Secondary operation methods, devices, operation vehicles, and storage media for work vehicles

Abstract

This application discloses a method, apparatus, vehicle, and storage medium for secondary operations using a work vehicle. The method includes: acquiring the locations of plants missed during a previous operation within a recorded work area; counting the number of missed plants in each sub-region of the work area based on the plant locations; determining a target sub-region from the sub-regions based on the number of plants; and controlling the work vehicle to perform secondary operations on the target sub-region. This solution improves work efficiency by not reworking the entire work area, but rather performing secondary operations on a selected target sub-region.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a method, apparatus, work vehicle, and storage medium for secondary operation of a work vehicle. Background Technology

[0002] With the increasing intelligence of equipment, using work vehicles to automate operations in a work area can significantly improve work efficiency. However, during the operation of these work vehicles, some tasks may be missed. To ensure the best results, it is necessary to control the work vehicle to perform secondary operations in the work area to achieve the desired outcome.

[0003] In related technologies, when controlling the work vehicle to perform secondary operations, all missed plants in the work area will be treated a second time. For example, in the first operation of controlling the work vehicle to top cotton in a cotton field, there may be cases where the top buds are missed. In order to ensure the operation effect, the cotton field needs to be treated a second time. In the second operation, all missed plants in the cotton field need to be topped a second time. The second operation takes a long time and is inefficient. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for secondary operations of a work vehicle, which solves the problem of low efficiency in secondary operations in related technologies and improves the efficiency of secondary operations of work vehicles.

[0005] In a first aspect, embodiments of this application provide a method for secondary operations of a work vehicle, the method comprising:

[0006] The location of a plant that was missed by the work vehicle during a single operation was recorded within the work area.

[0007] Based on the plant location, count the number of plants that were missed in the operation in each sub-region of the operation area;

[0008] The target sub-region is determined from each of the sub-regions based on the number of plants;

[0009] The work vehicle is controlled to perform secondary operations on the target sub-area.

[0010] Secondly, embodiments of this application also provide a secondary operation device for a work vehicle, the device comprising:

[0011] The data acquisition module is configured to acquire the locations of plants that were missed by the work vehicle during a single operation within the recorded work area.

[0012] The data statistics module is configured to count the number of plants that were missed in the operation in each sub-region of the operation area based on the location of the plant.

[0013] The region determination module is configured to determine a target sub-region from each of the sub-regions based on the number of plants.

[0014] The secondary operation module is configured to control the operation vehicle to perform secondary operations on the target sub-area.

[0015] Thirdly, embodiments of this application also provide a work vehicle, the equipment comprising:

[0016] One or more processors;

[0017] Storage device for storing one or more programs.

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the secondary operation method of the work vehicle described in the embodiments of this application.

[0019] Fourthly, embodiments of this application also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the secondary operation method of the work vehicle described in embodiments of this application.

[0020] In this embodiment, the location of plants missed during a single operation by the work vehicle within the recorded work area is obtained. Based on the plant location, the number of missed plants in each sub-region of the work area is counted. A target sub-region is then determined from each sub-region based on the number of plants, and the work vehicle is controlled to perform a second operation on the target sub-region. In this scheme, the second operation on the work area does not involve redoing the entire work area, but rather only the selected target sub-region, thereby improving work efficiency. Attached Figure Description

[0021] Figure 1 A schematic diagram of an exemplary work vehicle provided for an embodiment of this application;

[0022] Figure 2 A flowchart illustrating a secondary operation method for a work vehicle provided in this application embodiment;

[0023] Figure 3 A schematic diagram of a work area provided in an embodiment of this application;

[0024] Figure 4 A flowchart illustrating another secondary operation method for a work vehicle provided in this application embodiment;

[0025] Figure 5 A flowchart illustrating another secondary operation method for a work vehicle provided in this application embodiment;

[0026] Figure 6This is a schematic diagram illustrating the determination of a secondary operation area in a target sub-region, as provided in an embodiment of this application.

[0027] Figure 7 A schematic diagram of a secondary operation device for a work vehicle provided in an embodiment of this application;

[0028] Figure 8 This is a schematic diagram of the structure of a work vehicle provided in an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0030] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0031] The secondary operation method of the work vehicle provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0032] In this solution, the work vehicle can be an unmanned work vehicle that automatically operates within the work area. Optionally, the work can include fruit picking, pesticide spraying, cotton topping, etc. Figure 1 This is a schematic diagram of an exemplary work vehicle provided in an embodiment of this application. Figure 1 As shown, the work vehicle includes an unmanned vehicle chassis for movement, with wheels mounted on the chassis allowing it to move within the work area. The vehicle also includes a cotton topping device, which consists of a robotic arm and a depth recognition camera. The robotic arm has a rotating blade at its end for removing cotton buds. During operation, the vehicle uses the depth recognition camera to identify the location of cotton buds and controls the robotic arm to move to the corresponding position, removing the buds using the rotating blade at its end. This achieves automated operation within the work area.

[0033] Taking cotton as an example, cotton topping has requirements regarding the missed topping rate in the work area. For instance, if the missed topping rate in a work area exceeds the target value after one topping operation, a second topping operation is required. When controlling the topping vehicle for the second operation, to achieve the best results, all missed plants in the work area can be topping again. If the goal is simply to control the missed topping rate, it can be calculated in real-time during the second operation. When the missed topping rate drops below the target value, the second operation is considered complete. However, the second operation in related technologies involves a complete re-operation of the entire work area, and its efficiency needs improvement. Figure 2 A flowchart of a secondary operation method for a work vehicle provided in this application embodiment is shown. The method can be executed by the work vehicle and specifically includes the following steps:

[0034] Step S101: Obtain the location of the plant that the work vehicle missed during a single operation in the recorded work area.

[0035] The location of the missed plant is the plant that needed treatment but was missed during the operation of the work vehicle. Taking cotton topping in a cotton field as an example, topping is required for the identified cotton terminal buds. Since the distribution of cotton terminal buds is random, during a single operation, there may be a large number of buds that need to be toppled at a certain time. As the work vehicle continues to move forward, the robotic arm may not be able to remove all the terminal buds within the set time, resulting in some missed topping. In this case, the location of the missed plant is recorded as the missed plant location. Of course, there are many other reasons for missed topping, such as poor lighting conditions that prevent visual identification of some terminal buds, or increased robotic arm offset that prevents the robotic arm from accurately reaching the terminal buds. It should be noted that the work vehicle can perform topping operations while moving forward, that is, it can work while moving. To ensure operational efficiency, the work vehicle can be set to a continuous forward working mode, that is, the work vehicle moves forward continuously without stopping during normal operation.

[0036] In one embodiment, the location of the missed plant can be determined by the operation vehicle capturing images of the work area using a camera during the operation, and then identifying the missed plants from the captured images. Correspondingly, during the recording process, the location of the missed plant is recorded in conjunction with the location of the operation vehicle. Optionally, the location of the operation vehicle can be obtained using RTK positioning technology. For the missed plant identified by the depth camera during the operation, since the camera is fixed on the operation vehicle, the location of the missed plant can be determined as the location of the operation vehicle at that moment.

[0037] In another embodiment, the locations of missed plants can also be identified by taking aerial photos of the work area using a drone and then identifying the aerial images. For example, before the work vehicle performs its work, taking aerial photos of the work area using a drone and identifying the aerial images can reveal the locations of the plants that need to be worked on. After the work vehicle completes one operation, taking aerial photos of the work area again using a drone and identifying the aerial images can reveal the locations of any missed plants. Once the locations of missed plants are obtained through aerial photography of the work area using a drone, they can be transmitted to the work vehicle for recording and storage, for use in subsequent secondary operations.

[0038] Step S102: Based on the plant location, count the number of plants that were missed in each sub-region of the work area.

[0039] In one embodiment, after obtaining the recorded locations of plants missed by the work vehicle during a single operation within the work area, the number of missed plants in each sub-region of the work area is counted based on these plant locations. The work area is divided into multiple sub-regions, and the number of missed plants in each sub-region is calculated. One exemplary method for dividing the work area is to divide it into multiple rows of sub-regions, where the work vehicle can perform operations based on each row. Optionally, the work area can be divided according to the distribution of plants, with each row of plants serving as a sub-region.

[0040] For example, taking cotton field operations as an example, the operation area is divided into multiple sub-areas according to the arrangement of cotton rows, where each sub-area represents one cotton row, such as... Figure 3 As shown, Figure 3 This application provides a schematic diagram of a work area, which is divided into multiple cotton rows. A work vehicle can move to each cotton row for processing. When determining a specific cotton row requiring secondary processing, the number of plants missed in that row is calculated. Cotton rows with a missed processing number greater than a preset number are designated as target sub-areas, i.e., areas requiring secondary topping. For example, the first, fourth, sixth, and seventh cotton rows are identified as cotton rows requiring secondary processing.

[0041] In one embodiment, before counting the number of missed plants in each sub-region of the work area, the method further includes calculating the missed plant rate during the first operation of the work area. If the counted missed plant rate during the first operation of the work area is greater than a preset missed plant rate, i.e., it is determined that a second operation is required, the number of missed plants in each sub-region of the work area is counted based on the plant location. The preset missed plant rate can be set by the operator; that is, after the first operation of the work area, a certain number of missed plants are allowed, but if the counted missed plant rate is greater than the preset missed plant rate, a second operation is required. The missed plant rate is the ratio of the number of plants with missed plants recorded after the first operation of the work area to the number of plants identified as needing operation during the first operation.

[0042] For example, the number of plants missed during treatment and the number of plants requiring treatment in a single treatment session are statistically analyzed for the work area. Let the number of missed plants be denoted as n, and the number of plants requiring treatment as m. Further, based on n and m, the omission rate for the work area is calculated. The omission rate is equal to n / m. A preset omission rate can be denoted as p; if n / m > p, the work area is considered to meet the conditions for secondary treatment; otherwise, it is determined that the work area does not meet the conditions for secondary treatment.

[0043] In another embodiment, the number of plants missed in the operation area can be counted. For example, if the number of plants missed is recorded as n, when the number of plants missed is greater than a set threshold, it is determined that the conditions for secondary operation are met. The threshold can be set by the operator.

[0044] Step S103: Determine the target sub-region from each of the sub-regions based on the number of plants.

[0045] In one embodiment, after counting the number of missed plants in each sub-region of the work area, a target sub-region is determined from each sub-region based on the count of plants. This target sub-region is a part of the work area; that is, the target sub-region determined in the work area is used as the area for subsequent secondary operations, rather than performing secondary operations on all missed plant locations in the entire work area.

[0046] Optionally, one way to determine the target sub-region is to define the sub-region where the number of missed plants exceeds a preset number as the target sub-region. The preset number can be set by the operator.

[0047] Step S104: Control the work vehicle to perform secondary operations on the target sub-area.

[0048] In one embodiment, for a determined target sub-area, the operation vehicle is controlled to move to the target sub-area for secondary operation. Taking the cotton topping scenario as an example, the operation vehicle can be controlled to move to the target sub-area and perform the topping bud removal operation on the cotton that was missed topping in the target sub-area. There is no need to perform the topping bud removal operation on the cotton that was missed topping in the entire operation area, and the missed topping rate of the operation area can be quickly reduced to an acceptable range.

[0049] As described above, by acquiring the locations of plants missed during a single operation within the recorded work area, and based on these locations, the number of missed plants in each sub-area of ​​the work area is counted. Based on this count, a target sub-area is determined from each sub-area, and the work vehicle is controlled to perform secondary operations on the target sub-area. In this scheme, when performing secondary operations on the work area, the entire work area is not reworked; instead, the selected target sub-area is targeted for secondary operations. This significantly reduces the missed operation rate and improves overall work efficiency.

[0050] Based on the above technical solution, the secondary operation method of the work vehicle further includes: calculating the omission rate of the work area in real time during the secondary operation of the work vehicle; and stopping the secondary operation of the work vehicle when the omission rate is less than or equal to a threshold. The threshold can be set by the operator and can be equal to the preset omission rate described in the previous determination of whether secondary operation is necessary. That is, if it is determined that the omission rate in the work area meets the requirements during the secondary operation of the work vehicle, there is no need to continue the secondary operation, and the operation can continue to other work areas, improving the overall operation speed. For example, in cotton topping operations, it is acceptable for a certain number of terminal buds of the plants not to be removed, as long as the set operation requirements are met.

[0051] Figure 4 A flowchart of another secondary operation method for a work vehicle provided in this application embodiment gives another specific example of determining a target sub-region in the work area, such as... Figure 4 As shown, it specifically includes:

[0052] Step S201: Obtain the location of the plant that the work vehicle missed during a single operation in the recorded work area.

[0053] Step S202: Based on the plant location, count the number of plants that were missed in the operation in each sub-region of the operation area.

[0054] Step S203: The sub-regions in which the ratio of the number of missed plants to the number of plants that need to be processed identified in one operation is greater than a preset ratio are identified as target sub-regions.

[0055] In one embodiment, when determining the target sub-region within each sub-region, the omission rate of each sub-region is statistically analyzed. This involves calculating the ratio of the number of plants with missed operations in each sub-region to the number of plants requiring operations identified during a single operation. Sub-regions with a ratio greater than a preset value are designated as target sub-regions. This preset ratio can be set by the operator.

[0056] Step S204: Control the work vehicle to perform secondary operations on the target sub-area.

[0057] As can be seen from the above, when performing secondary operations on a work area, the entire work area is not redone. Instead, secondary operations are performed on a selected target sub-area. When selecting a target sub-area, the omission rate of each sub-area is determined. The sub-area with a high omission rate is identified as the target sub-area, and then secondary operations are performed on the target sub-area. This can achieve a higher work processing effect with the least amount of work cost and improve work efficiency.

[0058] Figure 5 This is a flowchart illustrating another secondary operation method for a work vehicle provided in an embodiment of this application. A specific secondary operation method is given for a target sub-region, such as... Figure 5 As shown, it specifically includes:

[0059] Step S301: Obtain the location of the plant that the work vehicle missed during a single operation in the recorded work area.

[0060] Step S302: Based on the plant location, count the number of plants that were missed in the operation in each sub-region of the operation area.

[0061] Step S303: Determine the target sub-region from each sub-region based on the number of plants.

[0062] Step S304: Determine the secondary operation area based on the location of the missed plants in the target sub-region, and control the operation vehicle to perform secondary operation in the secondary operation area.

[0063] In one embodiment, when performing secondary operations on the target sub-region, the secondary operation area is further determined based on the location of the plants that were missed in the target sub-region. That is, during the specific secondary operation, the secondary operation area is further delineated within the target sub-region. Optionally, when determining the secondary operation area, the locations of the plants that were missed in the target sub-region can be clustered to obtain multiple cluster groups. The area where the number of plants missed in the multiple cluster groups is greater than the preset number of operations is determined as the secondary operation area.

[0064] For example, such as Figure 6 As shown, Figure 6 This illustration shows a method for determining a secondary operation area in a target sub-region, as provided in an embodiment of this application. The location of plants missed during operations in the first cotton row is clustered to obtain multiple cluster groups. The clustering algorithm used can be any existing algorithm and is not limited here. For example, if five groups are obtained through clustering: Group 1, Group 2, Group 3, Group 4, and Group 5, the number of plants missed during operations is counted in each group. The area containing the group with a number greater than a preset number of plants missed during operations is determined as the secondary operation area. Figure 6 For example, the preset number of tasks can be 2. If the number of missed points in the second and third groups is greater than 2, then the second and third groups are designated as secondary task areas. During subsequent secondary tasks, the task vehicle is moved to the secondary task area to directly perform the secondary task processing, thereby rapidly reducing the missed task rate. This minimizes task processing time, lowers the missed task rate, and improves overall task efficiency.

[0065] Figure 7 This is a schematic diagram of a secondary operation device for a work vehicle provided in an embodiment of this application. The device is used to execute the secondary operation method for the work vehicle described above, and has corresponding functional modules and beneficial effects for executing the method. Figure 7 As shown, the device specifically includes: a data acquisition module 101, a data statistics module 102, a region determination module 103, and a secondary operation module 104, wherein,

[0066] Data acquisition module 101 is configured to acquire the location of plants that were missed by the work vehicle during a single operation in the recorded work area.

[0067] The data statistics module 102 is configured to count the number of plants that were missed in the operation in each sub-region of the operation area based on the location of the plant.

[0068] The region determination module 103 is configured to determine a target sub-region from each of the sub-regions based on the number of plants;

[0069] The secondary operation module 104 is configured to control the operation vehicle to perform secondary operations on the target sub-area.

[0070] As described above, this scheme obtains the locations of plants missed during a single operation within the recorded work area. Based on these locations, the number of missed plants in each sub-area of ​​the work area is counted. Then, a target sub-area is determined from each sub-area based on this number, and the work vehicle is controlled to perform a second operation on the target sub-area. In this scheme, the second operation on the work area does not involve redoing the entire work area, but rather only the selected target sub-area, thus improving operational efficiency.

[0071] In one possible embodiment, the working area includes multiple rows of plants, each row of plants corresponding to a sub-area.

[0072] In one possible embodiment, the secondary operation module 104 is further configured as follows:

[0073] During the secondary operation of the work vehicle, the omission rate of the work area is calculated in real time. When the omission rate is less than or equal to the threshold, the secondary operation of the work vehicle is stopped.

[0074] In one possible embodiment, the region determination module 103 is configured as follows:

[0075] The sub-regions where the number of missed operations exceeds the preset number are identified as target sub-regions.

[0076] In one possible embodiment, the region determination module 103 is configured as follows:

[0077] The sub-regions whose ratio of the number of missed plants to the number of plants requiring treatment identified during a single operation is greater than a preset ratio are defined as target sub-regions.

[0078] In one possible embodiment, the secondary operation module 104 is configured as follows:

[0079] The secondary operation area is determined based on the location of the plants missed in the target sub-region;

[0080] The work vehicle is controlled to perform secondary operations in the secondary work area.

[0081] In one possible embodiment, the secondary operation module 104 is configured as follows:

[0082] Clustering the locations of plants that were missed in the target sub-region yields multiple cluster groups;

[0083] The area containing the group in which the number of plants missing operations is greater than the preset number of operations is determined as the secondary operation area.

[0084] In one possible embodiment, the data statistics module 102 is configured as follows:

[0085] If the omission rate of the work area in a single operation is greater than the preset omission rate, the number of plants with missed operations in each sub-area of ​​the work area is counted according to the location of the plants.

[0086] In one possible embodiment, the plant includes cotton, and the work vehicle includes a cotton topping mechanism, which tops the cotton during operation.

[0087] Figure 8 This is a schematic diagram of the structure of a work vehicle provided in an embodiment of this application, such as... Figure 8 As shown, the device includes a processor 201 and a memory 202. The number of processors 201 in the device can be one or more. Figure 8 Taking a processor 201 as an example; the processor 201 and memory 202 in the device can be connected via a bus or other means. Figure 8 Taking a bus connection as an example, the memory 202, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the secondary operation method of the work vehicle in this embodiment. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 202, thereby realizing the aforementioned secondary operation method of the work vehicle.

[0088] This application embodiment also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a secondary operation method for a work vehicle, the method comprising:

[0089] The location of a plant that was missed by the work vehicle during a single operation was recorded within the work area.

[0090] Based on the plant location, count the number of plants that were missed in the operation in each sub-region of the operation area;

[0091] The target sub-region is determined from each of the sub-regions based on the number of plants;

[0092] The work vehicle is controlled to perform secondary operations on the target sub-area.

[0093] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0094] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile device, mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0095] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A secondary operation method for a work vehicle, characterized in that, include: The location of a plant that was missed by the work vehicle during a single operation was recorded within the work area. Based on the plant location, count the number of plants that were missed in the operation in each sub-region of the operation area; The target sub-region is determined from each of the sub-regions based on the number of plants; Clustering the locations of plants that have missed operations in the target sub-region yields multiple cluster groups. The area where the number of plants that have missed operations in the multiple cluster groups is greater than the preset number of operations is determined as the secondary operation area. The operation vehicle is then controlled to perform secondary operations in the secondary operation area.

2. The secondary operation method of the work vehicle according to claim 1, characterized in that, The work area includes multiple rows of plants, and each row of plants corresponds to a sub-area.

3. The secondary operation method of the work vehicle according to claim 1, characterized in that, Also includes: During the secondary operation of the work vehicle, the omission rate of the work area is calculated in real time. When the omission rate is less than or equal to the threshold, the secondary operation of the work vehicle is stopped.

4. The secondary operation method of the work vehicle according to any one of claims 1-3, characterized in that, The process of determining the target sub-region from each sub-region based on the number of plants includes: The sub-regions where the number of missed operations exceeds the preset number are identified as target sub-regions.

5. The secondary operation method of the work vehicle according to any one of claims 1-3, characterized in that, The process of determining the target sub-region from each sub-region based on the number of plants includes: The sub-regions whose ratio of the number of missed plants to the number of plants requiring treatment identified during a single operation is greater than a preset ratio are defined as target sub-regions.

6. The secondary operation method of the work vehicle according to any one of claims 1-3, characterized in that, The step of counting the number of missed plants in each sub-region of the work area based on the plant location includes: If the omission rate of the work area in a single operation is greater than the preset omission rate, the number of plants with missed operations in each sub-area of ​​the work area is counted according to the location of the plants.

7. The secondary operation method of the work vehicle according to any one of claims 1-3, characterized in that, The plant includes cotton, and the work vehicle includes a cotton topping mechanism. During operation, the work vehicle uses the cotton topping mechanism to topping the cotton.

8. A secondary operation device for a work vehicle, characterized in that, include: The data acquisition module is configured to acquire the locations of plants that were missed by the work vehicle during a single operation within the recorded work area. The data statistics module is configured to count the number of plants that were missed in the operation in each sub-region of the operation area based on the location of the plant. The region determination module is configured to determine a target sub-region from each of the sub-regions based on the number of plants. The secondary operation module is configured to cluster the locations of plants that have missed operations in the target sub-region to obtain multiple cluster groups, and to determine the area where the number of plants that have missed operations in the multiple cluster groups is greater than the preset number of operations as the secondary operation area, and to control the operation vehicle to perform secondary operations in the secondary operation area.

9. A work vehicle, the work vehicle comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the secondary operation method of the work vehicle as described in any one of claims 1-7.

10. A storage medium storing computer-executable instructions, which, when executed by a computer processor, are used to perform the secondary operation method of the work vehicle according to any one of claims 1-7.

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