Group control method, device and system for water surface robots

Abstract

The invention relates to the technical field of water purification, in particular to a water surface robot group control method, device and system, the method is applied to a control unit in a group water surface robot system, and the control unit is in communication connection with a plurality of water surface robots; the method comprises the following steps: acquiring a water quality index of a water environment; judging whether the water quality index exceeds a preset threshold range or not; if yes, planning a water surface robot inspection rule according to the water quality index; and controlling the water surface robot to inspect the water environment according to the inspection rule to determine the polluted area. According to the method, the comparison relation between the water quality index of the water environment and the preset threshold range is obtained, the inspection path of the water surface robot is planned under the condition that the water quality does not meet the preset requirement so as to determine the polluted area, and then the target water surface robot is controlled to operate so as to adjust the water quality of the water environment. Therefore, dynamic water quality adjustment of the water body environment can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of water purification, and in particular to a group control method, device and system of a water surface robot. Background Art

[0002] In recent years, with the development of artificial intelligence, robotics, sensor technology and communication technology, intelligent and automated water treatment solutions have gradually become a research hotspot. However, existing technologies are mostly focused on a single monitoring or purification function, lacking real-time and intelligence, and are difficult to meet the dynamic treatment needs of complex water environments. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a group control method, device and system for a surface robot.

[0004] In a first aspect, an embodiment of the present invention provides a group control method of a water surface robot, the method is applied to a control unit in a group water surface robot system, the control unit is communicatively connected with a plurality of water surface robots; the method comprises:

[0005] Obtain water quality indicators of water environment;

[0006] Determine whether the water quality index exceeds the preset threshold range;

[0007] If so, plan the inspection rules of the surface robot based on the water quality indicators;

[0008] Control the surface robot to inspect the water environment according to the inspection rules and determine the pollution area;

[0009] Control the target surface robot to move to the polluted area and spray chemicals to adjust the water quality of the water environment.

[0010] In combination with the first aspect, the step of controlling the target water surface robot to move to the polluted area and spray the agent to adjust the water quality of the water environment includes:

[0011] For each water surface robot, obtain the relative distance between the water surface robot and the contaminated area;

[0012] Based on the relative distance and the current power of the surface robot, the target surface robot is determined;

[0013] Plan the operation trajectory based on the location information of the target surface robot and the contaminated area;

[0014] Control the target surface robot to move to the contaminated area along the running trajectory;

[0015] Control the spraying mechanism corresponding to the target surface robot to spray the agent to the contaminated area.

[0016] In combination with the first aspect, before the step of controlling the spraying mechanism corresponding to the target water surface robot to spray the agent to the contaminated area, the step further includes:

[0017] Input water quality indicators into the pre-trained model, and output the target agent and the amount of target agent to be administered;

[0018] The operation of the spraying mechanism is controlled according to the target agent and the amount of the target agent released.

[0019] In combination with the first aspect, the method further includes: determining the target surface robot based on the relative distance and the current power of the surface robot, including:

[0020] Select multiple surface robots to determine whether the current power meets the power requirement for water quality adjustment;

[0021] Based on the multiple relative distances, one or more water surface robots are determined as target water surface robots.

[0022] In combination with the first aspect, it also includes:

[0023] For each water surface robot, determine whether the power of the water surface robot is less than a power threshold;

[0024] If so, control the surface robot to return and connect to the charging module.

[0025] In combination with the first aspect, the method further includes:

[0026] Receive the adjustment and control information sent by the user, and perform feature recognition on the adjustment and control information to pick up the target indicators;

[0027] Input the target indicators into the pre-trained generative model, and generate and output the target operation strategy based on the multi-objective optimization algorithm. The target operation strategy includes: task execution time information, surface robot information for executing the task, planned path for executing the task, and power demand information for executing the task;

[0028] Control the surface robot operation according to the target operation strategy.

[0029] In combination with the first aspect, the water quality indicator includes at least one of pH value, dissolved oxygen, chemical oxygen demand, and heavy metal ions.

[0030] In a second aspect, the present application further provides a group control device for a water surface robot, which is applied to a control unit in a group water surface robot system, and the control unit is communicatively connected with a plurality of water surface robots; the device comprises:

[0031] An acquisition module is used to obtain water quality indicators of the water environment;

[0032] A judgment module is used to judge whether the water quality index exceeds a preset threshold range;

[0033] The inspection module is used to plan the inspection rules of the surface robot according to the water quality indicators when the water quality indicators exceed the preset threshold range;

[0034] A determination module is used to control the surface robot to inspect the water environment according to the inspection rules and determine the pollution area;

[0035] The adjustment module is used to control the surface robot to move to the polluted area and spray chemicals to adjust the water quality of the water environment.

[0036] In a third aspect, the present application provides a group control system of a surface robot, comprising a control unit and a plurality of surface robots communicatively connected to the control unit, wherein the control unit is used to execute the method as described above.

[0037] In conjunction with the third aspect, the system further includes:

[0038] A monitoring module is used to monitor the water quality of the water environment, and the monitoring module is connected to the control unit;

[0039] The spraying mechanism is connected to the water surface robot and is used for spraying medicine into the water environment to regulate the water environment.

[0040] The embodiments of the present invention bring the following beneficial effects: The present invention provides a group control method, device and system for a water surface robot, the method is applied to a control unit in a group water surface robot system, and the control unit is communicatively connected with multiple water surface robots; the method includes: obtaining water quality indicators of a water environment; judging whether the water quality indicators exceed a preset threshold range; if so, planning water surface robot inspection rules according to the water quality indicators; controlling the water surface robot to inspect the water environment according to the inspection rules and determine the polluted area; controlling the target water surface robot to move to the polluted area and spray chemicals to adjust the water quality of the water environment.

[0041] In this application, by obtaining the comparison relationship between the water quality index of the water environment and the preset threshold range, the inspection path of the water surface robot is planned to determine the pollution area when the water quality does not meet the preset requirements, and then the target water surface robot is controlled to operate to adjust the water quality of the water environment. In this way, dynamic water quality adjustment of the water environment can be achieved.

[0042] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 A flow chart of a group control method of a surface robot provided by an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the structure of a group control device for a water surface robot provided by an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of an electronic device provided by an embodiment of the present invention.

[0048] Reference numerals:

[0049] 10 - acquisition module, 20 - judgment module, 30 - inspection module, 40 - determination module, 50 - adjustment module; 130 - processor, 131 - memory, 132 - bus, 133 - communication interface. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0051] To facilitate understanding of this embodiment, the application scenarios and design concepts of the embodiments of the present application are briefly introduced below.

[0052] Existing technologies mostly focus on a single monitoring or purification function, which makes it difficult to meet the dynamic, real-time and intelligent water purification needs of complex water environments.

[0053] Example 1

[0054] The present application embodiment provides a group control method of a water surface robot, which is applied to a control unit in a group water surface robot system, and the control unit is connected to multiple water surface robots for communication. Figure 1 As shown, the method includes:

[0055] S110, obtaining water quality indicators of the water environment.

[0056] S120, determining whether the water quality index exceeds a preset threshold range.

[0057] If so, execute steps S130-S150.

[0058] S130, planning inspection rules for the surface robot according to the water quality index.

[0059] S140, controlling the water surface robot to inspect the water environment according to the inspection rules and determine the pollution area.

[0060] S150, controlling the target water surface robot to move to the polluted area and spray chemicals to adjust the water quality of the water environment.

[0061] The group control method of the water surface robot provided in the embodiment of the present application obtains the water quality index of the water environment, and judges whether the water environment meets the standard by comparing the water quality index with the preset threshold range. If the standard is not met, the inspection rules are planned for the water surface robot to inspect the water environment to determine the polluted area, and then the water surface robot is controlled to spray the agent to the polluted area to adjust the water quality of the water environment. In this way, dynamic water quality adjustment of the water environment can be achieved.

[0062] It can be understood that if the water quality indicators of the water environment obtained do not exceed the preset threshold range, it means that the water quality indicators of the water environment at this time meet the preset requirements. At this time, there is no need to inspect and adjust the water environment, and the current operating status can be maintained.

[0063] In step S130, the inspection rules include the operation route of the surface robot for inspection.

[0064] In combination with the first aspect, there are multiple surface robots; step S150 includes:

[0065] S151, for each water surface robot, obtaining the relative distance between the water surface robot and the contaminated area.

[0066] S152: Determine the target surface robot based on the relative distance and the current power of the surface robot.

[0067] S153, planning the operation trajectory based on the location information of the target surface robot and the contaminated area.

[0068] S154, controlling the target surface robot to move to the contaminated area along the running trajectory.

[0069] S155, controlling the spraying mechanism corresponding to the target water surface robot to spray the agent toward the contaminated area.

[0070] When the water environment does not meet the requirements, the relative distance between each water surface robot and the determined pollution area and the power of each water surface robot are obtained, and the target water surface robot for spraying chemicals to adjust the water quality in the pollution area is determined by combining the relative distance factor and the power factor, so as to control the target water surface robot to move to the pollution area to adjust the water environment.

[0071] Specifically, in step S151, the position information of each water surface robot and the position information of the determined contaminated area are obtained, and the relative distance between each water surface robot and the contaminated area can be calculated through these two pieces of position information.

[0072] Then, in step S152, as an implementable manner, for each water surface robot, one or more water surface robots whose relative distance is less than or equal to a preset distance threshold are selected, and then, based on the power of the selected water surface robots, a water surface robot whose power is greater than the power threshold is selected as the target water surface robot;

[0073] As another feasible method, some surface robots with power greater than a power threshold are first selected, and then one or more surface robots with a relative distance less than or equal to a preset distance threshold are combined as target surface robots.

[0074] The above methods are all feasible and can be selected according to actual conditions, and are not limited here.

[0075] In combination with the first aspect, step S152 includes:

[0076] S1521, selecting multiple surface robots to see whether the current power consumption meets the power consumption requirement for water quality adjustment.

[0077] S1522: Based on the multiple relative distances, determine one or more water surface robots as target water surface robots.

[0078] It can be seen that in this embodiment, it is preferred to consider the power factor, because insufficient power will cause the water surface robot to be unable to complete the water quality adjustment work, and even unable to move to the contaminated area. If the power of the water surface robot is sufficient, even if the water surface robot is far away from the contaminated area, it can move to the contaminated area and spray the agent to the contaminated area through the spraying mechanism while running in the contaminated area. Therefore, after considering the power factor, multiple water surface robots are selected, and then the relative distance factor is considered to finally determine the target water surface robot.

[0079] For example, in the present application, there are 8 surface robots, numbered A1, A2, A3...A8, the corresponding power levels of these 8 surface robots are Q1, Q2, Q3...Q8, and the corresponding relative distances of these 8 surface robots are S1, S2, S3...S8.

[0080] In this embodiment, the power factor is first considered, that is, the power corresponding to the 8 surface robots is compared with the power threshold Q, and multiple surface robots A1, A4, A5, and A7 are initially selected; then the relative distances and distance threshold S corresponding to the 4 surface robots are compared, and the result is: S4≥S7>S≥S5>S1; and then the target surface robots are obtained as the surface robots numbered A5 and A1.

[0081] Step S153 plans the operation trajectory based on the determined location information of the contaminated area.

[0082] In combination with the first aspect, step S155 further includes:

[0083] S1551, input the water quality index into the pre-trained model, and output the target agent and the target agent dosage.

[0084] S1552, controlling the operation of the spraying mechanism according to the target agent and the amount of the target agent released.

[0085] After the target surface robot is determined in step S152 and the operation trajectory of the target surface robot is planned according to the position information of the target surface robot and the polluted area in step S153, the target surface robot is controlled to move to the polluted area in step S154, and then in step S154, the pre-trained model is used to predict the type of agent (i.e., target agent) and the amount of the target agent to be released in order to adjust the water environment of the polluted area to meet the preset requirements (i.e., the new water quality index does not exceed the preset threshold range) based on the current water quality index.

[0086] It is understandable that before actual application, model training is performed in advance, that is, a training sample set (historical water quality indicators to be adjusted) is obtained, and each module in the initial model (such as feature extraction module, neural network structure) is trained to output the target agent and the target agent dosage. Then, the agent and the agent dosage used for actual water quality adjustment are verified to continuously optimize the model.

[0087] It can be understood that the initial model can adopt a CNN model architecture or a model with a Transformer architecture as the core.

[0088] In combination with the first aspect, the method further includes:

[0089] S160, for each water surface robot, determining whether the power of the water surface robot is less than a charging power threshold;

[0090] If so, execute step S170.

[0091] S170, controlling the surface robot to return and connect with the charging module.

[0092] The power of the surface robot is monitored in real time. If the power is less than the charging power threshold, the surface robot is promptly controlled to return the value and connect to the charging module to charge the surface robot. The target operation strategy is adjusted to further adjust the water environment.

[0093] In combination with the first aspect, the method further includes:

[0094] S181, receiving the adjustment and control information sent by the user, and performing feature recognition on the adjustment and control information to pick up the target indicator.

[0095] S182, input the target indicator into the pre-trained generative model, generate and output the target operation strategy based on the multi-objective optimization algorithm, and the target operation strategy includes: task execution time information, surface robot information for executing the task, planned path for executing the task, and power demand information for executing the task.

[0096] S183, controlling the surface robot to operate according to the target operation strategy.

[0097] In this embodiment, by receiving the adjustment and control information input by the user in the form of voice or text, after identifying the characteristics of the adjustment and control information, a target operation strategy is generated and output based on the pre-trained generative model to control the water surface robot to adjust the water quality of the water environment according to the user's instructions. The generative model can be continuously trained using model architectures such as chatGPT and stablediffusion, and based on the data analysis of the generative model and its learning ability, the optimal target operation strategy and water quality adjustment plan for the water environment are generated. For example, the above-mentioned generative model receives user instructions such as "clean up area A" and outputs an operation strategy for controlling the water surface robot group to control the water surface robot group to perform cleaning operations, thereby receiving the user's voice or text through the large language model to execute the group operation of controlling the water surface robot. It can be understood that the user can also obtain various water quality indicators in the current water environment in the form of questions and answers through the large language model.

[0098] In combination with the first aspect, the water quality indicator includes at least one of pH value, dissolved oxygen, and chemical oxygen demand.

[0099] It can be understood that the above method can be used in different water environments, such as urban inland river environments, lake environments and water environments in coastal areas. The method of adjusting the water environment in the polluted area should at least include the introduction of agents to purify the water, and garbage salvage can be carried out in real time during the operation of the water surface robot (in the water environment in coastal areas, garbage salvage is carried out during the water robot's inspection or movement in the polluted area based on the location of the determined polluted area).

[0100] In a second aspect, an embodiment of the present application provides a group control device for a water surface robot, which is applied to a control unit in a water surface robot group system, and the control unit is connected to communicate with a plurality of water surface robots. Figure 2 As shown, the device includes: an acquisition module 10, a judgment module 20, an inspection module 30, a determination module 40 and an adjustment module 50.

[0101] The acquisition module 10 is used to obtain water quality indicators of the water environment.

[0102] The determination module 20 is used to determine whether the water quality index exceeds a preset threshold range.

[0103] The inspection module 30 is used to plan the inspection rules of the water surface robot according to the water quality index when the water quality index exceeds the preset threshold range.

[0104] The determination module 40 is used to control the water surface robot to inspect the water environment according to the inspection rules and determine the pollution area.

[0105] The adjustment module 50 is used to control the water surface robot to move to the polluted area and spray chemicals to adjust the water quality of the water environment.

[0106] In a third aspect, the present application provides a surface robot group system, comprising a control unit and a plurality of surface robots communicatively connected to the control unit, wherein the control unit is used to execute the method as described above.

[0107] A plurality of water surface robots are controlled by a control unit to adjust the water quality of the water environment.

[0108] In conjunction with the third aspect, the system further includes:

[0109] A monitoring module is used to monitor the water quality of the water environment, and the monitoring module is connected to the control unit;

[0110] A spraying mechanism is connected to the water surface robot, and the spraying mechanism is used to spray the agent into the water environment to adjust the water environment. It can be understood that the spraying mechanism can include a storage container for storing the agent, different agents correspond to different storage containers, and the outlet end of each storage container is correspondingly connected to a hose, and the output end of the hose is used to output the agent to the water environment. A solenoid valve is provided at the connection between each storage container and the hose. After the target agent and the amount of the target agent are determined, the control unit controls the opening or closing of the solenoid valve to input or stop inputting the target agent and control the specific amount of the target agent.

[0111] It is understandable that the system should also include an intelligent power management module that can monitor and manage the power consumption of each surface robot based on the operating power consumption of the current operation strategy.

[0112] In a third aspect, the present application provides an electronic device, Figure 3 As shown, the electronic device includes a memory 131 and a processor 130. The memory 131 is used to store computer programs, and the processor 130 runs the computer programs to enable the electronic device to perform the above method.

[0113] Furthermore, combined with Figure 3 The electronic device shown further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected via the bus 132 .

[0114] The memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 132 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0115] The processor 130 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 130. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the above embodiment in combination with its hardware.

[0116] In a fourth aspect, an embodiment of the present application provides a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above method is executed.

[0117] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0118] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0119] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0120] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0121] Finally, it should be noted that the above embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A group control method for a surface robot, characterized in that: The method is applied to a control unit in a group water surface robot system, wherein the control unit is communicatively connected with a plurality of water surface robots; the method comprises: Obtain water quality indicators of water environment; Determining whether the water quality index exceeds a preset threshold range; If yes, planning the inspection rules of the water surface robot according to the water quality index; Controlling the water surface robot to inspect the water environment according to the inspection rules to determine the pollution area; The target water surface robot is controlled to move to the polluted area and spray the agent to adjust the water quality of the water environment.

2. The method according to claim 1, characterized in that There are multiple water surface robots; the step of controlling the target water surface robot to move to the polluted area and spray the agent to adjust the water quality of the water environment includes: For each of the water surface robots, obtaining a relative distance between the water surface robot and the contaminated area; Determine the target surface robot based on the relative distance and the current power of the surface robot; Planning an operation trajectory based on the position information of the target water surface robot and the contaminated area; Controlling the target water surface robot to move to the contaminated area along the running trajectory; The spraying mechanism corresponding to the target water surface robot is controlled to spray the agent toward the polluted area.

3. The method according to claim 2, characterized in that Before the step of controlling the spraying mechanism corresponding to the target water surface robot to spray the agent to the contaminated area, the method further includes: Input the water quality index into a pre-trained model, and output a target agent and a dosage of the target agent; The operation of the spraying mechanism is controlled according to the target agent and the dosage of the target agent.

4. The method according to claim 2, characterized in that: Also includes: The step of determining the target water surface robot based on the relative distance and the current power of the water surface robot comprises: Selecting a plurality of the water surface robots to determine whether the current power meets the power requirement for water quality adjustment; Based on the multiple relative distances, one or more of the water surface robots are determined as target water surface robots.

5. The method according to claim 2, characterized in that: Also includes: For each of the water surface robots, determining whether the power of the water surface robot is less than a power threshold; If so, the surface robot is controlled to return and connect to the charging module.

6. The method according to claim 1, characterized in that The method further comprises: Receive the adjustment and control information sent by the user, and perform feature recognition on the adjustment and control information to pick up the target indicator; The target indicator is input into a pre-trained generative model, and based on a multi-objective optimization algorithm, a target operation strategy is generated and output, wherein the target operation strategy includes: task execution time information, information of the surface robot that executes the task, a planned path for executing the task, and power demand information for executing the task; The surface robot is controlled to operate according to a target operation strategy.

7. The method according to claim 1, characterized in that The water quality index includes at least one of pH value, dissolved oxygen, chemical oxygen demand, and heavy metal ions.

8. A group control device for a surface robot, characterized in that: The device is applied to a control unit in a group water surface robot system, and the control unit is connected to multiple water surface robots in communication; the device comprises: An acquisition module is used to obtain water quality indicators of the water environment; A judgment module, used to judge whether the water quality index exceeds a preset threshold range; An inspection module, used for planning inspection rules of the water surface robot according to the water quality index when the water quality index exceeds a preset threshold range; A determination module, used to control the water surface robot to inspect the water environment according to inspection rules and determine the pollution area; The adjustment module is used to control the water surface robot to move to the polluted area and spray medicine to adjust the water quality of the water environment.

9. A group control system for a surface robot, characterized in that: It comprises a control unit and a plurality of water surface robots which are communicatively connected with the control unit, and the control unit is used to execute the method as claimed in any one of claims 1 to 7.

10. The system according to claim 9, characterized in that Also includes: A monitoring module, used for monitoring the water quality of the water environment, the monitoring module being connected to the control unit; A spraying mechanism is connected to the water surface robot, and is used for spraying medicine into the water environment to regulate the water environment.

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