Control system, method and device of modular unmanned agricultural machine

Abstract

The invention provides a control system, method and device for a modular unmanned agricultural machine, and is applied to the technical field of agricultural robots. The system comprises a host module and a plurality of extension modules, the plurality of extension modules comprise an inspection extension and a plurality of operation extensions; the host module is connected with at least one of the plurality of extension modules; each extension module comprises a functional domain controller and an operation sub-module; and one operation extension corresponds to at least one field operation.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural robots, and in particular to a control system, method and device for modular unmanned agricultural machinery. Background Art

[0002] With the application and promotion of agricultural high-tech, agricultural robots undertake various complex and efficient tasks, and are gradually developing towards automation and intelligence.

[0003] In the prior art, the operating environment and operating mode of agricultural robots are relatively simple. However, during the entire growth cycle of crops, multiple operating methods such as fertilizing, spraying, weeding and watering are usually required, and the operating environment also varies greatly. Therefore, the agricultural robots in the prior art cannot meet the user's operating requirements for different crops and crops in different growth cycles. Summary of the invention

[0004] The present invention provides a control system, method and device for a modular unmanned agricultural machine, which are used to solve the problem that agricultural robots in the prior art cannot meet the user's operation requirements for different crops and crops in different growth cycles.

[0005] The present invention provides a control system for a modular unmanned agricultural machine, comprising: a host module and a plurality of extension modules; the plurality of extension modules comprise a patrol extension and a plurality of operation extensions; the host module is connected to at least one of the plurality of extension modules; each of the extension modules comprises a functional domain controller and an operation submodule; an operation extension corresponds to at least one field operation; the host module is used to obtain operation environment information and establish an autonomous navigation map according to the operation environment information; the patrol extension is used to enter the field for patrol inspection based on the autonomous navigation map and obtain operation object information; the host module is also used to formulate an operation plan according to the operation object information, determine the field operation according to the operation plan, determine the corresponding target operation extension module from the plurality of operation extension modules according to the field operation, configure the target operation extension module as an operation module group, and send an operation instruction to the operation module group; the operation extension is used to control the operation submodule to perform the corresponding field operation through the functional domain controller when the functional domain controller receives the operation instruction of the host module.

[0006] According to a modular unmanned agricultural machinery control system provided by the present invention, the multiple extension modules further include a power extension, and the power extension is a supplementary power supply.

[0007] According to a modular unmanned agricultural machinery control system provided by the present invention, the host module and the extension module both include an information perception submodule, an intelligent decision-making submodule, a main control submodule, an autonomous mobile platform and a power supply submodule.

[0008] According to a control system of a modular unmanned agricultural machinery provided by the present invention, the information perception submodule, the autonomous mobile platform and the power supply submodule in the extension module are common submodules.

[0009] According to a modular unmanned agricultural machinery control system provided by the present invention, the multiple operation sub-modules include: a spraying and fertilizing sub-module, a weeding sub-module, a picking sub-module and a transport sub-module.

[0010] The present invention provides a control method for modular unmanned agricultural machinery, comprising: acquiring operating environment information, establishing an autonomous navigation map according to the operating environment information, the autonomous navigation map being used to realize autonomous inspection of an inspection extension to obtain operating object information; formulating an operating plan according to the operating object information, determining field operating operations according to the operating plan, determining corresponding target operating extensions from multiple operating extensions according to the field operating operations, and configuring the target operating extensions as an operating module group; sending operating instructions to the operating module group; wherein one operating extension corresponds to at least one field operating operation, each of the operating extensions comprises a functional domain controller and an operating submodule, and the functional domain controller is used to enable the operating submodule in the same operating extension to perform the corresponding field operating operation based on the operating instructions.

[0011] The present invention also provides a control device for a modular unmanned agricultural machinery, comprising the following modules: an acquisition module, a processing module and a communication module; the acquisition module is used to acquire working environment information; the processing module is used to establish an autonomous navigation map based on the working environment information, and the autonomous navigation map is used to realize autonomous inspection of the inspection extension to obtain working object information; an operation plan is formulated according to the working object information, and field working operations are determined according to the operation plan. According to the field working operations, a corresponding target operating extension is determined from multiple operating extensions, and the target operating extension is configured as an operating module group; the communication module is used to send operating instructions to the operating module group; wherein one operating extension corresponds to at least one field working operation, and each of the operating extensions includes a functional domain controller and an operating submodule, and the functional domain controller is used to enable the operating submodule in the same operating extension to perform the corresponding field working operation based on the operating instruction.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a control method for a modular unmanned agricultural machine as described above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for a modular unmanned agricultural machine as described in any one of the above.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the control method of the modular unmanned agricultural machine as described in any one of the above is implemented.

[0015] The control system, method and device of modular unmanned agricultural machinery provided by the present invention can determine the operation module group from multiple operation extensions according to the operation plan determined by field inspection, and send operation instructions to the operation module group. Since the host module is connected to at least one of the multiple extension modules, the control system can realize dynamic reorganization of the extension modules according to the crop planning, thereby improving the flexibility and diversity of the system and realizing the miniaturization, intelligence and multi-purpose of the system; since one operation extension corresponds to at least one field operation, and each extension module includes a functional domain controller and an operation sub-module, therefore, not only can the independent and autonomous control operation of the operation extension be realized, but also the diversified needs of users and the operation needs of various crops in different growth cycles can be met. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of a control system of a modular unmanned agricultural machine provided by the present invention; Figure 2 It is a structural schematic diagram of a host module of a control system of a modular unmanned agricultural machine provided by the present invention; Figure 3 It is a structural schematic diagram of the inspection extension of the control system of the modular unmanned agricultural machinery provided by the present invention; Figure 4 It is a structural schematic diagram of a picking subunit and a transport subunit of a control system of a modular unmanned agricultural machine provided by the present invention; Figure 5It is a flow chart of a control method of a modular unmanned agricultural machine provided by the present invention; Figure 6 It is a structural schematic diagram of a control device for a modular unmanned agricultural machine provided by the present invention; Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0020] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0021] In order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and order of execution.

[0022] The embodiments of the present application describe some exemplary embodiments for the purpose of explanation. It should be understood that the present application can be implemented in other ways that are not specifically shown in the drawings.

[0023] like Figure 1 As shown, the embodiment of the present application provides a control system of a modular unmanned agricultural machine, which includes a host module 10 and multiple extension modules, wherein the multiple extension modules include an inspection extension 20 and multiple operation extensions; one operation extension corresponds to at least one field operation. The multiple operation extensions include a spraying and fertilizing extension 30, a weeding extension 40, a picking extension 50, and a transport extension.

[0024] Optionally, the plurality of extension modules may further include a power extension 70 .

[0025] The host module 10 can be connected to at least one of the multiple extension modules. The modules are connected by mechanical structures and communication interfaces. For example, different extension modules can be selected according to different operation requirements and combined into different control systems, thereby forming a multi-machine autonomous operation system with intelligent perception, intelligent warning, intelligent decision-making, and intelligent operation.

[0026] Optionally, the host module 10 and the extension module each include an information perception submodule, an intelligent decision-making submodule, a main control submodule, an autonomous mobile platform and a power submodule. Each module can automatically perform global perception of information such as the operating environment, operating object, and equipment status through the information perception submodule, and then perform information fusion, information analysis, and operation planning on the global information through the intelligent decision-making submodule, and then control the autonomous mobile platform through the main control submodule to perform corresponding mobile operations. The power submodule can provide power support for the autonomous operation of the entire module.

[0027] Optionally, the extension module also includes a corresponding operation sub-module, for example, the spraying and fertilizing extension includes a spraying and fertilizing sub-module, and the weeding extension includes a weeding sub-module.

[0028] Optionally, the information perception submodule, the autonomous mobile platform and the power submodule in the extension module are universal submodules. The information perception submodule, the autonomous mobile platform and the power submodule in the extension module can be replaced or reorganized according to the operation requirements of different periods. For example, when adjusting the extension module connected to the host module, the weeding submodule, the intelligent decision-making submodule and the main control submodule in the weeding extension can be directly replaced with the spraying and fertilizing submodule, the intelligent decision-making submodule and the main control submodule in the spraying and fertilizing extension.

[0029] The host module 10 is used to obtain operating environment information and establish an autonomous navigation map according to the operating environment information.

[0030] The inspection extension 20 is used to enter the field for inspection based on the autonomous navigation map to obtain operation object information.

[0031] The host module 10 is also used to formulate an operation plan based on the operation object information, determine the field operation according to the operation plan, determine the corresponding target operation extension module from the multiple operation extension modules according to the field operation, configure the target operation extension module into an operation module group, and send operation instructions to the operation module group.

[0032] The operation extension is used to control the operation submodule to perform corresponding field operation through the functional domain controller when the functional domain controller receives the operation instruction of the host module.

[0033] Optionally, each of the extension modules includes a functional domain controller and an operation submodule.

[0034] Specifically, the functional domain controller is the centralized control unit of the extension module, responsible for managing the sensor data, actuator control and application logic within its functional domain. It has a certain degree of autonomy and can independently perform tasks within its functional domain. The functional domain controller can provide the host module with necessary data and status information. The host module receives data from each functional domain controller, conducts comprehensive analysis and decision-making, and then sends control instructions to the relevant domain controller, while coordinating the work between different functional domain controllers. The functional domain controllers of each extension module can receive the data collected by the perception layer, conduct comprehensive analysis and decision-making based on the data, and then send job control instructions to the job submodule, while providing the host module with necessary data and status information. The host module optimizes the control strategy in real time based on feedback and performance indicators. Thereby improving the operating efficiency and accuracy of the entire system.

[0035] Alternatively, if Figure 2 As shown, the host module 10 includes an information perception submodule 15, an interaction submodule 14, a central processing unit 13, a power submodule 12 and an autonomous mobile platform 11. The interaction submodule 14 and the central processing unit 13 are installed in the control box, and the central processing unit 13 is connected to the interaction submodule 14, the power submodule 12 and the autonomous mobile platform 11 respectively. The control box is installed on the autonomous mobile platform 11 through a connecting shaft. The information perception submodule 15 is installed on the control box. The operation extension module is connected to the host module 10 through the component socket on the control box panel.

[0036] Among them, the information perception submodule 15 is used to perform global perception of information such as the working environment, operating objects, and equipment status. The information perception submodule 15 is mainly composed of multiple sensor components, including external sensor components and internal sensor components. The external sensor components are used to identify the working environment and operating objects, and mainly include positioning systems, three-dimensional laser radars, IMUs, and depth cameras. The internal sensor components are used to detect the system status and operation execution in real time, and mainly include battery power detection components, infrared ranging sensor detection components, fertilizer detection components, liquid level detection components, fruit maturity monitoring components, camera components, etc.

[0037] The central processing unit 13 is used to realize autonomous decision-making and control functions such as information fusion, data analysis, and operation planning. The central processing unit 13 is a high-performance computing platform responsible for cross-domain data processing, decision-making, high-level function coordination, and coordination of the work of controllers in different functional domains.

[0038] The interactive submodule 14 is responsible for the human-machine interaction, and is mainly used for user parameter setting and operation requirements, and displays system monitoring data.

[0039] The autonomous mobile platform 11 mainly includes a mobile device, a drive control device and a connection platform, and has positioning navigation, path planning and autonomous obstacle avoidance functions.

[0040] The power submodule 12 is used to provide power to the device.

[0041] Optionally, the information perception submodule 15 can collect environmental data and images through multiple sensor components, detect the system status of the sensor components, and the central processing unit 13 performs fusion processing and analysis on the multi-sensor data, and uses relevant algorithms to plan paths, autonomously avoid obstacles, and build an autonomous navigation map.

[0042] Alternatively, if Figure 3 As shown, the inspection extension 20 is composed of an inspection submodule and an autonomous mobile platform 11. The inspection submodule is composed of a camera 22, a retractable and rotating bracket 23, an automatic soil nutrient detection device and a domain controller 21. The inspection extension 20 is mainly responsible for agricultural inspection, soil moisture detection, weed detection and classification identification. It can also monitor early plant growth vitality, identify diseases and estimate crop yields. At the same time, a database is established to record growth cycle information and operation information (including pesticide use information, and establish a traceability system for pesticide use in the production of high-quality agricultural products), and the next step of operation planning is carried out.

[0043] Optionally, the functional domain controller 21 of the inspection extension can collect extension status information and send the status information and analysis data to the central processing unit; the central processing unit then sends a control command to the functional domain controller according to the status information and a preset control strategy.

[0044] Specifically, after the inspection extension 20 enters the field for inspection, it can identify crops through the camera, collect image information such as crop growth and weeds, analyze the production status of crops and the next operation plan according to the growth cycle stage of crops, and use deep learning algorithms to identify diseases and estimate crop yields. Automatic soil testing equipment is used to collect soil nutrient information and analyze soil conditions. The functional domain controller of the inspection extension records all collected information into the database for management and analysis, and sends the analysis data to the central processing unit. The central processing unit formulates the next operation plan based on the analysis data and the preset control strategy. After the inspection is completed, the analysis results and the next operation plan are displayed on the human-computer interaction interface of the intelligent host.

[0045] Optionally, each of the operating extensions includes a functional domain controller, an autonomous mobile platform 11 and an operation sub-module. The operation sub-module is installed on the autonomous mobile platform 11. Different operation sub-modules are controlled by different functional domain controllers. The functional domain controller is used to enable the operation sub-module in the same extension module to perform corresponding field operations based on the operation instructions issued by the host module.

[0046] Optionally, the communication between the functional domain controllers is based on standardized communication protocols and interfaces, such as CAN, LIN, Ethernet, etc.

[0047] Optionally, the target operation extension may be a spraying and fertilizing extension 30, and the fertilizing and spraying submodule of the spraying and fertilizing extension 30 includes a mechanical arm. The fertilizing and spraying submodule is composed of a pressure pump, a control system, a nozzle, a fertilizer suction channel, a flow meter, a detector, and a display, etc. The domain controller controls the mechanical arm to carry the nozzle to efficiently and accurately complete the spraying operation.

[0048] Specifically, the spraying and fertilizing extension 30 can perform fertilization and spraying operations. The functional domain controller of the extension plans the fertilization and spraying operations according to the control instructions sent by the central processing unit, and at the same time receives data collected by the perception layer, such as identifying crops in areas that need to be sprayed with pesticides or fertilized, and obtaining the weather data of the day, and then conducts comprehensive analysis and decision-making, sends operation control instructions to the execution layer, and the robotic arm carries the spraying device to spray drugs or fertilizers.

[0049] Optionally, the target operation extension module may be a weeding extension 40, and the weeding module is composed of a laser weeding device, a camera, a mechanical arm, and a functional domain controller. The functional domain controller controls the laser weeding device to precisely remove weeds after identifying weeds according to the camera.

[0050] Specifically, the weeding extension 40 can perform weeding operations. The extension domain controller plans the weeding operations according to the control instructions sent by the central processing unit, and receives data collected by the perception layer, such as identifying weed images and extension status parameters. Then, comprehensive analysis and decision-making are carried out, and operation control instructions are sent to the execution layer for accurate identification and positioning, and the weeding device implements the eradication operation.

[0051] Alternatively, if Figure 4 As shown, the target operation submachine may include a picking submachine 50 and a transport submachine 60. The picking submachine 50 is composed of a mechanical arm module and an autonomous mobile platform 11. The mechanical arm module is composed of a mechanical arm 51, an end effector 53, a camera 52, a sensor and a domain controller. The picking submachine 50 can select different end effectors according to different crop fruits. The functional domain control recognizes and detects that the fruit is ripe and can control the mechanical arm to pick it. The transport submachine 60 is composed of a transport submodule and an autonomous mobile platform 11. The transport submodule is composed of a box structure 61, which is used to store fruit, liquid medicine or fertilizer, etc.

[0052] Specifically, the picking extension 50 can perform the picking operation. The extension domain controller plans the picking operation according to the control instructions sent by the central processing unit, and receives the data collected by the perception layer, such as identifying ripe fruits and extension status parameters. Then, it conducts comprehensive analysis and decision-making, sends the operation control instructions to the execution layer, performs accurate identification and positioning, and the mechanical arm and the flexible end device implement the picking operation.

[0053] The transport extension 60 can be carried out simultaneously with the picking operation, or it can be carried out separately according to the demand. The extension domain controller plans the transport operation according to the control instructions sent by the central processing unit, and receives the data collected by the perception layer, such as the extension status parameters. Then it conducts comprehensive analysis and decision-making, sends the operation control instructions to the execution layer, and carries out the transport operation.

[0054] Optionally, the power extension 70 is composed of a power module and an autonomous mobile platform, which mainly ensures the power supply of the entire system. The power extension 70 can also supplement the system energy. When the power of the entire system is insufficient, the power extension can be connected to the operation extension.

[0055] In an embodiment of the present application, an operation module group can be determined from multiple operation extensions according to the operation plan determined by field inspection, and an operation instruction can be sent to the operation module group. Since the host module is connected to at least one of the multiple extension modules, the control system can realize dynamic reorganization of the extension modules according to the crop plan, thereby improving the flexibility and diversity of the system and realizing the miniaturization, intelligence and versatility of the system; since one operation extension corresponds to at least one field operation, and each extension module includes a functional domain controller and an operation sub-module, therefore, not only can the independent and autonomous control operation of the operation extension be realized, but also the diversified needs of users and the operation needs of various crops in different growth cycles can be met.

[0056] like Figure 5 As shown, the embodiment of the present application provides a control method for a modular unmanned agricultural machine, and the control method for a modular unmanned agricultural machine can be applied to a control device for a modular unmanned agricultural machine. The control method for a modular unmanned agricultural machine may include S501-S503: S501. The control device of the modular unmanned agricultural machinery obtains working environment information.

[0057] S502: The control device of the modular unmanned agricultural machinery establishes an autonomous navigation map according to the working environment information.

[0058] The autonomous navigation map is used to implement autonomous inspection of the inspection extension to obtain operation object information.

[0059] The control device of the modular unmanned agricultural machinery can collect environmental data and images through multi-sensor components, detect the status of the sensor component detection system, perform fusion processing and analysis on the multi-sensor data, use relevant algorithms, plan paths, autonomously avoid obstacles, and build autonomous navigation maps.

[0060] Afterwards, the control device of the modular unmanned agricultural machinery can sense and identify the working environment and operating objects through the inspection extension to obtain information about the operating objects. That is, it can identify crops, collect image information such as crop growth and weeds, analyze the production status of crops and the next operation plan according to the growth cycle stage of crops, use deep learning algorithms to identify diseases and estimate crop yields, and use automatic soil testing equipment to collect soil nutrient information and analyze soil conditions.

[0061] S503. The control device of the modular unmanned agricultural machinery formulates an operation plan according to the operation object information, determines the field operation according to the operation plan, determines the corresponding target operation extension from multiple operation extensions according to the field operation, and configures the target operation extension into an operation module group.

[0062] Specifically, the control device of the modular unmanned agricultural machinery can formulate an operation plan based on the analyzed operation object information, and configure the operation module group in combination with user needs, reorganize the operation system, and then enter the field to perform operations based on the reorganized operation system.

[0063] Optionally, the multiple operation extension modules may include a spraying and fertilizing extension for performing fertilizing and spraying operations, a weeding extension for performing weeding operations, a picking extension for performing picking operations, a transport extension for performing transport operations, and a power extension for ensuring power supply.

[0064] S503. The control device of the modular unmanned agricultural machinery sends an operation instruction to the operation module group.

[0065] Among them, one operation extension corresponds to at least one field operation, and each of the operation extensions includes a functional domain controller and an operation submodule. The functional domain controller is used to enable the operation submodule in the same operation extension to perform the corresponding field operation based on the operation instruction.

[0066] Specifically, since each of the operation extension modules includes a functional domain controller and an operation submodule, each operation extension module can independently perform an operation after receiving an operation instruction.

[0067] For example, the domain controller of the spraying and fertilizing extension can plan the fertilization and spraying operations according to the operating instructions, and at the same time receive data collected by the perception layer, such as identifying the crops that need to be sprayed with pesticides or fertilized in the area, and obtaining the weather data of the day, and then conduct a comprehensive analysis and decision, and send job control instructions to the job sub-module of the execution layer, and the robotic arm carries the spraying device to spray drugs or fertilizers.

[0068] The domain controller of the weeding extension can plan the weeding operation according to the operating instructions, and at the same time receive the data collected by the perception layer, such as identifying weed images and extension status parameters, and then conduct comprehensive analysis and decision-making, and send operation control instructions to the operation sub-module of the execution layer for accurate identification and positioning, and the weeding device implements the eradication operation.

[0069] The domain controller of the picking machine can plan the picking operation according to the operation instructions, and receive the data collected by the perception layer, such as identifying ripe fruits and machine status parameters. Then it conducts comprehensive analysis and decision-making, sends operation control instructions to the operation submodule of the execution layer, performs accurate identification and positioning, and the robotic arm and flexible terminal device implement the picking operation.

[0070] The transport operation of the transport extension can be carried out simultaneously with the picking operation, or it can be carried out separately according to the demand. The domain controller of the transport extension plans the transport operation according to the operation instructions, and receives the data collected by the perception layer, such as the extension status parameters. Then it conducts comprehensive analysis and decision-making, sends the operation control instructions to the execution layer, and carries out the transport operation.

[0071] The power extension can supplement the system energy. When the whole system is not powered enough, the power extension can be connected to the operation extension.

[0072] In an embodiment of the present application, an operation module group can be determined from multiple operation extensions according to the operation plan determined by field inspection, and an operation instruction can be sent to the operation module group. Since the host module is connected to at least one of the multiple extension modules, the control system can realize dynamic reorganization of the extension modules according to the crop plan, thereby improving the flexibility and diversity of the system and realizing the miniaturization, intelligence and versatility of the system; since one operation extension corresponds to at least one field operation, and each extension module includes a functional domain controller and an operation sub-module, therefore, not only can the independent and autonomous control operation of the operation extension be realized, but also the diversified needs of users and the operation needs of various crops in different growth cycles can be met.

[0073] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment disclosed herein, the embodiment of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0074] It should be noted that the device in the embodiment of the present application includes a virtual device and a physical device. The virtual device can be a control device for a modular unmanned agricultural machinery, and the physical device can include an electronic device, a computer storage medium, and a computer program product.

[0075] The control method of the modular unmanned agricultural machinery provided in the embodiment of the present application can be executed by a control device of the modular unmanned agricultural machinery, or a control module for controlling the modular unmanned agricultural machinery in the control device of the modular unmanned agricultural machinery. In the embodiment of the present application, the control method of the modular unmanned agricultural machinery performed by the control device of the modular unmanned agricultural machinery is taken as an example to illustrate the control device of the modular unmanned agricultural machinery provided in the embodiment of the present application.

[0076] It should be noted that the embodiment of the present application can divide the control device of the modular unmanned agricultural machinery into functional modules according to the above method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0077] like Figure 6 As shown, the embodiment of the present application provides a control device 600 for modular unmanned agricultural machinery. The control device 600 for modular unmanned agricultural machinery includes: an acquisition module 601, a processing module 602 and a communication module 603; the acquisition module 601 is used to acquire operating environment information; the processing module 602 is used to establish an autonomous navigation map according to the operating environment information, and the autonomous navigation map is used to realize the autonomous inspection of the inspection extension to obtain the operating object information; formulate an operation plan according to the operating object information, determine the field operation according to the operation plan, determine the corresponding target operation extension from multiple operation extensions according to the field operation, and configure the target operation extension as an operation module group; the communication module 603 is used to send an operation instruction to the operation module group; wherein, one operation extension corresponds to at least one field operation, and each of the operation extensions includes a functional domain controller and an operation submodule, and the functional domain controller is used to make the operation submodule in the same operation extension perform the corresponding field operation based on the operation instruction.

[0078] In an embodiment of the present application, an operation module group can be determined from multiple operation extensions according to the operation plan determined by field inspection, and an operation instruction can be sent to the operation module group. Since the host module is connected to at least one of the multiple extension modules, the control system can realize dynamic reorganization of the extension modules according to the crop plan, thereby improving the flexibility and diversity of the system and realizing the miniaturization, intelligence and versatility of the system; since one operation extension corresponds to at least one field operation, and each extension module includes a functional domain controller and an operation sub-module, therefore, not only can the independent and autonomous control operation of the operation extension be realized, but also the diversified needs of users and the operation needs of various crops in different growth cycles can be met.

[0079] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7As shown, the electronic device may include: a processor (processor) 710 , a communication interface (Communications Interface) 720 , a memory (memory) 730 and a communication bus 740 , wherein the processor 710 , the communication interface 720 , and the memory 730 communicate with each other through the communication bus 740 . The processor 710 can call the logic instructions in the memory 730 to execute a control method for modular unmanned agricultural machinery, which method includes: obtaining working environment information, establishing an autonomous navigation map based on the working environment information, and the autonomous navigation map is used to realize autonomous inspection of the inspection extension to obtain working object information; formulating an operation plan based on the working object information, determining field working operations based on the operation plan, determining a corresponding target operating extension from multiple operating extensions based on the field working operations, and configuring the target operating extension as an operating module group; sending an operation instruction to the operating module group; wherein, one operating extension corresponds to at least one field working operation, and each of the operating extensions includes a functional domain controller and an operating sub-module, and the functional domain controller is used to enable the operating sub-module in the same operating extension to perform the corresponding field working operation based on the operation instruction.

[0080] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable 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 method 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. Various media that can store program codes.

[0081] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method of modular unmanned agricultural machinery provided by the above-mentioned methods, and the method includes: obtaining working environment information, establishing an autonomous navigation map according to the working environment information, and the autonomous navigation map is used to realize autonomous inspection of the inspection extension to obtain working object information; formulating an operation plan according to the working object information, determining field operation according to the operation plan, determining a corresponding target operation extension from multiple operation extensions according to the field operation, and configuring the target operation extension as an operation module group; sending an operation instruction to the operation module group; wherein, one operation extension corresponds to at least one field operation operation, and each of the operation extensions includes a functional domain controller and an operation submodule, and the functional domain controller is used to enable the operation submodule in the same operation extension to perform the corresponding field operation based on the operation instruction.

[0082] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the control method of modular unmanned agricultural machinery provided by the above-mentioned methods, the method comprising: obtaining working environment information, establishing an autonomous navigation map based on the working environment information, the autonomous navigation map being used to implement autonomous inspection of the inspection extension to obtain working object information; formulating an operation plan based on the working object information, determining field working operations based on the operation plan, determining a corresponding target operating extension from multiple operating extensions based on the field working operations, and configuring the target operating extension as an operating module group; sending operating instructions to the operating module group; wherein one operating extension corresponds to at least one field working operation, and each of the operating extensions includes a functional domain controller and an operating submodule, and the functional domain controller is used to enable the operating submodule in the same operating extension to perform the corresponding field working operation based on the operating instructions.

[0083] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0084] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A modular unmanned agricultural machinery control system, characterized in that: include: A host module and multiple extension modules; the host module is connected to at least one of the multiple extension modules; the multiple extension modules include an inspection extension and multiple operation extensions; each of the extension modules includes a functional domain controller and an operation submodule; an operation extension corresponds to at least one field operation; The host module is used to obtain operating environment information and establish an autonomous navigation map according to the operating environment information; The inspection extension is used to enter the field for inspection based on the autonomous navigation map to obtain operation object information; The host module is further used to formulate an operation plan according to the operation object information, determine a field operation according to the operation plan, determine a corresponding target operation extension module from the multiple operation extension modules according to the field operation, configure the target operation extension module into an operation module group, and send an operation instruction to the operation module group; The operation extension is used to control the operation submodule to perform corresponding field operation through the functional domain controller when the functional domain controller receives the operation instruction of the host module.

2. The control system of modular unmanned agricultural machinery according to claim 1, characterized in that: The multiple extension modules also include a power extension, which is a supplementary power source.

3. The control system of modular unmanned agricultural machinery according to claim 1 or 2, characterized in that: The host module and the extension module both include an information perception submodule, an intelligent decision-making submodule, a main control submodule, an autonomous mobile platform and a power supply submodule.

4. The control system of the modular unmanned agricultural machine according to claim 3, characterized in that: The information perception submodule, the autonomous mobile platform and the power supply submodule in the extension module are common submodules.

5. The control method of modular unmanned agricultural machinery according to claim 1, characterized in that: The multiple operation extension modules include: a spraying and fertilizing extension, a weeding extension, a picking extension, and a transportation extension.

6. A control method for modular unmanned agricultural machinery, characterized in that: include: Acquire the operation environment information, and establish an autonomous navigation map according to the operation environment information, wherein the autonomous navigation map is used to realize the autonomous inspection of the inspection extension to obtain the operation object information; Formulate an operation plan according to the operation object information, determine a field operation according to the operation plan, determine a corresponding target operation extension from a plurality of operation extensions according to the field operation, and configure the target operation extension as an operation module group; Sending an operation instruction to the operation module group; Among them, one operation extension corresponds to at least one field operation, and each of the operation extensions includes a functional domain controller and an operation submodule. The functional domain controller is used to enable the operation submodule in the same operation extension to perform the corresponding field operation based on the operation instruction.

7. A modular unmanned agricultural machine control device, characterized in that: include: Acquisition module, processing module and communication module; The acquisition module is used to acquire the operating environment information; The processing module is used to establish an autonomous navigation map according to the operation environment information, and the autonomous navigation map is used to realize autonomous inspection of the inspection extension to obtain operation object information; formulate an operation plan according to the operation object information, determine the field operation according to the operation plan, determine the corresponding target operation extension from multiple operation extensions according to the field operation, and configure the target operation extension into an operation module group; The communication module is used to send operation instructions to the operation module group; Among them, one operation extension corresponds to at least one field operation, and each of the operation extensions includes a functional domain controller and an operation submodule. The functional domain controller is used to enable the operation submodule in the same operation extension to perform the corresponding field operation based on the operation instruction.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method of the modular unmanned agricultural machinery as claimed in claim 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the control method of the modular unmanned agricultural machine as claimed in claim 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by the processor, the control method of the modular unmanned agricultural machine as claimed in claim 6 is implemented.

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