Implementation method of intelligent farmland environment monitoring system

Abstract

The invention provides an implementation method of a smart farmland environment monitoring system, the system comprises a robot and a plurality of collection nodes distributed in a farmland, each collection node and the robot are identified by a unique node ID, and each collection node stores a state table and a path table. The collection node is configured to be a head node, a free node and a member node; the robot can quickly acquire real-time parameters of the farmland environment through the implementation method of the intelligent farmland environment monitoring system, including humidity, illuminance, crop growth conditions and the like, so that effective irrigation is adopted, healthy growth of crops is ensured, and the intelligent farmland environment monitoring system has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the field of farmland monitoring technology, and in particular to a method for implementing a smart farmland environment monitoring system. Background Art

[0002] Real-time monitoring of farmland environmental data is an important means to increase crop yields and improve the stability and sustainability of agricultural production. Farmland environmental monitoring ensures the healthy growth of crops by automatically monitoring the drought level, pH value, humidity, temperature and other parameters of farmland soil. Traditional farmland data monitoring systems use broadcasting to transmit data, which leads to problems such as high power consumption and long delays in farmland data monitoring. At the same time, nodes with lower energy cannot process farmland data, resulting in the inability to monitor real-time farmland data.

[0003] This system aims to realize real-time data monitoring of farmland and ensure the healthy growth of crops in the farmland. Summary of the invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for implementing a real-time farmland data collection and monitoring system in view of the deficiencies in the prior art.

[0005] Technical solution: The present invention discloses a method for realizing a smart farmland environment monitoring system, wherein the system comprises a robot and a plurality of collection nodes distributed in the farmland, each of the collection nodes and the robot is identified by a unique node ID, and each of the collection nodes stores a state table and a path table, and the collection nodes are configured as a head node, a free node and a member node; the method comprises the following steps: The collecting node calculates its own weight, sends a status message to establish a status table, and marks itself as a member node or a head node according to the established status table; wherein the status message includes a message ID, a node ID, energy, storage space, a node type and a weight; a status table entry includes a node ID, energy, storage space, a node type, a weight and a life cycle; The robot sends a detection message to establish a path table entry; wherein the detection message includes a message ID, a source node ID, a distance and a life cycle, and a path table entry includes a node ID, a distance, a node ID set and a life cycle; The first node sends a distance message to calculate its own distance parameter, and sends a member request message to build its own data set. If the distance in the path table entry of the first node is equal to its own distance parameter, a collection message is sent; wherein the collection message includes a message ID, a data set, a source node ID and a destination node ID, the data set in the collection message is its own data set, the source node ID is equal to its own node ID, and the destination node ID is equal to the node ID in the path table entry; If the node ID of the first node receiving the collection message is equal to the node ID in the collection message, then all the data in its own data set is added to the data set in the collection message, and the source node ID in the collection message is added to its own node ID set; If the node ID set of the first node receiving the collection message is equal to the node ID set in the path table entry, the source node ID in the collection message is set to its own node ID, the destination node ID is set to the node ID in the path table entry, and the collection message is forwarded; If the robot receives the collection message, it saves the data set in the collection message.

[0006] The method further comprises, The collecting node calculates its own weight w according to the following formula: w=n1×e1+n2×c1(1) e1=e2 / e3(2) c1=c2 / c3(3) Among them, n1 and n2 are balance coefficients, and their sum is equal to 1; e1 is the energy coefficient, e2 is the current energy of the collection node, and e3 is the preset energy threshold; c1 is the storage coefficient, c2 is the current storage space of the collection node, and c3 is the preset storage space threshold.

[0007] In the method, the message ID of the status message is 1, the node ID is the node ID of the collecting node itself, the energy is the current energy value, the storage space is the current storage space value, the node type is the current node type, and the weight is equal to the calculated weight; the method also includes: The neighbor collection node that receives the status message checks whether there is a state table entry whose node ID is equal to the node ID in the status message. If so, the energy, storage space, node type and weight of the state table entry are set to the energy, storage space, node type and weight in the status message, and the life cycle is set to the maximum value; otherwise, the neighbor collection node creates a state table entry, and sets the node ID, energy, storage space, node type and weight of the state table entry to the node ID, energy, storage space, node type and weight in the status message, and sets the life cycle to the maximum value.

[0008] The method further comprises, The collecting node marks itself as a member node or a head node according to the established state table, including: If the weight of the collecting node is not less than the weights in all its state table entries, it marks itself as the head node; If the weight of the collection node is less than the weights in all its state table entries, and the collection node has at least one state table entry whose node type is equal to 0, it marks itself as a member node; If the collecting node is the head node or the collecting node is a free node and its weight is less than the weights in all its state table entries, the state table entry with the largest weight is selected and an election message is sent; wherein the message ID of the election message is 2 and the node ID is equal to the node ID in the state table entry; If the node ID of the collecting node receiving the election message is equal to the node ID in the election message, it marks itself as the head node.

[0009] The method further comprises, The robot sends a detection message to establish a path table entry, including: The robot sends a detection message, wherein the message ID of the detection message is 3, the source node ID is equal to its own node ID, the distance is equal to 1, and the life cycle is preset; If the path table of the first node receiving the detection message is an empty table, a path table entry is created; wherein the node ID in the path table entry is set to the source node ID in the detection message, the distance is set to the distance in the detection message, the life cycle is set to the life cycle in the detection message, the distance in the detection message is incremented by 1, and the detection message is forwarded; If the first node that receives the detection message has a path table entry with a distance greater than the distance in the detection message, the node ID in the path table entry is set to the source node ID in the detection message, the distance is set to the distance in the detection message, the life cycle is set to the life cycle in the detection message, the distance in the detection message is incremented by 1, and the detection message is forwarded.

[0010] The method further comprises: The first node receiving the detection message sends a confirmation message while forwarding the detection message; wherein the confirmation message includes a message ID, a source node ID and a destination node ID, and the message ID of the confirmation message is 4, the source node ID is equal to its own node ID, and the destination node ID is equal to the source node ID in the detection message; If the node ID of the first node receiving the confirmation message is equal to the destination node ID in the confirmation message, and the path table is not an empty table, the source node ID in the confirmation message is added to the node ID set of the path table type.

[0011] The method further comprises, The first node stores a distance parameter, and the distance message includes a message ID and a distance; the first node sends a distance message to calculate its own distance parameter, including: The first node sends a distance message; wherein the message ID of the distance message is 5, and the distance is equal to the distance in the path table entry; If the distance parameter of the head node receiving the distance message is greater than or equal to the distance in the distance message, the head node sets its own distance parameter to the distance in the distance message.

[0012] The method further comprises, The member request message contains the message ID and node ID; the member response message contains the message ID, node ID and data, and the first node saves a data set; The first node sends a member request message to build its own data set, including: The first node sets the data set to an empty set and sends a member request message; wherein the message ID of the member request message is 6, and the node ID is equal to its own node ID; The member node receiving the member request message sends a member response message, wherein the message ID of the member response message is 7, the node ID is equal to the node ID in the member request message, and the data is equal to the data collected by itself; If the node ID of the first node that receives the member response message is equal to the node ID in the member response message, the data in the member response message is added to its own data set.

[0013] Beneficial effects: The present invention provides an implementation method of a smart farmland environment monitoring system. Through the implementation method of a smart farmland environment monitoring system provided by the present invention, the robot can quickly obtain real-time parameters of the farmland environment, including humidity, light intensity, crop growth conditions, etc., so as to take effective irrigation measures to ensure the healthy growth of crops. It has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0015] Figure 1 It is a flow chart of the implementation method of the smart farmland environment monitoring system of the present invention; Figure 2 This is a schematic diagram of the process of establishing a status table according to the present invention; Figure 3 This is a schematic diagram of the process of selecting the first node according to the present invention.

[0016] Figure 4 This is a schematic diagram of the process of establishing a path table according to the present invention.

[0017] Figure 5 The figure is a schematic diagram of the distance parameter calculation process of the present invention.

[0018] Figure 6 This is a schematic diagram of the data collection process of the first node described in the present invention.

[0019] Figure 7 This is a schematic diagram of the data collection process of the robot described in the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0021] Unless otherwise specified, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. "Including" or "comprising" used in the embodiments of the present invention neither limit the shapes, numbers, steps, actions, operations, components, originals and / or their groups mentioned, nor exclude the appearance or addition of one or more other different shapes, numbers, steps, actions, operations, components, originals and / or their groups, or the addition of these. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number and order of the indicated technical features. Thus, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0022] Unless otherwise specifically stated, the relative arrangement of the components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship, and the techniques, methods and devices known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and devices shown should be considered as part of the authorized specification. In all examples shown and discussed here, any specific other examples may have different values. It should be noted that similar symbols and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0023] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in the embodiments of the present invention and the features of the different embodiments or examples, without contradiction.

[0024] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0025] Figure 1 The flowchart of the implementation method of the smart farmland environment monitoring system of the present invention. The system includes a robot and a plurality of collection nodes distributed in the farmland, each of the collection nodes and the robot is identified by a unique node ID, and each of the collection nodes stores a state table and a path table, and the collection nodes are configured as head nodes, free nodes and member nodes; the method includes the following steps: The collecting node calculates its own weight, sends a status message to establish a status table, and marks itself as a member node or a head node according to the established status table; wherein the status message includes a message ID, a node ID, energy, storage space, a node type and a weight; a status table entry includes a node ID, energy, storage space, a node type, a weight and a life cycle; The robot sends a detection message to establish a path table entry; wherein the detection message includes a message ID, a source node ID, a distance and a life cycle, and a path table entry includes a node ID, a distance, a node ID set and a life cycle; The first node sends a distance message to calculate its own distance parameter, and sends a member request message to build its own data set. If the distance in the path table entry of the first node is equal to its own distance parameter, a collection message is sent; wherein the collection message includes a message ID, a data set, a source node ID and a destination node ID, the data set in the collection message is its own data set, the source node ID is equal to its own node ID, and the destination node ID is equal to the node ID in the path table entry; If the node ID of the first node receiving the collection message is equal to the node ID in the collection message, then all the data in its own data set is added to the data set in the collection message, and the source node ID in the collection message is added to its own node ID set; If the node ID set of the first node receiving the collection message is equal to the node ID set in the path table entry, the source node ID in the collection message is set to its own node ID, the destination node ID is set to the node ID in the path table entry, and the collection message is forwarded; If the robot receives the collection message, it saves the data set in the collection message.

[0026] The present invention provides an implementation method of a smart farmland environment monitoring system. Through the implementation method of a smart farmland environment monitoring system provided by the present invention, the robot can quickly obtain real-time parameters of the farmland environment, including humidity, light intensity, crop growth conditions, etc., so as to take effective irrigation measures to ensure the healthy growth of crops. The robot has broad application prospects.

[0027] Figure 2 The figure is a flow chart of establishing a state table according to the present invention. The system includes a plurality of collection nodes and a robot. The collection nodes are evenly distributed in the farmland and can be any device with sensing capability, such as a sensor node. The collection nodes are further divided into a head node, a free node and a member node. The head node is responsible for collecting data from the member nodes and transmitting the data to the robot deployed in the farmland for real-time monitoring. In the initial state, each collection node is a free node; Each collection node or robot is identified by a unique node ID, which is pre-set and unique; Each collection node stores a state table. A state table entry contains node ID, energy, storage space, node type, weight, and life cycle. The node type value can be set to 0, 1, or 2. The node type value 0 identifies the node as the head node, the node type value 1 identifies the node as a member node, and the node type value 2 identifies the node as a free node. The collection node calculates its own weight w according to formula (1), where n1 and n2 are balance coefficients, the sum of which is equal to 1, e1 is the energy coefficient, defined by formula (2), and c1 is the storage coefficient, defined by formula (3). In formulas (2) and (3), e2 and c2 are the current energy and storage space of the collection node, respectively, and e3 and c3 are the thresholds of energy and storage space, respectively, which are set in advance; w=n1×e1+n2×c1(1) e1=e2 / e3(2) c1=c2 / c3(3) The status message contains the message ID, node ID, energy, storage space, node type and weight; The collecting node CN1 establishes the status table by sending status messages periodically. The process is as follows: Step 101: Start; Step 102: The collecting node CN1 calculates its own weight and sends a status message, in which the message ID is 1, the node ID is its own node ID, the energy is the current energy value, the storage space is the current storage space value, such as the remaining value of the hard disk, the node type is the current node type, and the weight is equal to the calculated weight; Step 103: The neighbor collection node that receives the status message checks whether there is a status table entry with a node ID equal to the node ID in the status message. If so, the energy, storage space, node type, and weight of the status table entry are respectively set to the energy, storage space, node type, and weight in the status message, and the life cycle is set to the maximum value. Otherwise, a status table entry is created, and the node ID, energy, storage space, node type, and weight of the status table entry are respectively set to the node ID, energy, storage space, node type, and weight in the status message, and the life cycle is set to the maximum value. Step 104: End.

[0028] Through the above process, the collecting node can quickly build a state table, and then obtain the node ID, energy, storage space, node type and weight of the Linjue collecting node, and then elect the first node.

[0029] Figure 3 The figure is a schematic diagram of the process of selecting the first node according to the present invention. If the collecting node meets condition 1, it marks itself as the first node; Condition 1: The weight of the collection node is not less than the weight of all its state table entries; If the collecting node does not meet condition 1 but meets condition 2, it marks itself as a member node; Condition 2: The collection node has at least one state table entry whose node type is equal to 0; If the collecting node is the head node or condition 3 is met, the following operations are performed: Condition 3: The collecting node is a free node and does not meet condition 1; The election message contains the message ID and the node ID; Step 201: Start; Step 202: The collecting node selects the state table entry with the largest weight in the state table and sends an election message, the message ID of which is 2, and the node ID is equal to the node ID in the state table entry; Step 203: If the node ID of the collection node that receives the election message is equal to the node ID in the election message, then execute step 204; otherwise, execute step 205; Step 204: The collection node that receives the election message marks itself as the head node; Step 205: End.

[0030] The collecting node becomes or elects the head node through the above process, so that the head node covers the entire farmland.

[0031] Figure 4 This is a schematic diagram of the process of establishing a path table according to the present invention. Each collection node stores a path table, and a path table entry includes a node ID, a distance, a node ID set, and a life cycle; in the initial state, the path table is an empty table; the path table contains at most one path table entry; The detection message contains the message ID, source node ID, distance and life cycle; The confirmation message contains the message ID, source node ID and destination node ID; The robot deployed in the farmland sends detection messages to establish a path table through the following process: Step 301: Start; Step 302: The robot sends a detection message, the message ID of which is 3, the source node ID is equal to its own node ID, the distance is equal to 1, and the life cycle is preset, for example, 12 hours; Step 303: The first node that receives the detection message determines whether the path table is an empty table. If so, execute step 306; otherwise, execute step 304; Step 304: The first node that receives the detection message determines whether there is a path table entry whose distance is less than or equal to the distance in the detection message. If so, execute step 308; otherwise, execute step 305; Step 305: The first node that receives the detection message sets the node ID in the path table entry to the source node ID in the detection message, sets the distance to the distance in the detection message, and sets the life cycle to the life cycle in the detection message, and executes step 307; Step 306: The first node that receives the detection message creates a path table entry, in which the node ID in the table entry is set to the source node ID in the detection message, the distance is set to the distance in the detection message, and the life cycle is set to the life cycle in the detection message; Step 307: The head node that receives the detection message increases the distance in the detection message by 1, forwards the detection message, and executes step 303; Step 308: End; In step 307, the first node that receives the detection message sends a confirmation message at the same time. The message ID of the message is 4, the source node ID is equal to its own node ID, and the destination node ID is equal to the source node ID in the detection message. If the node ID of the first node that receives the confirmation message is equal to the destination node ID in the confirmation message, and the path table is not an empty table, the source node ID in the confirmation message is added to the node ID set of the path table type, otherwise the confirmation message is discarded.

[0032] The robot builds a path table through the above process, thereby establishing the shortest path to each head node, effectively reducing data collection time.

[0033] Figure 5 The figure is a flow chart of calculating the distance parameter according to the present invention. The first node stores a distance parameter, and the initial value of the parameter is 0; The distance message contains the message ID and distance; After the first node establishes the path table, it performs the following process: Step 401: Start; Step 402: The first node sends a distance message, the message ID of which is 5, and the distance is equal to the distance in the path table entry; Step 403: The head node that receives the distance message determines whether its distance parameter is greater than or equal to the distance in the distance message. If yes, execute step 405; otherwise, execute step 404. Step 404: The head node that receives the distance message sets its own distance parameter to the distance in the distance message; Step 405: End.

[0034] The first node obtains the distances in the path table entries of all neighboring first nodes through the above process, and sets the distance parameter to the maximum distance in the path table entries of all neighboring first nodes.

[0035] Figure 6 This is a schematic diagram of the data collection process of the first node of the present invention. The member request message includes a message ID and a node ID; The member response message contains the message ID, node ID and data; The first node stores a data set; The first node periodically performs the following process to collect data collected by neighboring member nodes: Step 501: Start; Step 502: The first node sets the data set to an empty set and sends a member request message, the message ID of which is 6, and the node ID is equal to its own node ID; Step 503: The member node that receives the member request message sends a member response message, in which the message ID is 7, the node ID is equal to the node ID in the member request message, and the data is equal to the data collected by itself, such as the carbon monoxide content, the geographical location of the trapped residents, etc.; Step 504: The first node that receives the member response message determines whether its node ID is equal to the node ID in the member response message. If yes, execute step 505; otherwise, execute step 506; Step 505: The head node that receives the member response message adds the data in the member response message to the data set; Step 506: End.

[0036] Through the above process, the first node obtains the latest data collected by neighboring member nodes, thereby monitoring the farmland environmental parameters in real time to ensure the healthy growth of crops.

[0037] Figure 7 The figure is a schematic diagram of the data collection process of the robot of the present invention. The collected message includes a message ID, a data set, a source node ID and a destination node ID; Each head node stores a node ID set. In the initial state, the node ID set is an empty set. If the distance in the path table entry of the first node is equal to its own distance parameter, the following process is performed: Step 601: Start; Step 602: The first node sends a collection message, the message ID of which is 8, the data set is its own data set, the source node ID is equal to its own node ID, and the destination node ID is equal to the node ID in the path table entry; Step 603: If the robot receives the collection message, execute step 607, otherwise execute step 604; Step 604: The first node that receives the collection message determines whether its node ID is equal to the node ID in the collection message. If yes, execute step 605; otherwise, execute step 608; Step 605: The first node that receives the collection message adds all the data in its own data set to the data set in the collection message, and adds the source node ID in the collection message to its own node ID set. If its own node ID set is equal to the node ID set in the path table entry, execute step 606, otherwise execute step 604; Step 606: The first node receiving the collection message sets the source node ID in the collection message as its own node ID, sets the destination node ID as the node ID in the path table entry, forwards the collection message, clears the node ID set, and executes step 603; Step 607: The robot saves the data set in the collected message; Step 608: End.

[0038] Through the above process, the robot can obtain the information collected by each collection node deployed in the farmland, thereby realizing real-time monitoring and irrigation.

[0039] Example 1 Based on the simulation parameters in Table 1, this embodiment simulates an implementation method of a smart farmland environment monitoring system in the present invention. The performance analysis is as follows: when the farmland coverage area is large, the success rate of monitoring data decreases, and when the farmland coverage area is small, the success rate of monitoring data increases, and the average success rate of collecting data is 98.9%.

[0040] Table 1

[0041] The present invention provides a method for implementing a smart farmland environment monitoring system. There are many methods and ways to implement the technical solution. The above is only a preferred implementation of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented using existing technologies.

Claims

1. A method for implementing a smart farmland environment monitoring system, characterized in that: The system includes a robot and a plurality of collection nodes distributed in a farmland, each of the collection nodes and the robot is identified by a unique node ID, and each of the collection nodes stores a state table and a path table, and the collection nodes are configured as a head node, a free node, and a member node; the method includes the following steps: The collecting node calculates its own weight, sends a status message to establish a status table, and marks itself as a member node or a head node according to the established status table; wherein the status message includes a message ID, a node ID, energy, storage space, a node type and a weight; a status table entry includes a node ID, energy, storage space, a node type, a weight and a life cycle; The robot sends a detection message to establish a path table entry; wherein the detection message includes a message ID, a source node ID, a distance and a life cycle, and a path table entry includes a node ID, a distance, a node ID set and a life cycle; The first node sends a distance message to calculate its own distance parameter, and sends a member request message to build its own data set. If the distance in the path table entry of the first node is equal to its own distance parameter, a collection message is sent; wherein the collection message includes a message ID, a data set, a source node ID and a destination node ID, the data set in the collection message is its own data set, the source node ID is equal to its own node ID, and the destination node ID is equal to the node ID in the path table entry; If the node ID of the first node receiving the collection message is equal to the node ID in the collection message, then all the data in its own data set is added to the data set in the collection message, and the source node ID in the collection message is added to its own node ID set; If the node ID set of the first node receiving the collection message is equal to the node ID set in the path table entry, the source node ID in the collection message is set to its own node ID, the destination node ID is set to the node ID in the path table entry, and the collection message is forwarded; If the robot receives the collection message, it saves the data set in the collection message.

2. The method for implementing a smart farmland environment monitoring system according to claim 1, characterized in that: The collecting node calculates its own weight w according to the following formula: w=n1×e1+n2×c1(1) e1=e2 / e3(2) c1=c2 / c3(3) Among them, n1 and n2 are balance coefficients, and their sum is equal to 1; e1 is the energy coefficient, e2 is the current energy of the collection node, and e3 is the preset energy threshold; c1 is the storage coefficient, c2 is the current storage space of the collection node, and c3 is the preset storage space threshold.

3. The method for implementing a smart farmland environment monitoring system according to claim 1, characterized in that: The message ID of the status message is 1, the node ID is the node ID of the collecting node itself, the energy is the current energy value, the storage space is the current storage space value, the node type is the current node type, and the weight is equal to the calculated weight; the method further includes: The neighbor collection node that receives the status message checks whether there is a state table entry whose node ID is equal to the node ID in the status message. If so, the energy, storage space, node type and weight of the state table entry are set to the energy, storage space, node type and weight in the status message, and the life cycle is set to the maximum value; otherwise, the neighbor collection node creates a state table entry, and sets the node ID, energy, storage space, node type and weight of the state table entry to the node ID, energy, storage space, node type and weight in the status message, and sets the life cycle to the maximum value.

4. The method for implementing a smart farmland environment monitoring system according to any one of claims 1 to 3, characterized in that: The collecting node marks itself as a member node or a head node according to the established state table, including: If the weight of the collecting node is not less than the weights in all its state table entries, it marks itself as the head node; If the weight of the collection node is less than the weights in all its state table entries, and the collection node has at least one state table entry whose node type is equal to 0, it marks itself as a member node; If the collecting node is the head node or the collecting node is a free node and its weight is less than the weights in all its state table entries, the state table entry with the largest weight is selected and an election message is sent; wherein the message ID of the election message is 2 and the node ID is equal to the node ID in the state table entry; If the node ID of the collecting node receiving the election message is equal to the node ID in the election message, it marks itself as the head node.

5. The method for implementing a smart farmland environment monitoring system according to any one of claims 1 to 3, characterized in that: The robot sends a detection message to establish a path table entry, including: The robot sends a detection message, wherein the message ID of the detection message is 3, the source node ID is equal to its own node ID, the distance is equal to 1, and the life cycle is preset; If the path table of the first node receiving the detection message is an empty table, a path table entry is created; wherein the node ID in the path table entry is set to the source node ID in the detection message, the distance is set to the distance in the detection message, the life cycle is set to the life cycle in the detection message, the distance in the detection message is incremented by 1, and the detection message is forwarded; If the first node that receives the detection message has a path table entry with a distance greater than the distance in the detection message, the node ID in the path table entry is set to the source node ID in the detection message, the distance is set to the distance in the detection message, the life cycle is set to the life cycle in the detection message, the distance in the detection message is incremented by 1, and the detection message is forwarded.

6. The method for implementing a smart farmland environment monitoring system according to claim 5, characterized in that: The method further comprises: The first node receiving the detection message sends a confirmation message while forwarding the detection message; wherein the confirmation message includes a message ID, a source node ID and a destination node ID, and the message ID of the confirmation message is 4, the source node ID is equal to its own node ID, and the destination node ID is equal to the source node ID in the detection message; If the node ID of the first node receiving the confirmation message is equal to the destination node ID in the confirmation message, and the path table is not an empty table, the source node ID in the confirmation message is added to the node ID set of the path table type.

7. A method for implementing a smart farmland environment monitoring system according to any one of claims 1 to 3, characterized in that: The first node stores a distance parameter, and the distance message includes a message ID and a distance; the first node sends a distance message to calculate its own distance parameter, including: The first node sends a distance message; wherein the message ID of the distance message is 5, and the distance is equal to the distance in the path table entry; If the distance parameter of the head node receiving the distance message is greater than or equal to the distance in the distance message, the head node sets its own distance parameter to the distance in the distance message.

8. The method for implementing a smart farmland environment monitoring system according to any one of claims 1 to 3, characterized in that: The member request message contains the message ID and node ID; the member response message contains the message ID, node ID and data, and the first node saves a data set; The first node sends a member request message to build its own data set, including: The first node sets the data set to an empty set and sends a member request message; wherein the message ID of the member request message is 6, and the node ID is equal to its own node ID; The member node receiving the member request message sends a member response message, wherein the message ID of the member response message is 7, the node ID is equal to the node ID in the member request message, and the data is equal to the data collected by itself; If the node ID of the first node that receives the member response message is equal to the node ID in the member response message, the data in the member response message is added to its own data set.

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