Modular agricultural intelligent robot cooperative control system based on Beidou navigation and 5G

Abstract

The invention relates to the technical field of agricultural intellectualization and automation control, and discloses a Beidou navigation and 5G-based modular agricultural intelligent robot cooperative control system, which comprises a master control agricultural machine which is provided with a height-adjustable chassis and is used for adapting to different growth heights of grain crops in various growth periods, the main control agricultural machine adopts a new energy electric driving mode, a solar panel and a battery are installed on a vehicle body to supply power to airborne electronic equipment to guarantee normal operation of the airborne electronic equipment, the main control agricultural machine is provided with a detachable modular tool used for replacing the modular tool according to needs, and the main control agricultural machine adopts a modular design of a multi-layer structure. According to the invention, the agricultural machine is equipped with a detachable modular tool, functional modules can be replaced as required, and the 5G communication module and the WLAN communication module are accessed by adopting the access quantity which is the same as the number of sub-channels, so that the number of successful access is maximized, the access efficiency and success rate are improved, the function expansibility and utilization rate of the equipment are improved, and the agricultural machine can better adapt to different operation requirements.

Description

Technical Field

[0001] The present invention relates to the field of agricultural intelligence and automation control technology, and in particular to a modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G. Background Art

[0002] With the increasing speed of aging, the labor force engaged in agricultural production is becoming increasingly scarce. Modern agriculture is facing the challenges of improving production efficiency, reducing labor costs and realizing precision agriculture. With the high-precision positioning and navigation capabilities provided by the Beidou navigation system, the operating accuracy of agricultural machinery can be greatly improved in agricultural production. 5G communication technology, with its high speed and low latency, can realize real-time data transmission between agricultural machinery and management terminals.

[0003] However, in the existing technology, most traditional agricultural machinery and equipment are single-machine operations, lack the ability to work in collaboration, and cannot replace functional modules, which increases operation preparation time and equipment scheduling costs and reduces equipment functional expandability and efficiency. Summary of the invention

[0004] In order to make up for the above shortcomings, the present invention provides a modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G, aiming to improve the problems of high operation preparation time and equipment scheduling cost of agricultural machinery and equipment, which affect the functional expandability and operation efficiency of the equipment.

[0005] In the first aspect, the present invention provides the following technical solutions: a modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G, including:

[0006] Main control agricultural machinery: equipped with an adjustable height chassis to adapt to the different growth heights of grain crops in different growth periods. The main control agricultural machinery adopts a new energy electric drive mode. Solar panels and batteries are installed on the vehicle body to supply power to the onboard electronic equipment to ensure its normal operation. The main control agricultural machinery is equipped with detachable modular tools to replace modular tools as needed. The main control agricultural machinery adopts a modular design with a multi-layer structure;

[0007] Slave agricultural machinery: equipped with the same detachable modular tools as the master agricultural machinery, and equipped with a height-adjustable mechanical arm connecting the wheels and the body, which is used to adjust the relative height of the wheels and the body according to different terrain changes. The slave agricultural machinery is driven in the same way as the master agricultural machinery, and the slave agricultural machinery also adopts a multi-layer modular design. Both the master agricultural machinery and the slave agricultural machinery are equipped with a communication signal quality detection module;

[0008] Wireless LAN: used for real-time communication and data transmission between the master agricultural machinery and the slave agricultural machinery, and between the master agricultural machinery and the agricultural production management terminal;

[0009] 5G: used for real-time communication and data transmission between master agricultural machinery and slave agricultural machinery; used for real-time communication and data transmission between master agricultural machinery and agricultural production management terminals;

[0010] Beidou Navigation System: used for master and slave agricultural machinery to accurately determine positioning information and navigate their own positions in the farmland. The positioning information includes geographic location coordinates and longitude and latitude;

[0011] Agricultural production management terminal: includes computers and mobile computing devices, which are used to install a dedicated software system. The software system is used to receive and process data from agricultural machinery, run artificial intelligence models, assist in agricultural decision-making, and generate new operation prescription maps, which are sent to the main control agricultural machinery. The agricultural production management terminal is also equipped with a communication signal quality detection module.

[0012] Preferably, the master agricultural machinery is also equipped with a human-computer interaction interface for agricultural production management personnel to input automatically generated operation prescription maps and view operation status through computers and mobile computing devices. The multi-layer structure module includes a design with the agricultural machinery as the overall power system at the lower layer, the control system at the middle layer, and the module connection system at the upper layer.

[0013] Preferably, the detachable modular tool includes a contact connection or a data cable connection, the contact connection is connected by rotating the modular tool to the contacts in the flange buckle, the data cable connection is connected to the agricultural machinery through the data cable interface of the modular tool and fixed with a buckle, the data cable interface includes a type-c interface and a USB interface, the modular tool includes tools such as a robotic arm, a robot, a chain, a belt drive, a guide groove, a buckle, an interface, etc. for installing and using terrain and land surveying and mapping instruments, and optical and electronic equipment that monitors crop growth information, which are used to facilitate the installation, use and disassembly of terrain and land surveying and mapping instruments, and optical and electronic equipment that monitors crop growth information according to the monitoring task.

[0014] Preferably, the wireless LAN module complies with IEEE 802.11ac, IEEE 802.11ax standards and technical improvements or optimized equipment based thereon, and the 5G module complies with 5G communication standards formulated by the International Telecommunication Union, the Institute of Electrical and Electronics Engineers, the Third Generation Partnership Project, and national standards organizations of various countries and technical improvements or optimized equipment based thereon to complete real-time communication and data transmission between the master agricultural machinery and the slave agricultural machinery, and between the master agricultural machinery and the agricultural production management terminal.

[0015] Preferably, the agricultural production management terminal sends the prescription map to the master agricultural machine through the 5G communication system and the WLAN communication system, and the prescription map includes the operation area, path planning, operation parameters and functional modules to be used, and the 5G communication system and the WLAN communication system perform:

[0016] When the number of device accesses is less than the number of sub-channels, the 5G communication module and the WLAN communication module both randomly select a sub-channel to access the communication system, or the 5G communication module and the WLAN communication module both number the devices and then assign sub-channels to access the communication system;

[0017] When the number of device accesses is equal to the number of sub-channels, the 5G communication module and the WLAN communication module randomly select a sub-channel to access the communication system;

[0018] When the number of device accesses is greater than the number of sub-channels, the access devices are divided into multiple groups according to the number of sub-channels for access, and the devices in each group randomly select a sub-channel to access the communication system, or the devices in each group are numbered and then assigned sub-channels to access the communication system; for the group in which the number of device accesses is less than the number of sub-channels, the devices in the group randomly select a sub-channel to access the communication system, or the devices in the group are numbered and then assigned sub-channels to access the communication system; the prescription map includes an operation area, path planning, operation parameters and functional modules to be used.

[0019] Preferably, the master agricultural machine transmits signals to the slave agricultural machine through synchronous control technology, and the valid data sent by the master agricultural machine to the slave agricultural machine through the 5G communication system and the WLAN communication system are the same, which is used for the slave agricultural machine to compare whether the data transmitted and received through the above two communication modes are the same. If the data received through the two modes are the same, the data of one mode is selected and the data of the other mode is discarded. If the data received through the two modes are different, the data of the two modes are compared and verified with each other, and error correction is performed through error correction coding technology until the slave agricultural machine restores the correct data and information. In the same technical way, the slave agricultural machine transmits the data to the slave agricultural machine through the 5G communication system and the WLAN The valid data sent to the master agricultural machinery by the communication system is the same, and is used by the master agricultural machinery to compare whether the data transmitted and received through the above two communication modes are the same. The master agricultural machinery receives the data sent to the master agricultural machinery by the slave agricultural machinery through the 5G communication system and the WLAN communication system, and verifies or corrects the data with the verification data transmitted by the slave agricultural machinery. If the data received through the 5G communication system and the WLAN communication system are the same, the data of one mode is selected and the data of the other mode is discarded. If the data received through the two modes are different, the data of the two modes are compared and verified with each other, and error correction is performed through error correction coding technology until the master agricultural machinery restores the correct data and information.

[0020] Preferably, the Beidou navigation module locates and navigates the working positions of the master agricultural machinery and the slave agricultural machinery through satellite signals.

[0021] In a second aspect, the present invention provides the following technical solution, a modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G, the method comprising the following steps:

[0022] S1. Preparation and issuance of operation prescription maps: First, agricultural production management personnel use management terminals to prepare operation prescription maps based on the actual situation of farmland, crop growth status, expert experience and production needs, and then send the same prescription map data to the master agricultural machinery through the 5G communication system and WLAN communication system. There are two cases for processing: when the agricultural production management terminal detects that the communication quality meets the transmission requirements, the agricultural production management terminal and the master agricultural machinery select one of the 5G communication system and WLAN communication system, or select a system with low power consumption to transmit data to the master agricultural machinery and the slave agricultural machinery in real time. When the communication quality does not meet the transmission requirements, the agricultural production management terminal sends the prescription map to the master agricultural machinery through the 5G communication system and the WLAN communication system at the same time;

[0023] S2. Modular tool installation: According to the requirements of the operation prescription map, tools for performing various monitoring or modular equipment corresponding to the operation are installed on the master agricultural machine and the slave agricultural machine;

[0024] S3. Collaborative operation of the master agricultural machinery and the slave agricultural machinery: After receiving the prescription map, the master agricultural machinery uses Beidou navigation for positioning and starts working according to the planned path. The master agricultural machinery sends specific operation instructions to the slave agricultural machinery through 5G communication and wireless LAN communication, including operation path, operation parameters and tool use instructions. After receiving the instructions, the slave agricultural machinery performs the operation as required and adjusts the height of the vehicle body through the height-adjustable mechanical arm, so that the master agricultural machinery and the slave agricultural machinery can adapt to the requirements of the operation task;

[0025] S4. Data collection and transmission: During the operation, the master agricultural machine and the slave agricultural machine use the installed surveying and mapping tools to collect farmland environment data, crop growth data and operation status data, and then use the agricultural machine to detect the quality of the communication signal. When the communication quality meets the transmission requirements, the master agricultural machine and the slave agricultural machine select one of the 5G communication system and the WLAN communication system, or select a system with low power consumption, and transmit the data to the agricultural production management terminal in real time. When the communication quality does not meet the transmission requirements, the slave agricultural machine transmits the data to the master agricultural machine in real time, and the master agricultural machine transmits the data to the agricultural production management terminal in a relay manner using computer network technology. The master agricultural machine sends data to the production management terminal through the 5G communication system and the WLAN communication system at the same time;

[0026] S5. Farming decision-making and optimization: After receiving data, the agricultural production management terminal combines expert experience and artificial intelligence models to conduct data analysis and farming decisions, generate optimized operation prescription maps, and send new instructions to the master agricultural machinery again to guide the subsequent operations of the subordinate agricultural machinery;

[0027] S6. Real-time monitoring and feedback: Agricultural production managers can monitor operation progress, equipment status and environmental data in real time through agricultural management terminals, and manually adjust operation plans or instructions according to actual conditions.

[0028] In the third aspect, the invention provides the following technical solution: a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the method for collaborative control of modular agricultural intelligent robots based on Beidou navigation and 5G is implemented.

[0029] In a fourth aspect, the present invention provides the following technical solution: a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G is implemented.

[0030] The present invention has the following beneficial effects:

[0031] 1. In the present invention, the agricultural machinery is equipped with detachable modular tools, and the functional modules can be replaced as needed. Among them, the 5G communication module and the WLAN communication module are both accessed with the same access quantity as the number of sub-channels, maximizing the number of successful accesses, improving the access efficiency and success rate, and improving the functional expandability and utilization rate of the equipment, so that the agricultural machinery can better adapt to different operation requirements.

[0032] 2. In the present invention, a mechanical arm with adjustable height is provided between the wheels and the body, so that the agricultural machine can adapt to food crops of different heights and perform agricultural operations flexibly.

[0033] 3. In the present invention, a new energy electric drive mode is adopted, which reduces the use cost, reduces the pollution to farmland, and meets the environmental protection requirements. Solar panels are installed on the vehicle body to further reduce energy consumption and cost.

[0034] 4. In the present invention, the main board of the agricultural machinery adopts a modular design with a multi-layer structure, with the power system in the lower layer, the control system in the middle layer, and the module connection system in the upper layer. When the agricultural machinery fails, maintenance personnel can quickly determine the possible level of the failure based on the failure phenomenon, making the fault location more accurate, thereby reducing maintenance costs and avoiding the effect of cluttered design. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1This is a framework diagram of the modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G proposed by the present invention;

[0036] Figure 2 This is a flow chart of the modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G proposed in the present invention. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1

[0039] Reference Figure 1 In the first embodiment of the present invention, the present invention provides a modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G, including:

[0040] Master control agricultural machinery: equipped with an adjustable height chassis to adapt to the different growth heights of grain crops in different growth periods. The master control agricultural machinery adopts new energy electric drive mode. Solar panels and batteries are installed on the vehicle body to power the onboard electronic equipment to ensure its normal operation. The master control agricultural machinery is equipped with detachable modular tools to replace modular tools as needed. The master control agricultural machinery adopts a multi-layer modular design;

[0041] Slave agricultural machinery: Equipped with the same detachable modular tools as the master agricultural machinery, and equipped with a height-adjustable mechanical arm connecting the wheels and the body, which is used to adjust the relative height of the wheels and the body according to different terrain changes. The slave agricultural machinery is driven in the same way as the master agricultural machinery. The slave agricultural machinery also adopts a multi-layer modular design. Both the master agricultural machinery and the slave agricultural machinery are equipped with a communication signal quality detection module;

[0042] Wireless LAN: used for real-time communication and data transmission between the master agricultural machinery and the slave agricultural machinery, and between the master agricultural machinery and the agricultural production management terminal;

[0043] 5G: used for real-time communication and data transmission between master agricultural machinery and slave agricultural machinery; used for real-time communication and data transmission between master agricultural machinery and agricultural production management terminals;

[0044] Beidou Navigation System: used for master and slave agricultural machinery to accurately determine positioning information and navigate their own positions in the farmland. Positioning information includes geographic location coordinates and longitude and latitude;

[0045] Agricultural production management terminal: includes computers and mobile computing devices, which are used to install dedicated software systems. The software system is used to receive and process data from agricultural machinery, run artificial intelligence models, assist in agricultural decision-making, and generate new operation prescription maps, which are sent to the main control agricultural machinery. The agricultural production management terminal is also equipped with a communication signal quality detection module.

[0046] Specifically, the main control agricultural machinery is equipped with an adjustable height chassis. As the grain crops grow in different growth stages, the height of the plants changes continuously. The adjustable height chassis can be flexibly adjusted according to the actual height of the crops, ensuring that the agricultural machinery can smoothly pass through crops of different heights during operation without causing damage to the crops. When performing monitoring operations, the chassis height can be adjusted at the same time to obtain a better observation angle, so that the monitoring equipment connected to the mechanical arm can more accurately monitor the growth status of grain crops in various growth stages, and provide more detailed and accurate data for agricultural production management. The use of new energy electric drive mode reduces the pollution of the environment and energy consumption of traditional fuel agricultural machinery. Solar panels can convert solar energy into electrical energy to power onboard electronic equipment. Batteries serve as energy storage devices to continue to provide power guarantee for equipment in situations such as insufficient solar energy or at night. At the same time, different modular tools can be replaced at any time according to different agricultural operation tasks and needs. For example, it can be replaced with high-precision surveying instruments during surveying and mapping operations, and with harvesting mechanical arms during the harvest season, etc., which improves the versatility and adaptability of the main control agricultural machinery.

[0047] Slave agricultural machinery: Equipped with the same detachable modular tools as the master agricultural machinery, the slave agricultural machinery can work closely with the master agricultural machinery during the operation process to complete complex agricultural production tasks together, increasing the functional diversity of the slave agricultural machinery. Tools can be quickly switched in different agricultural production stages and tasks to adapt to various operation scenarios. For example, in the links of sowing, fertilization, spraying, harvesting, etc., the corresponding tool modules can be installed according to specific needs, and at the same time, they can adapt to different crop types, farmland environments and production requirements, which improves the versatility and adaptability of the equipment. Different farmland terrains are complex and diverse, and there may be ups and downs, potholes and unevenness. The height-adjustable mechanical arm can adjust the relative height of the wheel and the body in real time according to the changes in the terrain, ensuring that the slave agricultural machinery can maintain a stable driving state and operating posture under various terrain conditions. Its driving mode is unified with that of the master agricultural machinery, which reduces the complexity and failure points of the system and improves the reliability and stability of the system. In the event of a fault, it is also easier to diagnose and repair, shortening the maintenance time and ensuring the continuity of agricultural production.

[0048] Wireless LAN: The operation instructions generated by the agricultural production management terminal, such as sowing depth, fertilizer application amount, driving path, etc., are accurately transmitted from the master agricultural machinery to the slave agricultural machinery, ensuring that the slave agricultural machinery can work according to the established operation requirements. When multiple agricultural machinery work together, the real-time synchronization between the master agricultural machinery and the slave agricultural machinery is achieved through the wireless LAN, and the location and operation range information of each agricultural machinery is transmitted in real time to avoid collisions or repeated operations between agricultural machinery, thereby improving operation efficiency and safety.

[0049] Agricultural production management terminal: Computers and mobile computing devices provide a platform for the installation and operation of a dedicated agricultural production management software system. The software system covers a number of important functions, such as receiving and processing data from agricultural machinery, running artificial intelligence models, and generating operation prescription maps. By integrating these functions, the agricultural production management terminal becomes the core control node of the entire agricultural production management system, receiving various data uploaded from the master agricultural machinery and slave agricultural machinery, and performing preliminary analysis and processing of the data, extracting valuable information, and providing support for subsequent decision-making.

[0050] Beidou Navigation System: Beidou Navigation can obtain the precise coordinates of the master agricultural machinery and the slave agricultural machinery in the farmland in real time. Whether it is in a large area of ​​plain farmland or in a small piece of farmland with complex terrain, it can accurately mark the position of the agricultural machinery and provide basic data for subsequent operations. At the same time, according to the actual situation of the farmland and the requirements of the operation tasks, it plans the optimal driving path and operation area for the agricultural machinery. During the operation of agricultural machinery, it guides the agricultural machinery to travel along the planned path in real time to avoid repeated operations or missed areas, improve operation efficiency and quality, and when multiple agricultural machinery are operating at the same time, accurately grasp the position and operation progress of each agricultural machinery and coordinate their work.

[0051] The master agricultural machinery is also equipped with a human-computer interaction interface for agricultural production management personnel to input automatically generated operation prescription maps and view operation status through computers and mobile computing devices. The multi-layer structure module includes a design with the agricultural machinery as the overall power system at the lower layer, the control system at the middle layer, and the module connection system at the upper layer.

[0052] Specifically, agricultural production managers can manually input relevant parameters and instructions of the operation prescription map directly through the human-computer interaction interface, and the human-computer interaction interface can receive the operation prescription maps automatically generated by these devices. Managers can use professional agricultural management software, combined with the geographical information of the farmland, crop growth data, meteorological data, etc., to generate more scientific and reasonable operation prescription maps. Then, these prescription maps are transmitted to the main control agricultural machinery through connection to achieve precise guidance of agricultural machinery operations. In the multi-layer structural module design, since the power system, control system and module connection system are independently set up in layers, when the agricultural machinery fails, maintenance personnel can quickly determine the possible level of the fault based on the fault phenomenon, making fault location more accurate and reducing maintenance time and cost. Maintenance personnel can carry out targeted maintenance on components at specific levels, avoiding unnecessary disassembly and inspection, and improving maintenance efficiency.

[0053] The detachable modular tool includes a contact connection or a data cable connection. The contact connection is connected by rotating the modular tool to the contacts in the flange buckle. The data cable connection is connected to the agricultural machinery through the data cable interface of the modular tool and fixed with a buckle. The data cable interface includes a type-c interface and a USB interface. The modular tool includes tools such as a robotic arm, a robot, a chain, a belt drive, a guide groove, a buckle, and an interface for installing and using terrain and land surveying and mapping instruments, and optical and electronic equipment that monitors crop growth information. It is used to facilitate the installation, use and disassembly of terrain and land surveying and mapping instruments, and optical and electronic equipment that monitors crop growth information according to the monitoring task.

[0054] Specifically, by rotating the modular tool into the flange buckle so that the contacts are engaged and connected, this method provides a fast and stable physical connection method. When the tool needs to be replaced, the operator can easily rotate the modular tool into place to connect with the agricultural machinery, greatly improving the efficiency of tool replacement. At the same time, the data line interface is used to connect with the agricultural machinery and fixed with the buckle to ensure the stability of data transmission. Different interface types increase compatibility, allowing the modular tool to be connected with various models of agricultural machinery. The buckle fixing method prevents the data line from accidentally falling off during operation and ensures the continuity of data transmission.

[0055] The wireless LAN module complies with the IEEE 802.11ac, IEEE 802.11ax standards and the technical improvements or optimized equipment based on them. The 5G module complies with the 5G communication standards formulated by the International Telecommunication Union, the Institute of Electrical and Electronics Engineers, the Third Generation Partnership Project, and national standards organizations of various countries and the technical improvements or optimized equipment based on them to complete real-time communication and data transmission between the master agricultural machinery and the slave agricultural machinery, and between the master agricultural machinery and the agricultural production management terminal.

[0056] Specifically, a high-speed communication channel is established between the master agricultural machinery and the slave agricultural machinery to ensure that a large amount of real-time data can be transmitted quickly. Whether it is the location information of the agricultural machinery, the operation status data, or the soil, crop and other data collected by the sensor, they can be transmitted at a high speed to meet the real-time requirements of agricultural production. Equipment based on the IEEE 802.11ac and IEEE802.11ax standards provides stable wireless connections for multiple agricultural machinery. Multiple slave agricultural machinery can be connected at the same time to achieve centralized management and control of the entire agricultural machinery team, making it convenient for new agricultural machinery equipment to join the system. As long as they have the corresponding wireless communication module, they can quickly access the network, which improves the scalability of the system.

[0057] The agricultural production management terminal sends the prescription map to the main control agricultural machinery through the 5G communication system and the WLAN communication system. The prescription map includes the operation area, path planning, operation parameters and functional modules to be used. The 5G communication system and the WLAN communication system perform:

[0058] When the number of device accesses is less than the number of sub-channels, the 5G communication module and the WLAN communication module both randomly select a sub-channel to access the communication system, or the 5G communication module and the WLAN communication module both number the devices and then assign sub-channels to access the communication system;

[0059] When the number of device accesses is equal to the number of sub-channels, the 5G communication module and the WLAN communication module randomly select a sub-channel to access the communication system;

[0060] When the number of device accesses is greater than the number of sub-channels, the access devices are divided into multiple groups according to the number of sub-channels for access, and the devices in each group randomly select a sub-channel to access the communication system, or the devices in each group are numbered and assigned sub-channels to access the communication system; for the group where the number of device accesses is less than the number of sub-channels, the devices in the group randomly select a sub-channel to access the communication system, or the devices in the group are numbered and assigned sub-channels to access the communication system; the prescription map includes the operation area, path planning, operation parameters and functional modules to be used.

[0061] Specifically, the clear operation area information in the prescription map allows the master agricultural machinery to accurately know the specific geographical range in which the operation is to be carried out, which helps to avoid blind operation and ensure that every piece of land that needs agricultural production activities can be accurately processed. The path planning part provides the best driving route for the agricultural machinery, taking into account factors such as the terrain, obstacles and operation efficiency of the farmland. This can reduce the time and energy consumption of agricultural machinery traveling in the field, improve operation efficiency, and also reduce the compaction of farmland soil. Detailed operation parameters such as sowing depth, fertilizer application amount, spraying amount, etc. ensure that agricultural machinery can operate according to scientific and reasonable standards. Different crops require different operation parameters at different growth stages. The prescription map can be accurately set according to the specific situation. Finally, the functional modules to be used are clarified, so that the master agricultural machinery can call the corresponding equipment and tools according to the actual operation needs. By using the same or nearly the same access amount as the number of sub-channels, it can ensure that each sub-channel can be fully utilized, avoiding the situation where some sub-channels are idle and other sub-channels are overcrowded, and improving the resource utilization of the communication system. When multiple devices access the communication system at the same time, this access method can maximize the number of successful accesses. Since each sub-channel has a corresponding access volume, devices can be more evenly distributed on each sub-channel, reducing the probability of access conflict and thus improving the access success rate.

[0062] The master agricultural machinery transmits signals to the slave agricultural machinery through synchronous control technology. The valid data sent by the master agricultural machinery to the slave agricultural machinery through the 5G communication system and the WLAN communication system are the same, which is used for the slave agricultural machinery to compare whether the data transmitted and received through the above two communication modes are the same. If the data received through the two modes are the same, the data of one mode is selected and the data of the other mode is discarded. If the data received through the two modes are different, the data of the two modes are compared and verified with each other, and error correction is performed through error correction coding technology until the slave agricultural machinery restores the correct data and information. In the same technical way, the slave agricultural machinery transmits the data of the master agricultural machinery to the slave agricultural machinery through the 5G communication system and the WLAN communication system. The valid data sent to the master agricultural machinery is the same, and is used by the master agricultural machinery to compare whether the data transmitted and received through the above two communication modes are the same. The master agricultural machinery receives the data sent to the master agricultural machinery by the slave agricultural machinery through the 5G communication system and the WLAN communication system, and verifies or corrects the data with the verification data transmitted by the slave agricultural machinery. If the data received through the 5G communication system and the WLAN communication system are the same, the data of one mode is selected and the data of the other mode is discarded. If the data received through the two modes are different, the data of the two modes are compared and verified with each other, and error correction is performed through error correction coding technology until the master agricultural machinery restores the correct data and information.

[0063] Specifically, through synchronous control technology, the master agricultural machinery sends the same valid data to the slave agricultural machinery, and the slave agricultural machinery can compare whether the data received through the 5G communication system and the WLAN communication system are consistent, so as to select the correct data and discard the wrong data. Similarly, the slave agricultural machinery sends the same valid data to the master agricultural machinery, and the master agricultural machinery can also compare and verify the data to ensure that the received data is accurate. At the same time, by comparing with the verification data transmitted by the slave agricultural machinery, errors in data transmission can be discovered and corrected in time, ensuring stable and accurate communication between agricultural machinery.

[0064] The Beidou navigation module uses satellite signals to locate and navigate the working positions of the master agricultural machinery and slave agricultural machinery.

[0065] Specifically, the specific location coordinates of the master agricultural machinery and the slave agricultural machinery in the farmland, including longitude, latitude and other information, are determined in real time. This is crucial for accurately planning the operation path and ensuring that the agricultural machinery operates in the correct position. In complex farmland environments, such as encountering obstacles or terrain changes, the Beidou navigation module can adjust the navigation route in time to ensure the safe driving of agricultural machinery and the smooth progress of operations.

[0066] Embodiment 2:

[0067] Reference Figure 2 In a second embodiment of the present invention, the present invention provides a modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G, the method comprising the following steps:

[0068] S1. Preparation and issuance of operation prescription maps: First, agricultural production management personnel use management terminals to prepare operation prescription maps based on the actual situation of farmland, crop growth status, expert experience and production needs, and then send the same prescription map data to the master agricultural machinery through the 5G communication system and WLAN communication system. There are two cases for processing: when the agricultural production management terminal detects that the communication quality meets the transmission requirements, the agricultural production management terminal and the master agricultural machinery select one of the 5G communication system and WLAN communication system, or select a system with low power consumption to transmit data to the master agricultural machinery and the slave agricultural machinery in real time. When the communication quality does not meet the transmission requirements, the agricultural production management terminal sends the prescription map to the master agricultural machinery through the 5G communication system and the WLAN communication system at the same time;

[0069] S2. Modular tool installation: According to the requirements of the operation prescription map, tools for performing various monitoring or modular equipment corresponding to the operation are installed on the master agricultural machine and the slave agricultural machine;

[0070] S3. Collaborative operation of the master agricultural machinery and the slave agricultural machinery: After receiving the prescription map, the master agricultural machinery uses Beidou navigation for positioning and starts working according to the planned path. The master agricultural machinery sends specific operation instructions to the slave agricultural machinery through 5G communication and wireless LAN communication, including operation path, operation parameters and tool use instructions. After receiving the instructions, the slave agricultural machinery performs the operation as required and adjusts the height of the vehicle body through the height-adjustable mechanical arm, so that the master agricultural machinery and the slave agricultural machinery can adapt to the requirements of the operation task;

[0071] S4. Data collection and transmission: During the operation, the master agricultural machine and the slave agricultural machine use the installed surveying and mapping tools to collect farmland environment data, crop growth data and operation status data, and then use the agricultural machine to detect the quality of the communication signal. When the communication quality meets the transmission requirements, the master agricultural machine and the slave agricultural machine select one of the 5G communication system and the WLAN communication system, or select a system with low power consumption, and transmit the data to the agricultural production management terminal in real time. When the communication quality does not meet the transmission requirements, the slave agricultural machine transmits the data to the master agricultural machine in real time, and the master agricultural machine transmits the data to the agricultural production management terminal in a relay manner using computer network technology. The master agricultural machine sends data to the production management terminal through the 5G communication system and the WLAN communication system at the same time;

[0072] S5. Farming decision-making and optimization: After receiving data, the agricultural production management terminal combines expert experience and artificial intelligence models to conduct data analysis and farming decisions, generate optimized operation prescription maps, and send new instructions to the master agricultural machinery again to guide the subsequent operations of the subordinate agricultural machinery;

[0073] S6. Real-time monitoring and feedback: Agricultural production managers can monitor operation progress, equipment status and environmental data in real time through agricultural management terminals, and manually adjust operation plans or instructions according to actual conditions. Specific embodiment one:

[0075] Sa01, system initialization: the master agricultural machine and two slave agricultural machines are started, connected to the Beidou navigation system, and the current position is obtained. The master agricultural machine establishes communication with the slave agricultural machines through the 5G communication module and WLAN communication system, and then adjusts the mechanical arm and sets the vehicle height according to the height of the crop;

[0076] Sa02, agricultural prescription map issuance: agricultural production management personnel formulate surveying and mapping prescription maps on the management terminal, specify the data types and surveying and mapping areas to be collected, and then the prescription maps are issued to the main control agricultural machinery through the 5G communication system and WLAN communication system;

[0077] Sa03, Modular tool installation: Install mapping tool modules on the master and slave agricultural machinery, including thermal imagers, humidity mappers, gas sensors, etc.;

[0078] Sa04, Collaborative operation execution: The master agricultural machine starts to carry out surveying and mapping operations in the designated area according to the prescription map. At the same time, the master agricultural machine assigns the operation tasks to the slave agricultural machines and instructs them to carry out surveying and mapping in the designated area and path. After that, all agricultural machines use the Beidou navigation system to ensure the accuracy of the path and avoid overlap or omission;

[0079] Sa05, Data collection and transmission: During the operation, each agricultural machine collects environmental data in real time, and the data is transmitted to the management terminal in real time through the wireless local area network, 5G communication system, and WLAN communication system;

[0080] Sa06, Agricultural decision-making and adjustment: The management terminal runs the artificial intelligence model, analyzes the real-time data, combines the expert experience, generates agricultural decisions, and then generates a new operation prescription map, which is sent to the main control agricultural machinery.

[0081] Sa07, tool module replacement and operation: According to the new operation prescription map, the mapping tool module on the agricultural machinery is removed and the corresponding operation tool module is installed. The master agricultural machinery and the slave agricultural machinery continue to work together according to the new prescription map. Specific embodiment 2:

[0083] Sb11, system initialization: the master agricultural machine and three slave agricultural machines are started, communication connection is established, and then the mechanical arm is adjusted and the vehicle height is set according to the height of different crops;

[0084] Sb12. Issuance of operation prescription map: Management personnel formulate a picking operation prescription map, specifying the picking area, crop types and picking parameters;

[0085] Sb13, Modular tool installation: Install the harvesting robot arm module on the agricultural machine;

[0086] Sb14, Collaborative operation execution: The master agricultural machine commands the subordinate agricultural machines to perform picking operations according to the prescription map;

[0087] Sb15, data collection and transmission: real-time collection of crop yield, quality and other data, and transmission to the management terminal;

[0088] Sb16. Agricultural decision-making and adjustment: Management terminal analyzes data, optimizes picking strategies, and adjusts operating parameters.

[0089] Specific embodiment 3: Collaborative seeding operation system

[0090] Sc21, System initialization: The master agricultural machinery and the slave agricultural machinery are started, connected to the Beidou navigation system for positioning, and a communication connection is established through the wireless LAN. The management terminal formulates a sowing operation prescription map according to the farmland environmental conditions, and specifies the sowing path, depth and density, etc.;

[0091] Sc22, Operation execution: After receiving the operation prescription map, the master agricultural machine locates the path through the Beidou navigation system and directs the subordinate agricultural machines to work together. The master agricultural machine and the subordinate agricultural machine exchange location information and operation status in real time to ensure smooth operation progress;

[0092] Sc23. Data collection and feedback: During the operation, the system collects environmental data such as soil moisture and sowing depth, and transmits them to the agricultural production management terminal in real time through the 5G communication system and WLAN communication system. Based on the real-time data transmitted back, managers can monitor the progress of the operation and adjust the operation parameters according to the specific situation;

[0093] Sc24, Intelligent decision-making and adjustment: Based on operation data, the management terminal analyzes soil conditions and climate change through artificial intelligence models, generates new sowing decisions, and issues updated operation prescription maps to guide the master and slave agricultural machinery to make operation adjustments;

[0094] Sc25, Operation completed: After the operation is completed, all agricultural machinery returns to the designated location, and the system saves the operation data for subsequent analysis and optimization.

[0095] Specific embodiment 4: Coordinated fertilization operation system

[0096] Sd31. Formulate a fertilization prescription map: The management terminal generates a fertilization prescription map based on crop growth conditions and soil nutrient data, and sends it to the main control agricultural machinery through the 5G communication system and WLAN communication system;

[0097] Sd32, Fertilization process: The master agricultural machinery controls the subordinate agricultural machinery to carry out fertilization according to the prescription map. Each agricultural machinery works together according to the set path to avoid duplication or omission. The system collects soil nutrient data and operation progress in real time through sensors to ensure the accuracy of fertilization.

[0098] Sd33, data feedback and dynamic optimization: Real-time data is fed back to the management terminal through the 5G communication system and WLAN communication system. The artificial intelligence system analyzes the data and generates an optimization plan to adjust the amount and path of fertilizer application.

[0099] Specific embodiment 5: Collaborative irrigation operation system

[0100] Se41. Formulate irrigation operation prescription map: The management terminal generates an irrigation operation prescription map based on crop growth conditions and soil moisture data, and sends it to the main control agricultural machinery through the 5G communication system and WLAN communication system;

[0101] Se42, irrigation operation process: The master agricultural machine controls the subordinate agricultural machines to perform irrigation operations according to the prescription map. Each agricultural machine works together according to the set path to avoid repeated or missed irrigation. The system collects soil moisture data and operation progress in real time through sensors to ensure the accuracy of irrigation.

[0102] Se43, data feedback and dynamic optimization: Real-time data is fed back to the management terminal through the 5G communication system and WLAN communication system. The artificial intelligence system analyzes the data and generates an optimization plan to adjust the irrigation water volume and irrigation path.

[0103] Embodiment 3

[0104] The third embodiment of the present invention is based on the same inventive concept. The present invention proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G in the above-mentioned embodiment.

[0105] Embodiment 4

[0106] The fourth embodiment of the present invention is based on the same inventive concept. The present invention proposes a computer terminal including: a processor and a memory; the processor and the memory communicate with each other; the memory is used to store instructions; the processor is used to execute the instructions in the memory, and execute the modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G of the above embodiment.

[0107] It should be understood that the various parts of the present invention can be implemented with hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, a plurality of steps or methods can be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented with hardware, as in another embodiment, any one of the following technologies well known in the art or their combination can be used to implement: a discrete logic circuit with a logic gate circuit for implementing a logic function to a data signal, a dedicated integrated circuit with a suitable combinational logic gate circuit, a programmable gate array (PGA), a field programmable gate array (FPGA), a suitable embedded single-chip microcomputer (STM32, ARM Cortex-M core single-chip microcomputer) etc.

[0108] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G, characterized by: include: Main control agricultural machinery: equipped with an adjustable height chassis to adapt to the different growth heights of grain crops in different growth periods. The main control agricultural machinery adopts a new energy electric drive mode. Solar panels and batteries are installed on the vehicle body to supply power to the onboard electronic equipment to ensure its normal operation. The main control agricultural machinery is equipped with detachable modular tools to replace modular tools as needed. The main control agricultural machinery adopts a modular design with a multi-layer structure; Slave agricultural machinery: equipped with the same detachable modular tools as the master agricultural machinery, and equipped with a height-adjustable mechanical arm connecting the wheels and the body, which is used to adjust the relative height of the wheels and the body according to different terrain changes. The slave agricultural machinery is driven in the same way as the master agricultural machinery, and the slave agricultural machinery also adopts a multi-layer modular design. Both the master agricultural machinery and the slave agricultural machinery are equipped with a communication signal quality detection module; Wireless LAN: used for real-time communication and data transmission between the master agricultural machinery and the slave agricultural machinery, and between the master agricultural machinery and the agricultural production management terminal; 5G: used for real-time communication and data transmission between master agricultural machinery and slave agricultural machinery; used for real-time communication and data transmission between master agricultural machinery and agricultural production management terminals; Beidou Navigation System: used for master and slave agricultural machinery to accurately determine positioning information and navigate their own positions in the farmland. The positioning information includes geographic location coordinates and longitude and latitude; Agricultural production management terminal: includes computers and mobile computing devices, which are used to install a dedicated software system. The software system is used to receive and process data from agricultural machinery, run artificial intelligence models, assist in agricultural decision-making, and generate new operation prescription maps, which are sent to the main control agricultural machinery. The agricultural production management terminal is also equipped with a communication signal quality detection module.

2. According to claim 1, the modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G is characterized in that: The master agricultural machinery is also equipped with a human-computer interaction interface for agricultural production management personnel to input automatically generated operation prescription maps and view operation status through computers and mobile computing devices. The multi-layer structure module includes a design with the agricultural machinery as the overall power system at the lower layer, the control system at the middle layer, and the module connection system at the upper layer.

3. The modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G according to claim 1 is characterized in that: The detachable modular tool includes a contact connection or a data line connection, the contact connection is connected by rotating the modular tool to the contacts in the flange buckle, the data line connection is connected to the agricultural machinery through the data line interface of the modular tool and fixed with a buckle, the data line interface includes a TYPC-C interface and a USB interface, the modular tool includes a mechanical arm, a manipulator, a chain, a belt drive, a guide groove, a buckle, an interface and other tools for installing and using terrain and land surveying instruments, and optical and electronic equipment that monitors crop growth information, which are used to facilitate the installation, use and disassembly of terrain and land surveying instruments, and optical and electronic equipment that monitors crop growth information according to the monitoring task.

4. The modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G according to claim 1 is characterized in that: The wireless LAN module complies with IEEE 802.11ac, IEEE 802.11ax standards and technical improvements or optimized equipment based on them, and the 5G module complies with 5G communication standards formulated by the International Telecommunication Union, the Institute of Electrical and Electronics Engineers, the Third Generation Partnership Project, and national standards organizations of various countries and technical improvements or optimized equipment based on them to complete real-time communication and data transmission between the master agricultural machinery and the slave agricultural machinery, and between the master agricultural machinery and the agricultural production management terminal.

5. The modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G according to claim 1 is characterized in that: The agricultural production management terminal sends the prescription map to the main control agricultural machine through the 5G communication system and the WLAN communication system. The prescription map includes the operation area, path planning, operation parameters and functional modules to be used. The 5G communication system and the WLAN communication system perform: When the number of device accesses is less than the number of sub-channels, the 5G communication module and the WLAN communication module both randomly select a sub-channel to access the communication system, or the 5G communication module and the WLAN communication module both number the devices and then assign sub-channels to access the communication system; When the number of device accesses is equal to the number of sub-channels, the 5G communication module and the WLAN communication module randomly select a sub-channel to access the communication system; When the number of device accesses is greater than the number of sub-channels, the access devices are divided into multiple groups according to the number of sub-channels for access, and the devices in each group randomly select a sub-channel to access the communication system, or the devices in each group are numbered and then assigned sub-channels to access the communication system; for the group in which the number of device accesses is less than the number of sub-channels, the devices in the group randomly select a sub-channel to access the communication system, or the devices in the group are numbered and then assigned sub-channels to access the communication system; the prescription map includes an operation area, path planning, operation parameters and functional modules to be used.

6. The modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G according to claim 1 is characterized in that: The master agricultural machinery transmits signals to the slave agricultural machinery through synchronous control technology. The valid data sent by the master agricultural machinery to the slave agricultural machinery through the 5G communication system and the WLAN communication system are the same, and are used by the slave agricultural machinery to compare whether the data transmitted and received through the above two communication modes are the same. If the data received through the two modes are the same, the data of one mode is selected and the data of the other mode is discarded. If the data received through the two modes are different, the data of the two modes are compared and verified with each other, and error correction is performed through error correction coding technology until the slave agricultural machinery restores the correct data and information. In the same technical way, the slave agricultural machinery transmits the signals to the slave agricultural machinery through the 5G communication system and the WLAN communication system. The valid data sent by the system to the master agricultural machinery is the same, and is used by the master agricultural machinery to compare whether the data transmitted and received through the above two communication modes are the same. The master agricultural machinery receives the data sent by the slave agricultural machinery to the master agricultural machinery through the 5G communication system and the WLAN communication system, and verifies or corrects the data with the verification data transmitted by the slave agricultural machinery. If the data received through the 5G communication system and the WLAN communication system are the same, the data of one mode is selected and the data of the other mode is discarded. If the data received through the two modes are different, the data of the two modes are compared and verified with each other, and error correction is performed through error correction coding technology until the master agricultural machinery restores the correct data and information.

7. The modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G according to claim 1 is characterized in that: The Beidou navigation module locates and navigates the working positions of the master agricultural machinery and the slave agricultural machinery through satellite signals.

8. A modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G, characterized in that: The modular agricultural intelligent robot collaborative control system based on Beidou navigation and 5G according to any one of claims 1 to 6 comprises the following steps: S1. Preparation and issuance of operation prescription maps: First, agricultural production management personnel use management terminals to prepare operation prescription maps based on the actual situation of farmland, crop growth status, expert experience and production needs, and then send the same prescription map data to the master agricultural machinery through the 5G communication system and WLAN communication system. There are two cases for processing: when the agricultural production management terminal detects that the communication quality meets the transmission requirements, the agricultural production management terminal and the master agricultural machinery select one of the 5G communication system and WLAN communication system, or select a system with low power consumption to transmit data to the master agricultural machinery and the slave agricultural machinery in real time. When the communication quality does not meet the transmission requirements, the agricultural production management terminal sends the prescription map to the master agricultural machinery through the 5G communication system and the WLAN communication system at the same time; S2. Modular tool installation: According to the requirements of the operation prescription map, tools for performing various monitoring or modular equipment corresponding to the operation are installed on the master agricultural machine and the slave agricultural machine; S3. Collaborative operation of the master agricultural machinery and the slave agricultural machinery: After receiving the prescription map, the master agricultural machinery uses Beidou navigation for positioning and starts working according to the planned path. The master agricultural machinery sends specific operation instructions to the slave agricultural machinery through 5G communication and wireless LAN communication, including operation path, operation parameters and tool use instructions. After receiving the instructions, the slave agricultural machinery performs the operation as required and adjusts the height of the vehicle body through the height-adjustable mechanical arm, so that the master agricultural machinery and the slave agricultural machinery can adapt to the requirements of the operation task; S4. Data collection and transmission: During the operation, the master agricultural machine and the slave agricultural machine use the installed surveying and mapping tools to collect farmland environment data, crop growth data and operation status data, and then use the agricultural machine to detect the quality of the communication signal. When the communication quality meets the transmission requirements, the master agricultural machine and the slave agricultural machine select one of the 5G communication system and the WLAN communication system, or select a system with low power consumption, and transmit the data to the agricultural production management terminal in real time. When the communication quality does not meet the transmission requirements, the slave agricultural machine transmits the data to the master agricultural machine in real time, and the master agricultural machine transmits the data to the agricultural production management terminal in a relay manner using computer network technology. The master agricultural machine sends data to the production management terminal through the 5G communication system and the WLAN communication system at the same time; S5. Farming decision-making and optimization: After receiving data, the agricultural production management terminal combines expert experience and artificial intelligence models to conduct data analysis and farming decisions, generate optimized operation prescription maps, and send new instructions to the master agricultural machinery again to guide the subsequent operations of the subordinate agricultural machinery; S6. Real-time monitoring and feedback: Agricultural production managers can monitor operation progress, equipment status and environmental data in real time through agricultural management terminals, and manually adjust operation plans or instructions according to actual conditions.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G as described in claim 7.

10. A readable storage medium, characterized in that: A computer program is stored on the readable storage medium, and when the computer program is executed by the processor, it implements the modular agricultural intelligent robot collaborative control method based on Beidou navigation and 5G as described in claim 7.

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