Operation method, system and device for unmanned operation equipment

Abstract

The present application discloses an operation method, system and device for unmanned operation equipment. The method includes: receiving an operation instruction sent by an interactive device on the user side, wherein the operation instruction includes at least an unmanned operation equipment identifier and at least one plot to be operated; obtaining a first operation unit corresponding to at least one plot to be operated, wherein the first operation unit is obtained by combining at least one plot to be operated; obtaining the operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generating an operation path corresponding to the first operation unit based on the operation parameters; and sending the operation path to the unmanned operation equipment. The present application solves the technical problem that when the unmanned operation equipment navigation system used in the related art operates on multiple plots, the switching paths between plots often need to be manually planned, the operation is complicated, and the operation efficiency is low.

Description

Technical Field

[0001] The present application relates to the field of data processing, and in particular to an operation method, system and device for unmanned operation equipment. Background Art

[0002] With the development of modern agriculture, agricultural unmanned vehicles are increasingly used in field management, pesticide spraying, sowing, weeding and other operations. However, existing agricultural unmanned vehicle navigation systems are mostly independent operations, and users need to manually set information such as plot information, fences and obstacles, and transmit them to the unmanned vehicle one by one. During the operation, real-time monitoring and manual adjustment of the path are also required. Especially when operating in multiple plots, the switching path between plots of unmanned vehicles often needs to be manually planned, which affects the overall operation efficiency and user experience.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide an operating method, system and device for unmanned operating equipment, so as to at least solve the technical problem that when the unmanned operating equipment navigation system used in the related technology operates in multiple plots, the switching paths between plots often need to be manually planned, the operation is complicated and the operating efficiency is low.

[0005] According to one aspect of an embodiment of the present application, there is provided an operation method for unmanned operation equipment, comprising: receiving an operation instruction sent by an interactive device on a user side, wherein the operation instruction includes at least an unmanned operation equipment identifier and at least one plot of land to be operated; obtaining a first operation unit corresponding to at least one plot of land to be operated, wherein the first operation unit is obtained by combining at least one plot of land to be operated; obtaining operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generating an operation path corresponding to the first operation unit based on the operation parameters; and sending the operation path to the unmanned operation equipment.

[0006] In some embodiments of the present application, at least one plot of land to be operated includes a second operation unit, and obtaining the first operation unit corresponding to the at least one plot of land to be operated includes: obtaining the second plot set included in the second operation unit from the first plot set corresponding to the at least one plot of land to be operated; obtaining a third plot set in the first plot set, wherein the plots in the third plot set include other plots except the second plot set; and adding the plots in the third plot set to the second operation unit to obtain the first operation unit.

[0007] In some embodiments of the present application, a plot in a third plot set is added to a second operation unit to obtain a first operation unit, including: obtaining a first plot from the third plot set, wherein the first plot includes any one plot in the third plot set; determining a first operation sequence of the first plot in the second operation unit; obtaining a second plot corresponding to the first operation sequence and a third plot corresponding to a previous operation sequence of the first operation sequence from the second operation unit; obtaining connection paths between the first plot and the second plot and the third plot, respectively; connecting the first plot with the second operation unit using the connection path; and determining that the adjusted second operation unit is the first operation unit when all plots in the third plot set are connected to the second operation unit.

[0008] In some embodiments of the present application, operating parameters of an unmanned operating equipment corresponding to an unmanned operating equipment identifier are obtained, and an operating path corresponding to a first operating unit is generated based on the operating parameters, including: obtaining first plot information contained in the first operating unit, wherein the first plot information includes boundary information, obstacle information, and operating sequence of each plot in the first operating unit; dividing each plot into a preset number of sub-areas according to the boundary information; generating coverage paths corresponding to the preset number of sub-areas, wherein the coverage path bypasses the area corresponding to the obstacle information; adjusting the path parameters of the coverage path according to the operating parameters of the unmanned operating equipment to obtain a target coverage path, wherein the operating parameters include at least one of the following: minimum turning radius, maximum driving speed, and operating width; connecting the target coverage paths of all sub-areas in the operating sequence to obtain the operating path corresponding to the first operating unit.

[0009] In some embodiments of the present application, the operating parameters include a minimum turning radius, a maximum driving speed, and an operating width, and the path parameters of the coverage path are adjusted according to the operating parameters of the unmanned operating equipment, including: adjusting the path spacing of the coverage path to obtain a first coverage path, wherein the path spacing is an integer multiple of the operating width of the unmanned operating equipment; dividing the first coverage path into a straight section and a turning section, wherein the turning section includes a section corresponding to a turning point, wherein the turning radius of the turning section is greater than the minimum turning radius of the unmanned operating equipment; when it is detected that the unmanned operating equipment is located in a straight section, sending a first control instruction for controlling the unmanned operating equipment to travel at a first speed to the unmanned operating equipment; and when it is detected that the unmanned operating equipment is located in a turning section, sending a second control instruction for controlling the unmanned operating equipment to travel at a second speed to the unmanned operating equipment, wherein the first speed is greater than the second speed, the first speed includes the maximum driving speed of the unmanned operating equipment, and the second speed is determined based on the turning radius.

[0010] In some embodiments of the present application, after sending the work path to the unmanned operating equipment, the method also includes: receiving a supply instruction sent by the unmanned operating equipment, wherein the supply instruction includes a first location where an operation interruption event occurs during the operation of the unmanned operating equipment; receiving a second location of a supply point sent by an interactive device on the user side, wherein the second location is within the boundary of the first operating unit; generating a supply path from the first location to the second location, wherein the supply path is used to guide the unmanned operating equipment to the supply point; and sending the supply path to the unmanned operating equipment.

[0011] In some embodiments of the present application, after obtaining a first operation unit corresponding to at least one plot of land to be operated, the method further includes: obtaining second plot information contained in the first operation unit, wherein the second plot information includes a connection path between the plots contained in the first operation unit and obstacle information; detecting whether an obstacle corresponding to the obstacle information is located in the connection path; and if the obstacle is located in the connection path, adjusting the connection path, wherein the adjusted connection path bypasses the obstacle.

[0012] According to another aspect of an embodiment of the present application, there is also provided an operation control system, including: a first interactive device, a second interactive device, a server and an unmanned operation device, wherein the first interactive device is connected to the server and is used to send an operation instruction, wherein the operation instruction includes at least an unmanned operation device identifier and at least one plot of land to be operated; the second interactive device is connected to the server and is used to obtain a first operation unit corresponding to at least one plot of land to be operated, wherein the first operation unit is obtained by combining at least one plot of land to be operated; the server is connected to the first interactive device, the second interactive device and the unmanned operation device, and is used to obtain the operation parameters of the unmanned operation device corresponding to the unmanned operation device identifier, and generate an operation path corresponding to the first operation unit based on the operation parameters; the operation path is sent to the unmanned operation device; the unmanned operation device is connected to the server and is used to receive the operation path.

[0013] According to another aspect of the embodiment of the present application, an operating device of an unmanned operating equipment is also provided, including: a receiving module, used to receive an operating instruction sent by an interactive device on the user side, wherein the operating instruction includes at least an unmanned operating equipment identifier and at least one plot of land to be operated; an acquiring module, used to acquire a first operating unit corresponding to at least one plot of land to be operated, wherein the first operating unit is obtained by combining at least one plot of land to be operated; a determining module, used to acquire operating parameters of the unmanned operating equipment corresponding to the unmanned operating equipment identifier, and generate an operating path corresponding to the first operating unit based on the operating parameters; and a sending module, used to send the operating path to the unmanned operating equipment.

[0014] According to another aspect of the embodiment of the present application, there is also provided an electronic device, including: a memory and a processor, the memory being used to store program instructions; the processor being connected to the memory and being used to execute an operating method for implementing the above-mentioned unmanned operating equipment.

[0015] According to another aspect of the embodiment of the present application, a non-volatile storage medium is also provided, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the operating method of the above-mentioned unmanned operating equipment by running the computer program.

[0016] According to another aspect of the embodiments of the present application, a computer program product is also provided, including computer instructions, which implement the operating method of the unmanned operating equipment when executed by a processor.

[0017] In an embodiment of the present application, by merging at least one plot of land to be operated into one operating unit, performing overall path planning on the operating unit, and sending the generated operating path to the unmanned operating equipment, the purpose of automatically and accurately switching plots of land is achieved, thereby achieving the technical effect of enabling the unmanned operating equipment to operate more efficiently between multiple plots, improving the degree of automation of unmanned operating equipment, and reducing manual intervention, thereby solving the technical problem that the switching path between plots of land used by the unmanned operating equipment navigation system adopted in the related technology often requires manual planning when operating on multiple plots, and the operation is complicated and the operating efficiency is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 It is a hardware structure block diagram of a computer terminal of an operation method of an unmanned operation equipment according to an embodiment of the present application;

[0020] Figure 2 is a flow chart of an operation method of unmanned operation equipment according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a job control system according to an embodiment of the present application;

[0022] Figure 4 It is a structural schematic diagram of an operating device of an unmanned operating equipment according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In order to better understand the embodiments of the present application, the technical terms involved in the embodiments of the present application are explained as follows:

[0026] Agricultural Unmanned Vehicle (AUV): An autonomous unmanned vehicle used for agricultural operations that can perform tasks such as sowing, fertilizing, spraying, and harvesting in the field through a preset path or a real-time navigation system, aiming to improve agricultural production efficiency and reduce labor costs.

[0027] Path Planning (PP): In the field of robotics and artificial intelligence, it refers to the process of calculating a feasible path from a starting point to a target point, which should avoid obstacles and meet specific constraints, such as minimizing path length or time.

[0028] In the field of navigation of modern agricultural unmanned operation equipment (such as unmanned vehicles), relevant technical solutions face several significant technical challenges and limitations when dealing with continuous operations on multiple plots. First, in multi-plot operation scenarios, relevant technologies often require operators to manually set the connection paths between plots. This process is not only complicated and time-consuming, but also prone to inaccurate path planning due to human factors, thus affecting the operation efficiency and safety of unmanned vehicles; second, key data such as plot information, obstacle markings, and vehicle status are managed independently on different devices or platforms, and there is a lack of a unified data processing center, which makes it difficult to ensure the consistency and integrity of data, affecting the planning and execution of operations; third, relevant technologies lack flexibility in setting supply points. Supply points usually need to be determined and fixed in advance, and cannot be dynamically adjusted according to the operation process and the actual needs of unmanned vehicles, which limits the continuity of operations. Especially in multi-plot operations, fixed supply points may cause unmanned vehicles to consume additional driving time and energy during the supply process, reducing operation efficiency; fourth, in multi-plot operations, relevant technologies are difficult to achieve automated management of operation tasks, including the creation of operation units, scheduling of tasks, and monitoring of execution status. This leads to inefficient operation management and inconvenient operation, especially when unmanned vehicles need to be frequently switched or operation parameters need to be adjusted, which requires a lot of manual intervention by operators.

[0029] In order to solve the above technical problems, the embodiments of the present application provide corresponding solutions, which are described in detail below.

[0030] The operating method embodiment of the unmanned operating equipment provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal for implementing an operation method of unmanned operation equipment is shown. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions connected via a wired and / or wireless network. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those skilled in the art will understand that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0031] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0032] The memory 104 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the operating method of the unmanned operation equipment in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the operating method of the unmanned operation equipment mentioned above. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0033] The transmission module 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission module 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission module 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0035] It should be noted that, in some optional embodiments, the above Figure 1 The computer terminal shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. It should be noted that Figure 1This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computer terminal described above.

[0036] In the above-mentioned operating environment, an embodiment of the present application provides an operating method embodiment of unmanned operating equipment. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] Figure 2 is a flow chart of an operation method of an unmanned operation equipment according to an embodiment of the present application, such as Figure 2 As shown, the method comprises the following steps:

[0038] Step S202: receiving an operation instruction sent by an interactive device on the user side, wherein the operation instruction at least includes an identification of the unmanned operation equipment and at least one plot of land to be operated.

[0039] In the above step S202, the interactive device on the user side refers to the main device for the user to interact with the system, such as a mobile terminal: a tablet computer, a smart phone, etc. The user can view the plot information, vehicle status, issue operation instructions, monitor the operation progress, etc. through the interactive device. The operation instruction includes an instruction created by the user on the mobile terminal and sent to the cloud, which is used to start the operation of the unmanned operation equipment. The operation instruction contains key operation information, such as the identification of the unmanned operation equipment (i.e., information used to uniquely identify an unmanned operation equipment, such as a vehicle ID or serial number), information of the plot to be operated (such as a plot identification or an operation unit identification), and possible operation types (such as spraying, weeding, etc.). At least one plot to be operated refers to one or more plots specified by the user in the operation instruction. The unmanned operation equipment will perform operations on these plots according to the instructions. In some embodiments, the plot to be operated can be an operation unit, and the unmanned operation equipment will operate on all plots in the unit in sequence. Unmanned operation equipment includes but is not limited to: unmanned operation vehicles, unmanned aerial devices, etc.

[0040] Step S204: obtaining a first operation unit corresponding to at least one land parcel to be operated, wherein the first operation unit is obtained by combining at least one land parcel to be operated.

[0041] In the above step S204, the first operation unit can be a unit defined by the user through an interactive device (such as a Web terminal), which combines at least one plot to be operated in a certain order and connection path, or it can be an operation unit generated by a preset algorithm based on at least one plot to be operated selected by the user, and is used to organize and manage continuous operations on multiple plots.

[0042] In some embodiments, the user can manually define the operation unit on the interactive device (taking the Web end as an example) by following the steps below:

[0043] (1) Plot selection and sorting: After the user logs in to the Web client, he / she first selects the plots that need to be worked on in the plot management page, such as Plot 1, Plot 2, and Plot 3. Based on the relative positions of the plots and the logical order of the work, the user manually adjusts the order of these plots, designates one plot as the starting point, and works on the other plots in sequence.

[0044] (2) Path planning and uploading: Users use a dot meter to collect key point information of the connection path between plots. This point information can be saved in an Excel file and uploaded to the cloud server through the web terminal. Users can see a preview of these paths on the operation unit creation page on the web terminal and can further adjust or confirm them.

[0045] (3) Operation unit storage: The Web client uploads the operation unit information (including plot sequence, connection path, etc.) to the cloud, which stores this information and schedules the operation according to the definition of the operation unit when the user initiates an operation instruction.

[0046] In some embodiments, the operation unit may be automatically generated according to a preset algorithm, specifically:

[0047] (1) Plot information acquisition: The cloud server obtains the information of all plots to be worked on from the Web, including the size, shape, crop type, fence and obstacle locations, etc., for subsequent algorithm calculation and work unit generation.

[0048] (2) Algorithm selection and parameter setting: The system uses preset algorithms, such as the Dijkstra algorithm based on the shortest path priority and the A* algorithm considering operation efficiency, to plan the connection paths between plots and the operation sequence. Before the algorithm is executed, the system will set the algorithm parameters according to the characteristics of the plot and the operation requirements to obtain the optimal combination of operation units.

[0049] (3) Path planning and optimization: The algorithm first plans the connection paths between plots to ensure the connectivity and safety of the paths and avoid conflicts with fences or obstacles. Then, based on the operation type and performance parameters of the unmanned operation equipment, the algorithm optimizes the operation sequence to maximize operation efficiency, such as minimizing the total driving distance or time.

[0050] (4) Operation unit generation and display: After the algorithm is executed, a operation unit is automatically generated in the cloud and displayed on the operation unit preview page on the web. The displayed information includes the combination order of plots, preview of connection paths, total operation time, and expected consumables. Users can check whether the generated operation unit meets their needs. If not, they can make manual adjustments, such as reordering plots or modifying paths.

[0051] (5) Saving and using operation units: After the user confirms the setting of the operation unit, the operation unit is saved. The cloud stores the information of the operation unit in the database, so that the user can select and initiate the operation instruction through the mobile terminal (such as the pad) when needed. The operation unit automatically generated by the system has stronger automation and intelligent features, and can dynamically optimize the operation sequence and path according to the actual situation of the plot and the operation requirements of the unmanned operation equipment, further improving the operation efficiency and automation level.

[0052] When there are pre-defined work units in the plots to be worked on, in order to optimize the plot combination, make full use of the existing work unit settings, and achieve efficient expansion of the work units and continuity of tasks, the following steps can be used to combine the work units. Specifically: obtain the second plot set included in the second work unit from the first plot set corresponding to at least one plot to be worked on; obtain the third plot set in the first plot set, wherein the plots in the third plot set include other plots except the second plot set; add the plots in the third plot set to the second work unit to obtain the first work unit.

[0053] The second operation unit refers to a set of plots that are combined in a certain order and connection paths. In a specific embodiment, the user has defined a second operation unit through the Web terminal, named "Spring Irrigation Unit", which contains three plots: Plot 1, Plot 2, and Plot 3. These three plots have been organized into an operation sequence by the user according to irrigation needs and geographical locations, and the connection paths between the plots have been defined. At the same time, the user has also marked Plot 4 and Plot 5 as plots to be operated in the list of plots on the Web terminal. These two plots have not yet been added to any operation unit. When the user sends a new operation instruction through the mobile terminal, that is, to perform weeding operations on Plots 1 to 5, the system enters the operation unit combination process according to the instruction:

[0054] (1) Obtaining the second set of plots contained in the second operation unit: The system first identifies the defined "spring irrigation unit" from the list of plots to be operated, and extracts the three plots contained in the unit (plot 1, plot 2, and plot 3) to form the "second set of plots". At this point, the system already knows the order and connection path of the three plots.

[0055] (2) Obtaining the third plot set in the first plot set: The system further analyzes and confirms that the operation instruction sent by the user includes plots 4 and 5, which constitute the "third plot set". The system checks these five plots (the first plot set) and determines that plots 4 and 5 are to be added to the "second operation unit". They are the other plots in the first plot set except the second plot set.

[0056] (3) Adding plots in the third plot set to the second operation unit: In order to organize the operation efficiently, the system needs to decide how to add plots 4 and 5 to the "spring irrigation unit" to make it a new operation unit. The system uses a preset algorithm, such as an algorithm based on the shortest path or optimal operation efficiency, to determine the position and order of plots 4 and 5 in the new operation unit, as well as the connection path with the corresponding plots in the second operation unit. Finally, the system adds plots 4 and 5 to the "spring irrigation unit" to form a new operation unit.

[0057] In order to improve the flexibility and efficiency of agricultural unmanned operation equipment, the plots in the third plot set can be added to the second operation unit to obtain the first operation unit through the following steps: obtain the first plot from the third plot set, wherein the first plot includes any one plot in the third plot set; determine the first operation sequence of the first plot in the second operation unit; obtain the second plot corresponding to the first operation sequence and the third plot corresponding to the previous operation sequence of the first operation sequence from the second operation unit; obtain the connection paths between the first plot and the second plot and the third plot respectively; connect the first plot with the second operation unit by using the connection path; when all plots in the third plot set are connected with the second operation unit, determine the adjusted second operation unit as the first operation unit.

[0058] The operation sequence refers to the order in which each plot is operated when the unmanned operation equipment performs operations on multiple plots. The first operation sequence refers to the position of the first plot in the overall operation sequence, that is, determining the relative operation sequence of the first plot and other plots. The determination of the operation sequence can be based on comprehensive considerations of factors such as the geographical relationship between the plots, operation efficiency, operation type, crop growth stage, etc. The connection path refers to the movement path of the unmanned operation equipment from one plot to another, ensuring that the equipment can efficiently and safely switch between plots. The operation area. The planning of the connection path can be based on the plot fences, obstacles, terrain features, and the physical limitations of the unmanned operation equipment (such as the minimum turning radius, driving speed, etc.).

[0059] In the above specific embodiment, plot 4 and plot 5 can be added to the second operation unit through the following steps to obtain the first operation unit:

[0060] (1) Obtaining the first plot from the third plot set: that is, obtaining a plot from the third plot set (plot 4, plot 5) as the first plot. For example, based on a preliminary analysis of a preset algorithm (such as shortest path priority, operation efficiency priority, etc.), it is determined that plot 4 is the most suitable adding point, and plot 4 is used as the first plot.

[0061] (2) Determine the first operation sequence of the first plot in the second operation unit: The geographical location relationship between plot 4 and the second operation unit (i.e., plot 1, plot 2, and plot 3) can be analyzed to determine the first operation sequence of plot 4. For example, if plot 4 is geographically adjacent to plot 2, plot 4 can be inserted after plot 2 and before plot 3.

[0062] (3) Obtaining from the second operation unit the second plot corresponding to the first operation sequence and the third plot corresponding to the previous operation sequence of the first operation sequence: According to the operation sequence determined above, the plot after plot 4 is plot 3 (i.e., the second plot), and the plot before plot 4 is plot 2 (i.e., the third plot).

[0063] (4) Obtaining the connection paths between the first plot and the second plot and the third plot respectively: The connection path information between plot 4 and plot 2 and plot 3 can be imported from the Web. In some embodiments, the cloud has stored the key point information of plot 4 and plot 3, and plot 4 and plot 2 collected by a handheld dot-marking device. The system can download these connection path data from the cloud to perform path planning and connectivity analysis.

[0064] (5) Connecting the first plot with the second operation unit using a connection path: A path planning algorithm, such as the A* algorithm, can be used to calculate the shortest path for the unmanned operation equipment from plot 2 to plot 4, and from plot 4 to plot 3 based on the connection paths between plot 4 and plot 2 and plot 3.

[0065] In some embodiments, before the A* algorithm is executed, the operation area can be discretized into a grid map or a topological node map can be constructed based on information such as the plot boundary, obstacle information, and terrain features. For example, each grid represents a passable or impassable unit, and the impassable unit (such as an obstacle, outside the fence) is marked as an obstacle. And set the starting point and the end point. For example, the boundary point of plot 2 can be used as the starting point, and the boundary point of plot 4 can be used as the end point for path planning from plot 2 to plot 4. When defining the path cost function of the A* algorithm, factors such as path length and / or unmanned operation equipment driving efficiency (such as turning radius, driving speed) and / or safety factors (such as distance from obstacles) and / or energy consumption can be comprehensively considered.

[0066] Specifically, the open list can be used to store the grid nodes to be explored, the closed list can be used to store the explored grid nodes, and the starting point can be added to the open list; for each node in the open list, the total cost (f(n)) to reach the end point is calculated, including the path cost (g(n)) that has occurred and the heuristic estimation cost (h(n)), that is, f(n)=g(n)+h(n); the node with the smallest f(n) value is selected from the open list and moved to the closed list; the adjacent nodes of the selected node are checked, and for each adjacent node, if it is not in the closed list and is passable, the path cost of the node is calculated and its information in the open list is updated; if the node is already in the open list, check whether a better path can be obtained through the current node, and if so, update its f(n) value; if the selected node is the end point, a path from the starting point to the end point is found, and the path is traced back from the end point to the starting point to form the final shortest path.

[0067] (6) Add Plot 4 to the second operation unit and repeat steps (1) to (5) to obtain the second plot: After the system successfully inserts Plot 4 into the "Spring Irrigation Unit" and plans the connection path, the system will repeat this process, select Plot 5 as the second plot, and determine its position and order in the operation unit. For example, if Plot 5 is decided to be added between Plot 1 and Plot 2, the system will replan the path between Plot 1 and Plot 5, and between Plot 5 and Plot 2.

[0068] (7) Determine the adjusted second operation unit as the first operation unit: When Plot 4 and Plot 5 are successfully added to the "Spring Irrigation Unit" and the connection paths between all plots are planned, the system saves the adjusted second operation unit (i.e., Plot 1, Plot 5, Plot 2, Plot 4, Plot 3) as the new first operation unit.

[0069] In an operating environment with complex terrain and many obstacles, in order to effectively prevent unmanned operating equipment from encountering obstacles during operation and improve operation safety, after obtaining a first operating unit corresponding to at least one plot of land to be operated, the following steps can also be performed: obtaining second plot information contained in the first operating unit, wherein the second plot information includes a connection path between the plots contained in the first operating unit and obstacle information; detecting whether the obstacle corresponding to the obstacle information is located in the connection path; and if the obstacle is located in the connection path, adjusting the connection path, wherein the adjusted connection path bypasses the obstacle.

[0070] (1) Obtaining the second plot information: After receiving the first operation unit information created by the user, the cloud can obtain the connection path information and obstacle information between the plots in the operation unit. The obstacle information can be obstacle information pre-collected by the information collection device, or obstacle information detected in real time for the plots included in the first operation unit.

[0071] (2) Detect whether obstacles are located on the connection path: Spatial analysis algorithms, such as ray detection or polygon inclusion detection, can be used to analyze the geometric relationship between the connection paths between blocks and obstacle information to determine whether there are obstacles on the connection paths.

[0072] In some embodiments, a ray detection algorithm may be used to determine whether an obstacle is located on the connection path. Specifically, a virtual ray (such as represented by the starting point coordinates and the direction vector) is emitted from any point on the connection path in a direction perpendicular to the connection path. Check whether the ray intersects with the obstacle polygon. For example, for each ray, each edge of the obstacle polygon may be traversed, and a line segment and ray intersection detection algorithm may be used to check whether the ray intersects with the edge of the polygon. If the number of intersections is an odd number, it indicates that the obstacle is located between the connection paths. If the number of intersections is an even number or there is no intersection, the obstacle is not on the connection path. This method is suitable for detecting whether an obstacle completely or partially covers the connection path.

[0073] A polygon inclusion detection algorithm can also be used to determine whether there are obstacles on the connection path. Specifically: the connection path is regarded as a polygon. For example, the collected path points can be connected in sequence to form a closed polygon, which represents the spatial range of the connection path; check whether each point of the obstacle polygon is located within the connection path polygon, for example, select the center point of the obstacle polygon or any point determined to be located inside the polygon; if any point of the obstacle is within the connection path, the obstacle intersects with the connection path; otherwise, the obstacle does not intersect with the connection path. This method is suitable for detecting whether a complex polygon obstacle conflicts with the connection path.

[0074] (3) Connection path adjustment: When an obstacle is detected in the connection path, a path adjustment algorithm can be executed to replan the connection path to avoid the obstacle. The adjusted path can bypass the obstacle to ensure that the device can move safely. For example, the bypass strategy can determine the bypass path and direction based on the location and size of the obstacle.

[0075] Step S206, obtaining the operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generating an operation path corresponding to the first operation unit based on the operation parameters.

[0076] In the above step S206, the operating parameters of the unmanned operation equipment refer to a series of operating specifications and performance indicators that the unmanned operation equipment needs to follow when performing specific operations (such as spraying, irrigation, and weeding). They may include the maximum driving speed of the equipment, the minimum turning radius, the spraying width, the capacity of the medicine box, the operating accuracy, the sensor type and performance, etc.

[0077] The operation path corresponding to the first operation unit is the route and operation track that the unmanned operation equipment needs to follow when executing the first operation unit. The operation path not only includes the trajectory within a single plot, but also covers the conversion path between plots, that is, the connection path between plots. The planning of the operation path can comprehensively consider the geographical characteristics of the plot, the distribution of obstacles, the physical limitations of the unmanned operation equipment, and the operation parameters, etc., to ensure that the equipment can complete all operation tasks efficiently and safely.

[0078] In order to avoid unnecessary pauses or damages of the unmanned operation equipment during the operation process, an operation path corresponding to the first operation unit can be generated according to the actual operation limitations of the unmanned operation equipment, specifically: the first plot information contained in the first operation unit is obtained, wherein the first plot information includes boundary information, obstacle information and operation sequence of each plot in the first operation unit; each plot is divided into a preset number of sub-areas according to the boundary information; a coverage path corresponding to the preset number of sub-areas is generated, wherein the coverage path bypasses the area corresponding to the obstacle information; the path parameters of the coverage path are adjusted according to the operation parameters of the unmanned operation equipment to obtain the target coverage path, wherein the operation parameters include at least one of the following: minimum turning radius, maximum driving speed, operation width; the target coverage paths of all sub-areas are connected according to the operation sequence to obtain the operation path corresponding to the first operation unit.

[0079] The first plot information refers to the boundary information, obstacle information, and operation sequence of all plots in the first operation unit, wherein the boundary information describes the geographical scope of the plot, the obstacle information identifies the inaccessible area within the plot, and the operation sequence is the order in which the plots are operated.

[0080] The coverage path refers to the path generated by the system within each sub-area to ensure that the unmanned operation equipment can fully cover the area while bypassing obstacles to avoid collisions and blind spots. That is, when the unmanned operation equipment performs a task, all the operable spaces in the operation area are covered by its driving path, without any missed or untouched areas. To facilitate understanding of the above process, the following is an explanation in conjunction with a specific embodiment. An operation instruction requires the unmanned operation equipment to perform the weeding task of the first operation unit including plots 1 to 5. Specifically:

[0081] (1) Obtaining the first plot information contained in the first operation unit: The system first obtains the plot information of the entire first operation unit from the Web end, including the boundary information, obstacle information and operation sequence of plots 1 to 5. The operation sequence is plot 1, plot 5, plot 2, plot 4 and plot 3. The boundary information and obstacle information are collected and uploaded by the user using a handheld dot-marking device.

[0082] (2) Divide each plot into a preset number of sub-areas based on boundary information: The system divides the plot into multiple sub-areas based on the size of the plot, for example, plot 1 is divided into 10 sub-areas, plot 2 is divided into 8 sub-areas, etc. The size of each sub-area must ensure that the device can fully cover it, while avoiding areas that are too small to make path planning too complicated.

[0083] (3) Generate coverage paths corresponding to a preset number of sub-areas: In each sub-area, the system uses a path planning algorithm (such as a line scanning method) to generate a path that covers the entire area (i.e., the driving trajectory of the unmanned operation equipment can completely cover the path of the operation area). The coverage path will avoid the area corresponding to the obstacle information to ensure that the equipment will not operate on the obstacle. For example, the coverage path of a sub-area of ​​plot 1 can be a series of parallel straight lines, with the line spacing equal to the operation width of the equipment (such as the spraying width of the sprinkler).

[0084] (4) Adjust the path parameters of the coverage path according to the operating parameters of the unmanned operating equipment: The identification information of equipment 1 is recognized by the system, and the operating parameters of the equipment are queried in the cloud, including the minimum turning radius of 1.2 meters, the maximum driving speed of 6 kilometers per hour, the operating width of 2 meters, etc. The system will adjust the path parameters of the coverage path, such as the turning radius and driving speed, to meet the actual capabilities of equipment 1. If the coverage path of the sub-area includes a sharp turn, the turning radius can be increased according to the preset value to avoid interrupting the operation of the equipment due to the inability to turn.

[0085] (5) Connect the target coverage paths of all sub-areas in the order of operations to obtain the operation path corresponding to the first operation unit: The system connects the sub-area target coverage paths of plots 1 to 5 based on the predefined connection paths between the plots (i.e., the connection paths set in the process of generating the first operation unit) and the preset operation order. For example, when the equipment completes the operation of plot 1 and needs to move to plot 5, the system first considers the predefined connection path, and optimizes the predefined connection path based on the actual operation situation and the operation parameters of the unmanned operation equipment. After the connection path between plots 1 and 5 is optimized, the system connects the sub-area target coverage path of plot 1 with the optimized connection path from plot 1 to plot 5, forming a continuous path for the unmanned operation equipment to move to plot 5 and start the operation after completing the operation of plot 1. Finally, a complete operation path corresponding to the first operation unit is generated, including all sub-area coverage paths and connection paths between plots.

[0086] In order to improve the accuracy of path planning and ensure that the unmanned operating equipment can automatically adjust the driving strategy according to the changes in the operating environment, the path parameters of the coverage path can be adjusted according to the minimum turning radius, maximum driving speed and operating width of the unmanned operating equipment. Specifically: adjust the path spacing of the coverage path to obtain a first coverage path, wherein the path spacing is an integer multiple of the operating width of the unmanned operating equipment; divide the first coverage path into a straight section and a turning section, wherein the turning section includes a section corresponding to a turning point, wherein the turning radius of the turning section is greater than the minimum turning radius of the unmanned operating equipment; when it is detected that the unmanned operating equipment is located in a straight section, send a first control instruction for controlling the unmanned operating equipment to travel at a first speed to the unmanned operating equipment; and when it is detected that the unmanned operating equipment is located in a turning section, send a second control instruction for controlling the unmanned operating equipment to travel at a second speed to the unmanned operating equipment, wherein the first speed is greater than the second speed, the first speed includes the maximum driving speed of the unmanned operating equipment, and the second speed is determined according to the turning radius.

[0087] Path spacing refers to the distance between two adjacent lines of travel on the covered path. For agricultural unmanned equipment, the path spacing can be set to an integer multiple of the equipment's operating width (such as spraying, sowing, harvesting width, etc.) to ensure that the equipment can fully cover the plot without creating blind spots. The covered path can be subdivided into straight sections and turning sections. The straight section refers to the straight-line section of the path, which can be driven at the maximum speed of the equipment; the turning section is the part of the path with a turning point, and its turning radius is greater than the minimum turning radius of the equipment to ensure that the equipment can turn safely.

[0088] In some embodiments, when dealing with obstacles in a plot, the algorithm first defines the obstacles as inaccessible areas and avoids them during path planning. Specifically:

[0089] (1) Obstacle boundary expansion: Set a safety boundary for the obstacle and expand its actual size to ensure that the unmanned operating equipment has enough avoidance space during actual driving to avoid collisions caused by positioning errors or control deviations.

[0090] (2) Path detour planning: When generating a coverage path, the algorithm will detect whether the path conflicts with the obstacle area. In the event of a conflict, the algorithm will adjust the path to bypass the obstacle. For example, the A* algorithm, Dijkstra algorithm, etc. can be used to find the shortest path from the starting point to the end point while taking obstacles into account.

[0091] (3) Path continuity guarantee: After bypassing obstacles, the algorithm will seamlessly connect the adjusted path with the original path to ensure the continuity of the unmanned equipment's driving path and avoid breakpoints or repeated coverage. This helps improve work efficiency and reduce unnecessary driving time and energy consumption.

[0092] Step S208: sending the operation path to the unmanned operation equipment.

[0093] In the above step S208, in some embodiments, after the cloud server completes the operation path planning of the first operation unit, the operation path (such as the target coverage path of all sub-areas and detailed information on the connection paths between plots, etc.) and operation instructions (such as spraying, sowing, harvesting, etc.) will be encapsulated into a data packet and sent to the unmanned operation equipment.

[0094] In order to realize the automation and intelligence of equipment consumables replenishment, especially in the scenario where unmanned equipment needs frequent replenishment, the unmanned equipment can be replenished through the following steps: receiving a replenishment instruction sent by the unmanned equipment, wherein the replenishment instruction includes a first position where the unmanned equipment generates an operation interruption event during the operation; receiving a second position of the replenishment point sent by an interactive device on the user side, wherein the second position is within the boundary of the first operation unit; generating a supply path from the first position to the second position, wherein the supply path is used to guide the unmanned equipment to the supply point; and sending the supply path to the unmanned equipment.

[0095] A replenishment instruction is a command sent by the device to the cloud server to request replenishment of consumables (such as liquid medicine, seeds, and battery power) when the unmanned operation equipment encounters a shortage of consumables during operation. The replenishment instruction contains the first location information of the unmanned operation equipment at the current operation interruption event, that is, the actual coordinates of the equipment when it needs replenishment. The replenishment point refers to the location of replenishing consumables within the boundary of the first operation unit.

[0096] The second position refers to the location information of the supply point provided by the interactive device on the user side (such as the Pad end). This location is within the boundary of the first operating unit (anywhere inside the fence or on the edge), that is, to ensure that the supply point is within the safety range of the current operating area, which is convenient for the equipment to be replenished. In some embodiments, the user uses the Pad end to mark the supply point to confirm the second position of the supply point. The Pad end will obtain the current location information through its built-in positioning system (such as GPS), and then upload the second location information to the cloud server through a stable network connection. If there are multiple supply points, the cloud uses an algorithm to find the nearest supply point for the current unmanned operating equipment and plan the route. Through the integration of operating equipment positioning, Pad device positioning and marking positioning, dynamic supply point support can be achieved.

[0097] After receiving the first and second location information, the cloud server will execute the replenishment path planning algorithm to generate a replenishment path from the first location to the second location. The path planning algorithm will fully consider the equipment's operating parameters (such as minimum turning radius, maximum driving speed) and safety constraints (such as avoiding obstacles and maintaining a safe distance).

[0098] In some embodiments, a dynamic path planning algorithm, such as the Dijkstra algorithm, the D Lite algorithm, or the rapidly expanding random tree (RRT) algorithm, may be used to calculate the shortest or optimal path from the current location to the target supply point based on a known environment model. Specifically:

[0099] (1) Environmental modeling: The unmanned operation equipment discretizes the operation area into a grid map or generates a topological node map. Each grid or node represents a passable or impassable space and is marked according to obstacles, fence boundaries, and terrain features.

[0100] (2) Definition of cost function: In path search, a cost function is set to measure the quality of the path. The cost function can comprehensively consider factors such as path length, travel time, energy consumption, and path safety.

[0101] (3) Search for the optimal path: Use the selected path planning algorithm to search for the optimal path from the current location information to the supply point location in the environmental model. The algorithm will avoid inaccessible grids or nodes (such as obstacle areas, outside fences) and comply with the motion constraints of the unmanned equipment (such as the minimum turning radius).

[0102] (4) Path smoothing and optimization: If the initially generated path contains too many nodes or uneven turns, the unmanned operation equipment can smooth the path and use curve fitting (such as spline curves) to ensure that the path is continuous and conforms to the kinematic characteristics of the vehicle.

[0103] After the replenishment is completed, the unmanned operation equipment will automatically return to the location where the operation was interrupted and continue to perform the unfinished task. The entire replenishment and operation recovery process is fully automatic. The user only needs to monitor through the mobile terminal without manual intervention. In some embodiments, the operation recovery process is as follows: the unmanned operation equipment reports the current position and the index of the current longitude and latitude in the planned path in real time during the operation. When the operation is interrupted and restored, the cloud will resend the path after the last index to the unmanned operation equipment, and the unmanned operation equipment will drive along the latest (remaining) path. For example, the driving path of the current task is a path composed of the points ABCDEFG. At point C, the unmanned operation equipment needs to go to point M to replenish the liquid, that is, plan a path from C to point M, and the unmanned operation equipment will reach point M along the path. After replenishment, it will return from point M to point C and continue to drive along DEFG to complete the remaining path operations.

[0104] Through the above steps S202 to S208, by merging at least one plot to be operated into one operation unit, performing overall path planning on the operation unit, and sending the generated operation path to the unmanned operation equipment, the purpose of automatically and accurately switching plots of land is achieved, thereby achieving the technical effect of enabling the unmanned operation equipment to operate more efficiently between multiple plots, improving the degree of automation of unmanned operation equipment, and reducing manual intervention, thereby solving the technical problem that the switching path between plots of land used by the unmanned operation equipment navigation system adopted in the related technology often requires manual planning when operating on multiple plots, and the operation is complicated and the operation efficiency is low.

[0105] According to another aspect of an embodiment of the present application, there is also provided an operation control system, including: a first interactive device, a second interactive device, a server and an unmanned operation device, wherein the first interactive device is connected to the server and is used to send an operation instruction, wherein the operation instruction includes at least an unmanned operation device identifier and at least one plot of land to be operated; the second interactive device is connected to the server and is used to obtain a first operation unit corresponding to at least one plot of land to be operated, wherein the first operation unit is obtained by combining at least one plot of land to be operated; the server is connected to the first interactive device, the second interactive device and the unmanned operation device, and is used to obtain the operation parameters of the unmanned operation device corresponding to the unmanned operation device identifier, and generate an operation path corresponding to the first operation unit based on the operation parameters; the operation path is sent to the unmanned operation device; the unmanned operation device is connected to the server and is used to receive the operation path.

[0106] In some embodiments of the present application, the system further includes an information collection device, which is connected to the second interactive device and is used to collect information of at least one plot of land to be operated.

[0107] Figure 3 It is a schematic diagram of a job control system according to an embodiment of the present application, showing the various components in the job control system and the information interaction between them.

[0108] In some embodiments, the system includes an interactive device on the user side, a handheld dotting device (i.e., an information collection device), a cloud server, and an unmanned vehicle (i.e., an unmanned operation device). Specifically, the interactive device on the user side (Pad and Web) is connected to the cloud server via a network to send operation instructions, wherein the operation instructions at least include the unmanned vehicle identification and the information of the plot to be operated. The unmanned vehicle is also connected to the cloud server via a network to receive the operation path information generated by the server to guide the operation process of the unmanned vehicle. The handheld dotting device is used to collect the plot fence (i.e., boundary) and obstacle information, which can be uploaded to the cloud server via the Web terminal as an important reference for operation path planning. Specifically:

[0109] Unmanned vehicle side (i.e., unmanned operation equipment): responsible for receiving instructions from the cloud, executing path driving, operation tasks, and reporting the status and location information of the current vehicle in real time. Its main functions include: Path execution: The unmanned vehicle side receives the path information sent from the cloud, including the coordinates of the path points, driving speed and operation instructions. The unmanned vehicle drives according to the path information and performs operation tasks (such as spraying pesticides, weeding, etc.). Real-time data reporting: During the operation process, the unmanned vehicle side will regularly report the vehicle's location information, speed, operation status, battery power, medicine box remaining amount and other data to the cloud to ensure that the cloud can monitor the vehicle status in real time and adjust the instructions when necessary. Emergency processing: The unmanned vehicle side is equipped with emergency braking and alarm functions. When a collision risk, low battery or other emergency situations are detected, it will automatically stop the operation and report to the cloud, waiting for further instructions. At the same time, users can also remotely control the vehicle through the Pad side for emergency processing. Supply function: When the unmanned vehicle side detects that the remaining amount of the medicine box is insufficient, it will automatically request the cloud to obtain the supply point information and navigate to the designated supply point for replenishment of liquid medicine. After the replenishment is completed, the unmanned vehicle will automatically return to the location where the operation was interrupted and continue to perform the operation task.

[0110] Cloud (i.e. server): As the core computing and data management center of the system, it is responsible for processing requests from the Web and Pad terminals, executing path planning, data storage and analysis, and issuing instructions to the unmanned vehicle terminal. Its main functions include: Vehicle management: The cloud stores and manages the basic information and real-time data of all unmanned vehicles, including the vehicle number, name, model, operation type, current status, etc. The cloud can monitor the connection status, positioning status and operation progress of each unmanned vehicle in real time, and issue control instructions as needed. Plot and unit management: The cloud manages the basic information of all plots, the location of fences and obstacles, and the combination information of operation units. Users can upload the plot fence and obstacle information through the Web terminal, and the cloud will store it and use it for subsequent path planning and operation management. Path planning: When the user initiates a path planning request on the Web terminal, the cloud will calculate the best operation path based on the fence and obstacle information of the plot, combined with the operation requirements and status of the vehicle, and return the path information to the Web or Pad terminal for preview. The planned path will be stored in the cloud and sent to the unmanned vehicle for execution when the operation starts. Job management: The cloud manages the creation, execution, and status monitoring of all job tasks. After the user initiates a job task through the Pad, the cloud will check the status of the unmanned vehicle and the readiness of the job unit to ensure that everything is ready before starting the job. During the job, the cloud will continue to receive and analyze the data reported by the unmanned vehicle to ensure the smooth completion of the job. After the job is completed, the cloud will store the job record and provide it to the user for viewing and analysis.

[0111] Pad end (i.e. the first interactive device): as the user's main operation interface, it provides real-time monitoring, operation records, alarm prompts, manual control and other functions. Users can manage and monitor the operation of the unmanned vehicle through the Pad end. Real-time information display: Display the current vehicle status, navigation information and progress of the operation plot or unit to ensure that the user has full control of the operation (the vehicle can be switched to view). Alarm prompt: Real-time display of vehicle alarm information, such as low battery, low drug volume, collision alarm, etc., to facilitate timely intervention by users. Manual control: Users can switch to manual control mode through the Pad end for remote control or emergency stop operations. New operation: The Pad end can display all the user's operation plots and operation units. After the user clicks on the operation plot or unit in the list, the user enters the unmanned vehicle selection page. After selecting an unmanned vehicle, it will directly enter the plot preview and display the planned path. After the user clicks OK, the command can be sent to the corresponding unmanned vehicle to start the operation. It should be noted that if the selected unmanned vehicle is currently operating, the user needs to be prompted that the current unmanned vehicle is operating, please select another unmanned vehicle, or confirm with the user whether to interrupt the operation of the unmanned vehicle and restart the operation in the newly selected plot or unit. Operation record management: View and manage historical operation records, and support the resumption of suspended operations. Emergency stop button: The Pad is equipped with an emergency stop button, and the user can immediately stop all actions of the unmanned vehicle in an emergency to ensure operation safety.

[0112] Web terminal (i.e., the second interactive device): provides functions such as vehicle management, plot management, path planning, operation unit management, and operation record management. Users can complete the basic information settings of unmanned vehicles and plots, as well as the planning and management of operation paths through the Web terminal. Among them, vehicle management means that users can create, view, and edit the information of unmanned vehicles through the Web terminal, including the vehicle number, name, model, operation type, drive mode, steering mode, external dimensions, ground clearance, rear wheel track, maximum driving speed, battery capacity, medicine box capacity, and battery life. Plot management means that users can create, view, and edit operation plots, import plot fence and obstacle information, and the system displays the location of plot fences and obstacles through a map. Users can also dynamically add, modify, or delete the fence and obstacle information of the plot, and preview these changes in real time. Path planning means that the Web terminal calls the cloud interface to generate the navigation path of the plot and provide a preview function. Operation unit management means that users can combine multiple plots into operation units on the Web terminal and edit the combination relationship of plots within the unit. The operation unit management page supports users to upload the connection paths between plots to ensure that the unmanned vehicle can smoothly switch plots and complete the operation. Operation record management means that users can view historical operation records through the Web terminal, including operation number, vehicle number, vehicle name, plot / unit number, plot / unit name, crop type, operation type, operation time, operation status and other detailed information. Click on the operation details, and users can view the preview map of the plot or unit, as well as the actual operation path and results, which is convenient for subsequent analysis and optimization.

[0113] Dotting terminal (i.e. information collection device): collect key point information of plot fences and obstacles through handheld dotting devices, and upload this information to the Web terminal for management and display to ensure accurate calibration of plots and obstacles. Users use handheld dotting devices to dot the boundaries of plots and obstacles, generate Excel files containing longitude and latitude, and then import the files into the Web terminal. The system will automatically display the locations of the plot fences and obstacles, and perform verification to ensure the accuracy of this information in subsequent operations.

[0114] STEP-1: Collection and management of land plot information.

[0115] (1) Handheld dot meter information collection: The user uses a handheld dot meter to collect key points around the land boundary and obstacles, and generates an Excel file containing longitude and latitude coordinates. Each point information includes index, longitude, latitude and altitude. In some embodiments, in order to ensure the integrity of the land boundary (fence) and the accurate calibration of obstacles, at least four boundary points are required for each land, and the number of dot points for obstacles is determined according to their size and shape.

[0116] (2) Data import to the Web: The user imports the file exported by the handheld dot meter into the Web system. The Web system parses the file, displays the point information of the land boundary and obstacles, and performs verification to ensure the integrity and accuracy of the information. The verification logic includes the legality of the points, the correctness of the polygon construction, etc. The verification standards include integrity requirements, legality requirements, consistency requirements, topological correctness, etc. When an exception occurs, it can also send error prompts and set submission prohibition based on the pre-defined exception handling mechanism.

[0117] (3) Web-based land parcel information management: On the Web-based end, users can create, view, and edit land parcel information, including the parcel number, name, area, owner, crop type, and other attributes. The Web-based end also supports dynamic updates of land parcel information, including changes in fences and obstacles, to meet actual operational needs. In some embodiments, after a land parcel changes, users can use a handheld dot-marker to update the point information (Excel file) of the land parcel and obstacles, and upload the latest information to the Web-based end at any time. After the Web-based end is updated, both the server and the unmanned vehicle will plan according to the latest points.

[0118] STEP-2: Create and manage work units.

[0119] (1) Operation unit definition: Users combine multiple plots into operation units on the web, define the operation sequence and connection paths, and ensure that unmanned operation equipment can move smoothly from one plot to another.

[0120] (2) Upload the connection path between plots: Use a handheld dot-marking device to collect the connection paths between the plots in the work unit, generate an Excel file, and import it into the Web terminal. The Web terminal verifies the rationality of the path, including conflict detection with the plot fences and obstacles, to ensure that the path covers all the plots that need to be connected. In some embodiments, the user uses a handheld dot-marking device to mark the location of the connection path between the plots, including at least 4 key points to form a rectangular area; when the path is not a regular rectangle, the number of key points can be dynamically set to form a polygonal area. This area is the path for the unmanned operation equipment to travel. When the unmanned operation equipment is actually driving, it will use straight lines to connect adjacent key points, and travel in straight lines between key points.

[0121] (3) Operation unit management: The web terminal provides the functions of viewing and editing operation units. Users can add new plot combinations, upload or adjust the connection paths between plots, and ensure the integrity and validity of the operation unit information.

[0122] STEP-3: Path planning and preview.

[0123] (1) Web-based path planning request: The user selects a plot or work unit or a combination of a plot and work unit through the Web and initiates a path planning request.

[0124] (2) Execution of cloud-based path planning algorithms: The cloud server receives requests from the Web client and calculates the optimal operation path based on the boundaries of the plot, obstacle information, and equipment operating parameters, including strategies to avoid obstacles and cover the entire plot. For example, for narrow plots, the direction of the path can be adjusted to reduce the number of turns; for areas with dense obstacles, the path spacing can be reduced to improve coverage accuracy.

[0125] (3) Path preview and adjustment: The web client receives the planned path information from the cloud and displays the preview results on the map. Users can observe the matching between the path and the land and obstacles and make adjustments if necessary.

[0126] STEP-4: Create and start the job task.

[0127] (1) Pad-side task creation: Users create work tasks through the Pad-side interface, select unmanned equipment and work plots or units. The Pad will automatically check the equipment status (such as power, medicine box remaining, connection status, etc.) and plot preparation (such as whether the path planning is completed, whether the fence and obstacle information is complete, etc.) to ensure that the work can start.

[0128] (2) Cloud-based task management and instruction issuance: The cloud server manages all work tasks. After confirming the start of a task, the cloud server sends detailed instructions of the task, including the work path, work parameters, and work tasks (such as spraying pesticides, weeding, etc.) to the unmanned work equipment, and the equipment starts working according to the instructions.

[0129] STEP-5: Real-time monitoring and alarm processing.

[0130] (1) Unmanned equipment status reporting: During operation, the equipment regularly uploads real-time data including location, speed, operating status, power consumption, and drug dosage to the cloud.

[0131] (2) Real-time monitoring on the Pad: The Pad receives device status information from the cloud, and displays the device's location, operation progress, alarm information, etc. through the Pad interface, allowing users to monitor the operation status and perform manual control or emergency stop operations. In some embodiments, in order to ensure that agricultural unmanned vehicles can stop operations quickly and safely in an emergency, the rapid triggering mechanism of the emergency stop command includes: on the Pad, the triggering interface of the emergency stop function can be a striking red color, equipped with a unified emergency stop logo, and placed in an easily accessible position on the interface. In addition, to avoid misoperation in non-emergency situations, the emergency stop button is also equipped with an anti-mistouch mechanism, such as a long press confirmation function, to ensure that the emergency stop command is triggered only when it is really needed, while maintaining the simplicity of operation in an emergency. At the system level, the transmission mechanism of the emergency stop command is designed for high-priority transmission. The emergency stop command is encapsulated as the highest priority data packet and is sent preferentially in the network without interference from other data streams, thereby ensuring the rapid transmission of the command. In order to further improve the reliability of command transmission, the system adopts a multi-channel transmission strategy, that is, using Wi-Fi, Bluetooth and cellular networks and other communication methods to send emergency stop commands at the same time. Even if a channel fails, the command can be sent through other channels. In addition, a command confirmation mechanism is established between the Pad end and the unmanned vehicle end. When the Pad end sends an emergency stop command, it needs to wait for the confirmation feedback from the unmanned vehicle end; if no confirmation is received, the Pad end will automatically resend the command until it receives confirmation or reaches the preset upper limit of the number of retransmissions, which serves as a signal of system response failure to remind the user to take other measures. On the unmanned vehicle side, the safety and effectiveness of the emergency stop function are jointly achieved through the design of both hardware and software. At the hardware level, the unmanned vehicle is equipped with an independent emergency stop circuit, which can quickly cut off the power system or activate the brake device after receiving the emergency stop command to ensure that the vehicle stops immediately without being affected by the main control system. At the software level, the control system of the unmanned vehicle sets the emergency stop command to the highest priority. Once the command is received, the system will immediately interrupt all ongoing tasks and give priority to the emergency stop operation to ensure that the unmanned vehicle stops all actions as soon as possible after receiving the command to ensure the safety of the work site.

[0132] (3) Cloud data processing and alarm management: The cloud analyzes the status reported by the device, identifies alarm conditions (such as low battery, low drug dosage, collision, etc.), and sends alarm prompts to users through the Pad, so that users can take corresponding measures accordingly.

[0133] STEP-6: Dynamic replenishment and operation recovery.

[0134] (1) Replenishment point setting: When the equipment is running low on medicine, it will automatically send a replenishment instruction to the cloud, including the first location when the equipment was interrupted. The user can mark the replenishment point through the Pad and upload the second location of the replenishment point to the cloud.

[0135] (2) Supply path planning: The cloud generates a supply path that avoids obstacles based on the first and second locations to ensure that the equipment can safely reach the supply point.

[0136] (3) Supply path delivery and execution: The cloud sends the supply path to the device. The device navigates to the supply point according to the supply path to replenish the liquid medicine. After completion, it automatically returns to the location where the operation was interrupted and continues to execute the remaining operations.

[0137] STEP-7: Record and analyze work.

[0138] (1) Cloud operation records: The cloud server records the entire operation process of the equipment, including driving trajectory, operation time, operation status and other information.

[0139] (2) User-side data viewing and analysis: Users view job records through the Web or Pad, conduct data analysis, evaluate job efficiency and equipment performance, and provide optimization basis for subsequent operations.

[0140] Through multi-terminal collaboration, the system realizes high-precision navigation planning, intelligent task management, safe operation execution, and dynamic supply support for agricultural unmanned equipment in complex environments. The handheld dotting instrument is responsible for collecting plot information; the Web and Pad terminals provide user interfaces for the management and monitoring of plots and tasks; the cloud server is the core, processing data, executing algorithms, managing tasks, and coordinating information exchange and control command issuance between terminals. The design of the entire system fully considers the complexity of actual operation scenarios, and significantly improves the operating efficiency and user experience of agricultural unmanned equipment through automation and intelligent means.

[0141] Figure 4 is a structural diagram of an operating device of an unmanned operating equipment according to an embodiment of the present application, such as Figure 4 As shown, the device comprises:

[0142] The receiving module 402 is used to receive an operation instruction sent by an interactive device on the user side, wherein the operation instruction at least includes an unmanned operation equipment identifier and at least one plot of land to be operated;

[0143] The acquisition module 404 is used to acquire a first operation unit corresponding to at least one plot to be operated, wherein the first operation unit is obtained by combining at least one plot to be operated;

[0144] The determination module 406 is used to obtain the operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generate the operation path corresponding to the first operation unit based on the operation parameters;

[0145] The sending module 408 is used to send the operation path to the unmanned operation equipment.

[0146] In the operating device of the above-mentioned unmanned operating equipment, the acquisition module is also used to obtain a second plot set contained in a second operating unit from a first plot set corresponding to at least one plot to be operated; obtain a third plot set in the first plot set, wherein the plots in the third plot set include other plots except the second plot set; add the plots in the third plot set to the second operating unit to obtain the first operating unit.

[0147] In the operating device of the above-mentioned unmanned operating equipment, the acquisition module is also used to acquire the first plot from a third plot set, wherein the first plot includes any one plot in the third plot set; determine the first operating sequence of the first plot in the second operating unit; acquire the second plot corresponding to the first operating sequence and the third plot corresponding to the previous operating sequence of the first operating sequence from the second operating unit; acquire the connection paths between the first plot and the second plot and the third plot respectively; connect the first plot with the second operating unit using the connection path; and when all plots in the third plot set are connected with the second operating unit, determine that the adjusted second operating unit is the first operating unit.

[0148] In the operating device of the above-mentioned unmanned operating equipment, the determination module is also used to obtain the first plot information contained in the first operating unit, wherein the first plot information includes the boundary information, obstacle information and operating sequence of each plot in the first operating unit; divide each plot into a preset number of sub-areas according to the boundary information; generate coverage paths corresponding to the preset number of sub-areas, wherein the coverage path bypasses the area corresponding to the obstacle information; adjust the path parameters of the coverage path according to the operating parameters of the unmanned operating equipment to obtain the target coverage path, wherein the operating parameters include at least one of the following: minimum turning radius, maximum driving speed, operating width; connect the target coverage paths of all sub-areas in accordance with the operating sequence to obtain the operating path corresponding to the first operating unit.

[0149] In the operating device of the above-mentioned unmanned operating equipment, the determination module is also used for operating parameters including a minimum turning radius, a maximum driving speed and an operating width, and adjusting the path parameters of the coverage path according to the operating parameters of the unmanned operating equipment, including: adjusting the path spacing of the coverage path to obtain a first coverage path, wherein the path spacing is an integer multiple of the operating width of the unmanned operating equipment; dividing the first coverage path into a straight section and a turning section, wherein the turning section includes a section corresponding to a turning point, wherein the turning radius of the turning section is greater than the minimum turning radius of the unmanned operating equipment; when it is detected that the unmanned operating equipment is located in a straight section, sending a first control instruction for controlling the unmanned operating equipment to travel at a first speed to the unmanned operating equipment; and when it is detected that the unmanned operating equipment is located in a turning section, sending a second control instruction for controlling the unmanned operating equipment to travel at a second speed to the unmanned operating equipment, wherein the first speed is greater than the second speed, the first speed includes the maximum driving speed of the unmanned operating equipment, and the second speed is determined based on the turning radius.

[0150] In the operating device of the above-mentioned unmanned operating equipment, the sending module is also used to receive the supply instruction sent by the unmanned operating equipment, wherein the supply instruction includes the first position where the unmanned operating equipment generates an operation interruption event during the operation process; receiving the second position of the supply point sent by the interactive device on the user side, wherein the second position is within the boundary of the first operating unit; generating a supply path from the first position to the second position, wherein the supply path is used to guide the unmanned operating equipment to the supply point; and sending the supply path to the unmanned operating equipment.

[0151] In the operating device of the above-mentioned unmanned operating equipment, the acquisition module is also used to obtain the second plot information contained in the first operating unit, wherein the second plot information includes the connection path and obstacle information between the plots contained in the first operating unit; detect whether the obstacle corresponding to the obstacle information is located in the connection path; if the obstacle is located in the connection path, adjust the connection path, wherein the adjusted connection path bypasses the obstacle.

[0152] It should be noted that Figure 4 The working device of the unmanned working equipment shown is used to perform Figure 2 The operation method of the unmanned equipment shown is therefore Figure 2 The relevant explanations in the operating methods of unmanned equipment in the Figure 4 The operating device of the unmanned operating equipment shown will not be described in detail here.

[0153] An embodiment of the present application also provides an electronic device, which includes a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the steps of the operating method of the unmanned operating equipment in each embodiment of the present application.

[0154] For example, the processor performs the following functions by executing program instructions stored in the memory:

[0155] Receive an operation instruction sent by an interactive device on the user side, wherein the operation instruction includes at least an unmanned operation equipment identifier and at least one plot of land to be operated; obtain a first operation unit corresponding to at least one plot of land to be operated, wherein the first operation unit is obtained by combining at least one plot of land to be operated; obtain operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generate an operation path corresponding to the first operation unit based on the operation parameters; and send the operation path to the unmanned operation equipment.

[0156] An embodiment of the present application further provides a non-volatile storage medium, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the steps of the operating method of the unmanned operating equipment in each embodiment of the present application by running the computer program.

[0157] An embodiment of the present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the operating method of the unmanned operating equipment in each embodiment of the present application.

[0158] An embodiment of the present application also provides a computer program, which, when executed by a processor, implements the steps of the operating method of the unmanned operating equipment in each embodiment of the present application.

[0159] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0160] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0161] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0162] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0163] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0164] If 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. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program code.

[0165] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An operating method for unmanned operating equipment, characterized in that: include: Receiving an operation instruction sent by an interactive device on a user side, wherein the operation instruction at least includes an identifier of the unmanned operation equipment and at least one plot of land to be operated; Acquire a first operation unit corresponding to the at least one plot of land to be operated, wherein the first operation unit is obtained by combining the at least one plot of land to be operated; Acquire the operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generate the operation path corresponding to the first operation unit based on the operation parameters; Sending the operation path to the unmanned operation equipment; The at least one plot to be operated includes a second operation unit, and obtaining the first operation unit corresponding to the at least one plot to be operated includes: obtaining the second plot set included in the second operation unit from the first plot set corresponding to the at least one plot to be operated; obtaining a third plot set in the first plot set, wherein the plots in the third plot set include other plots except the second plot set; and adding the plots in the third plot set to the second operation unit to obtain the first operation unit; Adding the plots in the third plot set to the second operation unit to obtain the first operation unit includes: obtaining a first plot from the third plot set, wherein the first plot includes any one plot in the third plot set; determining a first operation sequence of the first plot in the second operation unit; obtaining a second plot corresponding to the first operation sequence and a third plot corresponding to a previous operation sequence of the first operation sequence from the second operation unit; obtaining connection paths between the first plot and the second plot and the third plot respectively; connecting the first plot with the second operation unit by using the connection path; and determining that the adjusted second operation unit is the first operation unit when all plots in the third plot set are connected to the second operation unit.

2. The method according to claim 1, characterized in that: Acquiring operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generating an operation path corresponding to the first operation unit based on the operation parameters, including: Acquire first plot information included in the first operation unit, wherein the first plot information includes boundary information, obstacle information, and operation sequence of each plot in the first operation unit; Dividing each block into a preset number of sub-areas according to the boundary information; Generate coverage paths corresponding to the preset number of sub-areas respectively, wherein the coverage paths bypass the areas corresponding to the obstacle information; Adjusting the path parameters of the coverage path according to the operation parameters of the unmanned operation equipment to obtain a target coverage path, wherein the operation parameters include at least one of the following: minimum turning radius, maximum driving speed, and operation width; The target coverage paths of all sub-areas are connected according to the operation sequence to obtain the operation path corresponding to the first operation unit.

3. The method according to claim 2, characterized in that The operation parameters include a minimum turning radius, a maximum driving speed, and an operation width. The path parameters of the coverage path are adjusted according to the operation parameters of the unmanned operation equipment, including: Adjusting the path spacing of the coverage path to obtain a first coverage path, wherein the path spacing is an integer multiple of the operating width of the unmanned operating equipment; Dividing the first coverage path into a straight section and a turning section, wherein the turning section includes a section corresponding to a turning point, wherein a turning radius of the turning section is greater than a minimum turning radius of the unmanned operating equipment; When it is detected that the unmanned operating equipment is located on the straight section, a first control instruction for controlling the unmanned operating equipment to travel at a first speed is sent to the unmanned operating equipment; and when it is detected that the unmanned operating equipment is located on the turning section, a second control instruction for controlling the unmanned operating equipment to travel at a second speed is sent to the unmanned operating equipment, wherein the first speed is greater than the second speed, the first speed includes the maximum travel speed of the unmanned operating equipment, and the second speed is determined based on the turning radius.

4. The method according to claim 1, characterized in that: After sending the operation path to the unmanned operation equipment, the method further includes: Receiving a supply instruction sent by the unmanned operation equipment, wherein the supply instruction includes a first position where an operation interruption event occurs during the operation of the unmanned operation equipment; Receiving a second location of a replenishment point sent by an interactive device on a user side, wherein the second location is within a boundary of the first operation unit; generating a supply path from the first position to the second position, wherein the supply path is used to guide the unmanned operating equipment to the supply point; The supply path is sent to the unmanned operation equipment.

5. The method according to claim 1, characterized in that After obtaining the first operation unit corresponding to the at least one plot to be operated, the method further includes: Acquire second plot information included in the first operation unit, wherein the second plot information includes connection paths and obstacle information between plots included in the first operation unit; Detecting whether the obstacle corresponding to the obstacle information is located in the connection path; In the case where the obstacle is located in the connection path, the connection path is adjusted, wherein the adjusted connection path bypasses the obstacle.

6. A job control system, characterized in that: include: A first interactive device, a second interactive device, a server and an unmanned operation device, wherein: The first interactive device is connected to the server and is used to send an operation instruction, wherein the operation instruction at least includes an unmanned operation equipment identifier and at least one plot of land to be operated; The second interactive device is connected to the server and is used to obtain a first operation unit corresponding to the at least one plot to be operated, wherein the first operation unit is obtained by combining the at least one plot to be operated, wherein the at least one plot to be operated includes a second operation unit, and obtaining the first operation unit corresponding to the at least one plot to be operated includes: obtaining a second plot set included in the second operation unit from a first plot set corresponding to the at least one plot to be operated; obtaining a third plot set in the first plot set, wherein the plots in the third plot set include other plots except the second plot set; adding the plots in the third plot set to the second operation unit to obtain the first operation unit; adding the plots in the third plot set to the second operation unit to obtain the first operation unit; adding the plots in the third plot set to the The method comprises: obtaining a first plot from the third plot set, wherein the first plot includes any one plot in the third plot set; determining a first operation sequence of the first plot in the second operation unit; obtaining a second plot corresponding to the first operation sequence and a third plot corresponding to the previous operation sequence of the first operation sequence from the second operation unit; obtaining connection paths between the first plot and the second plot and the third plot respectively; connecting the first plot with the second operation unit by using the connection path; and determining that the adjusted second operation unit is the first operation unit when all plots in the third plot set are connected with the second operation unit; The server is connected to the first interactive device, the second interactive device and the unmanned operation device, and is used to obtain the operation parameters of the unmanned operation device corresponding to the unmanned operation device identifier, and generate the operation path corresponding to the first operation unit based on the operation parameters; and send the operation path to the unmanned operation device; The unmanned operation equipment is connected to the server and is used to receive the operation path.

7. An operating device for unmanned operating equipment, characterized in that: include: A receiving module, configured to receive an operation instruction sent by an interactive device on a user side, wherein the operation instruction at least includes an unmanned operation equipment identifier and at least one plot of land to be operated; An acquisition module is used to acquire a first operation unit corresponding to the at least one plot to be operated, wherein the first operation unit is obtained by combining the at least one plot to be operated, wherein the at least one plot to be operated includes a second operation unit, and acquiring the first operation unit corresponding to the at least one plot to be operated comprises: acquiring a second plot set included in the second operation unit from a first plot set corresponding to the at least one plot to be operated; acquiring a third plot set in the first plot set, wherein the plots in the third plot set include plots other than the second plot set; adding the plots in the third plot set to the second operation unit to obtain the first operation unit; adding the plots in the third plot set to the To the second operation unit, obtain the first operation unit, including: obtaining a first plot from the third plot set, wherein the first plot includes any one plot in the third plot set; determining a first operation sequence of the first plot in the second operation unit; obtaining a second plot corresponding to the first operation sequence and a third plot corresponding to a previous operation sequence of the first operation sequence from the second operation unit; obtaining connection paths between the first plot and the second plot and the third plot respectively; connecting the first plot with the second operation unit by using the connection path; and determining that the adjusted second operation unit is the first operation unit when all plots in the third plot set are connected with the second operation unit; A determination module, configured to obtain operation parameters of the unmanned operation equipment corresponding to the unmanned operation equipment identifier, and generate an operation path corresponding to the first operation unit based on the operation parameters; A sending module is used to send the operation path to the unmanned operation equipment.

8. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the operating method of the unmanned operating equipment as described in any one of claims 1 to 5.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the operating method of the unmanned operating equipment according to any one of claims 1 to 5 by running the computer program.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, the operating method of the unmanned operating equipment described in any one of claims 1 to 5 is implemented.

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