Control method, device and equipment of agricultural robot and medium

Abstract

The invention relates to the technical field of crop treatment, in particular to a control method, device and equipment of an agricultural robot and a medium. The method comprises the following steps: determining an agricultural area; determining the task load of each sub-region according to the crop information in each sub-region; determining a target area of each agricultural robot according to the energy efficiency information and the task load; determining a first control strategy of a crop treatment system and a second control strategy of an irrigation system according to the crop information and the environment information in the target area, and generating an execution task of the agricultural robot; and controlling each agricultural robot to perform crop treatment and / or watering irrigation according to the respective execution task. The operation efficiency of an agricultural area can be effectively improved, meanwhile, the operation effect on crops can be improved, and then the intelligence of the agricultural robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of crop processing, and particularly to a control method, device, equipment and medium for an agricultural robot. Background Art

[0002] In the field of modern agriculture, the wave of agricultural modernization is surging, and along with it, the phenomenon of aging of the agricultural population is becoming increasingly severe. This change in the population structure has led to a sharp reduction in the number of agricultural laborers, and the traditional agricultural production mode that relies heavily on a large amount of manpower faces huge challenges. Therefore, the development of unmanned agricultural machinery has become a key path for the transformation of modern agriculture.

[0003] In the existing related technologies, although the automation of single-machine operations has been initially realized in each link of farming, management and harvesting in agricultural production, in actual large-scale operation scenarios, there is still no high operating efficiency. Therefore, the demand for collaborative operation of multiple machines is becoming increasingly prominent.

[0004] In view of this, this application proposes a control method for an agricultural robot, aiming to solve the problem of low operating efficiency existing in the existing related technologies. Summary of the Invention

[0005] This application provides a control method, device, equipment and medium for an agricultural robot to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0006] Other features and advantages of this application will become apparent through the following detailed description, or be learned in part through the practice of this application.

[0007] According to one aspect of the embodiments of this application, a control method for an agricultural robot is provided, which is applied to a scheduling system. The scheduling system includes at least two agricultural robots. The agricultural robot includes a crop management system and an irrigation system. The method includes: Determine the agricultural area where the agricultural robot is to perform a task. The agricultural area includes multiple sub-areas, and at least one type of crop is planted in each sub-area; Determine the task amount of each sub-area according to the crop information in each sub-area; Determine the target area where each agricultural robot is to perform a task according to the energy efficiency information of each agricultural robot and the task amount of each sub-area. Each target area includes at least one of the sub-areas; For each of the agricultural robots, based on the crop information and environmental information within the target area, determine a first control strategy for the crop management system and a second control strategy for the irrigation system, and generate an execution task for the agricultural robot according to the first control strategy and the second control strategy; Control each of the agricultural robots to perform crop management and / or watering irrigation on each of the target areas according to their respective execution tasks.

[0008] In an embodiment of the present application, based on the foregoing solution, the determining the task amount of each of the sub-areas according to the crop information in each of the sub-areas includes: For each of the sub-areas, determine the crop type and the number of crops in the sub-areas according to the crop information, and determine the task amount of the sub-areas according to the crop type and the number of crops.

[0009] In an embodiment of the present application, based on the foregoing solution, the determining the target area of the task to be executed by each of the agricultural robots according to the energy efficiency information of each of the agricultural robots and the task amount of each of the sub-areas includes: For each of the agricultural robots, determine the power status, task execution efficiency, and load capacity of the agricultural robot according to the energy efficiency information of the agricultural robot, and determine the ability value of the agricultural robot according to the power status, the task execution efficiency, and the load capacity; Determine the sum of the ability values of all agricultural robots, and determine the sum of the task amounts of all sub-areas; For each of the agricultural robots, determine the proportion of the ability value of the agricultural robot in the sum of the ability values, and determine the target task amount of the agricultural robot according to the product of the proportion and the sum of the task amounts, and determine the target area of the task to be executed according to the target task amount.

[0010] In an embodiment of the present application, based on the foregoing solution, the determining the first control strategy of the crop management system according to the crop information and environmental information in the target area includes: Determine the crops in the target area and the image information and spectral data of the crops according to the crop information; Determine the disease type, disease degree, and estimated spread range of the crops according to the image information and the spectral data; Determine the light intensity and humidity in the target area according to the environmental information; Determine the first control strategy according to the disease type, the disease degree, the estimated spread range, the light intensity, and the humidity, so as to determine the pesticide dosage and spraying method for the crops according to the first control strategy.

[0011] In an embodiment of the present application, based on the foregoing solution, the second control strategy is determined through the following steps: Determine the temperature and soil information in the target area according to the environmental information; Determine the growth stage of the crops according to the image information and the spectral data; Determine the irrigation priority and irrigation water volume of the irrigation system for the crops according to the light intensity, the humidity, the temperature, the soil information, and the growth stage; Determine the second control strategy according to the irrigation priority and the irrigation water volume.

[0012] In an embodiment of the present application, based on the foregoing solution, controlling each of the agricultural robots to perform their respective tasks to carry out crop management and / or watering irrigation on each of the target areas includes: For each of the agricultural robots, determine the mobile planning route of the agricultural robot according to the task to be performed, and control the agricultural robot to move according to the mobile planning route and control the agricultural robot to carry out crop management and / or watering irrigation on the target area during the movement.

[0013] In an embodiment of the present application, based on the foregoing solution, the agricultural robot further includes a throttle control system. During the process of controlling the agricultural robot to move according to the mobile planning route, the agricultural robot moves through the throttle control system.

[0014] According to one aspect of the embodiments of the present application, there is provided a control device for an agricultural robot, which is applied to a scheduling system. The scheduling system includes at least two agricultural robots. The agricultural robot includes a crop management system and an irrigation system. The device includes: A first determination unit, configured to determine the agricultural area where the agricultural robot is to perform a task. The agricultural area includes a plurality of sub-areas, and each sub-area is planted with at least one type of crop; A second determination unit, configured to determine the task amount of each sub-area according to the crop information in each sub-area; A third determination unit, configured to determine the target area where each agricultural robot is to perform a task according to the energy efficiency information of each agricultural robot and the task amount of each sub-area. Each target area includes at least one of the sub-areas; A fourth determination unit, configured to, for each of the agricultural robots, determine a first control strategy of the crop management system and a second control strategy of the irrigation system according to the crop information and environmental information in the target area, and generate an execution task of the agricultural robot according to the first control strategy and the second control strategy; A control unit, configured to control each of the agricultural robots to perform crop management and / or watering irrigation on each of the target areas according to their respective execution tasks.

[0015] On the other hand, an embodiment of the present application provides an electronic device, including a processor and a memory; The memory is used to store a computer program; The processor executes the computer program to implement the foregoing method.

[0016] On the other hand, an embodiment of the present application provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is executed by a processor to implement the foregoing method.

[0017] The beneficial effects of the present application are as follows: By using the energy efficiency information of each agricultural robot, sub-areas in the agricultural area are allocated to each agricultural robot, and the area allocated to each agricultural robot is the target area, where tasks such as crop management and watering irrigation need to be performed. Through the cooperation of each agricultural robot, the task allocation and scheduling of the agricultural robot are made more reasonable, and the operation efficiency of the agricultural area can be effectively improved.

[0018] During the process of the agricultural robot executing tasks in its corresponding target area, the first control strategy of the crop management system and the second control strategy of the irrigation system are flexibly adjusted according to the crop information and environmental information in the target area, so that the management, picking, and watering irrigation of the crops in the target area become more reasonable, thereby improving the operation effect on the crops, better cultivating or more efficiently picking the crops in the agricultural area, and improving the intelligence of the agricultural robot. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly describe the drawings required for the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present application, rather than all the embodiments. Without creative efforts, those skilled in the art can also obtain other design solutions and drawings based on these drawings.

[0020] Figure 1 It is a flowchart of a control method for an agricultural robot shown according to an embodiment of the present application; Figure 2It is the overall structural block diagram of the agricultural robot in the embodiment of the present application; Figure 3 It is the overall structural schematic diagram of the agricultural robot in the embodiment of the present application; Figure 4 It is the structural schematic diagram of the chassis frame in the embodiment of the present invention; Figure 5 It is the structural schematic diagram of the picking device in the embodiment of the present invention; Figure 6 It is the structural schematic diagram of the belt conveying mechanism in the embodiment of the present invention; Figure 7 It is the structural schematic diagram of the conveying mechanism in the embodiment of the present invention; Figure 8 It is the structural schematic diagram of the conveying mechanism from another perspective in the embodiment of the present invention; Figure 9 It is the installation structural schematic diagram of the spray pipe in the embodiment of the present invention; Figure 10 It is the connection structural schematic diagram of the crank - connecting rod piston mechanism and the seedling - inserting claw in the embodiment of the present invention; Figure 11 The block diagram of the control device of the agricultural robot provided by the embodiment of the present application; Figure 12 It is the structural schematic diagram of an electronic device provided by the embodiment of the present application.

[0021] Reference numerals Traveling mechanism 100, chassis frame 110, tire 120, cross bar 111, steering arm 112, trapezoidal arm 113, tie rod 114, joint arm 115, steering tie rod 116, steering rocker arm 117, rotation motor 118, traveling motor 130, transmission shaft 140; Conveying mechanism 200, cross frame 210, lateral driving member 220, lateral motor 221, pulling vertical plate 222, hook 223, winding wheel 224, pulling wire 225, first slider 226, first slide rail 227, turntable 228, reversing motor 229, bottom plate 230, longitudinal frame 240, longitudinal driving member 250, longitudinal motor 251, fixed sprocket 252, tensioning frame 253, movable sprocket 254, moving chain 255, support plate 256, adjusting rod 257, connecting plate 258, placing plate 260, baffle 270, blanking motor 280, support 290; Harvesting device 300, cross beam 310, sub-frame 320, upper frame 321, connecting rod 322, lower frame 323, cutting assembly 400, support frame 410, disc cutting machine 420, clamping assembly 500, belt conveying mechanism 510, outer frame 511, fixed wheel 512, adjusting frame 513, movable wheel 514, belt 515, threaded rod 516, moving frame 517, conveying motor 518, conveying rod 520, clamping claw 530, mounting plate 531, fixed arm 532, fixed strip 533, movable arm 534, movable strip 535, clamping motor 536, second slider 540, second slide rail 541; Lifting telescopic cylinder 600, base plate 610, transfer plate 620, transfer motor 630, storage box 700, sowing mechanism 800, seedling distributor 810, distribution plate 811, distribution sprocket 812, distribution chain 813, distribution motor 814, distribution cylinder 815, cover plate 816, seedling emergence port 817, seedling inserting motor 820, crank connecting rod piston mechanism 830, crank 831, connecting rod 832, piston rod 833, piston cylinder 834, seedling inserting claw 840, connecting ring 841, connecting piece 842, swing arm 843, inserting claw 844, sleeve 845, pull rod 846, water tank 900, spray pipe 910, solar photovoltaic power generation panel 920, lidar 930, loudspeaker 940, camera 950. Detailed implementation manners

[0022] Now, the example embodiments will be described more comprehensively with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and the concept of the example embodiments will be fully conveyed to those skilled in the art.

[0023] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0024] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller node devices.

[0025] The flowcharts shown in the accompanying drawings are only illustrative and not necessarily include all contents and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0026] It should be noted that: "a plurality of" mentioned in this article means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0027] The implementation details of the technical solution of the embodiments of the present application are elaborated in detail as follows: According to one aspect of the embodiments of the present application, a control method for an agricultural robot is provided. Figure 1 FIG. is a flowchart of a control method for an agricultural robot shown according to the embodiments of the present application, including steps S1-S5, which are introduced in detail as follows: In step S1, determine the agricultural area where the agricultural robot is to perform tasks. The agricultural area includes a plurality of sub-areas, and at least one type of crop is planted in each sub-area; In step S2, determine the task amount of each sub-area according to the crop information in each sub-area; In step S3, determine the target area where each agricultural robot is to perform tasks according to the energy efficiency information of each agricultural robot and the task amount of each sub-area. Each target area includes at least one sub-area; In step S4, for each agricultural robot, determine the first control strategy of the crop treatment system and the second control strategy of the irrigation system according to the crop information and environmental information in the target area, and generate the execution tasks of the agricultural robot according to the first control strategy and the second control strategy; In step S5, control each agricultural robot to perform crop treatment and / or watering irrigation on each target area according to its respective execution tasks.

[0028] Specifically, the scheduling system of the present application includes at least two agricultural robots, and through reasonable scheduling of the agricultural robots, the operation of crops in the agricultural area can be made more efficient. The execution subject of the control method of the present application can be a terminal device for controlling agricultural robots or a cloud platform, and the execution subject is mainly used to realize the scheduling of agricultural robots.

[0029] The agricultural area can specifically be an area planted with crops. The types of crops (i.e., the crop types described in this application) can be vegetables, melons, and fruits. In this application, the crop type is vegetables (such as Chinese cabbage) to elaborate on the detailed solution.

[0030] First, determine the agricultural area where the task is to be executed. This agricultural area may include crops of multiple different crop types, and the crops of a certain crop type may be in different growth stages. Considering these factors, the first control strategy and the second control strategy determined will be more flexible and accurate, and the operation accuracy of the crops in the agricultural area will also be better.

[0031] By dividing the agricultural area into multiple sub-areas, the areas of these sub-areas can be equal or unequal, which is not limited here. Each sub-area has at least one type of crop.

[0032] In an embodiment of the present application, determining the task amount of each of the sub-areas according to the crop information in each of the sub-areas includes: For each of the sub-areas, determine the crop type and the number of crops in the sub-area according to the crop information, and determine the task amount of the sub-area according to the crop type and the number of crops.

[0033] Specifically, determine the task amount of the sub-area according to the crop type and the number of crops in the sub-area. For example, the crop type in sub-area A is Chinese cabbage, and the number of Chinese cabbages is 50. The crop types in sub-area B are Chinese cabbage and leek, the number of Chinese cabbages is 30, and the number of leeks is 60. In this way, the task amount of sub-area A and the task amount of sub-area B can be obtained by multiplying the conversion weight a corresponding to Chinese cabbage by its quantity and multiplying the conversion weight b corresponding to leek by its quantity. Among them, the conversion weight a corresponds to Chinese cabbage, and the conversion weight b corresponds to leek. Different crop types correspond to different conversion weights, and the conversion weights can be obtained through actual tests. For example, when the agricultural robot operates on Chinese cabbage, the energy efficiency and picking energy consumption required are relatively large, so the conversion weight can be set larger. When operating on leek, the energy efficiency and picking energy consumption required are relatively small, so the conversion weight can be set smaller. In this way, the task amounts between different crop types can be balanced, and the target areas of different agricultural robots can be better allocated, making the operation of the agricultural area more efficient.

[0034] In an embodiment of the present application, determining the target area of each agricultural robot's task to be executed according to the energy efficiency information of each agricultural robot and the task amount of each sub-area includes: For each of the agricultural robots, determine the power status, task execution efficiency, and load capacity of the agricultural robot based on the energy efficiency information of the agricultural robot, and determine the ability value of the agricultural robot according to the power status, the task execution efficiency, and the load capacity; Determine the sum of the ability values of all agricultural robots and the sum of the task amounts of all sub-regions; For each of the agricultural robots, determine the proportion of the ability value of the agricultural robot in the sum of the ability values, and determine the target task amount of the agricultural robot according to the product of the proportion and the sum of the task amounts. Determine the target region of the task to be executed according to the target task amount.

[0035] Specifically, for each agricultural robot, the target region of the task to be executed by the agricultural robot can be allocated according to the energy efficiency information of the agricultural robot and the sum of the task amounts of each sub-region, so as to balance the energy efficiency information among the agricultural robots, so that the agricultural robot with higher energy efficiency can undertake the target region with more task amounts, so as to improve the operation efficiency of the entire agricultural region.

[0036] Furthermore, the power status, task execution efficiency, and load capacity of the agricultural robot can be determined according to the energy efficiency information of the agricultural robot. The task execution efficiency can be used to characterize the energy consumption (such as the consumed power) and time required for the agricultural robot to execute the task. For example, if the task is a picking task, then the power and time consumed by the agricultural robot during the picking task are used as the energy efficiency information of the agricultural robot. The agricultural robot is also equipped with a crop accommodation device, and the load capacity is used to characterize the maximum weight of the crops that the agricultural robot can carry. For example, during the picking task, the agricultural robot puts the picked crops into the crop accommodation device, so that the crops can be transported to the designated location after being picked / harvested without manual transportation.

[0037] Furthermore, comprehensively consider the ability of the agricultural robot through the power status, task execution efficiency, and the load capacity to obtain the ability value of the agricultural robot. There are corresponding weight coefficients for the power status, task execution efficiency, and load capacity, that is, the first weight coefficient x corresponds to the power status, the second weight coefficient y corresponds to the task execution efficiency, and the third weight coefficient z corresponds to the load capacity. Then the ability value of the agricultural robot can be represented by H and is reflected by the following formula: H = x * power status + y * task execution efficiency + z * load capacity, where both x and y are 0.4 and the load capacity is 0.2.

[0038] Calculate the sum of the ability values of all agricultural robots and the sum of the task amounts of all sub-regions. Then, the proportion of the ability value of each agricultural robot in the sum of the ability values can be determined, and the task amount can be allocated accordingly. That is, multiply the proportion by the sum of the task amounts, and the product can determine the target task amount of the agricultural robot, thereby determining the target area.

[0039] In an embodiment of the present application, determining the first control strategy of the crop governance system according to the crop information and environmental information in the target area includes: Determine the crops in the target area, as well as the image information and spectral data of the crops according to the crop information; Determine the disease type, disease degree, and estimated spread range of the crops according to the image information and the spectral data; Determine the light intensity and humidity in the target area according to the environmental information; Determine the first control strategy according to the disease type, the disease degree, the estimated spread range, the light intensity, and the humidity, so as to determine the pesticide dosage and spraying method for the crops according to the first control strategy.

[0040] Specifically, various sensors such as a high-resolution camera, a multispectral imager, and a chlorophyll fluorescence sensor are equipped on the agricultural robot. The high-resolution camera is used to obtain the visible image of the crops (i.e., image information), the multispectral imager can collect spectral data in different bands (i.e., spectral data), and the chlorophyll fluorescence sensor can detect the fluorescence information related to the photosynthesis of the crops. For example, the multispectral imager can collect data in bands such as blue light (450 - 520nm), green light (520 - 600nm), red light (600 - 700nm), and near-infrared light (760 - 900nm). The collected data is transmitted to the execution entity (such as a cloud platform) of the present application in real time through a 5G network. By inputting the collected data into the model used by the cloud platform, the model adopts a deep learning architecture based on a convolutional neural network (CNN), such as ResNet, Inception, etc. Taking ResNet as an example, its core structure is a residual block (Residual Block). The formula of the residual block is:

[0041] Among them, is the input of the th layer, is the output of the th layer, is the residual function, is the The weights of the layers. This structure can effectively solve the problem of vanishing gradients in the training of deep neural networks, enabling the model to learn more advanced features.

[0042] During the training phase of the large model, a large amount of labeled crop disease sample data is used. These samples contain image information and spectral data of normal and diseased crops at different growth stages. Through the backpropagation algorithm, the parameters of the model are continuously adjusted to continuously improve the recognition accuracy of the model for diseases. During the diagnosis phase, the large model extracts and analyzes the features of the input image information and spectral data, and outputs the disease type, disease severity, and possible diffusion range (i.e., the estimated diffusion range) of the crops, and uses the disease type, disease severity, and possible diffusion range for diagnosis to obtain the diagnosis result.

[0043] According to the diagnosis result, the first control strategy, that is, the prevention and control strategy, is determined in combination with the light intensity and the humidity. For example, if the diagnosis result is downy mildew and the disease severity is moderate, then the corresponding protective agent, that is, the pesticide, is recommended, and it is sprayed at 9 - 11 am on a sunny day (i.e., the spraying method) according to the determined dose per mu (such as the pesticide dose), because the light intensity and humidity at this time are conducive to the agent to play its role. These decision instructions (i.e., the first control strategy) are transmitted back to the agricultural robot through the 5G network, and the agricultural robot performs precise prevention and control operations according to the instructions.

[0044] CNN has powerful capabilities in processing image information and spectral data. Its convolutional layer slides the convolutional kernel over the data for convolution to extract local features, and the pooling layer reduces the dimension of the features to reduce the amount of calculation. CNN can automatically learn the feature representation of diseases and has a higher accuracy compared to traditional machine learning methods. Multispectral data and chlorophyll fluorescence data can provide more information about the physiological state of crops, and combined with CNN, diseases can be diagnosed more comprehensively.

[0045] Chlorophyll fluorescence parameters are closely related to the health status of crops, such as the maximum photochemical efficiency ( ), and the formula is:

[0046] where, is the initial fluorescence, is the maximum fluorescence. When the crop is invaded by diseases, The value will change, and by monitoring this chlorophyll fluorescence parameter, it can assist in disease diagnosis. For example, in a cabbage experimental field, an agricultural robot operates in different areas to collect multi-source data of cabbages (i.e., image information, spectral data, and chlorophyll fluorescence parameters). By setting different degrees of downy mildew infection areas and analyzing the collected multi-source data through a model, the disease situation is diagnosed, and a control decision (i.e., the first control strategy) is generated. The agricultural robot performs control operations according to the control decision.

[0047] In an embodiment of the present application, the second control strategy is determined through the following steps: Determine the temperature and soil information in the target area according to the environmental information; Determine the growth stage of the crop according to the image information and the spectral data; Determine the irrigation priority and irrigation water volume of the irrigation system for the crop according to the light intensity, the humidity, the temperature, the soil information, and the growth stage; Determine the second control strategy according to the irrigation priority and the irrigation water volume.

[0048] Specifically, the determination of the irrigation priority: Crop growth stage: Crops in different growth stages have different water requirements. For example, cabbages have a greater water requirement during the growth period and relatively less during the maturity period. The model predicts the water requirements of crops in different sub-areas or different target areas, and combines the air humidity and soil humidity data (soil information) in the environmental information to determine the irrigation priority. For example, in an arid area (i.e., the area where the target area is located is arid), crops in the critical growth stage are irrigated first.

[0049] Soil humidity data: The soil humidity is monitored in real time through a soil sensor. When the soil humidity is lower than the set threshold, this area is irrigated first. For example, if the soil humidity in a certain area is only 30%, while the soil humidity in other areas is 50%, the area with lower soil humidity is irrigated first.

[0050] Crop health status: The health status of crops is monitored through devices such as a multispectral imager and a chlorophyll fluorescence sensor. If it is found that the crops in a certain area show water shortage symptoms, such as yellowing and curling of leaves, this area is irrigated first.

[0051] The determination of the irrigation water volume: Crop water requirement: Determine the crop water requirement according to the crop type and its growth stage in different regions. For example, the daily water requirement of Chinese cabbage is about 5 ml during the growth period and about 3 ml during the maturity period. The daily water requirement of leeks is about 3 ml during the growth period and about 1.5 ml during the maturity period. Based on these data, the model calculates the required irrigation water volume for each target area by combining the current soil humidity (soil information), air humidity, air temperature, light intensity and other data.

[0052] Soil water retention capacity: Different soil types have different water retention capacities. For example, clay has a stronger water retention capacity, while sandy soil has a weaker water retention capacity. The model can also adjust the irrigation water volume according to the soil type and the current soil humidity. For example, for clay with a strong water retention capacity, the irrigation water volume can be appropriately reduced, while for sandy soil with a weak water retention capacity, the irrigation water volume needs to be increased.

[0053] In one embodiment of the present application, controlling each of the agricultural robots to perform crop management and / or watering irrigation on each of the target areas according to their respective tasks includes: For each agricultural robot, determine the mobile planning route of the agricultural robot according to the task, and control the agricultural robot to move according to the mobile planning route and control the agricultural robot to perform crop management and / or watering irrigation on the target area during the movement.

[0054] The agricultural robot further includes a throttle control system. During the process of controlling the agricultural robot to move according to the mobile planning route, the agricultural robot moves through the throttle control system.

[0055] Specifically, the mechanical structure of the agricultural robot proposed in the present application is different from that of traditional agricultural robots. The present application has made design innovations in the throttle control of agricultural robots, and has also made innovations in the picking mechanism. In addition, an irrigation system, a crop accommodation device, and a crop management system have been newly added. Based on the above innovative structures, the control method of the agricultural robot proposed in the present application is realized.

[0056] In one embodiment of the present application, the throttle control of the agricultural robot is an important link for the stable operation of the machine. If the agricultural robot often starts and stops suddenly during the movement, it will increase the mechanical fatigue of the agricultural robot and reduce the overall service life of the agricultural robot. Therefore, the present application has made innovations in the throttle control system of the agricultural robot.

[0057] The throttle control algorithm used in the throttle control system of the agricultural robot can be adjusted using PID technology. Parameter adjustment is a very important link in PID technology, and genetic algorithms can be used to optimize the parameter adjustment process.

[0058] The genetic algorithm searches for the optimal solution to the problem by simulating natural selection and genetic mechanisms. The algorithm process includes initializing the population, evaluating fitness, selection, crossover and mutation, etc. until the termination condition is met.

[0059] The mathematical model of PID control is:

[0060] in, is the control input, is the systematic error, , and are the proportional, integral and derivative gains respectively.

[0061] Algorithm flow: 1. Initialize the population: randomly generate a set of PID parameters as the initial population. 2. Evaluate fitness: calculate the fitness function value of each individual. The fitness function can be the sum of the squares of the system error. 3. Genetic operation: perform selection, crossover, mutation and other operations according to the fitness function value to generate a new population (consisting of multiple individuals). 4. Termination condition: reach the preset number of iterations or the fitness function value reaches the preset threshold. 5. Output the optimal solution: output the optimal PID parameter combination.

[0062] In the PID control algorithm, individuals represent a specific set of PID parameters, namely the proportional (P), integral (I), and differential (D) gain values. Each individual is a possible combination of PID controller parameters in the agricultural robot throttle control. These individuals can be regarded as points in the PID parameter space, and together they constitute the initial population for the genetic algorithm to search for the optimal solution. Each individual corresponds to a strategy for robot throttle control. For example, one individual can be (Kp=2.5, Ki=0.1, Kd=0.05), and another individual can be (Kp=3.0, Ki=0.2, Kd=0.1). Different combinations of PID parameters will produce different effects on the robot throttle control. The purpose of the genetic algorithm is to select the best set of parameters from these numerous combinations to achieve precise control of the robot throttle.

[0063] Detailed explanation: 1. Initialize the population In the initial stage of the genetic algorithm, a set of PID parameters needs to be randomly generated as the initial population. Each individual represents a set of PID parameter combinations, such as (Kp, Ki, Kd). The size of the population can be determined according to the complexity of the actual problem and computing resources, usually ranging from dozens to hundreds of individuals. For example, 100 random PID parameter combinations can be generated, and the parameter values of each combination are within a preset range (e.g., Kp is between 0 and 10, Ki is between 0 and 1, and Kd is between 0 and 1). The purpose of this step is to provide a diverse initial solution space for the algorithm to optimize in subsequent iterations.

[0064] 2. Evaluate fitness After generating the initial population, the fitness of each individual needs to be evaluated. The fitness function is a key indicator for measuring the quality of an individual, usually defined based on the sum of squares of system errors. For example, the performance of the PID controller in a simulation environment can be used to calculate the fitness value. Specifically, apply the PID parameters of each individual to the robot throttle control system, simulate the system response, and calculate the sum of squares of system errors as the fitness value. The smaller the fitness value, the better the PID parameter combination of the individual. For example, if the sum of squares of system errors for a certain individual's PID parameter combination is 100, while that for another individual's PID parameter combination is 50, the latter has a higher fitness value.

[0065] 3. Selection operation The purpose of the selection operation is to select individuals with higher fitness values from the current population as the parents of the next generation population. Commonly used selection methods include roulette wheel selection, tournament selection, and ranking selection, etc. For example, the roulette wheel selection method can be used. Normalize the fitness value of each individual into a probability, and then randomly select individuals according to these probabilities. Individuals with higher fitness values have a greater probability of being selected, thus ensuring a higher proportion of excellent individuals in the next generation population. For example, if the fitness value of a certain individual accounts for 20% of the total fitness value, its selection probability is 20%.

[0066] 4. Crossover and mutation operations Crossover and mutation operations are the core of the genetic algorithm and are used to generate new individuals. The crossover operation generates new individuals by exchanging parts of the genes of two individuals. For example, the single-point crossover method can be used. Randomly select a crossover point and exchange the genes of the two individuals at this point. The mutation operation randomly changes some genes of an individual to increase the diversity of the population. For example, randomly select a gene of an individual and randomly change its value within a certain range. The purpose of crossover and mutation operations is to gradually optimize the fitness value of individuals while maintaining the diversity of the population.

[0067] 5. Termination condition After completing the crossover and mutation operations, it is necessary to check whether the termination conditions are met. The termination conditions can be reaching a preset number of iterations or the fitness value reaching a preset threshold. For example, the number of iterations can be set to 100 generations, or the iteration stops when the fitness value is less than 10. If the termination conditions are met, the current optimal PID parameter combination is output; otherwise, return to the fitness evaluation step and continue the iteration for the next generation.

[0068] 6. Output the optimal solution After the termination conditions are met, the algorithm outputs the optimal PID parameter combination. This set of parameters is the best PID parameter configuration obtained through genetic algorithm optimization, which can optimize the performance of the robot throttle control. For example, the optimal PID parameter combination may be (Kp = 2.8, Ki = 0.15, Kd = 0.08), and this set of parameters performs best in the evaluation of the fitness function, which can minimize the system error and improve the control performance.

[0069] Through the throttle control system implemented by the present application based on the above PID control algorithm, the mechanical fatigue problem that occurs during the movement of agricultural robots can be effectively solved, thereby increasing the overall lifespan of agricultural robots.

[0070] During the task execution process, agricultural robots perform real-time information interaction through the 5G network and a custom communication protocol. Each agricultural robot sends its own task progress, location information, and encountered problems to other collaborative robots and the model (i.e., the cloud platform proposed in the present application) in real time. For example, after the No. 3 robot completes the fertilization task, it sends the task completion information and the current location to the No. 5 robot and the model. The No. 5 robot adjusts its action route according to the received information and goes to the west area to meet the No. 3 robot for cleaning work.

[0071] When operating in a greenhouse, multiple agricultural robots are arranged. The staff can issue complex collaborative task instructions through voice and observe the task execution situation of agricultural robots. Record indicators such as the time from when the agricultural robot receives the instruction to when it starts to execute the task, the accuracy of task completion, and the communication stability during the collaboration process.

[0072] In summary, the present application can perform task allocation and flexible scheduling based on the structurally improved agricultural robots, improving the operation efficiency and operation accuracy of crops in agricultural areas.

[0073] In some embodiments, In an embodiment of the present application, the mechanical structure of the agricultural robot of the present application is introduced in detail below. First, as Figure 2 shown, Figure 2 is the overall block diagram of each structure of the agricultural robot of the present application.Figure 3 This is the overall structural diagram of the agricultural robot of this application.

[0074] Reference Figure 3-4 The agricultural robot includes a walking mechanism 100, and the walking mechanism 100 includes a chassis frame 110. The chassis frame 110 can be assembled from multiple aluminum profiles after being reinforced by high-precision extrusion angle codes. A transverse rod 111 is installed on the front side of the chassis frame 110. Both ends of the transverse rod 111 are fork-shaped heads and are rotatably installed with a steering arm 112. A tire 120 is installed at the end of the steering arm 112 away from the transverse rod 111. A trapezoidal arm 113 is integrally formed at one end of the steering arm 112 close to the transverse rod 111. The steering arm 112 and the trapezoidal arm 113 are L-shaped as a whole, and the end of the trapezoidal arm 113 away from the steering arm 112 is bent downward to form a Z shape. The two trapezoidal arms 113 on both sides are rotatably connected to a tie rod 114 at one end away from the steering arm 112. A rubber sleeve is provided at the position where the end of the tie rod 114 is rotatably connected to the trapezoidal arm 113, which can play a role in dust protection. The tie rod 114 is parallel to the transverse rod 111 , and the length of the tie rod 114 is shorter than that of the transverse rod 111 , so that the tie rod 114 , the two trapezoidal arms 113 on both sides and the transverse rod 111 together form a trapezoidal structure.

[0075] One end of one of the trapezoidal arms 113 away from the steering arm 112 is integrally connected with a section arm 115, and one end of the section arm 115 away from the trapezoidal arm 113 is rotatably connected with a steering tie rod 116, and one end of the steering tie rod 116 away from the section arm 115 is rotatably installed with a steering rocker arm 117, and the chassis frame 110 is also installed with a rotating motor 118, and the output end of the rotating motor 118 is transmission-connected with one end of the steering rocker arm 117 away from the steering tie rod 116. By controlling the rotation of the rotating motor 118, the steering rocker arm 117 can be driven to swing, and the steering rocker arm 117 drives the steering tie rod 116 to pull or push the trapezoidal arm 113, so that the section arm 115 swings with the trapezoidal arm 113, thereby achieving the effect of swinging the tire 120 to achieve steering.

[0076] At the rear side of the chassis frame 110, two traveling motors 130 are arranged side by side. The output end of the traveling motor 130 is drivingly connected to a transmission shaft 140. The two transmission shafts 140 are coaxially arranged, and the transmission shaft 140 is rotatably installed at the rear side position of the chassis frame 110 through bearings. A tire 120 is installed at the end of the transmission shaft 140 away from the traveling motor 130. A speed reducer can be connected between the transmission shaft 140 and the output end of the traveling motor 130. The speed reducer can reduce the speed and increase the torque of the traveling motor, improving the driving torque. The trapezoidal arms 113 are respectively connected to two rotation centers of the transverse rod 111 and the cross tie rod 114 to form an extension line of the two ends' connection line. The two extension lines formed by the two trapezoidal arms 113 intersect at a gathering point, and this gathering point is in the vertical plane where the axis of the transmission shaft 140 is located. When turning and swinging the trapezoidal arms 113 on both sides, the swinging angle of the trapezoidal arm 113 on the inner side of the turn can be made larger than the swinging angle of the trapezoidal arm 113 on the outer side of the turn, adapting to the different turning radii of the tires on both sides, so that the chassis frame 110 can achieve a smaller turning radius and improve flexibility. In addition, the two tires at the rear side are driven by separate traveling motors 130, which can improve the reliability of the driving of the traveling mechanism 100.

[0077] Refer to Figure 5-6 , a general frame is built on the top of the chassis frame 110 by multiple aluminum profiles. A cross beam 310 is installed on the top of the general frame. At one end of the cross beam 310 away from the general frame, a picking device 300 is installed. The picking device 300 includes a cutting component 400 and a clamping component 500. At one end of the cross beam 310 away from the general frame, an upper frame 321 is installed. The upper frame 321 is a square frame assembled by four aluminum profiles. Four connecting rods 322 are installed at the bottom of the upper frame 321. The bottoms of the four connecting rods 322 are commonly connected to a lower frame 323. The lower frame 323 is a square frame assembled by four aluminum profiles. The upper frame 321, the connecting rods 322 and the lower frame 323 form a sub-frame 320. The sub-frame 320 is located on one side of the general frame, that is, on one side of the chassis frame 110.

[0078] The cutting assembly 400 includes two support frames 410 and two disc cutters 420. The two support frames 410 are respectively installed at the two sides of the front side of the lower frame 323, or the two support frames 410 are respectively installed at the bottom of the two connecting rods 322 at the front side. The two disc cutters 420 are respectively installed at one end of the two support frames 410 away from the sub-frame 320. The disc cutter 420 includes a cutting motor and a cutting disc, the cutting motor is installed on the support frame 410, and the cutting disc is installed at the output end of the cutting motor. The edges of the two cutting discs on both sides are spaced a certain distance apart so that the two cutting discs cannot interfere with each other when rotating. When the walking mechanism 100 drives the sub-frame 320 to move, it can drive the two disc cutters 420 to move. After the crops pass through the two disc cutters 420, the cutting discs of the two disc cutters 420 can cut the crops. The disc cutter 420 is used to cut the roots of the crops.

[0079] The clamping assembly 500 includes a belt conveying mechanism 510, a conveying rod 520 and a clamping claw 530. The belt conveying mechanism 510 includes an outer frame 511 installed on the crossbeam 310. A fixed wheel 512 is rotatably installed at the bottom of one end of the outer frame 511, and an adjusting frame 513 is slidably installed at the other end of the outer frame 511, and a movable wheel 514 is rotatably installed at the bottom of the adjusting frame 513. The fixed wheel 512 and the movable wheel 514 are jointly sleeved with an annular belt 515. The outer peripheral sides of the fixed wheel 512 and the movable wheel 514 are both provided with the same external teeth, and the inner side of the belt 515 is provided with internal teeth that can mesh with the external teeth, so that the slippage between the belt 515 and the fixed wheel 512 or between the belt 515 and the movable wheel 514 can be reduced. A conveying motor 518 is installed on the outer frame 511, and the output end of the conveying motor 518 is transmission-connected with the fixed wheel 512. The conveying motor can drive the fixed wheel 512 to rotate, thereby driving the belt 515 for conveying. In other embodiments, the conveying motor 518 can also be installed on the adjustment frame 513, and the output end of the conveying motor 518 is connected to the movable wheel 514 in a transmission manner.

[0080] Second slide rails 541 are installed on both inner sides of the outer frame 511. The cross section of the second slide rails 541 is I-shaped. Second sliders 540 are slidably installed on the second slide rails 541. The two second sliders 540 on both sides are installed with a moving frame 517. The bottom of the moving frame 517 is installed with a plurality of long grooves. The moving frame 517 is installed with the top of the conveying rod 520 through bolts passing through the long grooves.

[0081] An adjustment plate is installed at one end of the outer frame 511 near the movable wheel 514, and a threaded rod 516 is rotatably installed on the adjustment plate. The threaded rod 516 passes through the adjustment frame 513 and is installed with a hand wheel, and the threaded rod 516 is threadedly connected to the adjustment frame 513. Guide rods are installed at positions on both sides of the adjustment plate near the threaded rod 516, and the guide rods are parallel to the threaded rod 516. The guide rods are slidably penetrated on the adjustment frame 513, and the end of the guide rod away from the outer frame 511 is installed on the outer frame 511 through an L-shaped plate. The end of the threaded rod 516 away from the outer frame 511 is rotatably connected to the L-shaped plate, and the rotating shaft of the handle is rotated and penetrated through the L-shaped plate and connected to the threaded rod 516. Thereby, the sliding stability of the adjustment frame 513 can be guaranteed. By rotating the handle, the threaded rod 516 can be driven to rotate, thereby driving the adjustment frame 513 to move, adjusting the distance between the movable wheel 514 and the fixed wheel 512, and adjusting the tightness of the belt 515.

[0082] The clamping claw 530 includes a mounting plate 531, which is L-shaped, and one end of the mounting plate 531 is provided with a plurality of long holes in parallel, and the bottom of the conveying rod 520 is mounted on the mounting plate 531 by bolts inserted in the long holes. A fixed arm 532 is installed in the middle of the mounting plate 531, and a fixed bar 533 is installed at one end of the fixed arm 532 away from the mounting plate 531, and the middle part of the fixed bar 533 is connected to the fixed arm 532. A movable arm 534 is rotatably installed at one end of the mounting plate 531 away from the conveying rod 520, and the movable arm 534 is bent to form an L-shaped structure, and a movable bar 535 is installed at one end away from the mounting plate 531, and the middle part of the movable bar 535 is connected to the movable arm 534. Both the fixed bar 533 and the movable bar 535 are arc-shaped. A clamping motor 536 is installed at the bottom of the mounting plate 531, and the output end of the clamping motor 536 is transmission-connected to the movable arm 534. Both ends of the fixed bar 533 and the movable bar 535 are bent in opposite directions, so that the fixed bar 533 and the movable bar 535 are both in an arc-shaped bar structure. When the movable bar 535 rotates toward the fixed bar 533 to be close to the fixed bar 533, the fixed bar 533 and the movable bar 535 can be clamped on the outside of the crop to clamp the crop. When the fixed bar 533 and the movable bar 535 are close to each other to form a clamping state that can clamp the crop, the fixed bar 533 and the movable bar 535 are respectively located on both sides of the two disc cutters 420. When the clamping motor 536 is driven, the movable arm 534 can be driven to rotate, so that the movable bar 535 and the fixed bar 533 can clamp the crop.

[0083] A lifting telescopic cylinder 600 is installed at the rear side of the sub-frame 320. The output end of the lifting telescopic cylinder 600 is installed with a base plate 610. The base plate 610 is a square plate. A transfer plate 620 is rotatably installed on the side of the base plate 610 close to the main frame. Fence edges are provided on the edges of the other three sides. The two ends of the transfer plate 620 are installed with rotating shafts. The axial direction of the rotating shafts is parallel to the conveying direction of the belt 515. The rotating shafts are rotatably installed on the base plate 610. A transfer motor 630 is also installed on one side of the base plate 610. The output end of the transfer motor 630 is in transmission connection with one of the rotating shafts, so that the transfer motor 630 can drive the transfer plate 620 to rotate. In the initial state, one side of the transfer plate 620 is attached to the top surface of the base plate 610.

[0084] The conveying direction of the belt 515 is the same as the cutting direction formed by the two disk cutters 420. The two ends of the conveying stroke of the belt conveying mechanism 510 respectively make the clamping claws 530 correspond to the positions of the cutting assembly 400 and the base plate 610. When the cutting assembly 400 cuts the crop, the belt conveying mechanism 510 moves the clamping claws 530 to the top of the cutting assembly 400 and clamps the crop. The clamping claws 530 can clamp the crop before or during cutting. After the cutting assembly 400 finishes cutting, the belt conveying mechanism 510 moves the clamping claws 530 and the crop together to the top of the base plate 610. After releasing the clamping claws 530, the crop can be placed on the transfer plate 620. By driving the transfer motor 630, the crop can be flipped to leave the transfer plate 620.

[0085] Refer to Figure 7-8 , a transporting mechanism 200 is installed on the top of the chassis frame 110. The transporting mechanism 200 is located at the middle position of the main frame. The transporting mechanism 200 includes a cross frame 210 and a lateral driving member 220. The cross frame 210 is installed on the top of the chassis frame 110. First slide rails 227 are installed on both sides of the top of the cross frame 210. First sliders 226 are slidably installed on the first slide rails 227. The two first sliders 226 on both sides are jointly installed with a bottom plate 230.

[0086] The lateral driving member 220 includes two lateral motors 221, which are respectively installed at both ends of the cross frame 210. A winding wheel 224 is installed at the output end of the lateral motor 221. A vertically arranged pulling vertical plate 222 is installed on the bottom plate 230, and hooks 223 are installed on both sides of the pulling vertical plate 222. The two hooks 223 are at the same horizontal position. A pulling wire 225 is installed on the winding wheel 224, and the pulling wire 225 can be a fishing line. One end of the pulling wire 225 is wound around the outside of the winding wheel 224 and fixed to the winding wheel 224. Baffle edges are provided on both sides of the winding wheel 224 to prevent the pulling wire 225 from detaching from the winding wheel 224. The other end of the pulling wire 225 is installed on the corresponding hook 223. By respectively driving the two lateral motors 221 on both sides, the winding wheels 224 on both sides respectively loosen and tighten the pulling wires 225 on the corresponding sides, so that the bottom plate 230 can slide on the cross frame 210.

[0087] A longitudinal frame 240 and a longitudinal driving member 250 are installed on the top of the bottom plate 230. Third slide rails are installed on both sides of the longitudinal frame 240, and third sliders slide vertically on the third slide rails. The two third sliders on both sides are jointly installed with a bracket 290, and a storage plate 260 is installed on the top of the bracket 290. One side of the top surface of the storage plate 260 is inclined downward near the rear side, and a baffle 270 is rotatably installed on the inclined side of the storage plate 260. Rotating shafts are rotatably installed at both ends of the storage plate 260 near the baffle 270, and the baffle 270 is installed on the rotating shafts. When the baffle 270 rotates to be parallel to the storage plate 260, the top surface of the storage plate 260 is flush with the top surface of the baffle 270, so that the crops on the storage plate 260 can roll smoothly onto the baffle 270. A blanking motor 280 is installed on the storage plate 260, and the output end of the blanking motor 280 is connected to the rotating shaft, so that the blanking motor 280 can drive the baffle 270 to flip.

[0088] The longitudinal driving member 250 includes a longitudinal motor 251 installed at the bottom of the bottom plate 230, a fixed sprocket 252 rotatably installed at the bottom of the longitudinal frame 240. A tensioning frame 253 slides vertically at the top of the longitudinal frame 240. The tensioning frame 253 is rotatably installed with a movable sprocket 254. A moving chain 255 is sleeved on both the movable sprocket 254 and the fixed sprocket 252. The conveying direction of the moving chain 255 is the vertical direction. Support plates 256 are installed on both sides of the top of the longitudinal frame 240. Adjusting rods 257 are rotatably installed on both sides of the tensioning frame 253. The adjusting rods 257 are threadedly connected to the corresponding support plates 256. Tightening nuts are also threadedly installed on both sides of the adjusting rods 257 located on both sides of the support plates 256, which can improve the stability of the relative position of the adjusting rods 257 with respect to the support plates 256. By rotating the adjusting rods 257 on both sides, the distance between the tensioning frame 253 and the support plates 256 can be adjusted, that is, the relative position of the movable sprocket 254 and the fixed sprocket 252 can be adjusted, so that the tension of the moving chain 255 can be adjusted. A connecting plate 258 is installed on one side of the bracket 290. The connecting plate 258 is connected to the moving chain 255. By driving the longitudinal motor 251, the fixed sprocket 252 can be driven to rotate, so as to drive the moving chain 255 to convey the bracket 290 in the vertical direction, so that the vertical movement of the placing plate 260 can be realized. In other embodiments, the pulling vertical plate 222 is located on the side of the longitudinal frame 240 away from the placing plate 260. The hook 223 on the side of the pulling vertical plate 222 close to the longitudinal frame 240 is at a higher horizontal position than the hook 223 on the side away from the longitudinal frame 240.

[0089] The sliding direction of the placing plate 260 relative to the longitudinal frame 240 is perpendicular to the sliding direction of the bottom plate 230 relative to the transverse frame 210. And the sliding direction of the bottom plate 230 relative to the transverse frame 210 is perpendicular to the conveying direction of the belt conveying mechanism 510. It should be noted that one of the pulling lines 225 is arranged in the inner annular gap of the moving chain 255, which can ensure that the movement of the pulling line 225 and the movement of the moving chain 255 will not interfere with each other, and the overall spatial structure is more compact and small.

[0090] Refer to Figure 9 , at least two storage boxes 700 are placed side by side in the vertical direction at the rear position of the chassis frame 110. The storage boxes 700 are close to the lower side of the placing plate 260. There is a certain distance between two adjacent upper and lower storage boxes 700, which allows crops to be placed in the lower storage box 700.

[0091] The horizontal frame 210 and the base plate 610 are arranged correspondingly in the sliding direction of the bottom plate 230 relative to the horizontal frame 210. In the initial state, the storage plate 260 can be moved to a position at the same height and close to the base plate 610, or a position slightly lower than and close to the base plate 610 by the horizontal driving member 220 and the vertical driving member 250. When the crop is placed on the transfer plate 620, the crop can be turned over to leave the transfer plate 620 by driving the transfer motor 630, and the crop can be moved from the transfer plate 620 to the storage plate 260. Since the upper side of the storage plate 260 is inclined, the crop will roll to the lower side, and due to the blocking of the baffle 270, the crop will not roll to the range of leaving the storage plate 260. Then, the placing plate 260 and the crops thereon are moved to a position corresponding to the storage frame 700 to be placed therein, i.e., the placing plate 260 is slightly higher than the storage frame 700 to be placed therein, by means of the transverse driving member 220 and the longitudinal driving member 250. Then, the baffle plate 270 is driven to make the baffle plate 270 and the placing plate 260 level or slightly lower. At this time, the crops on the placing plate 260 slide or roll along the inclined surface of the placing plate 260 to the baffle plate 270 under the action of gravity and then slide or roll into the storage frame 700. Alternatively, the crops slide or roll directly from the placing plate 260 into the storage frame 700, thereby enabling the crops to be stored in the storage frame 700, so as to facilitate subsequent work such as storage and loading of the crops.

[0092] Reference Figure 7-10 In other embodiments, the storage plate 260 can also be rotatably connected to the bracket 290. Specifically, a rotating disk 228 is installed on the top of the bracket 290, and a rotating shaft is installed in the middle of the top of the rotating disk 228. The bottom of the storage plate 260 is rotatably installed on the rotating shaft, so that the storage plate 260 is rotatably connected to the rotating disk 228. A reversing motor 229 is installed at the bottom of the rotating disk 228, and the output end of the reversing motor 229 is transmission-connected to the storage plate 260. The storage frame 700 is located near the storage plate 260. When a storage frame 700 is full, the reversing motor 229 can be driven to drive the storage plate 260 to rotate 180 degrees, and the baffle 270 can be rotated from the rear side to the front side. When the baffle 270 rotates to slide out the crops, the crops can fall into the storage frame 700 on the front side. By arranging the storage frames 700 on both sides, the storage space of the crops can be increased, thereby improving the efficiency of crop picking.

[0093] In other embodiments, the picking device 300 can also be a mechanical picking hand with a smaller range of motion. The mechanical picking hand has a rotating pair of multiple dimensions, so that the mechanical picking hand can pick the crops and place the crops on the storage plate 260. The storage plate 260 is driven to move by the transverse driving member 220 and the longitudinal driving member 250, and the crops are placed in the corresponding storage frame 700 through the baffle 270 and the unloading motor 280. The picking process of the mechanical picking hand cooperates with the crop transportation and storage process of the transport mechanism 200, which can improve the efficiency of crop picking and storage. Among them, the crops can be green vegetables such as cabbage, kale, and lettuce.

[0094] Reference Figure 7-8 The chassis frame 110 is also equipped with a sowing mechanism, and the sowing mechanism 800 includes a seedling distributor 810, a seedling planting motor 820, a crank connecting rod piston mechanism 830 and a seedling planting claw 840. The seedling distributor 810 is installed at the top position of the front side of the chassis frame 110. The seedling distributor 810 includes a distribution plate 811 installed at the top of the front side of the general frame. The top two ends of the distribution plate 811 are rotatably installed with distribution sprockets 812. The two distribution sprockets 812 are jointly sleeved with a distribution chain 813. The distribution plate 811 is equipped with a distribution motor 814, and the output end of the distribution motor 814 is transmission-connected to one of the distribution sprockets 812. A plurality of distribution barrels 815 are arranged in parallel on the outside of the distribution chain 813. The bottom of the distribution barrel 815 is arranged in an oblique shape. A cover plate 816 is installed on the side of the distribution barrel 815 that is higher than the ground. The cover plate 816 can just cover the bottom opening position of the distribution barrel 815. The bottom of the cover plate 816 contacts the top position of the distribution plate 811, so that when the seedling is put into the distribution barrel 815 from the top opening, the seedling is temporarily inside the distribution barrel 815 and will not fall. A seedling outlet 817 is provided at the top of the distribution plate 811 and on the movement path of the distribution barrel 815. When the distribution motor 814 is driven to drive the distribution sprocket 812 to rotate, so that the distribution chain 813 drives the distribution barrel 815 to pass through the seedling outlet 817, the cover plate 816 at the bottom of the distribution barrel 815 above the seedling outlet 817 turns down due to gravity, thereby opening the oblique mouth at the bottom of the distribution barrel 815 and placing the seedling inside the distribution barrel 815.

[0095] A vertical plate is installed at the front side of the chassis frame 110, and the seedling planting motor 820 is installed on the top of the vertical plate. The output end of the seedling planting motor 820 is connected to the crank connecting rod piston mechanism 830 in a transmission manner. The crank connecting rod piston mechanism 830 includes a crank 831 installed at the output end of the seedling planting motor 820, a connecting rod 832 is rotatably installed at one end of the crank 831 away from the seedling planting motor 820, and a piston rod 833 is rotatably installed at one end of the connecting rod 832 away from the crank 831. A piston cylinder 834 is installed at the bottom of the vertical plate, and the piston rod 833 is vertically slidably installed in the piston cylinder 834. The bottom of the piston rod 833 passes through the piston cylinder 834 and is connected to the seedling planting claw 840.

[0096] The seedling inserting claw 840 includes a connecting ring 841 which is installed at the front side position of the chassis frame 110. A sleeve 845 is slidably installed inside the connecting ring 841, and the inner side of the connecting ring 841 is close to the outer side of the sleeve 845. Four pull rods 846 are evenly arranged in a ring on the outer side of the sleeve 845, and the pull rods 846 are hinged to the outer side of the sleeve 845. One end of the pull rod 846 away from the sleeve 845 is provided with a swing arm 843. A through hole is opened at one end of the swing arm 843. One end of the pull rod 846 away from the sleeve 845 is in a hook shape and is hooked in the through hole of the corresponding swing arm 843. An inserting claw 844 is installed at the end of the swing arm 843 away from the through hole. When not opened, the four inserting claws 844 form a tubular structure with a sealed bottom. Four connecting pieces 842 are evenly arranged in a ring on the outer side of the connecting ring 841. The bottom of the connecting piece 842 is rotatably connected to the middle part of the corresponding swing arm 843. The position where the pull rod 846 is connected to the sleeve 845 is higher than the position where the connecting ring 841 is connected to the swing arm 843. The tubular structure formed by the sleeve 845 and the four inserting claws 844 is vertically corresponding. The bottom of the piston rod 833 is installed at the top position of the sleeve 845.

[0097] When the seedlings fall out from the seedling outlet 817, they can just pass through the sleeve 845 and fall into the inside of the inserting claw 844. Then, by driving the crank connecting rod piston mechanism 830 to act through the seedling inserting motor 820, the piston rod 833 can push the sleeve 845 to move vertically. Thus, under the transmission action of the pull rod 846 and the swing arm 843, the inserting claw 844 can be pulled down and opened outwards, so that the seedlings can be planted. In other embodiments, two, three, five or six inserting claws 844 can also be correspondingly arranged.

[0098] In addition, a water tank 900 is also installed at the front side of the chassis frame 110. A horizontally arranged spray pipe 910 is installed at the middle position of the bottom of the chassis frame 110. The spray pipe 910 is connected to the water tank 900 through a water pipe, and an electric control valve is also installed on the water pipe. After planting the seedlings or seeds, the electric control valve can be controlled to be opened to spray and water the seedlings or seeds.

[0099] A solar photovoltaic power generation panel 920 is also installed at the top of the total frame. A battery is installed at the top of the chassis frame 110. The battery can provide electric energy for all the above-mentioned electrical equipment. The battery is electrically connected to the solar photovoltaic power generation panel 920, so that solar energy can be fully utilized for power generation and the endurance can be improved.

[0100] A lidar 930 and a speaker 940 are also installed at the front side of the top of the total frame. The control system can implement voice control based on the ROS robot operating system.

[0101] In some embodiments, in the structure shown in the present application, the foregoing pesticide spraying and watering irrigation are realized through the water tank 900.

[0102] In summary, the control method of the present application is implemented based on Figure 2-10 the improved agricultural robot shown. Through the energy efficiency information of each agricultural robot, sub-regions in the agricultural region are allocated to each agricultural robot, and the region allocated to each agricultural robot is the target region, and tasks such as crop management and watering irrigation need to be performed in the target region. Through the cooperation of each agricultural robot, the task allocation and scheduling of the agricultural robot are made more reasonable, and the operation efficiency of the agricultural region can be effectively improved.

[0103] During the process of the agricultural robot performing tasks in its corresponding target region, the first control strategy of the crop management system and the second control strategy of the irrigation system are flexibly adjusted according to the crop information and environmental information in the target region, so that the management, picking, and watering irrigation of the crops in the target region become more reasonable, thereby improving the operation effect on the crops, better cultivating or more efficiently picking the crops in the agricultural region, and improving the intelligence of the agricultural robot.

[0104] According to one aspect of the present application, a control device for an agricultural robot is also proposed, as Figure 11 shown, Figure 11 is a block diagram of the control device for the agricultural robot. The control device for the agricultural robot is applied to a scheduling system, the scheduling system includes at least two agricultural robots, the agricultural robot includes a crop management system and an irrigation system, and the device includes: A first determination unit 301, configured to determine the agricultural region where the agricultural robot is to perform tasks, the agricultural region includes multiple sub-regions, and at least one type of crop is planted in each sub-region; A second determination unit 302, configured to determine the task amount of each sub-region according to the crop information in each sub-region; A third determination unit 303, configured to determine the target region where each agricultural robot is to perform tasks according to the energy efficiency information of each agricultural robot and the task amount of each sub-region, and each target region includes at least one of the sub-regions; A fourth determination unit 304, configured to, for each agricultural robot, determine the first control strategy of the crop management system and the second control strategy of the irrigation system according to the crop information and environmental information in the target region, and generate the execution task of the agricultural robot according to the first control strategy and the second control strategy; A control unit 305, configured to control each agricultural robot to perform crop management and / or watering irrigation on each target region according to its respective execution task.

[0105] An embodiment of the present application also discloses an electronic device, including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method as described above.

[0106] It can be understood that the content in the specific embodiments of the above method is applicable to the embodiments of this electronic device. The functions specifically implemented by the embodiments of this electronic device are the same as those of the embodiments of the above method, and the beneficial effects achieved are also the same as those of the embodiments of the above method.

[0107] Exemplarily, referring to Figure 12 , Figure 12 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. Taking the electronic device as a terminal device as an example, Figure 12 in, the terminal device 1200 may include an RF (Radio Frequency) circuit 1210, a memory 1220 including one or more computer-readable storage media, an input unit 1230, a display unit 1240, a sensor 1250, an audio circuit 1260, a short-range wireless transmission module 1270, a processor 1280 including one or more processing cores, and a power supply 1290 and other components. Those skilled in the art can understand that Figure 12 the device structure shown in does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or combine certain components, or different component arrangements.

[0108] The RF circuit 1210 can be used for receiving and transmitting information or signals during a call. Specifically, after receiving the downlink information from the base station, it is handed over to one or more processors 1180 for processing. Additionally, data related to the uplink is sent to the base station. Generally, the RF circuit 1210 includes, but is not limited to, antennas, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, etc. In addition, the RF circuit 1210 can also communicate with the network and other devices via wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email, SMS (Short Messaging Service), etc.

[0109] The memory 1220 can be used to store software programs and modules (or units). The processor 1280 executes various functional applications and data processing by running the software programs and modules (or units) stored in the memory 1220. The memory 1220 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function), etc.; the data storage area can store data created according to the use of the terminal device 1200 (such as audio data, a phone book), etc. In addition, the memory 1220 can include high-speed random access memory and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. Correspondingly, the memory 1220 can also include a memory controller to provide access to the memory 1220 by the processor 1280 and the input unit 1230. Although Figure 12 the RF circuit 1210 is shown, it can be understood that it does not necessarily constitute a part of the terminal device 1200 and can be omitted entirely within the scope of not changing the essence of the invention as needed.

[0110] The input unit 1230 can be used to receive input numerical or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to object settings and function controls. Specifically, the input unit 1230 can include a touch-sensitive surface 1231 and other input devices 1232. The touch-sensitive surface 1231, also known as a touch display screen or a touchpad, can collect touch operations of an object on or near it (such as operations of the object using any suitable object or accessory such as a finger or a stylus on or near the touch-sensitive surface 1231), and drive corresponding connection devices according to a preset program. Optionally, the touch-sensitive surface 1231 can include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the touch orientation of the object, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1280, and can receive and execute the instructions sent by the processor 1280. In addition, various types such as resistive, capacitive, infrared, and surface acoustic wave can be used to implement the touch-sensitive surface 1231. In addition to the touch-sensitive surface 1231, the input unit 1230 can also include other input devices 1232. Specifically, the other input devices 1232 can include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, joysticks, etc.

[0111] The display unit 1240 can be used to display the information input by the object or the information provided to the object, and control various graphical object interfaces of the terminal device 1200. These graphical object interfaces can be composed of graphics, text, icons, videos, and any combination thereof. The display unit 1140 can include a display panel 1241. Optionally, the display panel 1241 can be configured in forms such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode). Further, the touch-sensitive surface 1231 can cover the display panel 1241. After the touch-sensitive surface 1231 detects a touch operation on or near it, it is transmitted to the processor 1280 to determine the type of touch event. Subsequently, the processor 1280 provides a corresponding visual output on the display panel 1241 according to the type of touch event. Although in Figure 12 the touch-sensitive surface 1231 and the display panel 1241 are implemented as two independent components to achieve input and input functions, in some embodiments, the touch-sensitive surface 1231 and the display panel 1241 can be integrated to achieve input and output functions.

[0112] The terminal device 1200 may also include at least one sensor 1250, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. Among them, the ambient light sensor can adjust the brightness of the display panel 1241 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 1241 or the backlight when the terminal device 1200 is moved to the ear. As a kind of motion sensor, the gravity acceleration sensor can detect the magnitude of the acceleration in each direction (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used in applications for identifying the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc. As for other sensors such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors that the terminal device 1200 may also be configured with, they will not be elaborated here.

[0113] The audio circuit 1260, the speaker 1261, and the microphone 1262 can provide an audio interface between the object and the terminal device 1200. The audio circuit 1260 can transmit the electrical signal converted from the received audio data to the speaker 1261, and the speaker 1261 converts it into a sound signal for output. On the other hand, the microphone 1262 converts the collected sound signal into an electrical signal, which is received by the audio circuit 1260 and then converted into audio data. After the audio data is output to the processor 1280 for processing, it is sent to another electronic device via the RF circuit 1210, or the audio data is output to the memory 1220 for further processing. The audio circuit 1260 may also include an earphone jack to provide communication between the peripheral earphone and the terminal device 1200.

[0114] The short - range wireless transmission module 1270 can be a WIFI (wireless fidelity) module, a Bluetooth module, or an infrared module, etc. The terminal device 1200 can transmit information with the wireless transmission modules set on other devices through the short - range wireless transmission module 1270.

[0115] The processor 1280 is the control center of the terminal device 1200. It connects various parts of the entire device using various interfaces and lines. By running or executing the software programs or modules stored in the memory 1220, and by calling the data stored in the memory 1220, it executes various functions of the terminal device 1200 and processes data, thereby exercising overall control over the device. Optionally, the processor 1280 may include one or more processing cores. Optionally, the processor 1280 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, the object interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above - mentioned modem processor may not be integrated into the processor 1280.

[0116] The terminal device 1200 further includes a power supply 1290 (such as a battery) for powering each component. Optionally, the power supply 1290 can be logically connected to the processor 1280 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 1290 can also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0117] Although not shown, the terminal device 1200 may further include a camera, a Bluetooth module, etc., which will not be elaborated here.

[0118] The embodiment of the present application also discloses a computer-readable storage medium, which stores a program executable by a processor. The program executable by the processor, when executed by the processor, is used to implement the method embodiment as described above.

[0119] It can be understood that the content in the above method embodiment is applicable to this computer-readable storage medium embodiment. The functions specifically implemented by this computer-readable storage medium embodiment are the same as those of the above method embodiment, and the beneficial effects achieved are also the same as those of the above method embodiment.

[0120] The embodiment of the present application also discloses a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in the above computer-readable storage medium; Figure 12 The processor of the shown electronic device can read the computer instructions from the above computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above method.

[0121] It can be understood that the content in the above method embodiment is applicable to this computer program product or computer program embodiment. The functions specifically implemented by this computer program product or computer program embodiment are the same as those of the above method embodiment, and the beneficial effects achieved are also the same as those of the above method embodiment.

[0122] In some alternative embodiments, the functions / operations recited in the block diagrams may not occur in the order presented in the operational illustrations. For example, depending on the functions / operations involved, two consecutive blocks shown may actually be executed substantially simultaneously or the blocks can sometimes be executed in reverse order. Additionally, the embodiments presented and described in the flowcharts of the present application are provided by way of example for the purpose of providing a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is altered and in which sub-operations described as part of a larger operation are performed independently.

[0123] Moreover, although the present application has been described in the context of functional modules, it should be understood that one or more of the functions and / or features, unless otherwise stated to the contrary, may be integrated in a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It should also be understood that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present application. Rather, given the attributes, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the modules will be understood within the ordinary skill of an engineer. Thus, those skilled in the art can implement the present application as set forth in the claims without undue experimentation. It should also be understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the appended claims and their equivalents.

[0124] If a function 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, in essence or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0125] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0126] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0127] In the above description of this specification, the description with reference to the terms "one embodiment / Example", "another embodiment / Example", or "certain embodiments / Examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0128] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

[0129] The above has specifically described the preferred embodiments of the present application, but the present application is not limited to the embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present application.

Claims

1. A control method for an agricultural robot, characterized in that, Applied to a scheduling system, the scheduling system includes at least two agricultural robots, and the agricultural robot includes a crop management system and an irrigation system. The method includes: Determine the agricultural area where the agricultural robot is to perform tasks. The agricultural area includes multiple sub-areas, and each sub-area is planted with at least one type of crop; Determine the task volume of each sub-area according to the crop information in each sub-area; Determine the target area where each agricultural robot is to perform tasks according to the energy efficiency information of each agricultural robot and the task volume of each sub-area. Each target area includes at least one sub-area; For each agricultural robot, determine the first control strategy of the crop management system and the second control strategy of the irrigation system according to the crop information and environmental information in the target area, and generate the execution task of the agricultural robot according to the first control strategy and the second control strategy; Control each agricultural robot to perform crop management and / or watering irrigation on each target area according to its respective execution task.

2. The control method of the agricultural robot according to claim 1, characterized in that, The determining the task volume of each sub-area according to the crop information in each sub-area includes: For each sub-area, determine the type and quantity of crops in the sub-area according to the crop information, and determine the task volume of the sub-area according to the type and quantity of crops.

3. The control method of the agricultural robot according to claim 2, wherein The determining the target area where each agricultural robot is to perform tasks according to the energy efficiency information of each agricultural robot and the task volume of each sub-area includes: For each agricultural robot, determine the power status, task execution efficiency, and load capacity of the agricultural robot according to the energy efficiency information of the agricultural robot, and determine the ability value of the agricultural robot according to the power status, the task execution efficiency, and the load capacity; Determine the sum of the ability values of all agricultural robots, and determine the sum of the task volumes of all sub-areas; For each agricultural robot, determine the proportion of the ability value of the agricultural robot in the sum of the ability values, and determine the target task volume of the agricultural robot according to the product of the proportion and the sum of the task volumes. Determine the target area of the task to be executed according to the target task volume.

4. The control method of the agricultural robot according to claim 2, wherein The determining the first control strategy of the crop management system according to the crop information and environmental information in the target area includes: Determine the crops in the target area and the image information and spectral data of the crops according to the crop information; Determine the disease type, disease degree, and estimated spread range of the crops according to the image information and the spectral data; Determine the light intensity and humidity in the target area according to the environmental information; Determine the first control strategy according to the disease type, the disease degree, the estimated spread range, the light intensity, and the humidity, so as to determine the pesticide dosage and spraying method for the crops according to the first control strategy.

5. The control method of the agricultural robot according to claim 4, characterized in that, The second control strategy is determined through the following steps: Determine the temperature and soil information in the target area according to the environmental information; Determine the growth stage of the crops according to the image information and the spectral data; Determine the irrigation priority and irrigation water volume of the irrigation system for the crops according to the light intensity, the humidity, the temperature, the soil information and the growth stage; Determine the second control strategy according to the irrigation priority and the irrigation water volume; 6. The control method of the agricultural robot according to claim 1, characterized in that Controlling each of the agricultural robots to perform its respective task to conduct crop management and / or watering irrigation on each of the target areas, including: For each agricultural robot, determine the moving planned route of the agricultural robot according to the task to be performed, and control the agricultural robot to move according to the moving planned route and control the agricultural robot to conduct crop management and / or watering irrigation on the target area during the movement; 7. The control method of the agricultural robot according to claim 6, characterized in that The agricultural robot further includes a throttle control system, and during the process of controlling the agricultural robot to move according to the moving planned route, the agricultural robot moves through the throttle control system; 8. A control device for an agricultural robot, characterized in that, Applied to a scheduling system, the scheduling system includes at least two agricultural robots, the agricultural robot includes a crop management system and an irrigation system, and the device includes: A first determination unit, configured to determine the agricultural area where the agricultural robot is to perform a task, the agricultural area includes a plurality of sub-areas, and at least one type of crop is planted in each sub-area; A second determination unit, configured to determine the task amount of each sub-area according to the crop information in each sub-area; A third determination unit, configured to determine the target area where each agricultural robot is to perform a task according to the energy efficiency information of each agricultural robot and the task amount of each sub-area, and each target area includes at least one of the sub-areas; A fourth determination unit, configured to, for each agricultural robot, determine a first control strategy of the crop management system and a second control strategy of the irrigation system according to the crop information and environmental information in the target area, and generate an execution task of the agricultural robot according to the first control strategy and the second control strategy; A control unit, configured to control each of the agricultural robots to perform its respective task to conduct crop management and / or watering irrigation on each of the target areas; 9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the control method of the agricultural robot according to any one of claims 1 to 7 is implemented; 10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the control method of the agricultural robot according to any one of claims 1 to 7 is implemented.

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