Modular unmanned agricultural machine control system, method and apparatus

Abstract

The application provides a control system, method and device of a modular unmanned agricultural machine, and applies 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 module and a plurality of operation extension modules;the host module is connected with at least one of the plurality of extension modules;each of the extension modules comprises a function domain controller and a work sub-module;one operation extension module corresponds to at least one field operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural robots, and in particular to a control system, method and device of a modular unmanned agricultural machine. BACKGROUND

[0002] With the application and popularization of high-tech in agriculture, agricultural robots undertake various complex and efficient work, and gradually develop towards automation and intelligence.

[0003] In the prior art, the working environment and mode of the agricultural robot are relatively single, however, in the whole growth cycle of crops, various working methods such as fertilization, pesticide spraying, weeding and watering are usually required, and the working environment also has great differences, therefore, the agricultural robot in the prior art cannot meet the working requirements of users for different crops and crops in different growth cycles. SUMMARY

[0004] The present application provides a control system, method and device of a modular unmanned agricultural machine to solve the problem that the agricultural robot in the prior art cannot meet the working requirements of users for different crops and crops in different growth cycles.

[0005] The present application provides a control system of a modular unmanned agricultural machine, comprising: a host module and a plurality of extension modules; the plurality of extension modules comprise a patrol extension module and a plurality of operation extension modules; the host module is connected with at least one of the plurality of extension modules; each of the extension modules comprises a function domain controller and a working submodule; one operation extension module corresponds to at least one field operation; the host module is used for acquiring working environment information, establishing an autonomous navigation map according to the working environment information; the patrol extension module is used for entering the field based on the autonomous navigation map to patrol and acquire working object information; the host module is further used for formulating a working plan according to the working object information, determining a field operation according to the working plan, determining a corresponding target operation extension module from the plurality of operation extension modules according to the field operation, configuring the target operation extension module as a working module group, and sending an operation instruction to the working module group; the operation extension module is used for controlling the working submodule to perform the corresponding field operation through the function domain controller when the operation instruction of the host module is received by the function domain controller.

[0006] According to the control system of the modular unmanned agricultural machine provided by the present application, the plurality of extension modules further comprise a power supply extension module, and the power supply extension module is a supplementary power supply.

[0007] The application provides a control system of a modular unmanned agricultural machine, wherein the master module and the slave module each comprise an information sensing sub-module, an intelligent decision-making sub-module, a master control sub-module, an autonomous mobile platform and a power supply sub-module.

[0008] The application provides a control system of a modular unmanned agricultural machine, wherein the information sensing sub-module, the autonomous mobile platform and the power supply sub-module in the slave module are general sub-modules.

[0009] The application provides a control system of a modular unmanned agricultural machine, wherein the plurality of operation slave modules comprise a pesticide spraying and fertilization slave module, a weeding slave module, a picking slave module and a transportation slave module.

[0010] The application provides a control method of a modular unmanned agricultural machine, comprising the following steps: acquiring work environment information, establishing an autonomous navigation map according to the work environment information, wherein the autonomous navigation map is used to realize autonomous inspection of an inspection slave module to obtain work object information; formulating a work plan according to the work object information, determining field work operation according to the work plan, determining a corresponding target operation slave module from a plurality of operation slave modules according to the field work operation, and configuring the target operation slave module as a work module group; and sending an operation instruction to the work module group; wherein one operation slave module corresponds to at least one field work operation, each operation slave module comprises a functional domain controller and a work sub-module, and the functional domain controller is used to enable the work sub-module in the same operation slave module to perform corresponding field work operation based on the operation instruction.

[0011] The application further provides a control device of a modular unmanned agricultural machine, comprising the following modules: an acquisition module, a processing module and a communication module; the acquisition module is used to acquire work environment information; the processing module is used to establish an autonomous navigation map according to the work environment information, wherein the autonomous navigation map is used to realize autonomous inspection of an inspection slave module to obtain work object information; formulate a work plan according to the work object information; determine field work operation according to the work plan; determine a corresponding target operation slave module from a plurality of operation slave modules according to the field work operation; and configure the target operation slave module as a work module group; and the communication module is used to send an operation instruction to the work module group; wherein one operation slave module corresponds to at least one field work operation, each operation slave module comprises a functional domain controller and a work sub-module, and the functional domain controller is used to enable the work sub-module in the same operation slave module to perform corresponding field work operation based on the operation instruction.

[0012] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the modular unmanned agricultural machine according to any one of the above when executing the program.

[0013] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the control method of the modular unmanned agricultural machine according to any one of the above.

[0014] The application further provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the control method of the modular unmanned agricultural machine according to any one of the above.

[0015] The control system, method and device of the modular unmanned agricultural machine provided by the application can determine the operation module group from the 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 with at least one of the multiple extension modules, the control system can realize dynamic recombination of the extension modules according to the crop plan, thereby improving the flexibility and diversity of the system, and realizing miniaturization, intelligentization and multipurpose of the system. Since one operation extension corresponds to at least one field operation, and each extension module comprises a function domain controller and an operation sub-module, not only the independent and autonomous control of the operation extension can be realized, but also the diversified needs of users and the operation needs of multiple crops in different growth periods can be met. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0017] Figure 1 is a structural schematic diagram of the control system of the modular unmanned agricultural machine provided by the application;

[0018] Figure 2 is a structural schematic diagram of the host module of the control system of the modular unmanned agricultural machine provided by the application;

[0019] Figure 3 is a structural schematic diagram of the inspection extension of the control system of the modular unmanned agricultural machine provided by the application;

[0020] Figure 4 is a structural schematic diagram of the picking extension and the transportation extension of the control system of the modular unmanned agricultural machine provided by the application;

[0021] Figure 5 is a flowchart of a control method of a modular unmanned agricultural machine provided by the present application;

[0022] Figure 6 is a structural diagram of a control device of a modular unmanned agricultural machine provided by the present application;

[0023] Figure 7 is a structural diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0024] For the purpose of making the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described in detail below with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments. Based on the embodiments in the present application, any other embodiments obtained by those of ordinary skill in the art without creative efforts should fall into the scope of the present application.

[0025] It should be noted that in the embodiments of the present application, the words “exemplary” or “for example” are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as “exemplary” or “for example” in the embodiments of the present application should not be interpreted as being preferred or superior to other embodiments or design solutions. In fact, the word “exemplary” or “for example” is used to present concepts in a concrete manner.

[0026] It should be noted that in the present document, the terms “comprising”, “containing” or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that comprises a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the phrase “comprising a” does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element. In addition, it should be pointed out that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from the described order, and various steps can also be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0027] To facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with essentially the same function and effect. Those skilled in the art can understand that the terms "first" and "second" are not intended to limit the quantity or execution order.

[0028] This application describes some exemplary embodiments for illustrative purposes. It should be understood that this application may be implemented in other ways not specifically shown in the accompanying drawings.

[0029] like Figure 1 As shown in the figure, this application embodiment provides a control system for a modular unmanned agricultural machine. The control system includes a main unit module 10 and multiple sub-unit modules. The multiple sub-unit modules include an inspection sub-unit 20 and multiple operation sub-units; each operation sub-unit corresponds to at least one field operation. The multiple operation sub-units include a spraying and fertilizing sub-unit 30, a weeding sub-unit 40, a harvesting sub-unit 50, and a transport sub-unit.

[0030] Optionally, the plurality of extension modules may further include a power supply extension 70.

[0031] The host module 10 can be connected to at least one of the plurality of sub-modules. The modules are connected by mechanical structures and communication interfaces. For example, different sub-modules can be selected according to different operational needs to form different control systems, thereby creating a multi-machine autonomous operation system with intelligent sensing, intelligent early warning, intelligent decision-making, and intelligent operation.

[0032] Optionally, both the host module 10 and the sub-module include an information perception submodule, an intelligent decision-making submodule, a main control submodule, an autonomous mobile platform, and a power supply submodule. Each module can automatically perceive the entire operating environment, operating objects, equipment status, etc., through the information perception submodule. Then, the intelligent decision-making submodule can perform information fusion, information analysis, and operation planning based on the overall information. Finally, the main control submodule can control the autonomous mobile platform to perform corresponding mobile operations. The power supply submodule can provide power support for the autonomous operation of the entire module.

[0033] Optionally, the sub-module may further include a corresponding operation sub-module. For example, the spraying and fertilizing sub-module includes a spraying and fertilizing sub-module, and the weeding sub-module includes a weeding sub-module.

[0034] Optionally, the information perception sub-module, the autonomous mobile platform and the power supply sub-module in the slave module are general sub-modules. The information perception sub-module, the autonomous mobile platform and the power supply sub-module in the slave module can be replaced or recombined according to the operation requirements in different periods. For example, when the slave module connected with the host module is adjusted, the weeding sub-module, the intelligent decision sub-module and the master control sub-module in the weeding slave module can be directly replaced with the pesticide spraying and fertilization sub-module, the intelligent decision sub-module and the master control sub-module in the pesticide spraying and fertilization slave module.

[0035] The host module 10 is configured to acquire operation environment information and establish an autonomous navigation map according to the operation environment information.

[0036] The patrol slave module 20 is configured to enter a field to perform patrol based on the autonomous navigation map and acquire operation object information.

[0037] The host module 10 is further configured to formulate an operation plan according to the operation object information, determine a field operation operation according to the operation plan, determine a corresponding target operation slave module from the plurality of operation slave modules according to the field operation operation, configure the target operation slave module as an operation module group, and send an operation instruction to the operation module group.

[0038] The operation slave module is configured to control the operation sub-module to perform a corresponding field operation operation through the function domain controller when the function domain controller receives the operation instruction of the host module.

[0039] Optionally, each slave module comprises a function domain controller and an operation sub-module.

[0040] Specifically, the function domain controller is a centralized control unit of the slave module, responsible for managing sensor data, actuator control and application logic in its function domain, and has a certain degree of autonomous ability, and can independently execute tasks in its function domain. The function domain controller can provide necessary data and state information to the host module, the host module receives data from each function domain controller, performs comprehensive analysis and decision-making, and then sends control instructions to the related domain controller, while coordinating the work between different function domain controllers. The function domain controller of each slave module can receive data collected by the perception layer, and perform comprehensive analysis and decision-making according to the data, and then send operation control instructions to the operation sub-module, while providing necessary data and state information to the host module. The host module optimizes the control strategy in real time according to the feedback and performance index, thereby improving the operation efficiency and accuracy of the whole system.

[0041] Optionally, as Figure 2As 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 a control box, and the central processing unit 13 is connected with 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 with the host module 10 through the component socket on the control box panel.

[0042] The information perception submodule 15 is configured to perceive information such as a working environment, an operation object, and an equipment state. The information perception submodule 15 mainly includes a plurality of sensor components, including external sensor components and internal sensor components. The external sensor components are configured to identify the working environment and the operation object, and mainly include a positioning system, a three-dimensional laser radar, an IMU, a depth camera, and the like. The internal sensor components are configured to detect a system state and a working execution in real time, and mainly include a battery power detection component, an infrared distance sensor detection component, a fertilizer detection component, a liquid level detection component, a fruit maturity monitoring component, a camera component, and the like.

[0043] The central processing unit 13 is configured to realize autonomous decision control functions such as information fusion, data analysis, and working planning. The central processing unit 13 is a high-performance computing platform, which is responsible for cross-domain data processing, decision making, high-level function coordination, and coordination of work of different function domain controllers.

[0044] The interaction submodule 14 is responsible for human-computer interaction, and is mainly used for user parameter setting and working demand, and displays system monitoring data.

[0045] The autonomous mobile platform 11 mainly includes a mobile device, a driving control device, and a connecting platform, and has positioning navigation, path planning, and autonomous obstacle avoidance functions.

[0046] The power submodule 12 is configured to provide power supply for the device.

[0047] Optionally, the information perception submodule 15 can collect environmental data and images through the plurality of sensor components, detect a system state through the sensor components, the central processing unit 13 performs fusion processing and analysis on the plurality of sensor data, plans a path, autonomously avoids obstacles, and constructs an autonomous navigation map by using a related algorithm.

[0048] Optionally, as shown in FIG. 2, the host module 10 includes a plurality of sensor components, including an external sensor component and an internal sensor component. Figure 3As shown, the inspection substation 20 is composed of an inspection sub-module and the autonomous mobile platform 11, and the inspection sub-module is composed of a camera 22, a telescopic and rotating support 23, an automatic soil nutrient detection device, and a domain controller 21. The inspection substation 20 is mainly responsible for agricultural condition inspection, soil condition detection, weed detection and classification identification, and can also monitor early plant growth vigor, identify diseases, and estimate crop yield. At the same time, a database is established to record growth cycle information and operation information (including pesticide use information, and a high-quality agricultural product production pesticide use traceability system is established), and the next operation plan is made.

[0049] Optionally, the functional domain controller 21 of the inspection substation can collect substation state information and send the state information and analysis data to the central processing unit; and the central processing unit sends control commands to the functional domain controller according to the state information and a preset control strategy.

[0050] Specifically, after the inspection substation 20 enters the field for inspection, it can identify crops through the camera, collect image information of crop growth and weeds, analyze crop production and the next operation plan according to the growth cycle stage of the crops, identify diseases and estimate crop yield by using a deep learning algorithm, and collect soil nutrient information by using an automatic soil detection device to analyze soil conditions. The functional domain controller of the inspection substation records all the collected information in the database for management and analysis, and sends analysis data to the central processing unit, which formulates the next operation plan according to the analysis data and a preset control strategy. After the inspection is completed, the analysis results and the next operation plan are displayed on the intelligent master machine human-computer interaction interface.

[0051] Optionally, each operation substation 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, and the functional domain controller is used to make the operation sub-module in the same substation module execute corresponding field operation based on the operation instruction issued by the master module.

[0052] Optionally, the communication between the functional domain controllers is based on a standardized communication protocol and interface, such as CAN, LIN, Ethernet, etc.

[0053] Optionally, the target operation substation can be a pesticide spraying and fertilization substation 30, and the fertilization and pesticide spraying sub-module of the pesticide spraying and fertilization substation 30 includes a mechanical arm. The fertilization and pesticide spraying sub-module is composed of a pressure pump, a control system, a spray head, a fertilizer suction channel, a flow meter, a detector, and a display instrument, etc., and the domain controller controls the mechanical arm to carry out efficient and accurate spraying operation.

[0054] Specifically, the pesticide spraying sub-machine 30 can perform the pesticide spraying operation, and the function domain controller of the sub-machine plans the pesticide spraying operation according to the control instruction sent by the central processing unit, receives the data collected by the perception layer, such as identifying the crops in the area needing to be sprayed with pesticides or fertilizers, obtaining the weather data of the day, and then comprehensively analyzing and deciding, and sending the operation control instruction to the execution layer, and the mechanical arm carries the pesticide spraying device to spray the pesticides or fertilizers.

[0055] Optionally, the target operation sub-machine module can be the weeding sub-machine 40, which is composed of a laser weeding device, a camera, a mechanical arm and a function domain controller. The function domain controller controls the laser weeding device to accurately remove weeds after identifying the weeds by the camera.

[0056] Specifically, the weeding sub-machine 40 can perform the weeding operation, and the sub-machine domain controller plans the weeding operation according to the control instruction sent by the central processing unit, receives the data collected by the perception layer, such as identifying the weed image and the sub-machine state parameter. Then comprehensively analyze and decide, and send the operation control instruction to the execution layer, accurately identify and locate, and the weeding device implements the removal operation.

[0057] Optionally, as shown in Figure 4 The target operation sub-machine can include a picking sub-machine 50 and a transportation sub-machine 60. The picking sub-machine 50 is composed of a mechanical arm module and an autonomous mobile platform 11, and 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 sub-machine 50 can select different end effectors according to different crop fruits, and the function domain control can control the mechanical arm to pick after identifying and detecting the maturity of the fruits. The transportation sub-machine 60 is composed of a transportation sub-module and an autonomous mobile platform 11, and the transportation module is composed of a box structure 61. The box structure 61 is used to store fruits, pesticides or fertilizers, etc.

[0058] Specifically, the picking sub-machine 50 can perform the picking operation, and the sub-machine domain controller plans the picking operation according to the control instruction sent by the central processing unit, receives the data collected by the perception layer, such as identifying the mature fruits and the sub-machine state parameters. Then comprehensively analyze and decide, and send the operation control instruction to the execution layer, accurately identify and locate, and the mechanical arm and the flexible end device implement the picking operation.

[0059] The transportation sub-machine 60 can be performed simultaneously with the picking operation, or can be independently performed according to the demand. The sub-machine domain controller plans the transportation operation according to the control instruction sent by the central processing unit, receives the data collected by the perception layer, such as the sub-machine state parameter. Then comprehensively analyze and decide, and send the operation control instruction to the execution layer, and perform the transportation operation.

[0060] Optionally, the power branch 70 is composed of a power module and an autonomous mobile platform, mainly to ensure the power supply of the whole system. The power branch 70 can also supplement the system energy, and when the power of the whole system is insufficient, the power branch can be connected with the operation branch.

[0061] In the embodiments of the application, the operation module group can be determined from the operation planning determined by the field inspection, and the operation instruction is sent to the operation module group. Since the host module is connected with at least one of the plurality of branch modules, the control system can realize the dynamic reorganization of the branch module according to the crop planning, thereby improving the flexibility and diversity of the system, realizing the miniaturization, intelligentization and multipurpose of the system; since one operation branch corresponds to at least one field operation, and each branch module includes a function domain controller and an operation sub-module, not only the independent and autonomous control of the operation branch can be realized, but also the diversified needs of users and the operation needs of various crops in different growth cycles can be met.

[0062] As shown in Figure 5 The control method of the modular unmanned agricultural machine can be applied to the control device of the modular unmanned agricultural machine. The control method of the modular unmanned agricultural machine can include S501-S503:

[0063] S501, the control device of the modular unmanned agricultural machine acquires operation environment information.

[0064] S502, the control device of the modular unmanned agricultural machine establishes an autonomous navigation map according to the operation environment information.

[0065] The autonomous navigation map is used to realize autonomous inspection of the inspection branch to obtain operation object information.

[0066] The control device of the modular unmanned agricultural machine can collect environmental data and images through a plurality of sensor assemblies, detect the state of the sensor assembly detection system, fuse and analyze the data of the plurality of sensors, plan a path, autonomously avoid obstacles, and construct an autonomous navigation map.

[0067] Then, the control device of the modular unmanned agricultural machine can perceive and identify the operation environment and operation object through the inspection branch to obtain operation object information. That is, the crops are identified, the growth and weed image information of the crops is collected, the production situation and the next operation plan of the crops are analyzed according to the growth cycle stage of the crops, the disease is identified and the crop yield is estimated by using a deep learning algorithm, the soil nutrient information is collected by using an automatic soil detection device, and the soil condition is analyzed.

[0068] S503, the control device of the modular unmanned agricultural machine formulates a work plan according to the work object information, determines a field work operation according to the work plan, determines a corresponding target operation submachine from the plurality of operation submachines according to the field work operation, and configures the target operation submachine as a work module group.

[0069] Specifically, the control device of the modular unmanned agricultural machine can formulate a work plan according to the analyzed work object information, configure a work module group in combination with user demand, reorganize a work system, and then enter a field to work based on the reorganized work system.

[0070] Optionally, the plurality of operation submachine modules can include a pesticide and fertilizer spraying submachine that performs pesticide and fertilizer spraying work, a weeding submachine that performs weeding work, a picking submachine that performs picking work, a transportation submachine that performs transportation work, and a power supply submachine that ensures power supply.

[0071] S503, the control device of the modular unmanned agricultural machine sends an operation instruction to the work module group.

[0072] Each operation submachine includes a function domain controller and a work submodule, and the function domain controller is configured to enable the work submodule in the same operation submachine to perform corresponding field work operation based on the operation instruction.

[0073] Specifically, since each operation submachine module includes a function domain controller and a work submodule, each operation submachine module can independently perform work operation after receiving an operation instruction.

[0074] For example, the domain controller of the pesticide and fertilizer spraying submachine can perform pesticide and fertilizer spraying work planning according to the operation instruction, while receiving data collected by the perception layer, such as identifying crops in an area that needs to be sprayed with pesticide or fertilizer, obtaining weather data for the day, and then performing comprehensive analysis and decision-making to send work control instructions to the work submodule of the execution layer, and the mechanical arm carries out pesticide or fertilizer spraying.

[0075] The domain controller of the weeding submachine can perform weeding work planning according to the operation instruction, while receiving data collected by the perception layer, such as identifying weed images and submachine state parameters, and then performing comprehensive analysis and decision-making to send work control instructions to the work submodule of the execution layer, and performing accurate identification and positioning, and the weeding device implements the operation of digging out.

[0076] The domain controller of the picking substation can plan picking operation according to the operation instruction, and receive data collected by the perception layer, such as identifying ripe fruits and state parameters of the substation. Then, comprehensive analysis and decision are made, and operation control instructions are sent to the operation sub-module of the execution layer for precise identification and positioning, and the mechanical arm and flexible end device implement picking operation.

[0077] The transportation operation of the transportation substation can be performed simultaneously with the picking operation, or the transportation operation can be performed alone according to the demand. The domain controller of the transportation substation plans the transportation operation according to the operation instruction, and receives data collected by the perception layer, such as state parameters of the substation. Then, comprehensive analysis and decision are made, and operation control instructions are sent to the execution layer for transportation operation.

[0078] The power substation can supplement the system energy, and can be connected with the operation substation when the power of the whole system is insufficient.

[0079] In the embodiments of the present application, the operation module group can be determined from the multiple operation substations according to the operation plan determined by field inspection, and operation instructions are sent to the operation module group. Since the host module is connected with at least one of the multiple substation modules, the control system can realize dynamic recombination of the substation modules according to the crop plan, thereby improving the flexibility and diversity of the system, and realizing miniaturization, intelligentization and multipurpose of the system. Since one operation substation corresponds to at least one field operation, and each substation module includes a functional domain controller and an operation sub-module, not only the independent and autonomous control operation of the operation substation can be realized, but also the diversified needs of users and the operation needs of multiple crops in different growth cycles can be met.

[0080] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of method. To realize the above functions, it contains the hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed in the present text, the embodiments of the present application can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical scheme. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0081] It should be noted that the device in the embodiments of the present application includes a virtual device and a physical device. The virtual device can be a control device of a modular unmanned agricultural machine, and the physical device can include an electronic device, a computer storage medium, and a computer program product.

[0082] The control method for modular unmanned agricultural machinery provided in this application can be executed by a control device for the modular unmanned agricultural machinery, or a control module within that control device for controlling the modular unmanned agricultural machinery. This application uses the example of a control device for the modular unmanned agricultural machinery executing the control method to illustrate the control device for the modular unmanned agricultural machinery provided in this application.

[0083] It should be noted that, according to the above method examples, the control device of the modular unmanned agricultural machinery can be divided into functional modules. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. Optionally, the module division in this embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0084] like Figure 6 As shown in the figure, this application embodiment provides a control device 600 for a modular unmanned agricultural machine. The control device 600 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 based on the operating environment information, the autonomous navigation map being used to enable the autonomous inspection of the inspection sub-machine to obtain the information of the work object; to formulate an operation plan based on the work object information; to determine field operation operations based on the operation plan; to determine the corresponding target operation sub-machine from multiple operation sub-machines based on the field operation operations; and to configure the target operation sub-machine as an operation module group; the communication module 603 is used to send operation instructions to the operation module group; wherein, one operation sub-machine corresponds to at least one field operation operation, each operation sub-machine includes a functional domain controller and an operation sub-module, the functional domain controller being used to cause the operation sub-module in the same operation sub-machine to execute the corresponding field operation operation based on the operation instructions.

[0085] In this embodiment, an operation module group can be determined from multiple operating units based on the operation plan determined by field inspection, and operation instructions can be sent to the operation module group. Since the host module is connected to at least one of the multiple sub-unit modules, the control system can realize the dynamic reorganization of sub-unit modules according to the crop plan, thereby improving the system's flexibility and diversity, and realizing the system's miniaturization, intelligence and multi-purpose. Since one operating unit corresponds to at least one field operation, and each sub-unit module includes a functional domain controller and an operation sub-module, it can not only realize the independent and autonomous control operation of the operating unit, but also meet the diversified needs of users and the operation needs of various crops at different growth stages.

[0086] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 communicate with each other through the communications bus 740. The processor 710 can call logic instructions in the memory 730 to execute a control method for a modular unmanned agricultural machine. This method includes: acquiring operational environment information; establishing an autonomous navigation map based on the operational environment information, the autonomous navigation map being used to enable autonomous inspection by the inspection sub-machine to obtain information about the work object; formulating an operational plan based on the work object information; determining field operation operations based on the operational plan; determining a corresponding target operation sub-machine from multiple operation sub-machines based on the field operation operations; configuring the target operation sub-machine as an operational module group; and sending operation instructions to the operational module group. Each operation sub-machine corresponds to at least one field operation operation, and each operation sub-machine includes a functional domain controller and an operational sub-module. The functional domain controller is used to cause the operational sub-modules within the same operation sub-machine to execute the corresponding field operation operation based on the operation instructions.

[0087] In addition, the logic instructions in the memory 730 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0088] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the control method of the modular unmanned agricultural machine provided by the above method. The method comprises: obtaining work environment information, establishing an autonomous navigation map according to the work environment information, the autonomous navigation map is used to realize autonomous inspection of an inspection submachine to obtain work object information; formulating a work plan according to the work object information, determining a field work operation according to the work plan, determining a corresponding target operation submachine from a plurality of operation submachines according to the field work operation, and configuring the target operation submachine as a work module group; sending an operation instruction to the work module group; wherein one operation submachine corresponds to at least one field work operation, each operation submachine comprises a functional domain controller and a work sub-module, and the functional domain controller is used to make the work sub-modules in the same operation submachine execute corresponding field work operations based on the operation instruction.

[0089] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the method for controlling the modular unmanned agricultural machine provided by the above method, the method comprising: obtaining work environment information, and establishing an autonomous navigation map according to the work environment information, the autonomous navigation map being used to realize autonomous inspection of an inspection sub-machine to obtain work object information; formulating a work plan according to the work object information, determining a field work operation according to the work plan, determining a corresponding target operation sub-machine from a plurality of operation sub-machines according to the field work operation, and configuring the target operation sub-machine as a work module group; and sending an operation instruction to the work module group; wherein one operation sub-machine corresponds to at least one field work operation, and each operation sub-machine comprises a functional domain controller and a work sub-module, and the functional domain controller is configured to enable the work sub-modules in the same operation sub-machine to perform corresponding field work operations based on the operation instruction.

[0090] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0091] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions for enabling 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.

[0092] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control system for a modular unmanned agricultural machine, characterized in that, The application relates to a field operation system, comprising: a host module and a plurality of extension modules; the host module is connected with at least one of the plurality of extension modules; the plurality of extension modules comprise a patrol extension module and a plurality of operation extension modules; each of the extension modules comprises a function domain controller and a work sub-module; one operation extension module corresponds to at least one field operation; the host module is used for acquiring work environment information and establishing an autonomous navigation map according to the work environment information; the patrol extension module is used for entering a field to conduct patrol based on the autonomous navigation map and acquiring work object information; the host module is further used for formulating a work plan according to the work object information, determining a field operation according to the work plan, determining a target operation extension module corresponding to the field operation from the plurality of operation extension modules, configuring the target operation extension module as a work module group, and sending an operation instruction to the work module group; the operation extension module is used for controlling the work sub-module to execute corresponding field operation through the function domain controller when the operation instruction of the host module is received by the function domain controller; the plurality of extension modules further comprise a power supply extension module which is a supplementary power supply; the host module and the extension module each comprise an information sensing sub-module, an intelligent decision-making sub-module, a master control sub-module, an autonomous mobile platform and a power supply sub-module; the information sensing sub-module, the autonomous mobile platform and the power supply sub-module in the extension module are general sub-modules; the information sensing sub-module, the autonomous mobile platform and the power supply sub-module in the extension module are replaced or recombined according to work requirements in different periods.

2. The control system of the modular unmanned farm machine of claim 1, wherein, The plurality of operation extension modules comprise a pesticide and fertilizer application extension module, a weeding extension module, a picking extension module and a transportation extension module.

3. A control method of a modular unmanned farm machine, applied to the control system of the modular unmanned farm machine according to any one of claims 1-2, characterized in that, The application relates to a field operation system, comprising: acquiring work environment information and establishing an autonomous navigation map according to the work environment information, wherein the autonomous navigation map is used for realizing autonomous patrol of a patrol extension module to obtain work object information; formulating a work plan according to the work object information, determining a field operation according to the work plan, determining a target operation extension module corresponding to the field operation from a plurality of operation extension modules, and configuring the target operation extension module as a work module group; sending an operation instruction to the work module group; wherein one operation extension module corresponds to at least one field operation, and each of the operation extension modules comprises a function domain controller and a work sub-module; the function domain controller is used for enabling the work sub-module in the same operation extension module to execute corresponding field operation based on the operation instruction.

4. A control device of a modular unmanned agricultural machine, applied to the control system of the modular unmanned agricultural machine according to any one of claims 1-2, characterized in that, The application relates to a field operation system, comprising: an acquisition module, a processing module and a communication module; the acquisition module is used for acquiring work environment information; The processing module is configured to establish an autonomous navigation map according to the work environment information, the autonomous navigation map being used to realize autonomous inspection of the inspection sub-machine to obtain work object information; formulate a work plan according to the work object information; determine a field work operation according to the work plan; determine a corresponding target operation sub-machine from a plurality of operation sub-machines according to the field work operation; and configure the target operation sub-machine as a work module group. The communication module is configured to send an operation instruction to the work module group. Each operation sub-machine includes a function domain controller and a work sub-module, and the function domain controller is configured to enable the work sub-module in the same operation sub-machine to perform a corresponding field work operation based on the operation instruction.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The computer program is executed by the processor to implement the control method of the modular unmanned agricultural machine.

6. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the modular unmanned agricultural machine.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the control method of the modular unmanned agricultural machine.

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