CN111144788A

CN111144788A - Hybrid operation method and related device

Info

Publication number: CN111144788A
Application number: CN201911415970.7A
Authority: CN
Inventors: 何俊毅; 苏家豪; 陈艳青; 李媛媛; 陈世印
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-05-12
Also published as: WO2021135355A1

Abstract

The embodiment of the invention provides a hybrid operation method and a related device, and relates to the technical field of plant protection. The hybrid operation system comprises a control terminal, a first operation device and a second operation device, wherein the first operation device and the second operation device are different in type, and the control terminal is respectively in communication connection with the first operation device and the second operation device. The control terminal responds to user operation to generate a corresponding first job instruction and sends the first job instruction to the first job equipment; the first operation equipment performs spraying operation on the operation object according to the first operation instruction, generates non-operation information and sends the non-operation information to the control terminal; the control terminal generates a second operation instruction according to the non-operation information and sends the second operation instruction to second operation equipment; and the second operation equipment performs spraying operation on the area which is not sprayed by the operation object and/or the operation object which is not sprayed by the operation object according to the second operation instruction. The mixed operation system solves the problem of the missed spray of the operation object through the matching operation between the first operation equipment and the second operation equipment.

Description

Hybrid operation method and related device

Technical Field

The invention relates to the technical field of plant protection, in particular to a hybrid operation method and a related device.

Background

At present, in the plant protection field, plant protection tools such as unmanned aerial vehicles and unmanned vehicles spray the operation alone. When the unmanned vehicle is used alone to spray, the problem of missed spraying of the operation object can be caused due to the influence of overhigh height of the operation object, obstacles and the like. When using unmanned aerial vehicle alone to spray the operation, also can cause the problem of spouting that leaks of operation object because of influence such as the operation object branch and leaf are dense and barrier.

Disclosure of Invention

In view of the above, the present invention provides a hybrid operation method and related apparatus. The problem that the operation object leaks to be sprayed is solved through the matching operation between the first operation equipment and the second operation equipment.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

in a first aspect, an embodiment provides a hybrid job method, which is applied to a control terminal, where the control terminal is respectively in communication connection with first job equipment and second job equipment of different types, and the method includes:

responding to user operation to generate a corresponding first job instruction;

sending the first operation instruction to the first operation equipment so that the first operation equipment performs spraying operation on an operation object according to the first operation instruction and generates non-operation information; wherein the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed;

receiving the non-operation information;

generating a second operation instruction according to the non-operation information;

and sending the second operation instruction to the second operation equipment so that the second operation equipment performs spraying operation on the region where the operation object is not sprayed and/or the operation object which is not sprayed according to the second operation instruction.

In a second aspect, an embodiment provides another hybrid operation method, which is applied to a hybrid operation system, where the hybrid operation system includes a control terminal, and a first operation device and a second operation device of different types, where the control terminal is in communication connection with the first operation device and the second operation device, respectively, and the method includes:

the control terminal responds to user operation to generate a corresponding first operation instruction and sends the first operation instruction to the first operation equipment;

the first operation equipment performs 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; wherein the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed;

the control terminal generates a second operation instruction according to the non-operation information and sends the second operation instruction to the second operation equipment;

and the second operation equipment performs spraying operation on the region where the operation object is not sprayed and/or the operation object with the missed spraying according to the second operation instruction.

In a third aspect, an embodiment provides a hybrid working apparatus applied to a control terminal, where the control terminal is respectively connected to different types of first working devices and second working devices in a communication manner, and the apparatus includes:

the instruction generation module is used for responding to user operation to generate a corresponding first job instruction;

the instruction sending module is used for sending the first operation instruction to the first operation equipment so that the first operation equipment can spray operation on an operation object according to the first operation instruction and generate non-operation information; wherein the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed;

the information receiving module is used for receiving the non-operation information;

the instruction generating module is further used for generating a second operation instruction according to the non-operation information;

the instruction sending module is further configured to send the second operation instruction to the second operation device, so that the second operation device performs spraying operation on the area where the operation object is not sprayed and/or the operation object with the spraying missing function according to the second operation instruction.

In a fourth aspect, an embodiment provides a control terminal, including a second processor and a memory, where the memory stores machine-executable instructions executable by the second processor, and the second processor may execute the machine-executable instructions to implement the method of the first aspect.

In a fifth aspect, the embodiments provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a second processor, implements the method of the first aspect.

In a sixth aspect, an embodiment provides a hybrid operating system, which includes a control terminal, and a first operating device and a second operating device of different types, where the control terminal is in communication connection with the first operating device and the second operating device respectively;

the control terminal is used for responding to user operation to generate a corresponding first job instruction and sending the job instruction to the first job equipment;

the first operation equipment is used for spraying operation on an operation object according to the first operation instruction, generating non-operation information and sending the non-operation information to the control terminal; wherein the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed;

the control terminal is used for generating a second operation instruction according to the non-operation information and sending the second operation instruction to the second operation equipment;

and the second operation equipment is used for spraying operation on the region where the operation object is not sprayed and/or the operation object with missed spraying according to the second operation instruction.

According to the mixed operation method and the related device provided by the embodiment of the invention, the mixed operation system comprises the control terminal, the first operation equipment and the second operation equipment which are different in type, and the control terminal is respectively in communication connection with the first operation equipment and the second operation equipment. Responding to user operation through a control terminal to generate a corresponding first job instruction, and sending the first job instruction to first job equipment; the first operation equipment performs spraying operation on the operation object according to the first operation instruction, generates non-operation information at the same time, and sends the non-operation information to the control terminal; the control terminal generates a second operation instruction according to the non-operation information and sends the second operation instruction to the second operation equipment; and the second operation equipment performs spraying operation on the area which is not sprayed by the operation object and/or the operation object which is not sprayed by the operation object according to the second operation instruction. Therefore, the cooperation operation is carried out between the first operation equipment and the second operation equipment through the overall regulation and control of the control terminal, the first operation equipment is not sprayed to the area, the second operation equipment is used for carrying out the supplementary spraying operation, and the problem that the operation object is not sprayed is solved.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

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

fig. 2 is a schematic structural diagram of a control terminal according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating another hybrid operating system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a first work device of the hybrid work system according to the embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating an application environment of a hybrid operating system according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating an application environment of another hybrid operating system according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating an application environment of a hybrid operating system according to an embodiment of the present invention;

FIG. 8 is a flow chart illustrating a method of hybrid operations according to an embodiment of the present invention;

FIG. 9 is a flow chart illustrating another hybrid operation method provided by embodiments of the present invention;

fig. 10 is a schematic structural diagram of a hybrid working apparatus according to an embodiment of the present invention.

Icon: 100-hybrid operating system; 110-a control terminal; 111-a memory; 112-a second processor; 113-a communication module; 114-an interactive interface; 115-a hybrid working device; 1151-an instruction generation module; 1152-an instruction sending module; 1153-an information receiving module; 120-a first work device; 121-a first processor; 122-a collection device; 130-second work device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Referring to fig. 1, a schematic diagram of an implementable structure of a hybrid operating system 100 according to an embodiment of the present invention is provided, where the hybrid operating system 100 includes a control terminal 110, and first operating devices 120 and second operating devices 130 of different types, and the control terminal 110 is in communication connection with the first operating device 120 and the second operating device 130, respectively.

In the present 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 operation device 120 is configured to perform a spraying operation on an operation object according to the first operation instruction, generate non-operation information, and send the non-operation information to the control terminal 110; the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed; the control terminal 110 is configured to generate a second job instruction according to the non-job information, and send the second job instruction to the second job device 130; the second operation device 130 is configured to perform a spraying operation on the area to which the operation object is not sprayed and/or the operation object which is not sprayed according to the second operation instruction.

In this embodiment, the control terminal 110 may be a remote controller, a ground station, or the like, and the control terminal 110 stores therein a plurality of pieces of parcel information, each parcel may be used as one area to be worked, that is, the plurality of pieces of parcel information may be a plurality of pieces of area information to be worked. After a user selects a target plot needing to be operated from a plurality of plots, the control terminal 110 can automatically plan according to the plot information corresponding to the target plot and generate a first operation instruction; after the user selects the target parcel, the user may set the job requirement according to the actual job requirement, and the control terminal 110 generates a corresponding first job instruction according to the parcel information and the job requirement corresponding to the target parcel.

Referring to fig. 2, which is a block diagram of an implementable structure 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, and the memory 111, the second processor 112, the communication module 113, and the interactive interface 114 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

In the embodiment, the memory 111 may be used to store software programs and modules, such as program instructions/modules corresponding to the hybrid operation method provided in the embodiment of the present application, and the second processor 112 executes the software programs and modules stored in the memory 111 to execute various functional applications and data processing. The communication module 113 may be used for signaling or data communication with the first work device 120 and the second work device 130. The control terminal 110 may have a plurality of communication modules 113 in the present application. The interactive interface 114 provides both an output and an input interface between the control terminal 110 and the user.

The Memory 111 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.

The second processor 112 may be an integrated circuit chip having signal processing capabilities. The second Processor 112 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.

The interactive interface 114 is capable of sensing a touch or mouse click from a location on the interactive interface 114 and processing the sensed touch or mouse click by the second processor 112. The user can perform a touch or mouse click operation on the interactive interface 114, thereby achieving the selection of the target parcel and the setting of the job requirement.

The control terminal 110 may also be in communication connection with a mobile terminal (not shown), and a user may perform an input operation on the mobile terminal, so as to select a target parcel and set a job requirement. The mobile terminal can be a mobile phone, a tablet computer and the like.

It should be understood that the structure shown in fig. 2 is only a schematic structure of the control terminal 110, and the control terminal 110 may further include more or less components than those shown in fig. 2, or have a different configuration from that shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.

An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by the second processor 112, implements the hybrid job method according to any one of the foregoing embodiments. The computer readable storage medium may be, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic or optical disk, etc.

In this embodiment, the first operation command may include a first operation route, a first driving speed, first spraying information, and the like; the first spraying information comprises a first spraying amplitude, a first spraying height, a first spraying amount and the like; the operation requirement may include information such as a set traveling speed, a set spraying width, a set spraying height, and the like.

In this embodiment, the first operation device 120 may be a ground operation device or an aerial operation device; the second work implement 130 may be a ground work implement or an aerial work implement. As shown in fig. 1, when the first working device 120 is a ground working device, the first working device 120 and the second working device 130 are different types of devices, so the second working device 130 is an aerial working device. Correspondingly, the control terminal 110 sends the first operation instruction to the ground operation equipment; the ground operation equipment performs spraying operation on the operation object according to the first operation instruction, generates non-operation information and sends the non-operation information to the control terminal 110; the 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 air operation equipment; and the aerial operation equipment sprays the area which is not sprayed by the operation object and/or the operation object which is not sprayed by the operation object according to the second operation instruction.

It is understood that when the ground operation device is set as the first operation device 120, the control terminal 110 generates the first operation command according to the characteristic parameters of the ground operation device (such as the spraying amplitude range, the spraying height range, the driving speed range, etc.), the land information corresponding to the target land, and the operation requirement set by the user. The ground operation equipment runs on the first operation route according to the first running speed in the first operation instruction, sprays operation on the operation object according to the first spraying information, records and generates non-operation information, and sends the non-operation information to the control terminal 110. The control terminal 110 generates a second operation instruction according to the non-operation information and sends the second operation instruction to the aerial operation equipment; wherein the second work instruction includes a second work route, a second travel speed, and second spray information for the aerial work device. The aerial operation equipment runs along a second operation route according to a second running speed, and sprays the areas where the operation objects are not sprayed and the operation objects which are not sprayed according to second spraying information; or the aerial operation equipment runs along a second operation route according to the second running speed and sprays the area to which the operation object is not sprayed according to the second spraying information; or the aerial operation equipment runs along the second operation route according to the second running speed and sprays the missed spray operation object according to the second spraying information.

In another embodiment, as shown in fig. 3, when the first work implement 120 is an aerial work implement, the second work implement 130 is a ground work implement because the first work implement 120 and the second work implement 130 are different types of implements. Correspondingly, the control terminal 110 sends the first operation instruction to the aerial operation equipment; the aerial operation equipment performs spraying operation on the operation object according to the first operation instruction, generates non-operation information and sends the non-operation information to the control terminal 110; the control terminal 110 generates a second operation instruction according to the non-operation information sent by the aerial operation equipment, and sends the second operation instruction to the ground operation equipment; and the ground operation equipment performs spraying operation on the area where the operation object is not sprayed and/or the operation object with the missed spraying according to the second operation instruction.

It is understood that, when the aerial work device is set as the first work device 120, the control terminal 110 generates the first work instruction according to the characteristic parameters of the aerial work device (such as the spraying amplitude range, the spraying height range, the driving speed range, and the like), the land parcel information corresponding to the target land parcel, and the work requirement set by the user. The aerial work equipment runs along the first work route according to the first running speed in the first work instruction, sprays work on a work object according to the first spraying information, records and generates non-work information, and sends the non-work information to the control terminal 110. The control terminal 110 generates a second operation instruction according to the non-operation information and sends the second operation instruction to the ground operation equipment; wherein the second work instruction includes a second work route, a second travel speed, and second spray information for the ground working equipment. The ground operation equipment runs on a second operation route according to a second running speed, and sprays the areas where the operation objects are not sprayed and the operation objects which are not sprayed according to second spraying information; or the ground operation equipment runs on a second operation route according to the second running speed and sprays the area which is not sprayed by the operation object according to the second spraying information; or the ground operation equipment runs on the second operation route according to the second running speed and sprays the operation object with missed spraying according to the second spraying information.

It should be understood that the first job instruction generated by the control terminal 110 when the ground work apparatus is set as the first work apparatus 120 is different from the first job instruction generated by the control terminal 110 when the aerial work apparatus is set as the first work apparatus 120. Correspondingly, the second job instruction generated by the control terminal 110 when the ground work apparatus is set as the first work apparatus 120 is also different from the second job instruction generated by the control terminal 110 when the aerial work apparatus is set as the first work apparatus 120.

It should be understood that the first and second working

devices

120 and 130 each include a spraying apparatus (not shown), a driving apparatus (not shown), and a first processor (not shown), and the first processors of the first and second working

devices

120 and 130 are each communicatively connected to the control terminal 110. The first processor of the first job device 120 is configured to receive the first job instruction sent by the control terminal 110, and send the non-job information to the control terminal 110; the first processor of the second job device 130 is configured to receive the second job instruction sent by the control terminal 110. The first processor of the first operating device 120 controls the driving device of the first operating device 120 to work according to the first traveling speed of the first operating instruction, and the first processor of the first operating device 120 controls the spraying device of the first operating device 120 to spray according to the first spraying information of the first operating instruction; the first processor of the second operation device 130 controls the driving device of the second operation device 130 to work according to the second traveling speed of the second operation command, and the first processor of the second operation device 130 controls the spraying device of the second operation device 130 to spray according to the second spraying information of the second operation command.

Wherein, ground operation equipment can be unmanned vehicle, and aerial operation equipment can be unmanned aerial vehicle. The number of ground working devices and aerial working devices is set according to actual conditions, that is, the number of first working devices 120 and second working devices 130 is set according to actual conditions, and is not limited herein.

Referring to fig. 4, which is a schematic diagram of an implementation of the first operation device 120 shown in fig. 1 and fig. 3, the first operation device 120 further includes a collecting device 122, and the collecting device 122 is communicatively connected to the first processor 121. It will be appreciated that when the first work implement 120 is a ground work implement, the ground work implement includes a pick-up device 122. When the first work equipment 120 is aerial work equipment, the aerial work equipment includes a harvesting device 122. The ground work equipment and the aerial work equipment may both include the collecting device 122, or may have the collecting device 122 only when the first work equipment 120 is set. The present invention is not limited to the above embodiments, and may be set according to actual circumstances.

For convenience of description, the acquisition device 122 is taken as a camera in this embodiment for example to describe in detail. The first Processor 121 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.

It should be understood that the configuration shown in fig. 4 is merely a schematic configuration of the first work equipment 120, and that the first work equipment 120 may include more or fewer components than shown in fig. 4, or have a different configuration than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof.

In the present embodiment, the specific principle of the first job device 120 generating the non-job information is as follows: the collecting device 122 is used for collecting and acquiring the contour information of the operation object; the first processor 121 is configured to generate the non-operation information according to the contour information and the first spraying information.

It can be understood that, if the collecting device 122 of the first operating device 120 is a camera, when the first operating device 120 sprays a work object according to the first work instruction, the collecting device 122 of the first operating device 120 further collects image information of an area of the first operating device 120, and performs image segmentation on the image information to extract contour information of the work object, and the collecting device 122 of the first operating device 120 transmits the contour information to the first processor 121 of the first operating device 120. The contour information may include a branch and leaf crown width of the work object, a diameter of the trunk, and a height of the work object. The first processor 121 of the first operating device 120 calculates the sprayable area information of the operating object according to the first spraying amplitude, the first spraying height and the first spraying amount, wherein the sprayable area information may include the amplitude, the height and the thickness of the sprayable area of the operating object; the first processor 121 of the first operating device 120 calculates area information to be sprayed of the operating object according to the crown width of the branches and leaves, the diameter of the trunk, and the height of the operating object, wherein the area information to be sprayed includes the width, height, and thickness of the area to be sprayed of the operating object; the first processor 121 of the first work device 120 calculates area information to which the work object is not sprayed, based on the area information to be sprayed of the work object and the area information to which the work object is sprayable.

As shown in fig. 5, which is a schematic diagram of an applicable environment of the hybrid operation system 100, if the first operation device 120 is a ground operation device and the second operation device 130 is an aerial operation device, when the operation object is a fruit tree and the spraying operation is required to be performed on the crown of the fruit tree, the whole crown of the fruit tree is a total operation area, that is, the total operation area is an area to be sprayed. When the first operation equipment 120 sprays the fruit tree according to the first spraying information, only the first operation area of the fruit tree can be sprayed, that is, the first operation area is a spraying area, and the height b of the first operation area corresponds to the first spraying height of the first spraying information. The first processor 121 of the first operating device 120 can calculate the area information to be sprayed by the fruit tree according to the area information of the total operating area and the first spraying information, that is, the first processor 121 of the first operating device 120 subtracts the height c of the total operating area from the height b of the first operating area to obtain the height a of the second operating area, and then obtains the maximum width d of the second operating area according to the width corresponding to each height of the total operating area. The control terminal 110 formulates second spraying information according to the height a and the width d of the second work area so that the second work device 130 can completely spray the second work area.

The reason why the second working area in fig. 5 is not sprayed may be that the maximum value of the spraying height of the ground working equipment is b, so the second working area higher than b cannot be sprayed by the ground working equipment. The reason why the second work area in fig. 5 is not sprayed may also be that when the control terminal 110 makes the first work instruction, the obtained target area information is not updated in time, and the contour information of the work object in the target area information is smaller than the actual contour information of the work object.

In another embodiment, if the first operating device 120 is an aerial operating device and the second operating device 130 is a ground operating device, when the operating object is a fruit tree and the spraying operation is to be performed on the crown of the fruit tree, the whole crown of the fruit tree is the total operating area, i.e. the total operating area is the area to be sprayed. When the first operation equipment 120 sprays the fruit tree according to the first spraying information, only the second operation area of the fruit tree can be sprayed, that is, the second operation area is a sprayable area, and the height a and the maximum width d of the second operation area correspond to the first spraying height and the first spraying amplitude of the first spraying information. The first processor 121 of the first operating device 120 can calculate the area information to be sprayed by the fruit tree according to the area information of the total operating area and the first spraying information, that is, the first processor 121 of the first operating device 120 subtracts the height a of the second operating area from the height c of the total operating area to obtain the height b of the first operating area, and then obtains the maximum width e of the first operating area according to the width corresponding to each height of the total operating 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 device 130 can completely spray the second work area.

The reason why the first operation area in fig. 5 is not sprayed may be that the maximum amplitude e of the first operation area is smaller than the maximum amplitude d of the second operation area, branches and leaves of the fruit tree are dense, the penetrating power of the spraying device of the aerial operation equipment is insufficient, and the first operation area cannot be sprayed.

In another embodiment, the principle of the first work device 120 generating the non-work information may be further: the acquisition device 122 of the first working device 120 is used for acquiring and acquiring the contour information of the working object; the first processor 121 of the first operating device 120 is configured to adjust the first spraying information according to the profile information, so as to obtain adjusted first spraying information; the first processor 121 of the first work device 120 is further configured to generate non-work information based on the profile information and the adjusted first spray information.

It is understood that if the first spraying amplitude and the first spraying height of the first spraying information are not the maximum values of the first working device 120, and the canopy amplitude and the height of the working object of which the profile information is obtained by the acquisition device 122 of the first working device 120 are greater than the first spraying amplitude and the first spraying height, the first processor 121 of the first working device 120 may adjust the amplitude and the height of the spraying device of the first working device 120, that is, adjust the first spraying amplitude and the first spraying height. If the amplitude and height of the spraying device of the first working equipment 120 are adjusted to be maximum or smaller than the crown amplitude and height of the working object, the first processor 121 of the first working equipment 120 generates the non-working information according to the crown amplitude and height of the working object and the adjusted first spraying amplitude and height. The first processor 121 of the first working device 120 generates the non-working information according to the crown width and height of the working object and the adjusted first spraying width and height, and may refer to the principle of generating the non-working information according to the contour information and the first spraying information, which will not be described herein in detail.

In another embodiment, the principle of the first work device 120 generating the non-work information may be further: the collecting device 122 of the first operating device 120 is configured to collect and obtain position information of the obstacle, and the first processor 121 of the first operating device 120 generates non-operating information according to the position information of the obstacle and the first spraying information.

It can be understood that if the first working equipment 120 is a ground working equipment and the second working equipment 130 is an aerial working equipment, when the ground working equipment travels along the first travel route, if an obstacle appears on the first travel route due to an accident, the first working equipment 120 detours, a working object exists in an area where the first equipment cannot reach due to obstacle, a working object in an area where the first equipment cannot reach is a blow-by working object, and the blow-by working object is near the obstacle, so that the position information of the blow-by working object can be obtained from the position information of the obstacle and the travel route information detoured by the first working equipment 120.

As shown in fig. 6, which is another practical application environment diagram of the hybrid operation system 100, the ground operation device can only travel along the detour route due to the existence of the obstacle, so that the ground operation device cannot perform the spraying operation on the object of the missed spraying operation. The control terminal 110 formulates a second operation route according to the position information of the missed spray operation object, so that the aerial operation equipment sprays the missed spray operation object according to the second operation route.

In another embodiment, if the first working device 120 is an aerial working device and the second working device 130 is a ground working device, the aerial working device cannot perform a spraying operation on a working object near the electric wire due to the influence of the electric wire. The control terminal 110 formulates a second work route based on the position information of the electric wire so that the ground working equipment performs a spraying work on the work object near the electric wire according to the second work route.

As shown in fig. 7, which is a schematic diagram of another practical application environment of the hybrid operation system 100, if the obstacle is close to the operation object, so that the ground operation device cannot perform the spraying operation on the side of the operation object where the obstacle exists, the spraying operation can be performed by the aerial operation device on the side of the operation object where the obstacle exists.

In this embodiment, the first work device 120 may transmit the non-work information to the control terminal 110 in real time, or may transmit the non-work information to the control terminal 110 after aggregating the non-work information. It is understood that the first operating device 120 performs a spraying operation on a plurality of job objects, and when the first operating device 120 records and obtains non-sprayed area information of one job object or position information of one missed-spraying job object, the first operating device 120 may transmit the non-sprayed area information of the job object or the position information of the missed-spraying job object to the control terminal 110; the first operating device 120 may store the non-sprayed area information of the work object or the position information of the missed spray work object in the memory of the first operating device 120, and send the collected non-sprayed area information of all the work objects and/or the position information of all the missed spray work objects stored in the work process to the control terminal 110 until the first operating device 120 finishes the spraying work on the target plot.

In order to perform the functions of the above embodiments and various possible modes, an implementation mode of the hybrid operation method is given below. Further, please refer to fig. 8, which is a flowchart illustrating a hybrid operation method according to an embodiment of the present invention. It should be noted that the basic principle and the technical effects of the hybrid operation method provided by the embodiment of the present invention are the same as those of the above embodiment, and for the sake of brief description, no part of this embodiment is mentioned, and corresponding contents in the above embodiment may be referred to. And the hybrid operation method provided by the embodiment of the present invention is not limited by fig. 8 and the following specific sequence, it should be understood that, in other embodiments, the sequence of some steps in the hybrid operation method provided by the embodiment of the present invention may be interchanged according to actual needs, or some steps in the hybrid operation method may be omitted or deleted. The hybrid operation method can be applied to the hybrid operation system 100 shown in fig. 1 and 3, and the specific flow shown in fig. 8 will be described in detail below.

Step S201, the control terminal responds to user operation to generate a corresponding first job instruction, and sends the first job instruction to the first job equipment.

It is understood that the content in step S201 may be executed by the control terminal 110 described above.

And step S202, the first operation equipment performs spraying operation on the operation object according to the first operation instruction, generates non-operation information and sends the non-operation information to the control terminal.

In this embodiment, the non-job information includes area information to which the job object is not sprayed and/or position information of the missed-spray job object, and the first job instruction includes first spray information.

In this embodiment, the first operation device 120 includes a collecting device 122 and a first processor 121, the first processor 121 is in communication connection with the collecting device 122 and the control terminal 110, respectively, the collecting device 122 collects and acquires outline information of an operation object, and the first processor 121 generates non-operation information according to the outline information and the first spraying information.

In this embodiment, the collecting device 122 may also collect and obtain position information of the obstacle; the first processor 121 generates the non-operation information according to the position information of the obstacle and the first spraying information.

In another embodiment, the collecting device 122 may also collect and acquire contour information of the work object; the first processor 121 adjusts the first spraying information according to the profile information to obtain second spraying information; the first processor 121 generates the no-job information according to the contour information and the second spray information.

It is to be understood that the content in step S202 may be executed by the first job device 120 described above.

And step S203, the control terminal generates a second job instruction according to the non-job information and sends the second job instruction to the second job equipment.

It is understood that the content in step S203 may be executed by the control terminal 110 described above.

And step S204, the second operation equipment performs spraying operation on the area where the operation object is not sprayed and/or the operation object with missed spraying according to the second operation instruction.

It is to be understood that the content in step S204 may be executed by the second job device 130 described above.

In order to perform the functions of the above embodiments and various possible modes, another implementation mode of the mixed operation method is given below. Further, please refer to fig. 9, which is a schematic flow chart illustrating a hybrid operation method according to an embodiment of the present invention. It should be noted that the basic principle and the technical effects of the hybrid operation method provided by the embodiment of the present invention are the same as those of the above embodiment, and for the sake of brief description, no part of this embodiment is mentioned, and corresponding contents in the above embodiment may be referred to. And the hybrid operation method provided by the embodiment of the present invention is not limited by fig. 9 and the following specific sequence, it should be understood that, in other embodiments, the sequence of some steps in the hybrid operation method provided by the embodiment of the present invention may be interchanged according to actual needs, or some steps in the hybrid operation method may be omitted or deleted. The hybrid operation method can be applied to the control terminal 110 shown in fig. 1-3, and the specific flow shown in fig. 9 will be described in detail below.

Step S301, generating a corresponding first job instruction in response to a user operation.

In the present embodiment, the control terminal 110 stores therein a plurality of pieces of land information, each of which can be regarded as one to-be-worked area, i.e., the plurality of pieces of land information can be a plurality of to-be-worked area information. After the user selects a target parcel needing to be operated from the plurality of parcels through the interactive interface 114, the second processor 112 of the control terminal 110 may automatically plan according to parcel information corresponding to the target parcel and generate a first operation instruction; after the user selects the target parcel, the user may set a job requirement according to the actual job requirement, and the second processor 112 of the control terminal 110 generates a corresponding first job instruction according to the parcel information and the job requirement corresponding to the target parcel. The first operation instruction may include a first operation route, a first driving speed, first spraying information, and the like; the first spraying information comprises a first spraying amplitude, a first spraying height, a first spraying amount and the like; the operation requirement may include information such as a set traveling speed, a set spraying width, a set spraying height, and the like.

Step S302, a first operation instruction is sent to first operation equipment, so that the first operation equipment sprays operation on an operation object according to the first operation instruction, and non-operation information is generated; the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed.

In the present embodiment, the no-job information is generated by the first processor 121 from the contour information and the first spray information. Wherein the contour information is collected and acquired by the collecting device 122.

In another embodiment, the no job information is generated by the first processor 121 from the profile information and the adjusted first spray information. The first processor 121 is configured to adjust the first spraying information according to the profile information, so as to obtain adjusted first spraying information. In another embodiment, the non-operational information is generated by the first processor from position information of the obstacle and the first spray information. The acquisition device is used for acquiring and acquiring position information of the obstacle.

In step S303, the non-job information is received.

In the present embodiment, the control terminal 110 receives the non-job information transmitted by the first processor through the communication module 113.

In step S304, a second job instruction is generated according to the non-job information.

In the present embodiment, a second work route, a second traveling speed, and second spray information of the second work device 130 may be included.

Step S305, sending a second job instruction to the second operation device, so that the second operation device performs a spraying operation on the region where the operation object is not sprayed and/or the operation object with the missed spraying according to the second job instruction.

In the present embodiment, the control terminal 110 transmits the second job instruction to the second job device 130 through the communication module 113.

In order to perform the corresponding steps in the above embodiments and various possible modes, an implementation mode of the hybrid operation device is given below. Further, referring to fig. 10, fig. 10 is a functional block diagram of a hybrid operation device 115 according to an embodiment of the present invention. It should be noted that the basic principle and the technical effects of the hybrid working device 115 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. The hybrid working device 115 includes: an instruction generating module 1151, an instruction transmitting module 1152, and an information receiving module 1153.

The instruction generating module 1151 is configured to generate a corresponding first job instruction in response to a user operation.

It is understood that the instruction generating module 1151 is configured to execute the content of the step S301.

The instruction sending module 1152 is configured to send the first job instruction to the first operating device 120, so that the first operating device 120 performs a spraying operation on the job object according to the first job instruction and generates no-job information; the non-operation information comprises area information to which the operation object is not sprayed and/or position information of the operation object which is not sprayed.

It is understood that the instruction sending module 1152 is used for executing the content of the step S302.

The information receiving module 1153 is used to receive the no-job information.

It is understood that the information receiving module 1153 is used for executing the content of the above step S303.

The instruction generating module 1151 is further configured to generate a second job instruction according to the non-job information.

It is understood that the instruction generating module 1151 is also used for executing the content of the step S304.

The instruction sending module is further configured to send a second operation instruction to the second operation device 130, so that the second operation device 130 performs a spraying operation on the area where the operation object is not sprayed and/or the operation object with the missed spraying according to the second operation instruction.

It is understood that the instruction sending module 1152 is also used for executing the content of the step S305.

Alternatively, the modules may be stored in the memory 111 shown in fig. 2 in the form of software or Firmware (Firmware) or be fixed in an Operating System (OS) of the control terminal 110, and may be executed by the second processor 112 in fig. 2. Meanwhile, data, codes of programs, and the like required to execute the above modules may be stored in the memory 111.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In summary, the embodiment of the present invention provides a hybrid operation method and a related apparatus, where the hybrid operation system includes a control terminal, and a first operation device and a second operation device of different types, and the control terminal is in communication connection with the first operation device and the second operation device, respectively. Responding to user operation through a control terminal to generate a corresponding first job instruction, and sending the first job instruction to first job equipment; the first operation equipment performs spraying operation on the operation object according to the first operation instruction, generates non-operation information at the same time, and sends the non-operation information to the control terminal; the control terminal generates a second operation instruction according to the non-operation information and sends the second operation instruction to the second operation equipment; and the second operation equipment performs spraying operation on the area which is not sprayed by the operation object and/or the operation object which is not sprayed by the operation object according to the second operation instruction. Therefore, the cooperation operation is carried out between the first operation equipment and the second operation equipment through the overall regulation and control of the control terminal, the first operation equipment is not sprayed to the area, the second operation equipment is used for carrying out the supplementary spraying operation, and the problem that the operation object is not sprayed is solved.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hybrid work method applied to a control terminal which is communicatively connected to first and second work apparatuses of different types, respectively, the method comprising:

responding to user operation to generate a corresponding first job instruction;

receiving the non-operation information;

2. The hybrid operation method according to claim 1, wherein the first operation instruction comprises first spraying information, the first operation device comprises a collecting device and a first processor, the first processor is respectively connected with the collecting device and the control terminal in a communication manner, and the collecting device is used for collecting and acquiring contour information of the operation object;

the non-operational information is generated by the first processor from the profile information and the first spray information.

3. The hybrid operation method according to claim 1, wherein the first operation instruction comprises first spraying information, the first operation device comprises an acquisition device and a first processor, the first processor is in communication connection with the acquisition device and the control terminal, respectively, the acquisition device is used for acquiring and acquiring profile information of the operation object, and the first processor is used for adjusting the first spraying information according to the profile information to obtain adjusted first spraying information;

the non-operational information is generated by the first processor from the profile information and the adjusted first spray information.

4. The hybrid operation method according to claim 1, wherein the first operation instruction comprises first spraying information, the first operation device comprises a collecting device and a first processor, the first processor is in communication connection with the collecting device and the control terminal, respectively, and the collecting device is used for collecting and acquiring position information of an obstacle;

the non-operation information is generated by the first processor according to the position information of the obstacle and the first spraying information.

5. A hybrid working method applied to a hybrid working system including a control terminal, a first working device and a second working device of different types, the control terminal being in communication connection with the first working device and the second working device, respectively, the method comprising:

6. The hybrid operation method of claim 5, wherein when the first operation device is a ground operation device and the second operation device is an aerial operation device, the method comprises:

the ground operation equipment performs 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;

and the aerial operation equipment performs spraying operation on the region where the operation object is not sprayed and/or the operation object with the missed spraying according to the second operation instruction.

7. The hybrid operation method of claim 5, wherein when the first operation device is an aerial operation device and the second operation device is a ground operation device, the method comprises:

the aerial operation equipment sprays 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;

and the ground operation equipment performs spraying operation on the region where the operation object is not sprayed and/or the operation object with the missed spraying according to the second operation instruction.

8. The hybrid operation method according to claim 6 or 7, wherein the first operation instruction includes first spraying information, the first operation device includes a collecting device and a first processor, and the first processor is in communication connection with the collecting device and the control terminal, respectively, and the method further includes:

the acquisition device acquires and acquires the contour information of the operation object;

the step of the first job device generating the non-job information includes:

the first processor generates the non-operation information according to the contour information and the first spraying information.

9. The hybrid operation method according to claim 6 or 7, wherein the first operation instruction includes first spraying information, the first operation device includes a collecting device and a first processor, and the first processor is in communication connection with the collecting device and the control terminal, respectively, and the method further includes:

the acquisition device acquires and acquires position information of the barrier;

the step of the first job device generating the non-job information includes:

the first processor generates the non-operation information according to the position information of the obstacle and the first spraying information.

10. The hybrid operation method according to claim 6 or 7, wherein the first operation instruction includes first spraying information, the first operation device includes a collecting device and a first processor, and the first processor is in communication connection with the collecting device and the control terminal, respectively, and the method further includes:

the first processor adjusts the first spraying information according to the contour information to obtain adjusted first spraying information;

the step of the first job device generating the non-job information includes:

the first processor generates the non-operation information according to the contour information and the adjusted first spraying information.

11. The hybrid job method according to claim 6 or 7, wherein the step of the first job device transmitting the non-job information to the control terminal includes:

the first operation equipment sends the non-operation information to the control terminal in real time;

or the first operation equipment collects the information of the non-operation and sends the information to the control terminal.

12. A hybrid working apparatus applied to a control terminal which is in communication connection with first working devices and second working devices of different types, respectively, the apparatus comprising:

13. A control terminal comprising a second processor and a memory, the memory storing machine executable instructions executable by the second processor to implement the method of any one of claims 1 to 4.

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a second processor, carries out the method according to any one of claims 1-4.

15. A hybrid operation system is characterized by comprising a control terminal, a first operation device and a second operation device which are different in type, wherein the control terminal is respectively in communication connection with the first operation device and the second operation device;

16. The hybrid operation system according to claim 15, wherein the first operation instruction comprises first spraying information, the first operation device comprises a collecting device and a first processor, and the first processor is in communication connection with the collecting device and the control terminal respectively;

the acquisition device is used for acquiring and acquiring the contour information of the operation object;

the first processor is used for generating the non-operation information according to the contour information and the first spraying information.

17. The hybrid operation system according to claim 15, wherein the first operation instruction comprises first spraying information, the first operation device comprises a collecting device and a first processor, and the first processor is in communication connection with the collecting device and the control terminal respectively;

the acquisition device is used for acquiring and acquiring position information of the barrier;

the first processor is used for generating the non-operation information according to the position information of the obstacle and the first spraying information.

18. The hybrid operation system according to claim 15, wherein the first operation instruction comprises first spraying information, the first operation device comprises a collecting device and a first processor, and the first processor is in communication connection with the collecting device and the control terminal respectively;

the first processor is used for adjusting the first spraying information according to the contour information to obtain adjusted first spraying information;

the first processor is further configured to generate the non-operation information according to the profile information and the adjusted first spraying information.