WO2020078260A1 - 喷洒作业的展示方法、装置及系统 - Google Patents

喷洒作业的展示方法、装置及系统 Download PDF

Info

Publication number
WO2020078260A1
WO2020078260A1 PCT/CN2019/110465 CN2019110465W WO2020078260A1 WO 2020078260 A1 WO2020078260 A1 WO 2020078260A1 CN 2019110465 W CN2019110465 W CN 2019110465W WO 2020078260 A1 WO2020078260 A1 WO 2020078260A1
Authority
WO
WIPO (PCT)
Prior art keywords
spraying
coefficient
working
color information
work
Prior art date
Application number
PCT/CN2019/110465
Other languages
English (en)
French (fr)
Inventor
李积祥
Original Assignee
广州极飞科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Priority to AU2019363108A priority Critical patent/AU2019363108B2/en
Priority to CA3115560A priority patent/CA3115560C/en
Priority to US17/309,057 priority patent/US20220035344A1/en
Priority to EP19873170.5A priority patent/EP3869465A4/en
Priority to JP2021521041A priority patent/JP7164715B2/ja
Priority to KR1020217014070A priority patent/KR102650088B1/ko
Publication of WO2020078260A1 publication Critical patent/WO2020078260A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G05B19/4166—Controlling feed or in-feed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • 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
    • 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
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Mining
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/001—Texturing; Colouring; Generation of texture or colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/40—Filling a planar surface by adding surface attributes, e.g. colour or texture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting

Definitions

  • the present application relates to the agricultural field, and in particular, to a method, device and system for displaying spraying operations.
  • the present application provides a method, device, and system for displaying spraying operations to at least solve the technical problem that the spraying amount cannot be determined at a specific location in the target area and the spraying efficiency is low.
  • a method for displaying a spraying operation including: obtaining a spraying coefficient of a working position corresponding to a sampling point of a working equipment, the spraying coefficient being used to characterize the spraying amount of the working equipment at the working position Obtain the color information corresponding to the operation position according to the spray coefficient; display the operation position and the color information corresponding to the operation position.
  • acquiring color information corresponding to the work position according to the spraying coefficient includes: obtaining spraying flow velocity information of the work equipment at the work position and moving speed information of the work equipment when passing the work position; based on spraying The flow rate information and the moving speed information of the working equipment determine the spraying coefficient, wherein the spraying coefficient is proportional to the spraying amount at the working position.
  • obtaining color information corresponding to the spray coefficient of the working position includes: determining a value interval to which the spray coefficient of the working position belongs;
  • the color information corresponding to the value interval is determined, and the color information corresponding to the value interval is used as the color information corresponding to the work position.
  • display the operation position and the color information corresponding to the operation position including: displaying the movement track of the operation equipment in the electronic map, and the color information corresponding to the operation position and the operation position in the movement track;
  • the color information fills the trajectory between adjacent job positions with a gradient color, and shows the trajectory after the gradient color is filled.
  • displaying the operation position and the color information corresponding to the operation position including:
  • the moving track of the work equipment between the adjacent work positions is filled with gradient colors.
  • the method before filling the moving trajectories between adjacent operation positions with gradation, the method further includes: determining whether the spray coefficients corresponding to the adjacent operation positions belong to the same value interval; when the judgment result is negative, the trigger is determined Fill the gradient between the moving tracks between adjacent job positions.
  • the method further includes: when the judgment result is yes, determining to fill a moving track between adjacent job positions with a specified color, the specified color being a color corresponding to any one of the adjacent job positions.
  • the method further includes: sending a control instruction to the work device, the control instruction used to control the work device to perform at least one of the following operations: when the color information is the first color, Control the working equipment to supplement the spraying of the working position corresponding to the first color; when the color information is the second color, control the working equipment to perform water spray dilution on the working position corresponding to the second color.
  • the method further includes:
  • control instruction is used to control the work equipment to perform at least one of the following operations:
  • the method before sending the control instruction to the work equipment, the method further includes: obtaining a prescription map of the target area, the prescription map is used to represent the target spray amount of each operation position in the target area; comparing the target spray amount and the spray coefficient correspondence The amount of spraying; determine the control instruction according to the comparison result.
  • obtaining color information corresponding to the operation position according to the spraying coefficient includes:
  • obtaining color information corresponding to the job position according to the difference degree value includes:
  • the color information corresponding to the value interval is determined, and the color information corresponding to the value interval is used as the color information corresponding to the work position.
  • obtaining the target spray amount corresponding to the operation position includes:
  • the target spraying amount corresponding to the working position is determined according to the correspondence between the working position and the point or area on the prescription map.
  • a method for displaying a spraying operation including: obtaining a spraying coefficient of a working position corresponding to a sampling point of a working equipment, the spraying coefficient being used to characterize the spraying amount of the working equipment at the working position Obtain the element corresponding to the spray coefficient of the operation position, which is the element in the display interface; determine the change trend information between adjacent elements; display the operation position, the element corresponding to the operation position and the change trend information.
  • a method for displaying job information includes: obtaining a job coefficient of a job position corresponding to a sampling point of a job device, the job coefficient being used to characterize a job amount of the job device at the job position; The marking information corresponding to the operating coefficient of the operating position; displaying the operating position and the marking information corresponding to the operating position.
  • the operation coefficient includes at least one of the following: the spraying operation coefficient of the medicine, the distribution operation coefficient of the solid distribution object; and the marking information includes at least one of the following: three-dimensional height information, stripe density information, color information, and dot set density information.
  • a spraying operation display device including: an acquisition unit configured to acquire a spraying coefficient of a working device at a working position corresponding to a sampling point, the spraying coefficient being used to characterize that the working device is operating The spraying amount of the position; obtaining the color information corresponding to the spraying coefficient of the working position; the display unit configured to display the working position and the color information corresponding to the working position.
  • a spraying operation display system including: a working device configured to collect a spraying coefficient of a working device at a working position corresponding to a sampling point, and the spraying coefficient is used to indicate that the working device is operating The spray quantity of the position and the spray coefficient are sent to the terminal; the terminal is configured to receive the spray coefficient and obtain the color information corresponding to the spray coefficient of the operating position; and display the operating position and the color information corresponding to the operating position.
  • a storage medium characterized in that the storage medium includes a stored program, wherein, when the program is running, the device where the storage medium is located is controlled to perform the above-mentioned spraying job display method, or the above-mentioned job information Display method.
  • a processor configured to run a program, wherein, when the program runs, the above-mentioned method for displaying spraying work or the above-mentioned method for displaying job information is executed.
  • the embodiment of the present application obtains the spraying coefficient of the working equipment at the working position corresponding to the sampling point by using the working equipment, and the spraying coefficient is used to characterize the spraying quantity of the working equipment at the working position; the color information corresponding to the spraying coefficient of the working position ; Display the job location and the color information corresponding to the job location. It realizes the visualization of drug spraying during the operation of the operation equipment, enabling the operator to intuitively determine the spraying situation of the operation equipment during the operation. By displaying the operation position and the color information corresponding to the operation position, it can be clearly seen intuitively Where to spray more, less spray or miss spray.
  • the pilot can re-plan the route for supplemental spray at the first time. It ensures the uniform spraying of pesticides on crops, the rational use of pesticides, improves the efficiency of pesticide spraying, and ensures the harvest of farmers. Furthermore, the technical problem that the spraying quantity cannot be determined at a specific position in the target area and the spraying efficiency is low is solved.
  • FIG. 1 is a schematic flowchart of a method for displaying a spraying operation provided by an embodiment of the present application
  • FIG. 2 is an example of a color filling method for a track provided by an embodiment of the present application
  • Fig. 3a is a moving track diagram of the working equipment
  • FIG. 3b is another example of the track color filling method provided by the embodiment of the present application.
  • FIG. 4 is a schematic flowchart of another method for displaying a spraying operation provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a method for displaying job information provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of functional modules of a display device for spraying operations provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a spraying operation display system provided by an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a method for displaying a spraying operation provided by this embodiment. As shown in FIG. 1, the method includes at least the following steps: step S102-step S106.
  • the spraying coefficient of the working equipment at the working position corresponding to the sampling point is obtained, and the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position.
  • the working device may be a plant protection device (such as a plant protection drone) for spraying drugs into the target site.
  • the working device can communicate with a terminal device.
  • the terminal can be a remote control of the working device (such as a remote control of a drone), and the terminal can also be a smart phone, a tablet computer, or other electronic devices.
  • the spray coefficient of the working device at the working position corresponding to the sampling point can be obtained through the terminal.
  • the above sampling point is the time period during which the operating equipment acquires the spray coefficient during the operation; the spray coefficient includes but is not limited to: the ratio of the spray speed to the moving speed of the operating equipment; where the spray speed is the sprayed pesticide ’s The greater the flow rate and spraying coefficient, the greater the spraying amount of the working equipment at the working position.
  • Step S104 Acquire color information corresponding to the work position according to the spray coefficient.
  • the correspondence relationship between the spray coefficient and the color information may be stored in advance, and different spray coefficients may correspond to different colors, or may correspond to different shades of the same color, for example, Expressed in color brightness.
  • Step S106 displaying the work position and the color information corresponding to the work position.
  • the terminal may display the color information corresponding to each operation position to the user.
  • the above operation position is the position where the operation equipment performs the spraying operation.
  • the color information is related to the spraying coefficient.
  • the spraying coefficient is related to the spraying coefficient.
  • the medicine amount is related, and the work position and the color information corresponding to the work position are displayed, that is, the work position and the spray amount information of the work position are displayed.
  • the spraying coefficient of the working device at the working position corresponding to the sampling point can be obtained by: obtaining the spraying velocity information of the working device at the working position and the moving speed information of the working device when passing the working position; based on the spraying velocity information and the operation
  • the moving speed information of the equipment determines the spraying coefficient, wherein the spraying coefficient is proportional to the spraying amount at the working position.
  • the color information corresponding to the operation position can be obtained by: determining the value interval to which the spray coefficient of the operation position belongs; determining the color information corresponding to the value interval, and using the color information corresponding to the value interval as the operation position Color information.
  • the correspondence relationship between the spray coefficient and the color information needs to be set in advance.
  • the drug coefficient is set between 0-9, when the spray coefficient is 0, the corresponding color information is set to white; when the spray coefficient is 1-7, the corresponding color information is set to yellow; When the spray coefficient is 9, the corresponding color information is set to red.
  • the job location and the color information corresponding to the job location can be displayed in the following ways:
  • the working position may be a point on a moving track.
  • the moving track of the work equipment between the adjacent work positions can be filled with a gradient color.
  • point X is a working position on the movement trajectory of the working device
  • point Y is a working position adjacent to point X. If the spray coefficient corresponding to point X is 9, the color corresponding to point X is red, the spray coefficient corresponding to point Y is 5, and the color corresponding to point Y is yellow, the movement trajectory between point X and point Y is displayed as Gradient from red to yellow.
  • the working position may be a section on the moving track. You can display the movement trajectory of the work equipment and the color information corresponding to the work position and work position in the movement trajectory on the electronic map. In this way, the connection of multiple working areas can make the entire movement trajectory present a color that can reflect the spray coefficient.
  • the movement trajectories between the adjacent operation positions can be filled with gradation colors according to the color information corresponding to the adjacent operation positions, and the movement trajectories filled with the gradient colors can be displayed .
  • Figure 3a is the movement trajectory of the work equipment
  • Figure 3b is the work position of the work equipment in the movement trajectory
  • the color information corresponding to the work position
  • Area A in Figure 3b is the area where the amount of spray is insufficient
  • the color is Areas A1 and B are areas where the amount of spray is excessive
  • the color is B1
  • the corresponding color of area C is a gradient
  • area D is a blank area in the track in Figure 3b, and this area is the area that meets the requirements of the amount of spray
  • the color can be D1.
  • the following steps may also be performed: determine whether the spray coefficients corresponding to the adjacent work positions belong to the same value interval; when the judgment result is negative, then Determine the trigger to fill the gradient of the moving track between adjacent job positions. When the judgment result is yes, it is determined to fill the movement trajectory between adjacent job positions with a specified color, which is the color corresponding to any one of the adjacent job positions.
  • set the spraying coefficient to a range of 0-9, and set different value intervals, for example: divide the spraying coefficient into 3 intervals, the first interval is 0-3, and the second interval is 4 -7, the third interval is 8-9; and, the color corresponding to the first interval is set to red, the color corresponding to the second interval is green, and the color corresponding to the third interval is blue.
  • the spray coefficients corresponding to the adjacent work positions do not belong to the same value interval, for example, when the adjacent first work position and the second work position
  • the spraying coefficients are 3 and 4, respectively, it is determined to trigger the movement trajectories between adjacent working positions to be filled with a gradual color between red and green; when the spraying coefficients of the adjacent first and second working positions are both When it is 4, it is determined that the movement trajectory between adjacent work positions is filled with green.
  • Step S1062 a control instruction is sent to the work equipment, and the control instruction is used to control the work equipment to perform at least one of the following operations:
  • the work device when the color information of the work position is the first color, the work device can be controlled to supplement the spraying of the work position corresponding to the first color; or the color information at the work position is the second color At this time, the working equipment is controlled to perform water spray dilution on the working position corresponding to the second color.
  • the above-mentioned first spraying coefficient corresponding to the first color is smaller than the second spraying coefficient corresponding to the second color.
  • the spray quantity corresponding to the first spray coefficient is insufficient, and the spray quantity corresponding to the second spray coefficient is excessive.
  • Step S10602 obtaining a prescription map of the target area, where the prescription map is used to indicate the target spray amount of each working position in the target area;
  • Step S10604 comparing the spray quantity corresponding to the target spray quantity and the spray coefficient
  • step S10606 the control instruction is determined according to the comparison result.
  • control instruction is determined according to the comparison result: when the target spray quantity is greater than the spray quantity corresponding to the spray coefficient, supplemental spray is performed; when the target spray quantity is greater than the spray quantity corresponding to the spray coefficient When it is large, dilute spraying is performed.
  • the overall spraying situation can be used to analyze the total spraying amount of the entire plot. According to the overall spraying amount and the local spraying amount of the plant to determine the data of the entire plot. Too much spraying can be recorded as excessive pesticides. Non-green products.
  • the spraying coefficient of the working position corresponding to the sampling point of the working equipment is obtained, and the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position; the color information corresponding to the spraying coefficient of the working position is obtained; Display the job location and the color information corresponding to the job location. It realizes the visualization of drug spraying during the operation of the operation equipment, enabling the operator to intuitively determine the spraying situation of the operation equipment during the operation. By displaying the operation position and the color information corresponding to the operation position, it can be clearly seen intuitively Where to spray more, less spray or miss spray.
  • the pilot can re-plan the route for supplemental spray at the first time. It ensures the uniform spraying of pesticides on crops, the rational use of pesticides, improves the efficiency of pesticide spraying, and ensures the harvest of farmers. Furthermore, the technical problem that the spraying quantity cannot be determined at a specific position in the target area and the spraying efficiency is low is solved.
  • the target spray amount corresponding to the work position may also be obtained, and then the difference degree value between the target spray amount and the spray coefficient of the work position may be calculated And obtain the color information corresponding to the job position according to the difference degree value.
  • the color information corresponding to the working position is related to the difference between the target spraying amount and the spraying coefficient corresponding to the working position, so that it is convenient for the user to intuitively understand whether the actual spraying amount at the working position has reached the desired Spray volume.
  • the method for obtaining the target spray amount corresponding to the operation position may include: obtaining a prescription map of the site to be sprayed, the prescription map being used to represent the target of each point or area in the site to be sprayed The amount of sprayed medicine; according to the correspondence between the work position and the points or areas on the prescription map, determine the target amount of sprayed medicine corresponding to the work position.
  • FIG. 4 is a schematic flowchart of another method for displaying a spraying operation provided by this embodiment. As shown in FIG. 4, the method includes at least the following steps: step S302-step S308.
  • Step S302 Acquire the spraying coefficient of the working equipment at the working position corresponding to the sampling point, and the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position.
  • the sampling point is the time period during which the operating equipment acquires the spray coefficient during the operation;
  • the spray coefficient is: the ratio of the spray flow rate to the moving speed of the equipment; wherein, the spray flow rate Is the flow rate of the sprayed pesticide, the greater the spraying coefficient, the greater the spraying amount of the working equipment at the working position.
  • Step S304 Obtain an element corresponding to the operation position according to the spraying coefficient, and the element is an element in the display interface.
  • the above element may include at least one of the following information: graphic information, color information, and density information of the graphic.
  • the above elements are color information; the correspondence relationship between the spray coefficient and the color information may be stored in advance. Different spray coefficients may correspond to different colors, or may correspond to different shades of the same color, for example, you can use Color lightness.
  • the above-mentioned elements are also information that characterizes the degree of difference between the target spray amount and the spray coefficient of the working position.
  • Step S306 Determine change trend information between adjacent elements.
  • the change trend information between adjacent elements may be color change trend, graphic change trend, and graphic density change information.
  • step S308 the job position, elements corresponding to the job position and change trend information are displayed.
  • the above-mentioned operation position is the position where the operation equipment performs the operation
  • the color information is related to the spraying coefficient
  • the spraying coefficient is related to the spraying amount
  • the spraying coefficient of the working device at the working position corresponding to the sampling point can be obtained by: obtaining the spraying velocity information of the working device at the working position and the moving speed information of the working device when passing the working position; based on the spraying velocity information and the operation
  • the moving speed information of the equipment determines the spraying coefficient, wherein the spraying coefficient is proportional to the spraying amount at the working position.
  • the color information corresponding to the spray coefficient of the operating position can be obtained by: determining the value interval to which the spray coefficient belongs; determining the color information corresponding to the value interval, and using the color information corresponding to the value interval as the spray Color information corresponding to the drug coefficient.
  • the correspondence relationship between the spray coefficient and the color information needs to be preset, and the spray coefficient can be set at 0- Between 9, when the spray coefficient is 0, set the corresponding color information to white; when the spray coefficient is 1-7, set the corresponding color information to yellow; when the spray coefficient is 9 , Set the corresponding color information to red.
  • the work position and the color information corresponding to the work position can be displayed in the following ways: displaying the movement track of the work equipment in the electronic map, and the color information corresponding to the work position and the work position in the movement track; moving between adjacent work positions
  • the track is filled with gradient colors, and the moving track after filling with gradient colors is displayed. That is to say, in this embodiment, it is possible to fill the trajectory of the movement of the work equipment between the adjacent work positions according to the color information corresponding to the adjacent work positions.
  • the following steps may also be performed: determine whether the spray coefficients corresponding to the adjacent work positions belong to the same value interval; when the judgment result is negative, then Determine the trigger to fill the gradient of the moving track between adjacent job positions. When the judgment result is yes, it is determined to fill the movement trajectory between adjacent job positions with a specified color, which is the color corresponding to any one of the adjacent job positions.
  • set the spraying coefficient to a range of 0-9, and set different value intervals, for example: divide the spraying coefficient into 3 intervals, the first interval is 0-3, and the second interval is 4 -7, the third interval is 8-9; and, the color corresponding to the first interval is set to red, the color corresponding to the second interval is green, and the color corresponding to the third interval is blue.
  • the spray coefficients corresponding to the adjacent work positions do not belong to the same value interval, for example, when the adjacent first work position and the second work position
  • the spraying coefficients are 3 and 4, respectively, it is determined to trigger the movement trajectories between adjacent working positions to be filled with a gradual color between red and green; when the spraying coefficients of the adjacent first and second working positions are both When it is 4, it is determined that the movement trajectory between adjacent work positions is filled with green.
  • Step S3062 Send a control instruction to the work equipment, the control instruction is used to control the work equipment to perform at least one of the following operations: control the work equipment to supplement spraying to the work position where the spraying coefficient is lower than the first preset threshold; Or, control the working device to perform water spray dilution on the working position where the spray coefficient is higher than a second preset threshold; the second preset threshold is not less than the first preset threshold.
  • the work equipment when the color information of the work position is the first color, the work equipment can be controlled to supplement the spraying of the work position corresponding to the first color; when the color information of the work position is the second color, the work equipment can be controlled Use the water spray to dilute the working position corresponding to the two colors.
  • the above-mentioned first spraying coefficient corresponding to the first color is smaller than the second spraying coefficient corresponding to the second color.
  • the spray quantity corresponding to the first spray coefficient is insufficient, and the spray quantity corresponding to the second spray coefficient is excessive.
  • step S30602 a prescription map of the target area is obtained, and the prescription map is used to indicate the target spray amount of each working position in the target area;
  • Step S30604 comparing the spray quantity corresponding to the target spray quantity and the spray coefficient
  • step S30606 the control instruction is determined according to the comparison result.
  • control instruction is determined according to the comparison result: when the target spray quantity is greater than the spray quantity corresponding to the spray coefficient, supplemental spray is performed; when the target spray quantity is greater than the spray quantity corresponding to the spray coefficient When it is large, dilute spraying is performed.
  • the overall spraying situation can be used to analyze the total spraying amount of the entire plot. According to the overall spraying amount and the local spraying amount of the plant to determine the data of the entire plot. Too much spraying can be recorded as excessive pesticides. Non-green products.
  • the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position; to obtain the element corresponding to the spraying coefficient of the working position, the The elements are the elements in the display interface; determine the change trend information between adjacent elements; display the operation position, the element corresponding to the operation position and the change trend information. It realizes the visualization of drug spraying during the operation of the operation equipment, enabling the operator to intuitively determine the spraying situation of the operation equipment during the operation. By displaying the operation position and the color information corresponding to the operation position, it can be clearly seen intuitively Where to spray more, less spray or miss spray.
  • the pilot can re-plan the route for supplemental spray at the first time. It ensures the uniform spraying of pesticides on crops, the rational use of pesticides, improves the efficiency of pesticide spraying, and ensures the harvest of farmers. Furthermore, the technical problem that the spraying quantity cannot be determined at a specific position in the target area and the spraying efficiency is low is solved.
  • FIG. 5 is a schematic flowchart of a method for displaying job information provided by this embodiment. As shown in FIG. 5, the method includes at least the following steps.
  • Step S402 Obtain the operating coefficient of the operating position of the working device at the sampling point, where the operating coefficient is used to characterize the operating amount of the operating device at the operating position.
  • the working coefficient includes at least one of the following: a medicine spraying working coefficient, and a solid broadcasting object's broadcasting working coefficient.
  • the above-mentioned operation coefficient is a medicine spraying operation coefficient
  • the above-mentioned sampling point is the period during which the operation equipment acquires the medicine spraying operation coefficient during the operation;
  • the medicine spraying operation coefficient is: the ratio of the spraying medicine flow rate to the moving speed;
  • the spraying flow rate is the flow rate of the sprayed pesticide. The greater the spraying coefficient of the drug, the greater the spraying amount of the working equipment at the working position.
  • Step S404 Obtain the mark information corresponding to the operation position according to the operation coefficient.
  • the marking information includes at least one of the following: three-dimensional height information, stripe density information, color information, and dot set density information.
  • the operation coefficient is a medicine spraying operation coefficient
  • the marking information is color information
  • the correspondence between the medicine spraying operation coefficient and the color information may be stored in advance, and different medicine spraying operation coefficients may correspond to different colors, and Can correspond to different shades of the same color.
  • the above color information is also the degree of difference between the target spray amount and the spray coefficient of the working position.
  • step S406 the working position and the marking information corresponding to the working position are displayed.
  • the above-mentioned work position is a position where the work equipment performs work, the marking information is related to the work coefficient, the work coefficient is related to the work volume, and the work position and the mark information corresponding to the work position are displayed, that is, the work showing the work position and the work position ⁇ ⁇ Volume information.
  • the medicine spraying operation coefficient of the operation position of the operation equipment at the sampling point may be obtained by: acquiring the spraying velocity information of the operation equipment at the operation position and the operation equipment The moving speed information when passing the working position; the medicine spraying operation coefficient is determined based on the spraying speed information and the moving speed information of the working equipment, wherein the medicine spraying operation coefficient is proportional to the spraying amount of the working position.
  • the color information corresponding to the medicine spraying operation coefficient of the operation position can be obtained by determining in the following ways: determining the value interval to which the medicine spraying operation coefficient belongs; determining the color corresponding to the value interval For the information, the color information corresponding to the value interval is used as the color information corresponding to the drug spraying operation coefficient.
  • the correspondence relationship between the medicine spraying operation coefficient and the color information needs to be set in advance, and the medicine spraying operation coefficient can be set Between 0-9, when the drug spraying operation coefficient is 0, set the corresponding color information to white; when the drug spraying operation coefficient is 1-7, set the corresponding color information to yellow; when When the drug spraying operation coefficient is 9, set the corresponding color information to red.
  • the job location and the color information corresponding to the job location can be displayed in the following ways:
  • the working position may be a point on a moving track.
  • the moving track of the work equipment between the adjacent work positions can be filled with a gradient color.
  • the working position may be a section on the moving track.
  • the movement track of the working equipment and the color information corresponding to the working position and the working position in the moving track can be displayed on the electronic map; further, if there is a gap between the areas corresponding to the working position, it can be corresponding to the adjacent working position Color information, fill the gradient of the moving track between adjacent job positions, and show the moving track after filling the gradient.
  • the following steps may also be performed: determine whether the coefficients of the medicine spraying operation corresponding to the adjacent operation positions belong to the same value interval; when the judgment result is negative, Then it is determined to trigger the gradient filling of the moving track between adjacent job positions.
  • the judgment result is yes, it is determined to fill the movement trajectory between adjacent job positions with a specified color, which is the color corresponding to any one of the adjacent job positions.
  • set the drug spraying operation coefficient to a range of 0-9, and set different value intervals, for example: divide the drug spraying operation coefficient into 3 intervals, the first interval is 0-3, the second interval It is 4-7, and the third interval is 8-9; and, the color corresponding to the first interval is red, the color corresponding to the second interval is green, and the color corresponding to the third interval is blue.
  • the drug spraying operation coefficients corresponding to the adjacent work positions do not belong to the same value interval, for example, when the adjacent first work position and second work position
  • the medicine spraying operation coefficients are 3 and 4, respectively, it is determined that the movement trajectory between adjacent operation positions is filled with a gradual color between red and green; when the adjacent first operation position and the second operation position are sprayed
  • the operation coefficients are all 4, it is determined that the movement trajectory between adjacent operation positions is filled with green.
  • Step S4062 Send a control instruction to the work equipment, the control instruction is used to control the work equipment to perform at least one of the following operations: control the work equipment to supplement spraying to the work position where the spraying coefficient is lower than the first preset threshold; Or, control the working device to perform water spray dilution on the working position where the spray coefficient is higher than a second preset threshold; the second preset threshold is not less than the first preset threshold.
  • the work equipment when the color information of the work position is the first color, the work equipment can be controlled to supplement the spraying of the work position corresponding to the first color; when the color information of the work position is the second color, the work equipment can be controlled Use the water spray to dilute the working position corresponding to the two colors.
  • the aforementioned first medicine spraying operation coefficient corresponding to the first color is smaller than the second medicine spraying operation coefficient corresponding to the second color.
  • the spraying amount corresponding to the first medicine spraying operation coefficient is insufficient, and the spraying amount corresponding to the second medicine spraying operation coefficient is excessive.
  • step S40602 a prescription map of the target area is obtained, and the prescription map is used to indicate the target spray amount of each working position in the target area;
  • Step S40604 comparing the spraying amount corresponding to the target spraying amount and the drug spraying operation coefficient
  • step S40606 the control instruction is determined according to the comparison result.
  • control instruction is determined according to the comparison result: when the target spray quantity is greater than the spray quantity corresponding to the drug spraying operation coefficient, supplementary spraying is performed; when the target spray quantity is greater than the spraying corresponding to the drug spraying operation coefficient When the dose is large, dilute spraying is performed.
  • the operation factor of the operation position corresponding to the sampling point of the operation device is obtained, and the operation factor is used to characterize the operation amount of the operation device at the operation position; the marking information corresponding to the operation factor of the operation position is obtained; the operation position is displayed and The tag information corresponding to the job location.
  • FIG. 6 is a schematic diagram of a hardware structure of a terminal 64 according to this embodiment.
  • the terminal 64 may include a processor 641 and a machine-readable storage medium 642.
  • the processor 641 and the machine-readable storage medium 642 can communicate via a system bus.
  • the machine-readable storage medium 642 stores machine-executable instructions. By reading and executing the machine-executable instructions corresponding to the job parameter configuration logic in the machine-readable storage medium 642, the processor 641 can execute the job parameters described above Configuration method.
  • the machine-readable storage medium 642 mentioned herein may be any electronic, magnetic, optical, or other physical storage device, and may contain or store information, such as executable instructions, data, and so on.
  • the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as a hard disk drive), solid state drive, any type of storage disk (Such as optical discs, DVDs, etc.), or similar storage media, or a combination thereof.
  • the display device of the spraying operation may include at least one function module that can be stored in the machine-readable storage medium 642 in the form of software.
  • the job parameter configuration device may include an acquisition unit 52 and a display unit 54.
  • the obtaining unit 52 is configured to obtain the spraying coefficient of the working equipment at the working position corresponding to the sampling point, and the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position; and obtain the color information corresponding to the working position according to the spraying coefficient .
  • the obtaining unit 52 may be used to perform steps S102 and S104 shown in FIG. 1.
  • the display unit 54 is configured to display the work position and the color information corresponding to the work position.
  • the display unit 54 may be used to perform step S106 shown in FIG. 1.
  • step S106 the display unit 54 may be used to perform step S106 shown in FIG. 1.
  • FIG. 8 is a schematic structural diagram of a spraying operation display system provided by this embodiment.
  • the working equipment 62 is configured to collect the spraying coefficient of the working equipment at the working position corresponding to the sampling point, the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position, and send the spraying coefficient to the terminal;
  • the terminal 64 is configured to receive the spraying coefficient, obtain color information corresponding to the working position according to the spraying coefficient; and display the working position and the color information corresponding to the working position.
  • the technical content disclosed in this embodiment may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of units may be a division of logical functions.
  • there may be other division methods for example, multiple units or components may be combined or integrated into Another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in this embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of this embodiment essentially or part of the contribution to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium
  • several instructions are included to enable a computer device (which may be a personal computer, server, network device, etc.) to perform all or part of the steps of the method of this embodiment.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .
  • the spraying coefficient of the working position corresponding to the sampling point of the working equipment is obtained, and the spraying coefficient is used to characterize the spraying amount of the working equipment at the working position; the color information corresponding to the spraying coefficient of the working position is obtained; Display the job location and the color information corresponding to the job location. It realizes the visualization of drug spraying during the operation of the operation equipment, enabling the operator to intuitively determine the spraying situation of the operation equipment during the operation. By displaying the operation position and the color information corresponding to the operation position, it can be clearly seen intuitively Where to spray more, less spray or miss spray.
  • the pilot can re-plan the route for supplemental spray at the first time. It ensures the uniform spraying of pesticides on crops, the rational use of pesticides, improves the efficiency of pesticide spraying, and ensures the harvest of farmers. Furthermore, the technical problem that the spraying quantity cannot be determined at a specific position in the target area and the spraying efficiency is low is solved.

Abstract

一种喷洒作业的展示方法、装置及系统，其中，所述方法包括：获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量（S102）；获取与作业位置的喷药系数所对应的颜色信息（S104）；展示作业位置以及作业位置对应的颜色信息（S106）。所述方法解决了无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。

Description

喷洒作业的展示方法、装置及系统
相关申请的交叉引用
本申请要求于2018年10月18日提交中国专利局的申请号为201811217275.5、名称为“喷洒作业的展示方法、装置及系统”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。
技术领域
本申请涉及农业领域，具体而言，涉及一种喷洒作业的展示方法、装置及系统。
背景技术
现有技术中，农户或植保人员在通过植保设备对农作物进行施药的过程中，无法确定目标工作区域内各个子区域的药物喷洒量，容易造成目标工作区域内的部分区域喷药过多，造成农药残留以及农药的浪费；以及其他部分区域喷药过少或漏喷，造成喷药效果不理想，达不到所需的治疗效果。
发明内容
本申请提供了一种喷洒作业的展示方法、装置及系统，以至少解决无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。
根据本申请的一个方面，提供了一种喷洒作业的展示方法，包括：获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；根据所述喷药系数获取与所述作业位置对应的颜色信息；展示作业位置以及作业位置对应的颜色信息。
可选地，根据所述喷药系数获取与所述作业位置对应的颜色信息，包括：获取作业设备在作业位置处的喷药流速信息和作业设备经过作业位置时的移动速度信息；基于喷药流速信息与作业设备的移动速度信息确定喷药系数，其中，喷药系数与作业位置的喷药量成正比。
可选地，获取与作业位置的喷药系数所对应的颜色信息，包括：确定所述作业位置的喷药系数所属的取值区间；
确定与所述取值区间对应的颜色信息，将与所述取值区间对应的颜色信息作为与所述作业位置对应的颜色信息。
可选地，展示作业位置以及作业位置对应的颜色信息，包括：在电子地图中展示作业设备的移动轨迹，以及该移动轨迹中作业位置和作业位置对应的颜色信息；根据相邻作业位置对应的颜色信息，对相邻作业位置之间的移动轨迹填充渐变色，并展示填充渐变色后的移动轨迹。
可选地，展示所述作业位置以及所述作业位置对应的颜色信息，包括：
根据相邻作业位置对应的颜色信息，对该相邻作业位置之间的作业设备的移动轨迹进行渐变色填充。
可选地，对相邻作业位置之间的移动轨迹填充渐变色之前，方法还包括：判断相邻作业位置对应的喷药系数是否属于同一取值区间；在判断结果为否时，则确定触发对相邻作业位置之间的移动轨迹填充渐变色。
可选地，方法还包括：在判断结果为是时，则确定对相邻作业位置之间的移动轨迹填充指定颜色，该指定颜色为相邻作业位置中任意一个作业位置对应的颜色。
可选地，展示作业位置以及作业位置对应的颜色信息之后，方法还包括：向作业设备发送控制指令，控制指令用于控制作业设备执行以下至少之一操作：在颜色信息为第一颜色时，控制作业设备对第一颜色对应的作业位置进行补充喷药；在颜色信息为第二颜色时，控制作业设备对第二颜色对应的作业位置进行喷水稀释。
可选地，展示所述作业位置以及所述作业位置对应的颜色信息之后，所述方法还包括：
向所述作业设备发送控制指令，所述控制指令用于控制所述作业设备执行以下至少之一操作：
控制所述作业设备对所述喷药系数低于第一预设阈值的作业位置进行补充喷药；
或者，控制所述作业设备对所述喷药系数高于第二预设阈值的作业位置进行喷水稀释；所述第二预设阈值不小于所述第一预设阈值。
可选地，向作业设备发送控制指令之前，方法还包括：获取目标区域的处方图，处方图用于表示目标区域中各个作业位置的目标喷药量；比较目标喷药量和喷药系数对应的喷药量；根据比较结果确定控制指令。
可选地，根据所述喷药系数获取与所述作业位置对应的颜色信息，包括：
获取所述作业位置对应的目标喷药量；
计算所述作业位置的目标喷药量和喷药系数之间的差异程度值；
根据所述差异程度值获取该作业位置对应的颜色信息。
可选地，根据所述差异程度值获取该作业位置对应的颜色信息，包括：
确定所述差异程度值所在的取值区间；
确定与所述取值区间对应的颜色信息，将与所述取值区间对应的颜色信息作为与所述作业位置对应的颜色信息。
可选地，获取所述作业位置对应的目标喷药量，包括：
获取待喷药场地的处方图，所述处方图用于表示所述待喷药场地中各个点或各区域的目标喷药量；
根据所述作业位置与所述处方图上的点或区域的对应关系，确定与所述作业位置对应的目标喷药量。
根据本申请的一个方面，提供了一种喷洒作业的展示方法，包括：获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；获取与作业位置的喷药系数所对应的元素，该元素为展示界面中的元素；确定相邻元素之间的变化趋势信息；展示作业位置、作业位置对应的元素和变化趋势信息。
根据本申请的一个方面，提供了一种作业信息的展示方法，包括：获取作业设备在采样点对应的作业位置的作业系数，该作业系数用于表征作业设备在作业位置的作业量；获取与作业位置的作业系数所对应的标记信息；展示作业位置以及作业位置对应的标记信息。
可选地，作业系数包括以下至少之一：药品喷洒作业系数、固体播撒对象的播撒作业系数；标记信息包括以下至少之一：三维高度信息、条纹密度信息、颜色信息、点集密度信息。
根据本申请的一个方面，提供了一种喷洒作业的展示装置，包括：获取单元，配置成获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；获取与作业位置的喷药系数所对应的颜色信息；展示单元，配置成展示作业位置以及作业位置对应的颜色信息。
根据本申请的一个方面，提供了一种喷洒作业的展示系统，包括：作业设备，配置成采集作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量，并将喷药系数发送至终端；终端，配置成接收喷药系数，获取与作业位置的喷药系数所对应的颜色信息；并展示作业位置以及作业位置对应的颜色信息。
根据本申请的一个方面，提供了一种存储介质，其特征在于，存储介质包括存储的程序，其中，在程序运行时控制存储介质所在设备执行上述的喷洒作业的展示方法，或上述的作业信息的展示方法。
根据本申请的一个方面，提供了一种处理器，其特征在于，处理器配置成运行程序，其中，程序运行时执行上述的喷洒作业的展示方法，或上述的作业信息的展示方法。
本申请实施例通过获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；获取与作业位置的喷药系数所对应的颜色信息；展示作业位置以及作业位置对应的颜色信息。实现了让作业设备在作业过程中的药物喷洒可视化，能够使作业人员直观确定作业设备在作业过程中的喷洒情况，通过展示作业位置以及作业位置对应的颜色信息，直观能够很明显的能看出哪里多喷、少喷或漏喷。如果多喷，则可及时进行稀释处理，减少作物农药残留；如果出现漏喷或少喷则飞手可以在第一时间重新规划航线进行补喷。确保了农药对作物的均匀喷洒，合理的利用的农药，提高了农药 喷洒的效率，保证了农户的收成。进而解决了无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是本申请实施例提供的一种喷洒作业的展示方法的流程示意图；
图2是本申请实施例提供的轨迹颜色填充方式的一种示例；
图3a为作业设备的移动轨迹图；
图3b本申请实施例提供的轨迹颜色填充方式的另一种示例；
图4是本申请实施例提供的另一种喷洒作业的展示方法的流程示意图；
图5是本申请实施例提供的一种作业信息的展示方法的流程示意图；
图6是本申请实施例提供的一种终端的结构示意图；
图7是本申请实施例提供的一种喷洒作业的展示装置的功能模块示意图；
图8是本申请实施例提供的一种喷洒作业的展示系统的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，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的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
图1是本实施例提供的一种喷洒作业的展示方法的流程示意图。如图1所示，该方法至少包括以下步骤：步骤S102-步骤S106。
步骤S102，获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量。可选地，在本实施例中，作业设备可以为用于目标场地进药物喷洒的植保设备(如植保无人机)。作业设备可以与一终端设备通信，该终端可以为作业设备的遥控器(如无人机的遥控器)，该终端可以也为智能手机、平板电脑等其它电子设 备。
在本实施例中，可以通过终端获取作业设备在采样点对应的作业位置的喷药系数。上述采样点为作业设备在作业的过程中，获取喷药系数的时间周期；喷药系数包括但不限于：喷药流速与作业设备的移动速度的比值；其中，喷药流速为喷洒的农药的流速，喷药系数越大，作业设备在作业位置的喷药量越大。
步骤S104，根据喷药系数获取与作业位置对应的颜色信息。
可选地，在本实施例中，，可预先将喷药系数与颜色信息的对应关系进行存储，不同的喷药系数可以对应不同的颜色，也可以对应同一颜色的不同深浅的颜色，例如可以用色彩明度表示。
步骤S106，展示作业位置以及作业位置对应的颜色信息。
可选地，在本实施例中，可以由终端向用户展示各作业位置对应的颜色信息，上述作业位置为作业设备进行喷药作业的位置，颜色信息与喷药系数相关，喷药系数与喷药量相关，展示作业位置以及作业位置对应的颜色信息，即展示了作业位置以及作业位置的喷药量信息。
可以通过以下方式获取作业设备在采样点对应的作业位置的喷药系数：获取作业设备在作业位置处的喷药流速信息和作业设备经过作业位置时的移动速度信息；基于喷药流速信息与作业设备的移动速度信息确定喷药系数，其中，喷药系数与作业位置的喷药量成正比。
可以通过以下方式获取与作业位置对应的颜色信息：确定作业位置的喷药系数所属的取值区间；确定与取值区间对应的颜色信息，将与取值区间对应的颜色信息作为与作业位置对应的颜色信息。
可选地，在本实施例中，确定喷药系数所属的取值区间之后，在确定与取值区间对应的颜色信息之前，需预先设定喷药系数与颜色信息的对应关系，可将喷药系数设置在0-9之间，当喷药系数为0时，设定与之对应的颜色信息为白色；当喷药系数为1-7时，设定与之对应的颜色信息为黄色；当喷药系数为9时，设定与之对应的颜色信息为红色。
可以通过以下方式展示作业位置以及作业位置对应的颜色信息：
在一个例子中，作业位置可以为移动轨迹上的点。可以根据相邻作业位置对应的颜色信息，对该相邻作业位置之间的作业设备的移动轨迹进行渐变色填充。
例如，图2中，点X为作业设备移动轨迹上的一个作业位置，点Y为与点X相邻的一个作业位置。若点X对应喷药系数为9，点X对应的颜色为红色，点Y对应的喷药系数为5，点Y对应的颜色为黄色，则将点X和点Y之间的移动轨迹显示为红色到黄色的渐变色。
在另一个例子中，作业位置可以为移动轨迹上的一段区域。可以在电子地图中展示作 业设备的移动轨迹，以及该移动轨迹中作业位置和作业位置对应的颜色信息。如此，多个作业区域衔接起来可以使整个移动轨迹呈现出能够反映喷药系数的颜色。
进一步地，若作业位置对应的区域之间还存在空隙，可以再根据相邻作业位置对应的颜色信息，对相邻作业位置之间的移动轨迹填充渐变色，并展示填充渐变色后的移动轨迹。
例如：图3a为作业设备的移动轨迹，图3b为作业设备在移动轨迹中的作业位置，与作业位置对应的颜色信息；其中，图3b中的A区为喷药量不足的区域，颜色为A1，B区为喷药量过量的区域，颜色为B1，C区对应的颜色为渐变色，D区为图3b中的轨迹中的空白的区域，且该区域是满足喷药量要求的区域，颜色可以为D1。
可选地，对相邻作业位置之间的移动轨迹填充渐变色之前，还可以执行以下步骤：判断相邻作业位置对应的喷药系数是否属于同一取值区间；在判断结果为否时，则确定触发对相邻作业位置之间的移动轨迹填充渐变色。在判断结果为是时，则确定对相邻作业位置之间的移动轨迹填充指定颜色，该指定颜色为相邻作业位置中任意一个作业位置对应的颜色。
可选地，将喷药系数设定范围为0-9，并设定不同的取值区间，例如：将喷药系数划分为3个区间，第一区间为0-3，第二区间为4-7，第三区间为8-9；并且，设定第一区间对应的颜色为红色，第二区间对应的颜色为绿色，第三区间对应的颜色为蓝色。对相邻作业位置之间的移动轨迹填充渐变色之前，当判断相邻作业位置对应的喷药系数不属于同一取值区间时，例如，当相邻的第一作业位置与第二作业位置的喷药系数分别为3、4时，则确定触发对相邻作业位置之间的移动轨迹填充红色与绿色间的渐变色；当相邻的第一作业位置与第二作业位置的喷药系数均为4时，则确定对相邻作业位置之间的移动轨迹填充绿色。
展示作业位置以及作业位置对应的颜色信息之后，还可以执行以下步骤：
步骤S1062，向作业设备发送控制指令，控制指令用于控制作业设备执行以下至少之一操作：
控制所述作业设备对所述喷药系数低于第一预设阈值的作业位置进行补充喷药。
或者，控制所述作业设备对所述喷药系数高于第二预设阈值的作业位置进行喷水稀释；所述第二预设阈值不小于所述第一预设阈值。
换句话说，在本实施例中，可以在作业位置的颜色信息为第一颜色时，控制作业设备对第一颜色对应的作业位置进行补充喷药；或者在作业位置的颜色信息为第二颜色时，控制作业设备对第二颜色对应的作业位置进行喷水稀释。
可选地，上述的第一颜色对应的第一喷药系数小于第二颜色对应的第二喷药系数。其中，第一喷药系数对应的喷药量喷药不足，第二喷药系数对应的喷药量喷药过多。
可选地，向作业设备发送控制指令之前，还可以包括以下步骤：
步骤S10602，获取目标区域的处方图，处方图用于表示目标区域中各个作业位置的目标喷药量；
步骤S10604，比较目标喷药量和喷药系数对应的喷药量；
步骤S10606，根据比较结果确定控制指令。
可选地，根据比较结果确定控制指令为：当目标喷药量比喷药系数对应的喷药量大时，则进行补充性喷药；当目标喷药量比喷药系数对应的喷药量大时，则进行稀释性喷药。
另外，整体喷洒情况可用于对整个地块的总的喷药量进行分析，根据植株的整体喷药量和局部喷洒量确定整块地的数据喷药过多，则可以记录为农药过多的非绿色产品。
本实施例通过获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；获取与作业位置的喷药系数所对应的颜色信息；展示作业位置以及作业位置对应的颜色信息。实现了让作业设备在作业过程中的药物喷洒可视化，能够使作业人员直观确定作业设备在作业过程中的喷洒情况，通过展示作业位置以及作业位置对应的颜色信息，直观能够很明显的能看出哪里多喷、少喷或漏喷。如果多喷，则可及时进行稀释处理，减少作物农药残留；如果出现漏喷或少喷则飞手可以在第一时间重新规划航线进行补喷。确保了农药对作物的均匀喷洒，合理的利用的农药，提高了农药喷洒的效率，保证了农户的收成。进而解决了无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。
可选地，在本实施例中，在步骤S104中，也可以获取所述作业位置对应的目标喷药量，然后计算所述作业位置的目标喷药量和喷药系数之间的差异程度值，并根据所述差异程度值获取该作业位置对应的颜色信息。如此，作业位置对应的颜色信息与该作业位置对应的目标喷药量和喷药系数之间的差异程度值相关，从而可以方便了用户直观地了解作业位置的实际喷药量是否达到了期望的喷药量。可选地，获取所述作业位置对应的目标喷药量的方式可以包括：获取待喷药场地的处方图，所述处方图用于表示所述待喷药场地中各个点或各区域的目标喷药量；根据所述作业位置与所述处方图上的点或区域的对应关系，确定与所述作业位置对应的目标喷药量。
图4是本实施例提供的另一种喷洒作业的展示方法的流程示意图。如图4所示，该方法至少包括以下步骤：步骤S302-步骤S308。
步骤S302，获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量。
在一个可选的实施例中，上述采样点为作业设备在作业的过程中，获取喷药系数的时间周期；喷药系数为：喷药流速与设备的移动速度的比值；其中，喷药流速，为喷洒的农 药的流速，喷药系数越大，作业设备在作业位置的喷药量越大。
步骤S304，根据所述喷药系数获取与作业位置对应的元素，该元素为展示界面中的元素。
可选地，上述元素可以包括以下至少之一信息：图形信息、颜色信息、图形的密度信息。
可选地，上述元素为颜色信息；可预先将喷药系数与颜色信息的对应关系进行存储，不同的喷药系数可以对应不同的颜色，也可以对应同一颜色的不同深浅的颜色，例如可以用色彩明度表示。
可选地，上述元素也是表征所述作业位置的目标喷药量和喷药系数之间的差异程度的信息。
步骤S306，确定相邻元素之间的变化趋势信息。
可选地，在本实施例中，相邻元素之间的变化趋势信息可以为颜色变化趋势，图形变化趋势，图形的密度变化信息。
步骤S308，展示作业位置、作业位置对应的元素和变化趋势信息。
可选地，当元素为颜色信息时，上述作业位置为作业设备进行作业的位置，颜色信息与喷药系数相关，喷药系数与喷药量相关，展示作业位置以及作业位置对应的颜色信息，以及颜色信息的变化趋势，即展示了作业位置以及作业位置的喷药量信息。
可以通过以下方式获取作业设备在采样点对应的作业位置的喷药系数：获取作业设备在作业位置处的喷药流速信息和作业设备经过作业位置时的移动速度信息；基于喷药流速信息与作业设备的移动速度信息确定喷药系数，其中，喷药系数与作业位置的喷药量成正比。
可以通过以下方式获取与作业位置的喷药系数所对应的颜色信息：确定喷药系数所属的取值区间；确定与取值区间对应的颜色信息，将与取值区间对应的颜色信息作为与喷药系数对应的颜色信息。
可选地，确定喷药系数所属的取值区间之后，在确定与取值区间对应的颜色信息之前，需预先设定喷药系数与颜色信息的对应关系，可将喷药系数设置在0-9之间，当喷药系数为0时，设定与之对应的颜色信息为白色；当喷药系数为1-7时，设定与之对应的颜色信息为黄色；当喷药系数为9时，设定与之对应的颜色信息为红色。
可以通过以下方式展示作业位置以及作业位置对应的颜色信息：在电子地图中展示作业设备的移动轨迹，以及该移动轨迹中作业位置和作业位置对应的颜色信息；对相邻作业位置之间的移动轨迹填充渐变色，并展示填充渐变色后的移动轨迹。也就是说，在本实施例中，可以根据相邻作业位置对应的颜色信息，对该相邻作业位置之间的作业设备的移 动轨迹进行渐变色填充。
可选地，对相邻作业位置之间的移动轨迹填充渐变色之前，还可以执行以下步骤：判断相邻作业位置对应的喷药系数是否属于同一取值区间；在判断结果为否时，则确定触发对相邻作业位置之间的移动轨迹填充渐变色。在判断结果为是时，则确定对相邻作业位置之间的移动轨迹填充指定颜色，该指定颜色为相邻作业位置中任意一个作业位置对应的颜色。
可选地，将喷药系数设定范围为0-9，并设定不同的取值区间，例如：将喷药系数划分为3个区间，第一区间为0-3，第二区间为4-7，第三区间为8-9；并且，设定第一区间对应的颜色为红色，第二区间对应的颜色为绿色，第三区间对应的颜色为蓝色。对相邻作业位置之间的移动轨迹填充渐变色之前，当判断相邻作业位置对应的喷药系数不属于同一取值区间时，例如，当相邻的第一作业位置与第二作业位置的喷药系数分别为3、4时，则确定触发对相邻作业位置之间的移动轨迹填充红色与绿色间的渐变色；当相邻的第一作业位置与第二作业位置的喷药系数均为4时，则确定对相邻作业位置之间的移动轨迹填充绿色。
展示作业位置以及作业位置对应的颜色信息之后，还可以执行以下步骤：
步骤S3062，向作业设备发送控制指令，控制指令用于控制作业设备执行以下至少之一操作：控制所述作业设备对所述喷药系数低于第一预设阈值的作业位置进行补充喷药；或者，控制所述作业设备对所述喷药系数高于第二预设阈值的作业位置进行喷水稀释；所述第二预设阈值不小于所述第一预设阈值。
也就是说，可以在作业位置的颜色信息为第一颜色时，控制作业设备对第一颜色对应的作业位置进行补充喷药；在作业位置的颜色信息为第二颜色时，控制作业设备对第二颜色对应的作业位置进行喷水稀释。
可选地，上述的第一颜色对应的第一喷药系数小于第二颜色对应的第二喷药系数。其中，第一喷药系数对应的喷药量喷药不足，第二喷药系数对应的喷药量喷药过多。
可选地，向作业设备发送控制指令之前，还包括以下步骤：
步骤S30602，获取目标区域的处方图，处方图用于表示目标区域中各个作业位置的目标喷药量；
步骤S30604，比较目标喷药量和喷药系数对应的喷药量；
步骤S30606，根据比较结果确定控制指令。
可选地，根据比较结果确定控制指令为：当目标喷药量比喷药系数对应的喷药量大时，则进行补充性喷药；当目标喷药量比喷药系数对应的喷药量大时，则进行稀释性喷药。
另外，整体喷洒情况可用于对整个地块的总的喷药量进行分析，根据植株的整体喷药量和局部喷洒量确定整块地的数据喷药过多，则可以记录为农药过多的非绿色产品。
本实施例通过获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；获取与作业位置的喷药系数所对应的元素，该元素为展示界面中的元素；确定相邻元素之间的变化趋势信息；展示作业位置、作业位置对应的元素和变化趋势信息。实现了让作业设备在作业过程中的药物喷洒可视化，能够使作业人员直观确定作业设备在作业过程中的喷洒情况，通过展示作业位置以及作业位置对应的颜色信息，直观能够很明显的能看出哪里多喷、少喷或漏喷。如果多喷，则可及时进行稀释处理，减少作物农药残留；如果出现漏喷或少喷则飞手可以在第一时间重新规划航线进行补喷。确保了农药对作物的均匀喷洒，合理的利用的农药，提高了农药喷洒的效率，保证了农户的收成。进而解决了无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。
图5是本实施例提供的一种作业信息的展示方法的流程示意图。如图5所示，该方法至少包括以下步骤。
步骤S402，获取作业设备在采样点对应的作业位置的作业系数，该作业系数用于表征作业设备在作业位置的作业量。
可选地，作业系数包括以下至少之一：药品喷洒作业系数、固体播撒对象的播撒作业系数。
可选地，当上述作业系数为药品喷洒作业系数时，上述采样点为作业设备在作业的过程中，获取药品喷洒作业系数的周期；药品喷洒作业系数为：喷药流速与移动速度的比值；其中，喷药流速，为喷洒的农药的流速，药品喷洒作业系数越大，作业设备在作业位置的喷药量越大。
步骤S404，根据作业系数获取与作业位置对应的标记信息。
标记信息包括以下至少之一：三维高度信息、条纹密度信息、颜色信息、点集密度信息。
可选地，当作业系数为药品喷洒作业系数，当标记信息为颜色信息时，可预先将药品喷洒作业系数与颜色信息的对应关系进行存储，不同的药品喷洒作业系数可以对应不同的颜色，也可以对应同一颜色的不同深浅的颜色。
可选地，上述颜色信息也是表征所述作业位置的目标喷药量和喷药系数之间的差异程度。步骤S406，展示作业位置以及作业位置对应的标记信息。
可选地，上述作业位置为作业设备进行作业的位置，标记信息与作业系数相关，作业系数与作业量相关，展示作业位置以及作业位置对应的标记信息，即展示了作业位置以及作业位置的作业量信息。
可选地，当上述作业系数为药品喷洒作业系数时，可以通过以下方式获取作业设备在 采样点对应的作业位置的药品喷洒作业系数：获取作业设备在作业位置处的喷药流速信息和作业设备经过作业位置时的移动速度信息；基于喷药流速信息与作业设备的移动速度信息确定药品喷洒作业系数，其中，药品喷洒作业系数与作业位置的喷药量成正比。
当上述标记信息为颜色信息时，获取与作业位置的药品喷洒作业系数所对应的颜色信息，可通过以下方式进行确定：确定药品喷洒作业系数所属的取值区间；确定与取值区间对应的颜色信息，将与取值区间对应的颜色信息作为与药品喷洒作业系数对应的颜色信息。
可选地，确定药品喷洒作业系数所属的取值区间之后，在确定与取值区间对应的颜色信息之前，需预先设定药品喷洒作业系数与颜色信息的对应关系，可将药品喷洒作业系数设置在0-9之间，当药品喷洒作业系数为0时，设定与之对应的颜色信息为白色；当药品喷洒作业系数为1-7时，设定与之对应的颜色信息为黄色；当药品喷洒作业系数为9时，设定与之对应的颜色信息为红色。
可以通过以下方式展示作业位置以及作业位置对应的颜色信息：
一个例子中，作业位置可以为移动轨迹上的点。可以根据相邻作业位置对应的颜色信息，对该相邻作业位置之间的作业设备的移动轨迹进行渐变色填充。
在另一个例子中，作业位置可以为移动轨迹上的一段区域。可以在电子地图中展示作业设备的移动轨迹，以及该移动轨迹中作业位置和作业位置对应的颜色信息；进一步地，若作业位置对应的区域之间还存在空隙，可以再根据相邻作业位置对应的颜色信息，对相邻作业位置之间的移动轨迹填充渐变色，并展示填充渐变色后的移动轨迹。
可选地，对相邻作业位置之间的移动轨迹填充渐变色之前，还可以执行以下步骤：判断相邻作业位置对应的药品喷洒作业系数是否属于同一取值区间；在判断结果为否时，则确定触发对相邻作业位置之间的移动轨迹填充渐变色。在判断结果为是时，则确定对相邻作业位置之间的移动轨迹填充指定颜色，该指定颜色为相邻作业位置中任意一个作业位置对应的颜色。
可选地，将药品喷洒作业系数设定范围为0-9，并设定不同的取值区间，例如：将药品喷洒作业系数划分为3个区间，第一区间为0-3，第二区间为4-7，第三区间为8-9；并且，设定第一区间对应的颜色为红色，第二区间对应的颜色为绿色，第三区间对应的颜色为蓝色。对相邻作业位置之间的移动轨迹填充渐变色之前，当判断相邻作业位置对应的药品喷洒作业系数不属于同一取值区间时，例如，当相邻的第一作业位置与第二作业位置的药品喷洒作业系数分别为3、4时，则确定触发对相邻作业位置之间的移动轨迹填充红色与绿色间的渐变色；当相邻的第一作业位置与第二作业位置的药品喷洒作业系数均为4时，则确定对相邻作业位置之间的移动轨迹填充绿色。
展示作业位置以及作业位置对应的颜色信息之后，还可以执行以下步骤：
步骤S4062，向作业设备发送控制指令，控制指令用于控制作业设备执行以下至少之一操作：控制所述作业设备对所述喷药系数低于第一预设阈值的作业位置进行补充喷药；或者，控制所述作业设备对所述喷药系数高于第二预设阈值的作业位置进行喷水稀释；所述第二预设阈值不小于所述第一预设阈值。
也就是说，可以在作业位置的颜色信息为第一颜色时，控制作业设备对第一颜色对应的作业位置进行补充喷药；在作业位置的颜色信息为第二颜色时，控制作业设备对第二颜色对应的作业位置进行喷水稀释。
可选地，上述的第一颜色对应的第一药品喷洒作业系数小于第二颜色对应的第二药品喷洒作业系数。其中，第一药品喷洒作业系数对应的喷药量喷药不足，第二药品喷洒作业系数对应的喷药量喷药过多。
可选地，向作业设备发送控制指令之前，还包括以下步骤：
步骤S40602，获取目标区域的处方图，处方图用于表示目标区域中各个作业位置的目标喷药量；
步骤S40604，比较目标喷药量和药品喷洒作业系数对应的喷药量；
步骤S40606，根据比较结果确定控制指令。
可选地，根据比较结果确定控制指令为：当目标喷药量比药品喷洒作业系数对应的喷药量大时，则进行补充性喷药；当目标喷药量比药品喷洒作业系数对应的喷药量大时，则进行稀释性喷药。
本实施例通过获取作业设备在采样点对应的作业位置的作业系数，该作业系数用于表征作业设备在作业位置的作业量；获取与作业位置的作业系数所对应的标记信息；展示作业位置以及作业位置对应的标记信息。实现了控制设备通过接收服务器根据采集到确定的药品信息，并根据药品信息确定作业设备的作业参数，从而控制设备控制作业设备装药以及工作，减少了人工在使用无人机时的时间与精力的消耗，提高了无人机的工作效率。进而解决了无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。
请参照图6，图6为本实施例提供的一种终端64的硬件结构示意图。该终端64可包括处理器641及机器可读存储介质642。处理器641与机器可读存储介质642可经由系统总线通信。并且，机器可读存储介质642存储有机器可执行指令，通过读取并执行机器可读存储介质642中与作业参数配置逻辑对应的机器可执行指令，处理器641可执行上文描述的作业参数配置方法。
本文中提到的机器可读存储介质642可以是任何电子、磁性、光学或其它物理存储装置，可以包含或存储信息，如可执行指令、数据，等等。例如，机器可读存储介质可以是： RAM(Radom Access Memory，随机存取存储器)、易失存储器、非易失性存储器、闪存、存储驱动器(如硬盘驱动器)、固态硬盘、任何类型的存储盘(如光盘、dvd等)，或者类似的存储介质，或者它们的组合。
图7是本实施例提供的一种喷洒作业的展示装置的结构示意图。该喷洒作业的展示装置可以包括至少一个可以软件形式存储于机器可读存储介质642中的功能模块。从功能上划分，作业参数配置装置可以包括获取单元52及展示单元54。
获取单元52，配置成获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；根据喷药系数获取与作业位置对应的颜色信息。
本实施例中，所述获取单元52可用于执行图1所示的步骤S102及S104，关于所述获取单元52的具体描述可参对所述步骤S102的描述及S104。展示单元54，配置成展示作业位置以及作业位置对应的颜色信息。
本实施例中，所述展示单元54可用于执行图1所示的步骤S106，关于所述展示单元54的具体描述可参对所述步骤S106的描述。
图8是本实施例提供的一种喷洒作业的展示系统的结构示意图。
作业设备62，配置成采集作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量，并将喷药系数发送至终端；
终端64，配置成接收喷药系数，根据喷药系数获取与作业位置对应的颜色信息；并展示作业位置以及作业位置对应的颜色信息。
需要说明的是，喷洒作业的展示系统的具体运作方式可以参见图1所示步骤的相关描述，此处不再赘述。
本实施例序号仅仅为了描述，不代表实施例的优劣。
应该理解到，本实施例所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单 独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上仅是本申请的可选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。
工业实用性
本实施例通过获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征作业设备在作业位置的喷药量；获取与作业位置的喷药系数所对应的颜色信息；展示作业位置以及作业位置对应的颜色信息。实现了让作业设备在作业过程中的药物喷洒可视化，能够使作业人员直观确定作业设备在作业过程中的喷洒情况，通过展示作业位置以及作业位置对应的颜色信息，直观能够很明显的能看出哪里多喷、少喷或漏喷。如果多喷，则可及时进行稀释处理，减少作物农药残留；如果出现漏喷或少喷则飞手可以在第一时间重新规划航线进行补喷。确保了农药对作物的均匀喷洒，合理的利用的农药，提高了农药喷洒的效率，保证了农户的收成。进而解决了无法对目标区域内具体位置的喷药量进行确定，喷药效率较低的技术问题。

Claims (20)

  1. 一种喷洒作业的展示方法，其特征在于，包括：
    获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征所述作业设备在所述作业位置的喷药量；
    根据所述喷药系数获取与所述作业位置对应的颜色信息；
    展示所述作业位置以及所述作业位置对应的颜色信息。
  2. 根据权利要求1所述的方法，其特征在于，获取作业设备在采样点对应的作业位置的喷药系数，包括：
    获取所述作业设备在所述作业位置处的喷药流速信息和所述作业设备经过所述作业位置时的移动速度信息；
    基于所述喷药流速信息与所述作业设备的移动速度信息确定喷药系数，其中，所述喷药系数与所述作业位置的喷药量成正比。
  3. 根据权利要求1或2所述的方法，其特征在于，根据所述喷药系数获取与所述作业位置对应的颜色信息，包括：
    确定所述作业位置的喷药系数所属的取值区间；
    确定与所述取值区间对应的颜色信息，将与所述取值区间对应的颜色信息作为与所述作业位置对应的颜色信息。
  4. 根据权利要求1至3任意一项所述的方法，其特征在于，展示所述作业位置以及所述作业位置对应的颜色信息，包括：
    在电子地图中展示所述作业设备的移动轨迹，以及该移动轨迹中所述作业位置和所述作业位置对应的颜色信息；
    根据相邻作业位置对应的颜色信息，对相邻作业位置之间的移动轨迹填充渐变色，并展示填充渐变色后的移动轨迹。
  5. 根据权利要求1至3任意一项所述的方法，其特征在于，展示所述作业位置以及所述作业位置对应的颜色信息，包括：
    根据相邻作业位置对应的颜色信息，对该相邻作业位置之间的作业设备的移动轨迹进行渐变色填充。
  6. 根据权利要求4或5所述的方法，其特征在于，对相邻作业位置之间的移动轨迹填充渐变色之前，所述方法还包括：
    判断所述相邻作业位置对应的喷药系数是否属于同一取值区间；
    在判断结果为否时，则确定触发对相邻作业位置之间的移动轨迹填充渐变色。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    在判断结果为是时，则确定对相邻作业位置之间的移动轨迹填充指定颜色，该指定颜色为相邻作业位置中任意一个作业位置对应的颜色。
  8. 根据权利要求1到7任意一项所述的方法，其特征在于，展示所述作业位置以及所述作业位置对应的颜色信息之后，所述方法还包括：
    向所述作业设备发送控制指令，所述控制指令用于控制所述作业设备执行以下至少之一操作：
    在所述颜色信息为第一颜色时，控制所述作业设备对所述第一颜色对应的作业位置进行补充喷药；
    或者，在所述颜色信息为第二颜色时，控制所述作业设备对所述第二颜色对应的作业位置进行喷水稀释。
  9. 根据权利要求1到7任意一项所述的方法，其特征在于，展示所述作业位置以及所述作业位置对应的颜色信息之后，所述方法还包括：
    向所述作业设备发送控制指令，所述控制指令用于控制所述作业设备执行以下至少之一操作：
    控制所述作业设备对所述喷药系数低于第一预设阈值的作业位置进行补充喷药；
    或者，控制所述作业设备对所述喷药系数高于第二预设阈值的作业位置进行喷水稀释；所述第二预设阈值不小于所述第一预设阈值。
  10. 根据权利要求8或9所述的方法，其特征在于，向所述作业设备发送控制指令之前，所述方法还包括：
    获取目标区域的处方图，所述处方图用于表示所述目标区域中各个作业位置的目标喷药量；
    比较所述目标喷药量和所述喷药系数对应的喷药量；
    根据比较结果确定所述控制指令。
  11. 根据权利要求1-10任意一项所述的方法，其特征在于，根据所述喷药系数获取与所述作业位置对应的颜色信息，包括：
    获取所述作业位置对应的目标喷药量；
    计算所述作业位置的目标喷药量和喷药系数之间的差异程度值；
    根据所述差异程度值获取该作业位置对应的颜色信息。
  12. 根据权利要求11所述的方法，其特征在于，根据所述差异程度值获取该作业位置对应的颜色信息，包括：
    确定所述差异程度值所在的取值区间；
    确定与所述取值区间对应的颜色信息，将与所述取值区间对应的颜色信息作为与所述作业位置对应的颜色信息。
  13. 根据权利要求11或12所述的方法，其特征在于，获取所述作业位置对应的目标喷药量，包括：
    获取待喷药场地的处方图，所述处方图用于表示所述待喷药场地中各个点或各区域的目标喷药量；根据所述作业位置与所述处方图上的点或区域的对应关系，确定与所述作业位置对应的目标喷药量。
  14. 一种喷洒作业的展示方法，其特征在于，包括：
    获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征所述作业设备在所述作业位置的喷药量；
    根据所述喷药系数获取与所述作业位置对应的元素，该元素为展示界面中的元素；
    确定相邻元素之间的变化趋势信息；
    展示所述作业位置、所述作业位置对应的元素和所述变化趋势信息。
  15. 一种作业信息的展示方法，其特征在于，包括：
    获取作业设备在采样点对应的作业位置的作业系数，该作业系数用于表征所述作业设备在所述作业位置的作业量；
    根据所述作业系数获取与所述作业位置对应的标记信息；
    展示所述作业位置以及所述作业位置对应的标记信息。
  16. 根据权利要求15所述的方法，其特征在于，所述作业系数包括以下至少之一：药品喷洒作业系数、固体播撒对象的播撒作业系数；
    所述标记信息包括以下至少之一：三维高度信息、条纹密度信息、颜色信息、点集密度信息。
  17. 一种喷洒作业的展示装置，其特征在于，包括：
    获取单元，配置成获取作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征所述作业设备在所述作业位置的喷药量；获取与所述作业位置的喷药系数所对应的颜色信息；
    展示单元，配置成展示所述作业位置以及所述作业位置对应的颜色信息。
  18. 一种喷洒作业的展示系统，其特征在于，包括：
    作业设备，配置成采集作业设备在采样点对应的作业位置的喷药系数，该喷药系数用于表征所述作业设备在所述作业位置的喷药量，并将所述喷药系数发送至终端；
    终端，配置成接收所述喷药系数，获取与所述作业位置的喷药系数所对应的颜色信息；并展示所述作业位置以及所述作业位置对应的颜色信息。
  19. 一种存储介质，其特征在于，所述存储介质包括存储的程序，其中，在所述程序运行时控制所述存储介质所在设备执行权利要求1至13中任意一项或权利要求14所述的喷洒作业的展示方法，或执行权利要求15到16所述的作业信息的展示方法。
  20. 一种处理器，其特征在于，所述处理器配置成运行程序，其中，所述程序运行时执行权利要求1至13中任意一项或权利要求14所述的喷洒作业的展示方法，或执行权利要求15到16所述的作业信息的展示方法。
PCT/CN2019/110465 2018-10-18 2019-10-10 喷洒作业的展示方法、装置及系统 WO2020078260A1 (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
AU2019363108A AU2019363108B2 (en) 2018-10-18 2019-10-10 Method, apparatus and system for presenting spraying operation
CA3115560A CA3115560C (en) 2018-10-18 2019-10-10 Method, apparatus and system for presenting spraying operation
US17/309,057 US20220035344A1 (en) 2018-10-18 2019-10-10 Method, apparatus and system for presenting spraying operation
EP19873170.5A EP3869465A4 (en) 2018-10-18 2019-10-10 PROCESS, APPARATUS AND SYSTEM FOR PRESENTATION OF SPRAYING OPERATION
JP2021521041A JP7164715B2 (ja) 2018-10-18 2019-10-10 散布作業の表示方法、装置及びシステム
KR1020217014070A KR102650088B1 (ko) 2018-10-18 2019-10-10 살포 작업의 표시 방법, 장치 및 시스템

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811217275.5 2018-10-18
CN201811217275.5A CN109410288A (zh) 2018-10-18 2018-10-18 喷洒作业的展示方法、装置及系统

Publications (1)

Publication Number Publication Date
WO2020078260A1 true WO2020078260A1 (zh) 2020-04-23

Family

ID=65467786

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/110465 WO2020078260A1 (zh) 2018-10-18 2019-10-10 喷洒作业的展示方法、装置及系统

Country Status (8)

Country Link
US (1) US20220035344A1 (zh)
EP (1) EP3869465A4 (zh)
JP (1) JP7164715B2 (zh)
KR (1) KR102650088B1 (zh)
CN (1) CN109410288A (zh)
AU (1) AU2019363108B2 (zh)
CA (1) CA3115560C (zh)
WO (1) WO2020078260A1 (zh)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109410288A (zh) * 2018-10-18 2019-03-01 广州极飞科技有限公司 喷洒作业的展示方法、装置及系统
CN110613405A (zh) * 2019-10-29 2019-12-27 珠海市一微半导体有限公司 清洁机器人清扫信息的展示方法、装置、系统及控制器
CN111753615A (zh) * 2019-11-06 2020-10-09 广州极飞科技有限公司 变量喷洒方法及装置、电子设备及存储介质
US20210166172A1 (en) * 2019-12-03 2021-06-03 Aptive Environmental, LLC Automatic mapping application for service providers
WO2022255784A1 (ko) 2021-06-03 2022-12-08 주식회사 엠디헬스케어 락토바실러스 람노수스 유래 소포 및 이의 용도
WO2022255746A1 (ko) 2021-06-03 2022-12-08 주식회사 엠디헬스케어 락토바실러스 아시도필러스 유래 소포 및 이의 용도
EP4119151A4 (en) 2021-06-03 2023-10-25 MD Healthcare Inc. COMPOSITION FOR THE PREVENTION OR TREATMENT OF EYE DISEASES COMPRISING EXTRACELLULAR VESICLES FROM LACTOBACILLUS PARACASEI
WO2022255744A1 (ko) 2021-06-03 2022-12-08 주식회사 엠디헬스케어 락토바실러스 플란타룸 유래 소포 및 이의 용도
WO2022255795A1 (ko) 2021-06-03 2022-12-08 주식회사 엠디헬스케어 락토바실러스 세균 유래 세포외소포 및 이의 용도

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101226107A (zh) * 2007-01-19 2008-07-23 中国农业机械化科学研究院 一种喷灌机喷洒雨量分布信息动态测试方法及系统
CN102841980A (zh) * 2012-07-02 2012-12-26 华为技术有限公司 一种阈值信息可视化的方法及装置
CN105173085A (zh) * 2015-09-18 2015-12-23 山东农业大学 无人机变量施药自动控制系统及方法
CN108052562A (zh) * 2017-12-04 2018-05-18 北京农业智能装备技术研究中心 一种微型处方图生成方法及装置
CN109410288A (zh) * 2018-10-18 2019-03-01 广州极飞科技有限公司 喷洒作业的展示方法、装置及系统

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4020293B2 (ja) * 2001-11-19 2007-12-12 富士重工業株式会社 飛行体による散布物の散布実績評価方法及び装置
JP2008068710A (ja) * 2006-09-13 2008-03-27 Yamaha Motor Co Ltd 無人ヘリコプタのデータ管理方法
US9435458B2 (en) * 2011-03-07 2016-09-06 Capstan Ag Systems, Inc. Electrically actuated valve for control of instantaneous pressure drop and cyclic durations of flow
JP2014113864A (ja) * 2012-12-07 2014-06-26 Hitachi Solutions Ltd 散布支援装置
CN103803083A (zh) * 2014-01-17 2014-05-21 浙江大学 一种基于gps的无人机喷药装置及其喷药方法
WO2016025848A1 (en) * 2014-08-15 2016-02-18 Monsanto Technology Llc Apparatus and methods for in-field data collection and sampling
CN107110754B (zh) * 2015-10-12 2019-05-03 深圳市大疆创新科技有限公司 喷洒质量检测装置、系统、方法以及采样辅助装置
KR20180105049A (ko) * 2016-01-18 2018-09-27 가부시끼 가이샤 구보다 작업 지원 시스템, 작업 지원 장치, 작업 지원 방법 및 작업기
CN106503433A (zh) * 2016-10-18 2017-03-15 广州极飞科技有限公司 基于无人机作业的喷洒区域确定方法及装置
CN106716288B (zh) * 2016-11-24 2020-10-27 深圳市大疆创新科技有限公司 农业无人飞行器的控制方法、地面控制端
US20180206475A1 (en) * 2017-01-20 2018-07-26 Mark A. Carter Chemical application detection system and mobile visual sensing technology
CN106996766B (zh) * 2017-03-01 2019-06-14 北京农业智能装备技术研究中心 一种飞机喷洒状态监测装置及飞机施药作业面积计量系统
CN108040100A (zh) * 2017-12-05 2018-05-15 北京捷思锐科技股份有限公司 一种飞机防治作业的监管方法及监管装置
CN108594850B (zh) * 2018-04-20 2021-06-11 广州极飞科技股份有限公司 基于无人机的航线规划及控制无人机作业的方法、装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101226107A (zh) * 2007-01-19 2008-07-23 中国农业机械化科学研究院 一种喷灌机喷洒雨量分布信息动态测试方法及系统
CN102841980A (zh) * 2012-07-02 2012-12-26 华为技术有限公司 一种阈值信息可视化的方法及装置
CN105173085A (zh) * 2015-09-18 2015-12-23 山东农业大学 无人机变量施药自动控制系统及方法
CN108052562A (zh) * 2017-12-04 2018-05-18 北京农业智能装备技术研究中心 一种微型处方图生成方法及装置
CN109410288A (zh) * 2018-10-18 2019-03-01 广州极飞科技有限公司 喷洒作业的展示方法、装置及系统

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3869465A4 *

Also Published As

Publication number Publication date
CA3115560C (en) 2023-06-13
KR20210072078A (ko) 2021-06-16
JP7164715B2 (ja) 2022-11-01
EP3869465A8 (en) 2021-10-27
AU2019363108B2 (en) 2022-08-25
CA3115560A1 (en) 2020-04-23
JP2022505129A (ja) 2022-01-14
AU2019363108A1 (en) 2021-05-13
KR102650088B1 (ko) 2024-03-22
EP3869465A1 (en) 2021-08-25
US20220035344A1 (en) 2022-02-03
CN109410288A (zh) 2019-03-01
EP3869465A4 (en) 2021-12-15

Similar Documents

Publication Publication Date Title
WO2020078260A1 (zh) 喷洒作业的展示方法、装置及系统
WO2018094670A1 (zh) 农业无人飞行器的控制方法、地面控制端及存储介质
KR20210136023A (ko) 농약 살포 제어 방법, 기기 및 저장 매체
BR112019027921A2 (pt) plataforma de computador para controlar ativos agrícolas
EP4014733A1 (en) Agricultural machine and method of controlling such
WO2019104678A1 (zh) 一种控制方法、终端、管理平台、系统及存储介质
CN107980751A (zh) 一种航空喷洒农药监控的方法及监控系统
CN111601496A (zh) 农业喷洒器的液滴尺寸的绘图表示方法
CN100579211C (zh) 基于多级画面分割的快速数字视频控制方法
CN110456820A (zh) 基于超带宽无线定位的农药喷施系统及控制方法
WO2020135593A1 (zh) 扫地记录图的校准方法、扫地机器人及移动终端
CN110613405A (zh) 清洁机器人清扫信息的展示方法、装置、系统及控制器
CN109416788A (zh) 植保任务的管理方法及设备
AU2021269410A1 (en) Agricultural sprayer with real-time, on-machine target sensor
CN111753388B (zh) 喷洒控制方法、装置、电子设备和计算机可读存储介质
US20220078963A1 (en) Systems, methods, and/or apparatus for the display of agricultural data on a user interface
CN110612494A (zh) 一种自主作业载体的控制方法、控制系统及控制端
CN105530474B (zh) 用于控制多通道视频内容显示的方法和系统
CN107872628A (zh) 一种基于gis地图的信号显示方法及系统
CN106296866A (zh) 一种获取设备作业费用信息的系统和方法
CN113934232A (zh) 基于虚拟图像控制的植保无人机航线规划系统及方法
KR20070049127A (ko) Ｇｉｓ기반의 조경 유지관리 정보화 방법 및 그 장치
CN112988003A (zh) 农事信息展示方法、装置、存储介质、处理器
WO2022095014A1 (zh) 应用于无人机的作业控制方法、装置与控制终端
WO2022095038A1 (zh) 无人机控制方法、装置与控制终端

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19873170

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 3115560

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2021521041

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20217014070

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019363108

Country of ref document: AU

Date of ref document: 20191010

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019873170

Country of ref document: EP

Effective date: 20210518