触控或鼠标点击操作，并将该感应到的触控或鼠标点击操作交由第二处理器112进行处理。用户可以对交互界面114进行触控或鼠标点击操作，进而实现目标地块的选择和作业要求的设置。The interactive interface 114 can sense a touch or mouse click operation generated at a position of the interactive interface 114, and hand the sensed touch or mouse click operation to the second processor 112 for processing. The user can perform touch or mouse click operations on the interactive interface 114 to realize the selection of the target plot and the setting of the job requirements.
控制终端110也可以与移动终端(图未示)通信连接，用户可以对移动终端进行输入操作，进而实现目标地块的选择和作业要求的设置。该移动终端可以为手机及平板电脑等。The control terminal 110 may also be in communication connection with a mobile terminal (not shown in the figure), and the user may perform input operations on the mobile terminal, thereby realizing the selection of the target plot and the setting of the job requirements. The mobile terminal can be a mobile phone, a tablet computer, etc.
应当理解的是，图2所示的结构仅为控制终端110的结构示意图，所述控制终端110还可包括比图2中所示更多或者更少的组件，或者具有与图2所示不同的配置。图2中所示的各组件可以采用硬件、软件或其组合实现。It should be understood that the structure shown in FIG. 2 is only a schematic structural diagram of the control terminal 110, and the control terminal 110 may also include more or fewer components than those shown in FIG. 2, or have different components from those shown in FIG. Configuration. The components shown in FIG. 2 can be implemented by hardware, software, or a combination thereof.
本申请实施例提供一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被第二处理器112执行时实现如前述实施方式中任一项的混合作业方法。该计算机可读存储介质可以是，但不限于，U盘、移动硬盘、ROM、RAM、PROM、EPROM、EEPROM、磁碟或者光盘等各种可以存储程序代码的介质。The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by the second processor 112, the hybrid operation method as in any one of the foregoing embodiments is implemented. The computer-readable storage medium can be, but is not limited to, various mediums that can store program codes, such as U disk, mobile hard disk, ROM, RAM, PROM, EPROM, EEPROM, magnetic disk, or optical disk.
在本实施例中，第一作业指令可以包括第一作业路线、第一行驶速度及第一喷洒信息等；第一喷洒信息包括第一喷洒幅度、第一喷洒高度及第一喷洒量等；作业要求可以包括设定行驶速度、设定喷洒幅度、设定喷洒高度等信息。In this embodiment, the first operation instruction may include the first operation route, the first travel speed, and the first spraying information, etc.; the first spraying information includes the first spraying range, the first spraying height, and the first spraying amount, etc.; The requirements may include information such as setting the driving speed, setting the spray range, and setting the spray height.
在本实施例中，第一作业设备120可以为地面作业设备，也可以为空中作业设备；第二作业设备130可以为地面作业设备，也可以为空中作业设备。如图1所示，当第一作业设备120为地面作业设备时，因第一作业设备120与第二作业设备130为不同类型的设备，故第二作业设备130为空中作业设备。对应的，控制终端110将第一作业指令发送至地面作业设备；地面作业设备依据第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将未作业信息发送至控制终端110；控制终端110依据地面作业设备发送的未作业信息生成第二作业指令，并将第二作业指令发送至空中作业设备；空中作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。In this embodiment, the first work equipment 120 may be ground work equipment or aerial work equipment; the second work equipment 130 may be ground work equipment or aerial work equipment. As shown in FIG. 1, when the first work equipment 120 is a ground work equipment, since the first work equipment 120 and the second work equipment 130 are different types of equipment, the second work equipment 130 is an aerial work equipment. Correspondingly, the control terminal 110 sends the first operation instruction to the ground operation equipment; the ground operation equipment sprays the operation object according to the first operation instruction, generates non-operation information, and sends the non-operation information to the control terminal 110; control terminal 110 generates a second operation instruction according to the non-operation information sent by the ground operation equipment, and sends the second operation instruction to the aerial operation equipment; the aerial operation equipment performs operations on areas and/or missed sprays that are not sprayed by the operation object according to the second operation instruction Subject performs spraying operations.
可以理解，当地面作业设备被设置为第一作业设备120时，控制终端110会根据地面作业设备的特征参数(如：喷洒幅度范围、喷洒高度范围及行驶速度范围等)、目标地块对应的地块信息及用户设置的作业要求生成第一作业指令。地面作业设备按照第一作业指令中的第一行驶速度在第一作业路线上行驶，并依据第一喷洒信息对作业对象进行喷洒作业，同时记录并生成未作业信息，将未作业信息发送至控制终端110。It can be understood that when the ground work equipment is set as the first work equipment 120, the control terminal 110 will respond to the target plot based on the characteristic parameters of the ground work equipment (such as spraying range, spraying height range, and driving speed range, etc.) The plot information and the job requirements set by the user generate the first job instruction. The ground work equipment travels on the first work route at the first travel speed in the first work instruction, and sprays the work object according to the first spray information, records and generates non-operation information at the same time, and sends the non-operation information to the control Terminal 110.
控制终端110则依据未作业信息生成第二作业指令，并将第二作业指令发送至空中作业设备；其中，第二作业指令包括空中作业设备的第二作业路线、第二行驶速度和第二喷洒信息。空中作业设备依据第二行驶速度沿第二作业路线行驶，并按照第二喷洒信息对作业对象未喷洒到的区域和漏喷作业对象进行喷洒作业；或空中作业设备依据第二行驶速度沿第二作业路线行驶，并按照第二喷洒信息对作业对象未喷洒到的区域进行喷洒作业；或空中作业设备依据第二行驶速度沿第二作业路线行驶，并按照第二喷洒信息对漏喷作业对象进行喷洒作业。The control terminal 110 generates a second operation instruction according to the unoperation information, and sends the second operation instruction to the aerial operation equipment; wherein, the second operation instruction includes the second operation route, the second travel speed, and the second spraying of the aerial operation equipment. information. The aerial work equipment travels along the second operation route according to the second travel speed, and sprays the areas where the work object is not sprayed and the missing spray work object according to the second spraying information; or the aerial work equipment travels along the second work route according to the second travel speed. Run the work route and spray the area where the work object has not been sprayed according to the second spraying information; or the aerial work equipment travels along the second work route according to the second travel speed, and performs the spraying operation on the missing spray work object according to the second spraying information Spraying operations.
在另一种实施例中，如图3所示，当第一作业设备120为空中作业设备时，因第一作 业设备120与第二作业设备130为不同类型的设备，故第二作业设备130为地面作业设备。对应的，控制终端110将第一作业指令发送至空中作业设备；空中作业设备依据第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将未作业信息发送至控制终端110；控制终端110依据空中作业设备发送的未作业信息生成第二作业指令，并将第二作业指令发送至地面作业设备；地面作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。In another embodiment, as shown in FIG. 3, when the first work equipment 120 is an aerial work equipment, because the first work equipment 120 and the second work equipment 130 are different types of equipment, the second work equipment 130 Equipment for ground operations. Correspondingly, the control terminal 110 sends the first operation instruction to the air operation equipment; the air operation equipment sprays the operation object according to the first operation instruction, generates unoperation information, and sends the unoperation information to the control terminal 110; control terminal 110 Generate a second operation instruction according to the non-operation information sent by the aerial operation equipment, and send the second operation instruction to the ground operation equipment; the ground operation equipment performs operations on the area and/or missed spraying of the operation object according to the second operation instruction Subject performs spraying operations.
可以理解，当空中作业设备被设置为第一作业设备120时，控制终端110会根据空中作业设备的特征参数(如：喷洒幅度范围、喷洒高度范围及行驶速度范围等)、目标地块对应的地块信息及用户设置的作业要求生成第一作业指令。空中作业设备按照第一作业指令中的第一行驶速度沿第一作业路线行驶，并依据第一喷洒信息对作业对象进行喷洒作业，同时记录并生成未作业信息，将未作业信息发送至控制终端110。控制终端110则依据未作业信息生成第二作业指令，并将第二作业指令发送至地面作业设备；其中，第二作业指令包括地面作业设备的第二作业路线、第二行驶速度和第二喷洒信息。地面作业设备依据第二行驶速度在第二作业路线上行驶，并按照第二喷洒信息对作业对象未喷洒到的区域和漏喷作业对象进行喷洒作业；或地面作业设备依据第二行驶速度在第二作业路线上行驶，并按照第二喷洒信息对作业对象未喷洒到的区域进行喷洒作业；或地面作业设备依据第二行驶速度在第二作业路线上行驶，并按照第二喷洒信息对漏喷作业对象进行喷洒作业。It can be understood that when the aerial work equipment is set as the first work equipment 120, the control terminal 110 will respond to the target plot according to the characteristic parameters of the aerial work equipment (such as spraying amplitude range, spraying height range, and driving speed range, etc.) The plot information and the job requirements set by the user generate the first job instruction. The aerial work equipment travels along the first work route at the first travel speed in the first work instruction, and sprays the work object according to the first spray information, records and generates non-operation information at the same time, and sends the non-operation information to the control terminal 110. The control terminal 110 generates a second operation instruction based on the non-operation information, and sends the second operation instruction to the ground operation equipment; wherein, the second operation instruction includes the second operation route, the second travel speed, and the second spraying of the ground operation equipment. information. The ground operation equipment travels on the second operation route according to the second travel speed, and sprays the areas where the work object is not sprayed and the missing spray operation object according to the second spraying information; or the ground work equipment travels on the second operation route according to the second travel speed. 2. Drive on the working route and spray the area where the work object is not sprayed according to the second spraying information; or the ground working equipment drives on the second working route according to the second driving speed and checks the missing spray according to the second spraying information The job object is spraying.
应当理解的是，当地面作业设备设置为第一作业设备120时控制终端110生成的第一作业指令，与当空中作业设备设置为第一作业设备120时控制终端110生成的第一作业指令是不同的。对应的，当地面作业设备设置为第一作业设备120时控制终端110生成的第二作业指令，与当空中作业设备设置为第一作业设备120时控制终端110生成的第二作业指令也是不同的。It should be understood that the first operation instruction generated by the control terminal 110 when the ground work equipment is set as the first work equipment 120 is the same as the first work instruction generated by the control terminal 110 when the aerial work equipment is set as the first work equipment 120 different. Correspondingly, the second work instruction generated by the control terminal 110 when the ground work equipment is set as the first work equipment 120 is also different from the second work instruction generated by the control terminal 110 when the air work equipment is set as the first work equipment 120 .
应当理解的是，第一作业设备120和第二作业设备130均包括喷洒装置(图未示)、驱动装置(图未示)和第一处理器(图未示)，第一作业设备120和第二作业设备130的第一处理器均与控制终端110通信连接。第一作业设备120的第一处理器配置成接收控制终端110发送的第一作业指令，以及向控制终端110发送未作业信息；第二作业设备130的第一处理器配置成接收控制终端110发送的第二作业指令。第一处理器与喷洒装置和驱动装置均电连接，第一作业设备120的第一处理器依据第一作业指令的第一行驶速度控制第一作业设备120的驱动装置工作，第一作业设备120的第一处理器依据第一作业指令的第一喷洒信息控制第一作业设备120的喷洒装置进行喷洒工作；第二作业设备130的第一处理器依据第二作业指令的第二行驶速度控制第二作业设备130的驱动装置工作，第二作业设备130的第一处理器依据第二作业指令的第二喷洒信息控制第二作业设备130的喷洒装置进行喷洒工作。It should be understood that both the first working equipment 120 and the second working equipment 130 include a spraying device (not shown), a driving device (not shown), and a first processor (not shown). The first working equipment 120 and The first processors of the second working equipment 130 are all communicatively connected with the control terminal 110. The first processor of the first working device 120 is configured to receive the first job instruction sent by the control terminal 110 and to send un-job information to the control terminal 110; the first processor of the second working device 130 is configured to receive the first job instruction sent by the control terminal 110 The second job instruction. The first processor is electrically connected to the spraying device and the driving device. The first processor of the first working device 120 controls the driving device of the first working device 120 to operate according to the first traveling speed of the first working instruction. According to the first spraying information of the first operation instruction, the first processor controls the spraying device of the first operation equipment 120 to perform spraying work; the first processor of the second operation equipment 130 controls the first operation equipment according to the second travel speed of the second operation instruction The driving device of the second working equipment 130 works, and the first processor of the second working equipment 130 controls the spraying device of the second working equipment 130 to perform spraying work according to the second spraying information of the second working instruction.
其中，地面作业设备可以为无人车，空中作业设备可以为无人机。地面作业设备和空中作业设备的数量根据实际情况设定，即第一作业设备120和第二作业设备130的数量根据实际情况设定，在此并不作限定。Among them, the ground operation equipment may be an unmanned vehicle, and the aerial operation equipment may be an unmanned aerial vehicle. The number of ground work equipment and aerial work equipment is set according to actual conditions, that is, the number of first work equipment 120 and second work equipment 130 is set according to actual conditions, which is not limited here.
在一些可能的实现方式中，控制终端110、第一作业设备120及第二作业设备130可以 为相对独立的设备。在另一些可能的实现方式中，控制终端110也可以集成于第一作业设备120或第二作业设备130中。In some possible implementations, the control terminal 110, the first working device 120, and the second working device 130 may be relatively independent devices. In other possible implementation manners, the control terminal 110 may also be integrated in the first working device 120 or the second working device 130.
请参照图4，为图1和图3所示的第一作业设备120的一种可实施的结构示意图，第一作业设备120还包括采集装置122，采集装置122与第一处理器121通信连接。可以理解，当第一作业设备120为地面作业设备时，地面作业设备包括采集装置122。当第一作业设备120为空中作业设备时，空中作业设备包括采集装置122。其中，地面作业设备和空中作业设备可以均包括采集装置122，也可以在设置为第一作业设备120时，才具有采集装置122。在此不作限定，可以根据实际情况进行设置。Please refer to FIG. 4, which is a schematic diagram of an implementable structure of the first work equipment 120 shown in FIG. 1 and FIG. 3. The first work equipment 120 further includes a collection device 122, and the collection device 122 is communicatively connected with the first processor 121 . It can be understood that when the first work equipment 120 is a ground work equipment, the ground work equipment includes a collection device 122. When the first working equipment 120 is an aerial working equipment, the aerial working equipment includes a collecting device 122. Wherein, the ground work equipment and the aerial work equipment may both include the collecting device 122, or they may have the collecting device 122 only when the first working equipment 120 is set. It is not limited here, and can be set according to the actual situation.
其中，采集装置122可以为摄像头、激光雷达及红外雷达等，为了便于描述，在本实施例中以采集装置122为摄像头为例进行详细说明。第一处理器121可以为是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等；还可以是数字信号处理器(Digital Signal Processing，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。The collection device 122 may be a camera, a lidar, an infrared radar, etc. For ease of description, in this embodiment, the collection device 122 is a camera as an example for detailed description. The first processor 121 may be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
应当理解的是，图4所示的结构仅为第一作业设备120的结构示意图，所述第一作业设备120还可包括比图4中所示更多或者更少的组件，或者具有与图4所示不同的配置。图4中所示的各组件可以采用硬件、软件或其组合实现。It should be understood that the structure shown in FIG. 4 is only a schematic structural diagram of the first working device 120, and the first working device 120 may also include more or fewer components than those shown in FIG. 4 shows different configurations. The components shown in FIG. 4 can be implemented by hardware, software, or a combination thereof.
在本实施例中，第一作业设备120生成未作业信息的具体原理为：通过采集装置122配置成采集并获取作业对象的轮廓信息；通过第一处理器121配置成依据轮廓信息和第一喷洒信息生成未作业信息。In this embodiment, the specific principle for the first working equipment 120 to generate the non-working information is: the collection device 122 is configured to collect and obtain the contour information of the working object; and the first processor 121 is configured to be based on the contour information and the first spray. The information is generated without job information.
可以理解，若第一作业设备120的采集装置122为摄像头，第一作业设备120依据第一作业指令对作业对象进行喷洒作业时，第一作业设备120的采集装置122还实时采集第一作业设备120途径区域的图像信息，并对图像信息进行图像分割以提取作业对象的轮廓信息及/或作业路线的状况信息，第一作业设备120的采集装置122将轮廓信息及/或作业路线的状况信息传输至第一作业设备120的第一处理器121。其中，该轮廓信息可以包括作业对象的枝叶冠幅、树干的直径以及作业对象的高度。第一作业设备120的第一处理器121依据第一喷洒幅度、第一喷洒高度及第一喷洒量计算得到作业对象的可喷洒到的区域信息，其中，可喷洒到的区域信息可以包括作业对象的可喷洒区域的幅度、高度和厚度；第一作业设备120的第一处理器121依据作业对象的枝叶冠幅、树干的直径、作业对象的高度计算得到作业对象的需喷洒的区域信息，其中，需喷洒的区域信息包括作业对象的需喷洒区域的幅度、高度和厚度；第一作业设备120的第一处理器121依据作业对象的需喷洒的区域信息和作业对象的可喷洒到的区域信息计算得到作业对象未喷洒到的区域信息。另外，第一处理器121也可以根据作业路线的状况信息判断第一作业设备120是否能够对顺利按照预先设定的作业路线行驶以对该作业路线上的作业对象进行喷洒作业。It can be understood that if the collection device 122 of the first work equipment 120 is a camera, and when the first work equipment 120 sprays the work object according to the first work instruction, the collection device 122 of the first work equipment 120 also collects the first work equipment in real time. 120 passes through the image information of the area, and performs image segmentation on the image information to extract the contour information of the work object and/or the status information of the work route. The collection device 122 of the first work equipment 120 combines the contour information and/or the status information of the work route. It is transmitted to the first processor 121 of the first working device 120. Wherein, the contour information may include the branch and leaf crown width of the work object, the diameter of the tree trunk, and the height of the work object. The first processor 121 of the first working equipment 120 calculates the sprayable area information of the working object according to the first spraying amplitude, the first spraying height, and the first spraying amount, where the sprayable area information may include the working object The range, height and thickness of the sprayable area of the first working device 120; the first processor 121 of the first working device 120 calculates the area information of the working object to be sprayed according to the branch and leaf crown width, the diameter of the tree trunk, and the height of the working object, where , The area information to be sprayed includes the range, height and thickness of the area to be sprayed of the work object; the first processor 121 of the first work equipment 120 depends on the area information to be sprayed of the work object and the area information to which the work object can be sprayed Calculate the area information that the work object has not sprayed. In addition, the first processor 121 may also determine whether the first working equipment 120 can smoothly travel along the preset working route according to the status information of the working route to perform spraying operation on the working object on the working route.
可选地，控制终端110还可以根据第一作业设备120发送的未作业信息计算获得需要由第二作用设备130针对作业对象未被喷洒到的区域信息和/或漏喷作业对象需要补充喷洒作业的补充喷洒位置、补充喷洒量和补充喷洒范围，然后根据补充喷洒位置、补充喷洒 量和补充喷洒范生成第二作业指令，从而避免第二作业设备130对已喷洒过的作业对象过度喷洒。换句话说，在本实施例中，控制设备还可以第一作业设备120可以根据控制终端110则依据未作业信息中作业对象未被喷洒到的区域信息和/或漏喷作业对象生成第二作业指令包括空中作业设备的第二作业路线、第二行驶速度和第二喷洒信息。Optionally, the control terminal 110 may also calculate and obtain the information about the area where the work object has not been sprayed by the second action device 130 according to the non-operation information sent by the first work equipment 120 and/or the missing spray work object needs supplementary spraying work. The supplementary spraying position, supplementary spraying amount and supplementary spraying range are then generated according to the supplementary spraying position, supplementary spraying amount and supplementary spraying range, so as to prevent the second operation equipment 130 from overspraying the already sprayed operation object. In other words, in this embodiment, the control device can also generate a second job according to the control terminal 110, and the first job device 120 can generate a second job based on the information about the area where the job object is not sprayed and/or the missed job object in the unworked information. The instruction includes the second operation route, the second travel speed and the second spraying information of the aerial work equipment.
如图5所示，为混合作业***100的一种可实施的应用场景示意图，若第一作业设备120为地面作业设备且第二作业设备130为空中作业设备，当作业对象为果树且需对果树的树冠进行喷洒作业时，果树的整个树冠为总作业区，即总作业区为需喷洒的区域。第一作业设备120根据第一喷洒信息对果树进行喷洒作业时，可能只能对果树的第一作业区进行喷洒，在这种情况下，图5所示的第一作业区即为喷洒到的区域，而第一作业区的高度b则对应为第一喷洒信息的第一喷洒高度。第一作业设备120的第一处理器121根据总作业区的区域信息和第一喷洒信息就能计算得到果树需补充喷洒的区域信息，即第一作业设备120的第一处理器121根据总作业区的高度c与第一作业区的高度b相减得到第二作业区的高度a，再根据总作业区每个高度对应的宽度可以得到第二作业区的最大宽度d。控制终端110根据第二作业区的高度a和宽度d制定第二喷洒信息，使得第二作业设备130能够对第二作业区进行完全喷洒。As shown in FIG. 5, it is a schematic diagram of an implementable application scenario of the hybrid operating system 100. If the first operating device 120 is a ground operating device and the second operating device 130 is an aerial operating device, when the object of operation is a fruit tree and needs to When the canopy of fruit trees is sprayed, the entire canopy of the fruit tree is the total operation area, that is, the total operation area is the area that needs to be sprayed. When the first operation equipment 120 sprays the fruit trees according to the first spraying information, it may only spray the first operation area of the fruit trees. In this case, the first operation area shown in FIG. 5 is the sprayed area. Area, and the height b of the first work area corresponds to the first spray height of the first spray information. The first processor 121 of the first working device 120 can calculate the area information to be supplemented by the fruit trees according to the area information of the total working area and the first spraying information. The height c of the area is subtracted from the height b of the first work area to obtain the height a of the second work area, and then the maximum width d of the second work area can be obtained according to the width corresponding to each height of the total work area. The control terminal 110 formulates the second spraying information according to the height a and the width d of the second working area, so that the second working equipment 130 can spray the second working area completely.
其中，图5中的第二作业区未被喷洒到，其原因可能是，地面作业设备的喷洒高度的最大值为b，故高于b的第二作业区不能被地面作业设备喷洒到。图5中的第二作业区未被喷洒到，其原因也可能是，控制终端110在制定第一作业指令时，获得的目标地区信息因更新不及时，目标地区信息中的作业对象的轮廓信息小于作业对象的实际轮廓信息。Among them, the second work area in FIG. 5 is not sprayed. The reason may be that the maximum spray height of the ground work equipment is b, so the second work area higher than b cannot be sprayed by the ground work equipment. The second work area in FIG. 5 was not sprayed. The reason may also be that the target area information obtained by the control terminal 110 when formulating the first work instruction was not updated in time, and the contour information of the work object in the target area information It is smaller than the actual outline information of the work object.
在另一种场景中，若第一作业设备120为空中作业设备且第二作业设备130为地面作业设备，当作业对象为果树且需对果树的树冠进行喷洒作业时，果树的整个树冠为总作业区，即总作业区为需喷洒的区域。在这种情况下，第一作业设备120根据第一喷洒信息对果树进行喷洒作业时，只能对果树的第二作业区进行喷洒，即第二作业区为可喷洒到的区域，而第二作业区的高度a和最大宽度d则对应为第一喷洒信息的第一喷洒高度和第一喷洒幅度。第一作业设备120的第一处理器121根据总作业区的区域信息和第一喷洒信息就能计算得到果树需喷洒的区域信息，即第一作业设备120的第一处理器121根据总作业区的高度c与第二作业区的高度a相减得到第一作业区的高度b，再根据总作业区每个高度对应的宽度可以得到第一作业区的最大宽度e。控制终端110根据第一作业区的高度b和宽度e制定第二喷洒信息，使得第二作业设备130能够对第二作业区进行完全喷洒。In another scenario, if the first work equipment 120 is an aerial work equipment and the second work equipment 130 is a ground work equipment, when the work object is a fruit tree and the canopy of the fruit tree needs to be sprayed, the entire canopy of the fruit tree is the total The operating area, that is, the total operating area is the area to be sprayed. In this case, when the first operating device 120 sprays the fruit trees according to the first spraying information, it can only spray the second operating area of the fruit trees, that is, the second operating area is the area that can be sprayed, and the second operating area is the area that can be sprayed. The height a and the maximum width d of the work area correspond to the first spray height and the first spray range of the first spray information. The first processor 121 of the first work equipment 120 can calculate the area information to be sprayed for fruit trees according to the area information of the total work area and the first spraying information, that is, the first processor 121 of the first work equipment 120 calculates the area information to be sprayed according to the total work area The height c of the second work area is subtracted from the height a of the second work area to obtain the height b of the first work area, and then the maximum width e of the first work area can be obtained according to the width corresponding to each height of the total work area. The control terminal 110 formulates the second spraying information according to the height b and the width e of the first work area, so that the second work equipment 130 can spray the second work area completely.
其中，图5中的第一作业区未被喷洒到，其原因可能是，由于第一作业区的最大幅度e小于第二作业区的最大幅度d，或果树的枝叶较为茂密，空中作业设备的喷洒装置的穿透力不足，并不能将第一作业区喷洒到。Among them, the first work area in Figure 5 has not been sprayed. The reason may be that the maximum amplitude e of the first work area is smaller than the maximum amplitude d of the second work area, or the branches and leaves of fruit trees are relatively dense, and the aerial work equipment The penetration power of the spraying device is insufficient, and the first working area cannot be sprayed.
在另一种实现方式中，第一作业设备120生成未作业信息的原理还可以为：第一作业设备120的采集装置122配置成采集并获取作业对象的轮廓信息；第一作业设备120的第一处理器121配置成依据轮廓信息对第一喷洒信息进行调节，得到调节后的第一喷洒信息；第一作业设备120的第一处理器121还配置成依据轮廓信息和调节后的第一喷洒信息生成未作业信息。In another implementation manner, the principle for the first working equipment 120 to generate non-working information may also be: the collecting device 122 of the first working equipment 120 is configured to collect and obtain the contour information of the working object; the first working equipment 120 is configured to collect and obtain the contour information of the working object; A processor 121 is configured to adjust the first spraying information according to the contour information to obtain the adjusted first spraying information; the first processor 121 of the first work equipment 120 is also configured to adjust the first spraying information according to the contour information and the adjusted first spraying information. The information is generated without job information.
换句话说，第一作业设备120在检测到根据当前设定的喷洒范围或喷洒量，无法对某一作业对象执行完整地喷洒作业时，可以先尝试调整自身的喷洒范围和/或喷洒量，尽量完成喷洒作业。若进一步检测到，即使调整自身的喷洒范围和/或喷洒量后，依然无法对该作业对象执行完整的喷洒作业，再生成针对该作业对象的未作业信息。In other words, when the first working device 120 detects that it is unable to perform a complete spraying operation on a certain work object according to the currently set spraying range or spraying amount, it may first try to adjust its spraying range and/or spraying amount. Try to complete the spraying operation. If it is further detected, even after adjusting its spraying range and/or spraying amount, it is still unable to perform a complete spraying operation on the work object, and then generate non-operation information for the work object.
可以理解，若第一喷洒信息的第一喷洒幅度和第一喷洒高度并不是第一作业设备120的最大值，而通过第一作业设备120的采集装置122获得轮廓信息的作业对象的冠幅和高度是大于第一喷洒幅度和第一喷洒高度，第一作业设备120的第一处理器121则可以将第一作业设备120的喷洒装置的幅度和高度调大，即将第一喷洒幅度和第一喷洒高度调大。It can be understood that if the first spraying amplitude and the first spraying height of the first spraying information are not the maximum value of the first working device 120, the crown width and the crown width of the working object obtained by the collecting device 122 of the first working device 120 are The height is greater than the first spraying range and the first spraying height. The first processor 121 of the first working equipment 120 can increase the spraying device range and height of the first working equipment 120, that is, the first spraying range and the first spraying height. The spraying height is adjusted to be larger.
若第一作业设备120的喷洒装置的幅度和高度调到最大，还是小于作业对象的冠幅和高度，第一作业设备120的第一处理器121则根据作业对象的冠幅和高度和调大后的第一喷洒幅度和高度生成未作业信息。第一作业设备120的第一处理器121则根据作业对象的冠幅和高度和调大后的第一喷洒幅度和高度生成未作业信息具体原理，可以参照上依据轮廓信息和第一喷洒信息生成未作业信息的原理，在此不做累述。If the amplitude and height of the spraying device of the first working equipment 120 are adjusted to the maximum, which is still smaller than the crown width and height of the working object, the first processor 121 of the first working equipment 120 adjusts the height according to the crown width and height of the working object. The following first spraying range and height generate non-operation information. The first processor 121 of the first working device 120 generates the un-operated information according to the crown width and height of the working object and the enlarged first spraying amplitude and height. The specific principle can be referred to the outline information and the first spraying information. The principle of unworked information will not be described here.
在另一种实现方式中，第一作业设备120生成未作业信息的原理还可以为：通过第一作业设备120的采集装置122配置成采集并获取障碍物的位置信息，通过第一作业设备120的第一处理器121依据障碍物的位置信息和第一喷洒信息生成未作业信息。In another implementation manner, the principle of generating unworked information by the first working device 120 may also be: the collection device 122 of the first working device 120 is configured to collect and obtain the position information of the obstacle, and the first working device 120 is configured to collect and obtain the position information of the obstacle. The first processor 121 generates non-operation information according to the location information of the obstacle and the first spray information.
可以理解，若第一作业设备120为地面作业设备且第二作业设备130为空中作业设备，地面作业设备根据第一行驶路线行驶时，若因意外事故，使得第一行驶路线上出现了障碍物，第一作业设备120则会绕行，因障碍物阻碍使得第一设备无法到达的地区存在作业对象，第一设备无法到达的地区的作业对象则为漏喷作业对象，因漏喷作业对象在障碍物附近，故根据障碍物的位置信息以及第一作业设备120绕行的行驶路线信息就能获得漏喷作业对象的位置信息。It can be understood that if the first work equipment 120 is a ground work equipment and the second work equipment 130 is an aerial work equipment, when the ground work equipment travels according to the first travel route, if an accident occurs, an obstacle appears on the first travel route. , The first working equipment 120 will bypass, and there are working objects in the areas where the first equipment cannot reach due to obstacles, and the working objects in the areas where the first equipment cannot reach are the objects of missed spraying operations. In the vicinity of the obstacle, the position information of the missed spray operation object can be obtained according to the position information of the obstacle and the travel route information of the first work equipment 120 circumventing.
如图6所示，为混合作业***100的另一种可实施的应用环境示意图，第一作业路线因障碍物的存在，地面作业设备只能按照绕行路线行驶，使得地面作业设备无法对漏喷作业对象进行喷洒作业。控制终端110根据漏喷作业对象的位置信息制定第二作业路线，使得空中作业设备按照第二作业路线对漏喷作业对象进行喷洒作业。As shown in FIG. 6, it is a schematic diagram of another applicable application environment of the hybrid operating system 100. Due to the existence of obstacles in the first operating route, the ground operating equipment can only follow the detour route, so that the ground operating equipment cannot be leaked. The spraying operation object performs the spraying operation. The control terminal 110 formulates a second operation route according to the position information of the missing spray operation object, so that the aerial work equipment performs spray operation on the missing spray operation object according to the second operation route.
若第一作业设备120为空中作业设备且第二作业设备130为地面作业设备，由于电线的影响，使得空中作业设备无法对电线附近的作业对象进行喷洒作业。控制终端110根据电线的位置信息制定第二作业路线，使得地面作业设备按照第二作业路线对电线附近的作业对象进行喷洒作业。If the first work equipment 120 is an aerial work equipment and the second work equipment 130 is a ground work equipment, due to the influence of the electric wire, the aerial work equipment cannot spray operation objects near the electric wire. The control terminal 110 formulates the second operation route according to the position information of the electric wire, so that the ground work equipment performs spraying operation on the operation object near the electric wire according to the second operation route.
值得说明书的，上述第一作业设备120和第二作业设备130分别为地面作业设备和空中作业设备的设置方式，仅为本实施例中一种可能的实现方式，在本实施例中，只需要第一作业设备120和第二作业设备130的形式方式和/或喷洒方式类型不同，从而满足两种作业设备的喷洒区域能够有一定互补即可。It is worthy of description that the above-mentioned first work equipment 120 and second work equipment 130 are the setting modes of ground work equipment and aerial work equipment respectively, which are only a possible implementation manner in this embodiment. In this embodiment, only The first working equipment 120 and the second working equipment 130 have different forms and/or spraying methods, so as to satisfy that the spraying areas of the two working equipments can be complementary to a certain extent.
例如，在本实施例的其他实现方式中，第一作业设备120和第二作业设备130可以都为地面作业设备，但第一作业设备120可以为喷洒作业区域较低的地面作业设备，第二作业设备130为喷洒作业区域较高的地面作业设备，第二作业设备130可以对第一作业设备 120无法喷洒到的位置进行补充喷洒。For example, in other implementations of this embodiment, the first work equipment 120 and the second work equipment 130 may both be ground work equipment, but the first work equipment 120 may be ground work equipment with a lower spraying work area, and the second work equipment The work equipment 130 is a ground work equipment with a higher spraying work area, and the second work equipment 130 can perform supplementary spraying to locations where the first work equipment 120 cannot spray.
又例如，在本实施例的其他实现方式中，第一作业设备120和第二作业设备130可以均为空中作业设备，但第一作业设备120可以为载重较大、喷洒范围较广，但飞行灵活度或喷洒精度可能较低的空中作业设备，而第二作业设备130可以为载重较小、喷洒范围较小，但飞行灵活度较高或喷洒精度较高的空中作业设备，第二作业设备130可以针对第一作业设备120漏喷的位置进行补充喷洒作业。For another example, in other implementations of this embodiment, the first work equipment 120 and the second work equipment 130 may both be aerial work equipment, but the first work equipment 120 may have a larger load and a wider spraying range, but flying Aerial operation equipment with lower flexibility or spraying accuracy, while the second operation equipment 130 may be an aerial operation equipment with a smaller load and a smaller spraying range, but higher flying flexibility or higher spraying accuracy. 130 may perform supplementary spraying operations for locations where the first working equipment 120 misses spraying.
如图7所示，为混合作业***100的又一种可实施的应用环境示意图，若障碍物紧挨着作业对象，使得地面作业设备无法对作业对象存在障碍物的那一面进行喷洒作业，作业对象存在障碍物的那一面的需喷洒区则可以由空中作业设备进行喷洒作业。As shown in FIG. 7, it is a schematic diagram of another applicable application environment of the hybrid operating system 100. If the obstacle is close to the work object, the ground work equipment cannot spray the side of the work object where the obstacle exists. The spraying area on the side where the object has obstacles can be sprayed by aerial work equipment.
在本实施例中，第一作业设备120可以将未作业信息实时发送至控制终端110，例如，第一作业设备120对多个作业对象进行喷洒操作，当第一作业设备120记录并获得一个作业对象的未喷洒到的区域信息或一个漏喷作业对象的位置信息时，第一作业设备120可以将该作业对象的未喷洒到的区域信息或该漏喷作业对象的位置信息发送至控制终端110。控制终端110可以根据从第一作业设备120接收到的未作业信息实时地生成第二作业指令发送给第二作业设备130，使第二作业设备130及时地执行补喷任务；控制终端110也可以在等待第一作业设备120完成对作业场地或部分作业场地喷洒完成后，根据从第一作业设备110接收到的所有未作业信息生成第二控制指令，以控制第二作业设备130一次性对需要补喷的目标执行补喷作业。In this embodiment, the first work equipment 120 may send un-worked information to the control terminal 110 in real time. For example, the first work equipment 120 sprays multiple work objects. When the first work equipment 120 records and obtains a work When the unsprayed area information of the object or the position information of a missed spraying operation object, the first work equipment 120 may send the unsprayed area information of the work object or the position information of the missed spraying operation object to the control terminal 110 . The control terminal 110 can generate a second work instruction in real time according to the unworked information received from the first work equipment 120 and send it to the second work equipment 130, so that the second work equipment 130 can perform the refilling task in time; the control terminal 110 can also After waiting for the first work equipment 120 to finish spraying the work site or part of the work site, a second control instruction is generated according to all the unworked information received from the first work equipment 110 to control the second work equipment 130 to meet the needs at one time. The goal of supplementary injection is to perform supplementary injection operations.
第一作业设备120也可以将未作业信息汇总后发送至控制终端110，例如第一作业设备120也可以将该作业对象的未喷洒到的区域信息或该漏喷作业对象的位置信息存储在第一作业设备120的存储器中，直至第一作业设备120对目标地块完成喷洒作业后，将作业过程中存储的所有的作业对象的未喷洒到的区域信息和/或所有的漏喷作业对象的位置信息汇总后发送至控制终端110。The first work equipment 120 may also collect the unworked information and send it to the control terminal 110. For example, the first work equipment 120 may also store the unsprayed area information of the work object or the position information of the missed work object in the first operation device. In the memory of a working device 120, until the first working device 120 finishes spraying the target plot, the unsprayed area information of all the working objects and/or the information of all the missing spraying objects stored during the operation The location information is collected and sent to the control terminal 110.
为了执行上述实施例及各个可能的方式中的功能，下面给出一种混合作业方法的实现方式。进一步地，请参考图8，为本申请实施例提供的混合作业方法的一种流程示意图。需要说明的是，本申请实施例提供的混合作业方法，其基本原理及产生的技术效果和上述实施例相同，为简要描述，本实施例部分未提及之处，可以参考上述的实施例中相应内容。且本申请实施例提供的混合作业方法并不以图8以及以下的具体顺序为限制，应当理解，在其他实施例中，本申请实施例提供的混合作业方法其中部分步骤的顺序可以根据实际需要相互交换，或者其中的部分步骤也可以省略或删除。该混合作业方法可以应用在图1和图3所示的混合作业***100中，下面将对图8所示的具体流程进行详细阐述。In order to implement the functions in the above-mentioned embodiments and various possible modes, an implementation mode of a mixed operation method is given below. Further, please refer to FIG. 8, which is a schematic flowchart of a mixed operation method provided by an embodiment of this application. It should be noted that the basic principles and technical effects of the mixed operation method provided in the embodiments of this application are the same as those in the above embodiments. For a brief description, the parts not mentioned in this embodiment can be referred to in the above embodiments. Corresponding content. Moreover, the mixing operation method provided in the embodiment of the application is not limited to the specific sequence shown in FIG. 8 and the following. It should be understood that, in other embodiments, the order of some steps of the mixing operation method provided in the embodiment of the application may be based on actual needs. Mutual exchange, or part of the steps can also be omitted or deleted. This mixed operation method can be applied to the mixed operation system 100 shown in FIG. 1 and FIG. 3, and the specific process shown in FIG. 8 will be described in detail below.
步骤S201，控制终端响应用户操作生成对应的第一作业指令，并将第一作业指令发送至所述第一作业设备。Step S201: The control terminal generates a corresponding first operation instruction in response to the user operation, and sends the first operation instruction to the first operation device.
可以理解，步骤S201中的内容可以被上述控制终端110执行。It can be understood that the content in step S201 may be executed by the control terminal 110 described above.
步骤S202，第一作业设备依据第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将未作业信息发送至控制终端。In step S202, the first work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal.
在本实施例中，未作业信息包括作业对象未喷洒到的区域信息和/或漏喷作业对象的位 置信息，第一作业指令包括第一喷洒信息。In this embodiment, the non-operation information includes information about the area where the operation object is not sprayed and/or the position information of the missing operation object, and the first operation instruction includes the first spray information.
在本实施例中，第一作业设备120包括采集装置122和第一处理器121，第一处理器121分别与采集装置122和控制终端110通信连接，采集装置122采集并获取作业对象的轮廓信息，第一处理器121依据轮廓信息和第一喷洒信息生成未作业信息。In this embodiment, the first work equipment 120 includes a collection device 122 and a first processor 121. The first processor 121 is respectively communicatively connected with the collection device 122 and the control terminal 110. The collection device 122 collects and obtains the contour information of the work object. , The first processor 121 generates unworked information according to the contour information and the first spraying information.
在本实施例中，采集装置122还可以采集并获取障碍物的位置信息；第一处理器121依据障碍物的位置信息和第一喷洒信息生成未作业信息。In this embodiment, the collecting device 122 may also collect and obtain the position information of the obstacle; the first processor 121 generates the unworked information according to the position information of the obstacle and the first spraying information.
在另一种实施例中，采集装置122还可以采集并获取作业对象的轮廓信息；第一处理器121依据轮廓信息对第一喷洒信息进行调节，得到第二喷洒信息；第一处理器121依据轮廓信息和第二喷洒信息生成未作业信息。In another embodiment, the collection device 122 can also collect and obtain contour information of the work object; the first processor 121 adjusts the first spraying information according to the contour information to obtain the second spraying information; the first processor 121 according to The contour information and the second spraying information generate unworked information.
可以理解，步骤S202中的内容可以被上述第一作业设备120执行。It can be understood that the content in step S202 can be executed by the first working device 120 described above.
步骤S203，控制终端依据未作业信息生成第二作业指令，并将第二作业指令发送至第二作业设备。Step S203: The control terminal generates a second job instruction according to the un-job information, and sends the second job instruction to the second job device.
可以理解，步骤S203中的内容可以被上述控制终端110执行。It can be understood that the content in step S203 may be executed by the control terminal 110 described above.
步骤S204，第二作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。In step S204, the second work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
可以理解，步骤S204中的内容可以被上述第二作业设备130执行。It can be understood that the content in step S204 can be executed by the above-mentioned second working device 130.
为了执行上述实施例及各个可能的方式中的功能，下面给出另一种混合作业方法的实现方式。进一步地，请参考图9，为本申请实施例提供的混合作业方法的另一种流程示意图。需要说明的是，本申请实施例提供的混合作业方法，其基本原理及产生的技术效果和上述实施例相同，为简要描述，本实施例部分未提及之处，可以参考上述的实施例中相应内容。且本申请实施例提供的混合作业方法并不以图9以及以下的具体顺序为限制，应当理解，在其他实施例中，本申请实施例提供的混合作业方法其中部分步骤的顺序可以根据实际需要相互交换，或者其中的部分步骤也可以省略或删除。该混合作业方法可以应用在图1-图3所示的控制终端110中，下面将对图9所示的具体流程进行详细阐述。In order to implement the functions in the above-mentioned embodiments and various possible modes, another implementation mode of the hybrid operation method is given below. Further, please refer to FIG. 9, which is a schematic diagram of another flow chart of the mixed operation method provided by the embodiment of this application. It should be noted that the basic principles and technical effects of the mixed operation method provided in the embodiments of this application are the same as those in the above embodiments. For a brief description, the parts not mentioned in this embodiment can be referred to in the above embodiments. Corresponding content. Moreover, the mixing operation method provided in the embodiment of the application is not limited to the specific sequence shown in FIG. 9 and the following. It should be understood that in other embodiments, the order of some steps of the mixing operation method provided in the embodiment of the application may be based on actual needs. Mutual exchange, or part of the steps can also be omitted or deleted. This mixed operation method can be applied to the control terminal 110 shown in FIGS. 1 to 3, and the specific process shown in FIG. 9 will be described in detail below.
步骤S301，响应用户操作生成对应的第一作业指令。Step S301: Generate a corresponding first job instruction in response to a user operation.
在本实施例中，控制终端110中存储有多个地块信息，每个地块可作为一个待作业区域，即多个地块信息可以为多个待作业区域信息。用户通过交互界面114从多个地块中选择需要进行作业的目标地块后，控制终端110的第二处理器112可以根据目标地块对应的地块信息自动规划，并生成第一作业指令；用户也可以在选择目标地块后，根据实际作业需求设置作业要求，控制终端110的第二处理器112则根据目标地块对应的地块信息和作业要求生成相应的第一作业指令。其中，第一作业指令可以包括第一作业路线、第一行驶速度及第一喷洒信息等；第一喷洒信息包括第一喷洒幅度、第一喷洒高度及第一喷洒量等；作业要求可以包括设定行驶速度、设定喷洒幅度、设定喷洒高度等信息。In this embodiment, the control terminal 110 stores multiple plots of information, and each plot can be used as a to-be-worked area, that is, the multiple plots of information can be multiple to-be-worked area information. After the user selects the target plot that needs to be operated on from the multiple plots through the interactive interface 114, the second processor 112 of the control terminal 110 can automatically plan according to the plot information corresponding to the target plot, and generate the first operation instruction; The user can also set the job requirements according to actual job requirements after selecting the target plot, and the second processor 112 of the control terminal 110 generates the corresponding first job instruction according to the plot information and job requirements corresponding to the target plot. Among them, the first operation instruction may include the first operation route, the first travel speed, the first spraying information, etc.; the first spraying information includes the first spraying range, the first spraying height, and the first spraying amount; the operation requirements may include the design Set the driving speed, set the spray range, set the spray height and other information.
步骤S302，将第一作业指令发送至第一作业设备，以使第一作业设备依据第一作业指令对作业对象进行喷洒作业，并生成未作业信息；其中，未作业信息包括作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息。Step S302: Send the first work instruction to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; where the unworked information includes that the work object has not been sprayed to The area information and/or the location information of the missing spray job object.
在本实施例中，未作业信息由第一处理器121依据轮廓信息和第一喷洒信息生成。其 中，轮廓信息由采集装置122采集并获取。In this embodiment, the unworked information is generated by the first processor 121 according to the contour information and the first spraying information. Among them, the contour information is collected and obtained by the collecting device 122.
在另一种实施例中，未作业信息由第一处理器121依据轮廓信息和调节后的第一喷洒信息生成。其中，第一处理器121配置成依据轮廓信息对第一喷洒信息调节，得到调节后的第一喷洒信息。在另一种实施例中，未作业信息由第一处理器依据障碍物的位置信息和第一喷洒信息生成。其中，采集装置配置成采集并获取障碍物的位置信息。In another embodiment, the unworked information is generated by the first processor 121 according to the contour information and the adjusted first spraying information. Wherein, the first processor 121 is configured to adjust the first spraying information according to the profile information to obtain the adjusted first spraying information. In another embodiment, the unworked information is generated by the first processor according to the location information of the obstacle and the first spraying information. Wherein, the collecting device is configured to collect and obtain the position information of the obstacle.
步骤S303，接收未作业信息。Step S303, receiving un-job information.
在本实施例中，控制终端110通过通信模块113接收第一处理器发送的未作业信息。In this embodiment, the control terminal 110 receives the unjob information sent by the first processor through the communication module 113.
步骤S304，依据未作业信息生成第二作业指令。In step S304, a second operation instruction is generated according to the unworked information.
在本实施例中，可以包括第二作业设备130的第二作业路线、第二行驶速度和第二喷洒信息。In this embodiment, the second working route, the second traveling speed, and the second spraying information of the second working equipment 130 may be included.
步骤S305，将第二作业指令发送至第二作业设备，以使第二作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。In step S305, the second operation instruction is sent to the second operation equipment, so that the second operation equipment sprays the area where the operation object is not sprayed and/or the missing operation object according to the second operation instruction.
在本实施例中，控制终端110通过通信模块113将第二作业指令发送至第二作业设备130。In this embodiment, the control terminal 110 sends the second operation instruction to the second operation device 130 through the communication module 113.
为了执行上述实施例及各个可能的方式中的相应步骤，下面给出一种混合作业装置的实现方式。进一步地，请参阅图10，图10为本申请实施例提供的一种混合作业装置115的功能模块图。需要说明的是，本实施例所提供的混合作业装置115，其基本原理及产生的技术效果和上述实施例相同，为简要描述，本实施例部分未提及之处，可参考上述的实施例中相应内容。该混合作业装置115包括：指令生成模块1151、指令发送模块1152和信息接收模块1153。In order to perform the corresponding steps in the above-mentioned embodiments and each possible manner, an implementation manner of a hybrid operation device is given below. Further, please refer to FIG. 10, which is a functional module diagram of a hybrid operating device 115 provided by an embodiment of the application. It should be noted that the basic principle and technical effects of the mixing device 115 provided in this embodiment are the same as those of the above-mentioned embodiment. For a brief description, for the parts not mentioned in this embodiment, please refer to the above-mentioned embodiment. In the corresponding content. The hybrid working device 115 includes: an instruction generating module 1151, an instruction sending module 1152, and an information receiving module 1153.
指令生成模块1151配置成响应用户操作生成对应的第一作业指令。The instruction generation module 1151 is configured to generate a corresponding first job instruction in response to a user operation.
可以理解，指令生成模块1151配置成执行上述步骤S301的内容。It can be understood that the instruction generation module 1151 is configured to execute the content of the above step S301.
指令发送模块1152配置成将第一作业指令发送至第一作业设备120，以使第一作业设备120依据第一作业指令对作业对象进行喷洒作业，并生成未作业信息；其中，未作业信息包括作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息。The instruction sending module 1152 is configured to send the first work instruction to the first work equipment 120, so that the first work equipment 120 sprays the work object according to the first work instruction and generates unworked information; wherein, the unworked information includes Information about the area where the work object is not sprayed and/or the location information of the work object that is missed.
可以理解，指令发送模块1152配置成执行上述步骤S302的内容。It can be understood that the instruction sending module 1152 is configured to execute the content of the above step S302.
信息接收模块1153配置成接收未作业信息。The information receiving module 1153 is configured to receive unemployed information.
可以理解，信息接收模块1153配置成执行上述步骤S303的内容。It can be understood that the information receiving module 1153 is configured to execute the content of the above step S303.
指令生成模块1151还配置成依据未作业信息生成第二作业指令。The instruction generation module 1151 is further configured to generate a second operation instruction according to the un-worked information.
可以理解，指令生成模块1151还配置成执行上述步骤S304的内容。It can be understood that the instruction generation module 1151 is also configured to execute the content of the above step S304.
指令发送模块还配置成将第二作业指令发送至第二作业设备130，以使第二作业设备130依据第二作业指令对作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The instruction sending module is further configured to send the second work instruction to the second work equipment 130, so that the second work equipment 130 sprays the area where the work object is not sprayed and/or the missing work object according to the second work instruction operation.
可以理解，指令发送模块1152还配置成执行上述步骤S305的内容。It can be understood that the instruction sending module 1152 is also configured to execute the content of the above step S305.
可选地，上述模块可以软件或固件(Firmware)的形式存储于图2所示的存储器111中或固化于该控制终端110的操作***(Operating System，OS)中，并可由图2中的第二处理器112执行。同时，执行上述模块所需的数据、程序的代码等可以存储在存储器111中。Optionally, the aforementioned modules may be stored in the memory 111 shown in FIG. 2 in the form of software or firmware (Firmware) or solidified in the operating system (Operating System, OS) of the control terminal 110, and may be stored in the operating system (OS) of the control terminal 110 in the form of software or firmware (Firmware). The second processor 112 executes. At the same time, data, program codes, etc. required to execute the above-mentioned modules may be stored in the memory 111.
在本申请所提供的实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。In the embodiments provided in this application, it should be understood that the disclosed device and method may also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions, and functions of the devices, methods, and computer program products according to multiple embodiments of the present application. operating. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of the code, and the module, program segment, or part of the code contains one or more functions for realizing the specified logical function. Executable instructions. It should also be noted that in some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
综上所述，本申请实施例提供了一种混合作业方法和相关装置，该混合作业***包括控制终端、不同类型的第一作业设备和第二作业设备，控制终端分别与第一作业设备和第二作业设备通信连接。通过控制终端响应用户操作生成对应的第一作业指令，并将第一作业指令发送至第一作业设备；第一作业设备则依据第一作业指令对作业对象进行喷洒作业，同时生成未作业信息，并将未作业信息发送至控制终端；控制终端则依据未作业信息生成第二作业指令，并将第二作业指令发送至第二作业设备；第二作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。可见，通过控制终端的统筹调控，使得第一作业设备和第二作业设备之间进行配合作业，第一作业设备喷洒不到区域，由第二作业设备进行补充喷洒作业，进而解决作业对象漏喷的问题。In summary, the embodiments of the present application provide a mixed operation method and related device. The mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively connected to the first operation device and the second operation device. The second working device is in communication connection. The control terminal generates a corresponding first operation instruction in response to user operations, and sends the first operation instruction to the first operation device; the first operation device sprays the job object according to the first operation instruction, and at the same time generates non-operation information, And send the unworked information to the control terminal; the control terminal generates a second work instruction based on the unworked information, and sends the second work instruction to the second work equipment; the second work equipment does not spray the work object according to the second work instruction The area and/or the missed spraying operation object shall be sprayed. It can be seen that through the overall control of the control terminal, the first operation equipment and the second operation equipment are coordinated to work. The first operation equipment does not spray the area, and the second operation equipment performs supplementary spraying operations, thereby solving the problem of missing spray The problem.
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.
工业实用性Industrial applicability
本申请实施例提供的混合作业方法和相关装置，该混合作业***包括控制终端、不同类型的第一作业设备和第二作业设备，控制终端分别与第一作业设备和第二作业设备通信连接。通过控制终端响应用户操作生成对应的第一作业指令，并将第一作业指令发送至第一作业设备；第一作业设备则依据第一作业指令对作业对象进行喷洒作业，同时生成未作业信息，并将未作业信息发送至控制终端；控制终端则依据未作业信息生成第二作业指令，并将第二作业指令发送至第二作业设备；第二作业设备依据第二作业指令对作业对象未喷洒到的区域和/或漏喷作业对象进行喷洒作业。可见，通过控制终端的统筹调控，使得第一作业设备和第二作业设备之间进行配合作业，第一作业设备喷洒不到区域，由第二作业设备进行补充喷洒作业，进而解决作业对象漏喷的问题。In the mixed operation method and related device provided by the embodiments of the present application, the mixed operation system includes a control terminal, a first operation device and a second operation device of different types, and the control terminal is respectively communicatively connected with the first operation device and the second operation device. The control terminal generates a corresponding first operation instruction in response to user operations, and sends the first operation instruction to the first operation device; the first operation device sprays the job object according to the first operation instruction, and at the same time generates non-operation information, And send the unworked information to the control terminal; the control terminal generates a second work instruction based on the unworked information, and sends the second work instruction to the second work equipment; the second work equipment does not spray the work object according to the second work instruction The area and/or the missed spraying operation object shall be sprayed. It can be seen that through the overall control of the control terminal, the first operation equipment and the second operation equipment are coordinated to work. The first operation equipment does not spray the area, and the second operation equipment performs supplementary spraying operations, thereby solving the problem of missing spray The problem.

Claims (20)

  1. 一种混合作业方法，其特征在于，应用于控制终端，所述控制终端分别与不同类型的第一作业设备和第二作业设备通信连接，所述方法包括：A hybrid operation method, characterized in that it is applied to a control terminal, and the control terminal is respectively communicatively connected with a first operation device and a second operation device of different types, and the method includes:
    响应用户操作生成对应的第一作业指令；Generate the corresponding first operation instruction in response to the user operation;
    将所述第一作业指令发送至所述第一作业设备，以使所述第一作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息；其中，所述未作业信息包括所述作业对象未被喷洒到的区域信息和/或漏喷作业对象的位置信息；The first work instruction is sent to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; wherein, the unworked The information includes information about the area where the work object has not been sprayed and/or the location information of the work object that has missed spraying;
    接收所述未作业信息；Receiving the unworked information;
    依据所述未作业信息生成第二作业指令；Generating a second operation instruction according to the unworked information;
    将所述第二作业指令发送至所述第二作业设备，以使所述第二作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The second operation instruction is sent to the second operation equipment, so that the second operation equipment can spray the area where the operation object is not sprayed and/or the missing operation object according to the second operation instruction Carry out spraying operations.
  2. 根据权利要求1所述的混合作业方法，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述采集装置配置成采集并获取所述作业对象的轮廓信息；The hybrid operation method according to claim 1, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is connected to The collection device is in communication connection with the control terminal, and the collection device is configured to collect and obtain contour information of the work object;
    所述未作业信息由所述第一处理器依据所述轮廓信息和所述第一喷洒信息生成。The unworked information is generated by the first processor according to the contour information and the first spraying information.
  3. 根据权利要求1所述的混合作业方法，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述采集装置配置成采集并获取所述作业对象的轮廓信息，所述第一处理器配置成依据所述轮廓信息对所述第一喷洒信息进行调节，得到调节后的第一喷洒信息；The hybrid operation method according to claim 1, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is connected to The collection device is in communication connection with the control terminal, the collection device is configured to collect and obtain contour information of the work object, and the first processor is configured to perform processing on the first spraying information according to the contour information. Adjust to obtain the adjusted first spray information;
    所述未作业信息由所述第一处理器依据所述轮廓信息和所述调节后的第一喷洒信息生成。The unworked information is generated by the first processor according to the contour information and the adjusted first spraying information.
  4. 根据权利要求1所述的混合作业方法，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述采集装置配置成采集并获取障碍物的位置信息；The hybrid operation method according to claim 1, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is connected to The collection device is in communication connection with the control terminal, and the collection device is configured to collect and obtain location information of obstacles;
    所述未作业信息由所述第一处理器依据所述障碍物的位置信息和所述第一喷洒信息生成。The non-operation information is generated by the first processor according to the position information of the obstacle and the first spraying information.
  5. 根据权利要求1-4任意一项所述的混合作业方法，其特征在于，依据所述未作业信息生成第二作业指令，包括：依据所述未作业信息确定需要执行补充喷洒的位置以及需要对所述作业对象未喷洒到的区域和/或所述漏喷作业对象执行补充喷洒作业的补充喷洒量和补充喷洒范围；The mixed operation method according to any one of claims 1 to 4, wherein the generating of the second operation instruction according to the non-operation information includes: determining the position where the supplementary spraying needs to be performed and the need to perform the supplementary spraying according to the non-operation information The area where the operation object is not sprayed and/or the supplementary spraying amount and the supplementary spraying range of the supplementary spraying operation performed by the missed spraying operation object;
    根据所述补充喷洒位置、所述补充喷洒量和补充喷洒范围生成所述第二作业指令。The second operation instruction is generated according to the supplementary spraying position, the supplementary spraying amount, and the supplementary spraying range.
  6. 一种混合作业方法，其特征在于，应用于混合作业***，所述混合作业***包括控制终端、不同类型的第一作业设备和第二作业设备，所述控制终端分别与所述第一 作业设备和所述第二作业设备通信连接，所述方法包括：A mixed operation method, characterized by being applied to a mixed operation system, the mixed operation system comprising a control terminal, a first operation device and a second operation device of different types, the control terminal and the first operation device respectively Communicating with the second working device, the method includes:
    所述控制终端响应用户操作生成对应的第一作业指令，并将所述第一作业指令发送至所述第一作业设备；The control terminal generates a corresponding first work instruction in response to a user operation, and sends the first work instruction to the first work device;
    所述第一作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；The first work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal; wherein, the non-operation information includes the operation Information about the area where the object is not sprayed and/or the location information of the object of the missed spray operation;
    所述控制终端依据所述未作业信息生成第二作业指令，并将所述第二作业指令发送至所述第二作业设备；The control terminal generates a second work instruction according to the unworked information, and sends the second work instruction to the second work equipment;
    所述第二作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The second work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
  7. 根据权利要求6所述的混合作业方法，其特征在于，当所述第一作业设备为地面作业设备且所述第二作业设备为空中作业设备时，所述方法包括：The hybrid operation method according to claim 6, wherein when the first operation equipment is a ground operation equipment and the second operation equipment is an aerial operation equipment, the method comprises:
    所述地面作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；The ground work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal;
    所述空中作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。According to the second operation instruction, the aerial work equipment performs a spraying operation on the area where the work object is not sprayed and/or the missing spray work object.
  8. 根据权利要求6所述的混合作业方法，其特征在于，当所述第一作业设备为空中作业设备且所述第二作业设备为地面作业设备时，所述方法包括：The hybrid operation method according to claim 6, wherein when the first operation equipment is an aerial operation equipment and the second operation equipment is a ground operation equipment, the method comprises:
    所述空中作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；The aerial work equipment sprays the work object according to the first work instruction, generates non-operation information, and sends the non-operation information to the control terminal;
    所述地面作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。According to the second operation instruction, the ground work equipment performs spraying operations on the area where the work object is not sprayed and/or the missing spray work object.
  9. 根据权利要求6-8任意一项所述的混合作业方法，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述方法还包括：The mixed operation method according to any one of claims 6-8, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first operation instruction includes a collection device and a first processor. A processor is respectively connected to the acquisition device and the control terminal in communication, and the method further includes:
    所述采集装置采集并获取所述作业对象的轮廓信息；The collecting device collects and obtains contour information of the work object;
    所述第一作业设备生成未作业信息的步骤包括：The step of generating non-working information by the first working device includes:
    所述第一处理器依据所述轮廓信息和所述第一喷洒信息生成所述未作业信息。The first processor generates the non-operation information according to the contour information and the first spray information.
  10. 根据权利要求6-8任意一项所述的混合作业方法，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接，所述方法还包括：The mixed operation method according to any one of claims 6-8, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first operation instruction includes a collection device and a first processor. A processor is respectively connected to the acquisition device and the control terminal in communication, and the method further includes:
    所述采集装置采集并获取障碍物的位置信息；The collecting device collects and obtains the location information of the obstacle;
    所述第一作业设备生成未作业信息的步骤包括：The step of generating non-working information by the first working device includes:
    所述第一处理器依据所述障碍物的位置信息和所述第一喷洒信息生成所述未作业信息。The first processor generates the non-operation information according to the location information of the obstacle and the first spraying information.
  11. 根据权利要求6-8任意一项所述的混合作业方法，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处 理器分别与所述采集装置和所述控制终端通信连接，所述方法还包括：The mixed operation method according to any one of claims 6-8, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first operation instruction includes a collection device and a first processor. A processor is respectively connected to the acquisition device and the control terminal in communication, and the method further includes:
    所述采集装置采集并获取所述作业对象的轮廓信息；The collecting device collects and obtains contour information of the work object;
    所述第一处理器依据所述轮廓信息对所述第一喷洒信息进行调节，得到调节后的第一喷洒信息；The first processor adjusts the first spray information according to the profile information to obtain adjusted first spray information;
    所述第一作业设备生成未作业信息的步骤包括：The step of generating non-working information by the first working device includes:
    所述第一处理器依据所述轮廓信息和所述调节后的第一喷洒信息生成所述未作业信息。The first processor generates the non-operation information according to the contour information and the adjusted first spraying information.
  12. 根据权利要求6-8任意一项所述的混合作业方法，其特征在于，所述第一作业设备将所述未作业信息发送至所述控制终端的步骤包括：8. The mixed operation method according to any one of claims 6-8, wherein the step of the first operation device sending the non-operation information to the control terminal comprises:
    所述第一作业设备将所述未作业信息实时发送至所述控制终端；The first working device sends the non-working information to the control terminal in real time;
    或所述第一作业设备将所述未作业信息汇总后发送至所述控制终端。Or, the first working device summarizes the unworked information and sends it to the control terminal.
  13. 一种混合作业装置，其特征在于，应用于控制终端，所述控制终端分别与不同类型的第一作业设备和第二作业设备通信连接，所述装置包括：A hybrid working device, characterized in that it is applied to a control terminal, and the control terminal is respectively communicatively connected with different types of first working equipment and second working equipment, and the device includes:
    指令生成模块，配置成响应用户操作生成对应的第一作业指令；The instruction generation module is configured to generate a corresponding first operation instruction in response to a user operation;
    指令发送模块，配置成将所述第一作业指令发送至所述第一作业设备，以使所述第一作业设备依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；An instruction sending module configured to send the first work instruction to the first work equipment, so that the first work equipment sprays the work object according to the first work instruction, and generates unworked information; Wherein, the non-operation information includes area information to which the operation object has not been sprayed and/or position information of the missing spray operation object;
    信息接收模块，配置成接收所述未作业信息；An information receiving module configured to receive the unworked information;
    所述指令生成模块，还配置成依据所述未作业信息生成第二作业指令；The instruction generation module is further configured to generate a second operation instruction according to the unworked information;
    所述指令发送模块，还配置成将所述第二作业指令发送至所述第二作业设备，以使所述第二作业设备依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The instruction sending module is further configured to send the second work instruction to the second work equipment, so that the second work equipment can spray the area to which the work object is not sprayed according to the second work instruction And/or the spraying operation is performed on the missing spraying operation object.
  14. 一种控制终端，其特征在于，包括第二处理器和存储器，所述存储器存储有能够被所述第二处理器执行的机器可执行指令，所述第二处理器可执行所述机器可执行指令以实现权利要求1-5任意一项所述的方法。A control terminal, characterized by comprising a second processor and a memory, the memory storing machine executable instructions that can be executed by the second processor, and the second processor can execute the machine executable Instructions to implement the method described in any one of claims 1-5.
  15. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被第二处理器执行时实现如权利要求1-5任意一项所述的方法。A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 1 to 5 when the computer program is executed by a second processor.
  16. 一种混合作业***，其特征在于，包括控制终端、不同类型的第一作业设备和第二作业设备，所述控制终端分别与所述第一作业设备和所述第二作业设备通信连接；A hybrid operating system, characterized in that it comprises a control terminal, a first operating device and a second operating device of different types, and the control terminal is respectively communicatively connected with the first operating device and the second operating device;
    所述控制终端配置成响应用户操作生成对应的第一作业指令，并将所述作业指令发送至所述第一作业设备；The control terminal is configured to generate a corresponding first work instruction in response to a user operation, and send the work instruction to the first work device;
    所述第一作业设备配置成依据所述第一作业指令对作业对象进行喷洒作业，并生成未作业信息，将所述未作业信息发送至所述控制终端；其中，所述未作业信息包括所述作业对象未喷洒到的区域信息和/或漏喷作业对象的位置信息；The first work equipment is configured to perform spraying work on the work object according to the first work instruction, and generate non-operation information, and send the non-operation information to the control terminal; wherein, the non-operation information includes all State the information of the area where the work object has not been sprayed and/or the location information of the object of the missed spraying operation;
    所述控制终端配置成依据所述未作业信息生成第二作业指令，并将所述第二作业指令发送至所述第二作业设备；The control terminal is configured to generate a second work instruction according to the unworked information, and send the second work instruction to the second work equipment;
    所述第二作业设备配置成依据所述第二作业指令对所述作业对象未喷洒到的区域和/或所述漏喷作业对象进行喷洒作业。The second work equipment is configured to perform spraying operations on the area where the work object is not sprayed and/or the missing spray work object according to the second work instruction.
  17. 根据权利要求16所述的混合作业***，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接；The hybrid operation system according to claim 16, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively connected with The acquisition device and the control terminal are in communication connection;
    所述采集装置配置成采集并获取所述作业对象的轮廓信息；The collecting device is configured to collect and obtain contour information of the work object;
    所述第一处理器配置成依据所述轮廓信息和所述第一喷洒信息生成所述未作业信息。The first processor is configured to generate the non-working information according to the contour information and the first spraying information.
  18. 根据权利要求16所述的混合作业***，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接；The hybrid operation system according to claim 16, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively connected with The acquisition device and the control terminal are in communication connection;
    所述采集装置配置成采集并获取障碍物的位置信息；The collecting device is configured to collect and obtain position information of obstacles;
    所述第一处理器配置成依据所述障碍物的位置信息和所述第一喷洒信息生成所述未作业信息。The first processor is configured to generate the non-operation information according to the position information of the obstacle and the first spraying information.
  19. 根据权利要求16所述的混合作业***，其特征在于，所述第一作业指令包括第一喷洒信息，所述第一作业设备包括采集装置和第一处理器，所述第一处理器分别与所述采集装置和所述控制终端通信连接；The hybrid operation system according to claim 16, wherein the first operation instruction includes first spraying information, the first operation equipment includes a collection device and a first processor, and the first processor is respectively connected with The acquisition device and the control terminal are in communication connection;
    所述采集装置配置成采集并获取所述作业对象的轮廓信息；The collecting device is configured to collect and obtain contour information of the work object;
    所述第一处理器配置成依据所述轮廓信息对所述第一喷洒信息进行调节，得到调节后的第一喷洒信息；The first processor is configured to adjust the first spraying information according to the profile information to obtain the adjusted first spraying information;
    所述第一处理器还配置成依据所述轮廓信息和所述调节后的第一喷洒信息生成所述未作业信息。The first processor is further configured to generate the unworked information according to the contour information and the adjusted first spraying information.
  20. 根据权利要求16所述的混合作业***，其特征在于，所述第一作业设备和所述第二作业设备为行驶方式和/或喷洒方式不同的作业设备。The hybrid operating system according to claim 16, wherein the first operating equipment and the second operating equipment are operating equipment with different driving modes and/or spraying modes.
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