Orchard ecological environment monitoring and regulation system

Abstract

The invention discloses an orchard ecological environment monitoring and regulation system. The system comprises a visual SLAM device, a monitoring device, a data analysis platform, a regulation device and a monitoring platform. Wherein the visual SLAM device obtains an image in an orchard, constructs an orchard ecological environment three-dimensional map and carries out positioning; the monitoring device monitors various ecological environment data and fruit tree state data in the orchard, and transmits the monitored data to the data analysis platform; the data analysis platform stores the monitoring data, analyzes and processes the monitoring data, evaluates an orchard environment and a fruit tree growth state, generates a regulation and control instruction according to an evaluation result, and sends the regulation and control instruction to the regulation and control device; the regulation and control device regulates and controls the orchard ecological environment according to the regulation and control instruction; the monitoring platform displays an orchard ecological environment three-dimensional map constructed by the visual SLAM device, monitoring data acquired by the monitoring device and other information. By using the system, intelligent management of the orchard can be realized, and the yield and quality of fruits can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of orchard automation and intelligentization, and in particular to an orchard ecological environment monitoring and control system. Background Art

[0002] With the increasing demand for fruits and people's concern about the quality of fruits, it is crucial to improve the production efficiency and quality of orchards. Traditional orchard management mainly relies on manual experience and regular garden inspections. This method is inefficient, costly, and difficult to achieve intelligent management, which is not conducive to improving fruit production and quality. In recent years, advanced technologies such as computer vision, robotics, and the Internet of Things have developed rapidly, bringing new opportunities for smart agriculture; therefore, it is urgent to use the above advanced technologies to develop an orchard ecological environment monitoring and control system to achieve intelligent management of orchards, thereby improving fruit production and quality. Summary of the invention

[0003] In view of this, the present invention provides an orchard ecological environment monitoring and control system that at least solves some of the above technical problems. The system combines advanced technologies such as computer vision, robotics and sensor technology, and can achieve real-time monitoring of multiple ecological environment parameters in the orchard. It can also display a three-dimensional map of the orchard ecological environment and monitoring data, and can evaluate the orchard environment and fruit tree growth status based on the monitoring data, and then perform corresponding regulation to optimize the fruit tree growth conditions, thereby helping to improve fruit yield and quality. The system of the present invention can improve the efficiency and accuracy of orchard management, and has a certain role in promoting agricultural automation and intelligence.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, an embodiment of the present invention provides an orchard ecological environment monitoring and control system, the system comprising: a visual SLAM device, a monitoring device, a data analysis platform, a control device and a monitoring platform; the visual SLAM device, the monitoring device, the control device and the monitoring platform are respectively connected to the data analysis platform, wherein:

[0006] The visual SLAM device is used to obtain images inside the orchard, construct a three-dimensional map of the orchard's ecological environment, and locate the orchard;

[0007] The monitoring device is used to monitor various ecological environment data and fruit tree status data in the orchard, and transmit the monitoring data to the data analysis platform;

[0008] The data analysis platform is used to store monitoring data, analyze and process the monitoring data, evaluate the orchard environment and the growth status of fruit trees, and generate control instructions based on the evaluation results and send them to the control device;

[0009] The control device is used to control the ecological environment of the orchard according to the control instruction;

[0010] The monitoring platform is used to display the three-dimensional map of the orchard ecological environment constructed by the visual SLAM device, the monitoring data obtained by the monitoring device, the operating status of the control device and the location information of each device.

[0011] In an optional embodiment, the visual SLAM device and the monitoring device are integrated and mounted on a track robot or a wheeled robot, or the visual SLAM device is mounted on a track robot or a wheeled robot and the monitoring device is installed at a preset position in the orchard.

[0012] In an optional embodiment, the visual SLAM device includes: a perception module, an image processing module, a feature matching module, a three-dimensional map construction module, a path planning module and a walking control module; wherein:

[0013] The perception module is used to capture color images and depth information of the orchard ecological environment, and transmit the captured data to the image processing module for subsequent processing;

[0014] The image processing module receives the output data of the perception module, performs image denoising and enhancement to improve data quality, and extracts feature points from the processed image to provide a basis for positioning and construction of a three-dimensional map of the orchard ecological environment;

[0015] The feature matching module uses the feature points provided by the image processing module to perform time series feature matching to estimate the displacement and posture change data of the robot;

[0016] The three-dimensional map construction module constructs and updates the three-dimensional map of the orchard ecological environment based on the posture data provided by the feature matching module and in combination with known environmental information;

[0017] The path planning module plans an optimal navigation path from the current position to the target position according to the three-dimensional map output by the three-dimensional map construction module and the current position of the robot;

[0018] The walking control module receives the optimal navigation path information provided by the path planning module, controls the robot to work according to the planned path, and dynamically adjusts the walking path during operation using the real-time image provided by the perception module.

[0019] In an optional embodiment, the monitoring device includes: a temperature sensor, a humidity sensor, a light intensity sensor, a wind speed and direction sensor, a spectrometer, a laser radar, a high-resolution camera, etc.

[0020] In an optional embodiment, the data analysis platform obtains standard growth environment data of the target growth of fruit trees under laboratory conditions based on the growth characteristics of the fruit tree species; and evaluates the orchard environment by comparing the standard growth environment data with the environmental data obtained by the monitoring device, using the difference between the standard growth environment data and the environmental data obtained by the monitoring device.

[0021] In an optional embodiment, the data analysis platform establishes a fruit tree growth analysis model based on the fruit tree status data to evaluate the growth status of the fruit trees.

[0022] In an optional embodiment, the fruit tree growth analysis model is:

[0023] Q=G+Y

[0024] G=α1D+α2L+α3M

[0025] Y=β1C+β2Z+β3S

[0026] Among them, Q represents the growth status value of fruit trees, G represents the nutrient value of fruit tree branches, Y represents the nutrient value of fruit tree leaves, D represents the diameter of fruit tree branches, L represents the length of fruit tree branches, M represents the number of fruit tree branches, α1, α2, and α3 represent the contribution factors of the diameter of fruit tree branches, the length of branches, and the number of branches, respectively. C represents the color status value of fruit tree leaves, Z represents the wrinkle degree value of fruit tree leaves, S represents the insect pest degree value of fruit tree leaves, and β1, β2, and β3 represent the influence coefficients of the color status value of fruit tree leaves, the wrinkle degree value of leaves, and the insect pest degree value of leaves, respectively.

[0027] In an optional embodiment, the control device includes: automatic irrigation equipment, intelligent fertilization equipment, spraying equipment, etc.

[0028] Compared with the prior art, the present invention has at least the following beneficial effects:

[0029] The present invention provides an orchard ecological environment monitoring and control system, which combines advanced technologies such as computer vision, robotics and sensor technology, can achieve real-time monitoring of multiple ecological environment parameters in the orchard, and can also display a three-dimensional map of the orchard ecological environment and monitoring data, etc., and can evaluate the orchard environment and fruit tree growth status based on the monitoring data, and then perform corresponding regulation to optimize the fruit tree growth conditions, thereby helping to improve fruit yield and quality. The system of the present invention can improve the efficiency and accuracy of orchard management, and has a certain role in promoting agricultural automation and intelligence.

[0030] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0031] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0034] Figure 1 A schematic diagram of the structure of an orchard ecological environment monitoring and control system provided by an embodiment of the present invention.

[0035] Figure 2 A schematic diagram of the structure of a visual SLAM device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figure 1 As shown, the present invention provides an orchard ecological environment monitoring and control system, which mainly includes: a visual SLAM device, a monitoring device, a data analysis platform, a control device and a monitoring platform; the visual SLAM device, the monitoring device, the control device and the monitoring platform are respectively connected to the data analysis platform, wherein:

[0041] Visual SLAM device: used to obtain images inside the orchard, build a three-dimensional map of the orchard's ecological environment, and locate the location;

[0042] Monitoring device: used to monitor various ecological environment data and fruit tree status data in the orchard, and transmit the monitoring data to the data analysis platform;

[0043] Data analysis platform: used to store and analyze monitoring data, evaluate the orchard environment and fruit tree growth status, and generate control instructions based on the evaluation results and send them to the control device;

[0044] Control device: used to control the orchard ecological environment according to control instructions;

[0045] Monitoring platform: used to display the three-dimensional map of the orchard ecological environment constructed by the visual SLAM device, the monitoring data obtained by the monitoring device, the operating status of the control device, and the location information of each device.

[0046] The present invention provides an orchard ecological environment monitoring and control system, which combines advanced technologies such as computer vision, robotics and sensor technology, and can realize real-time monitoring of various ecological environment parameters in the orchard, and can also display a three-dimensional map of the orchard ecological environment and monitoring data, etc., and can evaluate the orchard environment and the growth status of fruit trees based on the monitoring data, and then perform corresponding regulation to optimize the growth conditions of fruit trees, thereby helping to improve the yield and quality of fruits. The system of the present invention can improve the efficiency and accuracy of orchard management, and has a certain role in promoting agricultural automation and intelligence.

[0047] The specific implementation manner and working principle of the present invention are described in detail below:

[0048] In the embodiment of the present invention, the visual SLAM device and the monitoring device can be preferably integrated and mounted on a track robot or a wheeled robot (when mounted on a track robot, a corresponding track needs to be installed inside the orchard. The robot is a prior art and will not be described in detail here). Figure 2 As shown, the visual SLAM device includes: a perception module, an image processing module, a feature matching module, a three-dimensional map construction module, a path planning module and a walking control module; wherein:

[0049] The perception module is used to capture the color image and depth information of the orchard ecological environment and transmit the captured data to the image processing module for subsequent processing;

[0050] Image processing module: receives the output data of the perception module, performs image denoising and enhancement to improve data quality, and extracts feature points from the processed images to provide a basis for positioning and the construction of a three-dimensional map of the orchard ecological environment;

[0051] Feature matching module: Use the feature points provided by the image processing module to perform time series feature matching to estimate the robot's displacement and posture change data;

[0052] 3D map construction module: Based on the position data provided by the feature matching module and combined with known environmental information, a 3D map of the orchard ecological environment is constructed and updated;

[0053] Path planning module: plans the optimal navigation path from the current position to the target position based on the 3D map output by the 3D map construction module and the current position of the robot;

[0054] Walking control module: receives the optimal navigation path information provided by the path planning module, controls the robot to work according to the planned path, and dynamically adjusts the walking path during operation using the real-time image provided by the perception module.

[0055] The perception module and image processing module are briefly introduced below. For other modules, please refer to the relevant existing technologies and will not be introduced one by one:

[0056] In a specific embodiment, the perception module includes: an RGB camera unit and a depth camera unit; wherein:

[0057] RGB camera unit: captures color images of the orchard ecological environment. The RGB camera unit includes a lens and an image sensor. The lens is used to adjust the incident angle and focal length of light to ensure the clarity of the image. The image sensor is used to capture light signals in the environment and convert them into digital images. The image data is transmitted to the image processing module.

[0058] Depth camera unit: captures depth information of the orchard ecological environment. The depth camera unit includes an infrared transmitter, an infrared receiver and a depth calculation module. The infrared transmitter is used to emit infrared light beams. The infrared receiver receives infrared light signals reflected from the surface of an object. The depth calculation module is used to calculate the distance between the object and the camera based on the time difference and phase difference of the light signal. The calculated depth information is transmitted to the image processing module. The specific captured depth information data includes the distance parameters and spatial position parameters of each pixel point.

[0059] In a specific embodiment, the image processing module includes an image denoising unit, an image enhancement unit and a feature point extraction unit; wherein:

[0060] Image denoising unit: receives the output data of the environment perception module and performs image denoising. The image denoising unit includes a noise detector, a filter and a denoising processor. The noise detector is used to identify noise signals in the image. The filter uses a Gaussian filter algorithm to filter the noise signal. The denoising processor adjusts the denoising parameters according to the feedback of the noise detector and the filter to generate denoised image data.

[0061] Image enhancement unit: performs enhancement processing on the denoised image, and the image enhancement unit includes a contrast adjuster, a sharpener and an enhancement processing module; the contrast adjuster is used to adjust the contrast according to the brightness histogram of the image; the sharpener is used to perform edge enhancement on the image using the Laplace operator; the enhancement processing module is used to integrate the processing results of the contrast adjuster and the sharpener to generate enhanced image data;

[0062] Feature point extraction unit: extracts feature points from the enhanced image. The feature point extraction unit includes a feature detector, a description generator and a feature extraction processing chip. The feature detector uses the ORB algorithm to detect preset focus points in the image. The description generator generates a feature description for each preset focus point. The feature extraction processing chip is used to integrate the processing results of the feature detector and the description generator to finally generate feature point data.

[0063] Furthermore, in the embodiment of the present invention, the monitoring device collects various ecological environment data and fruit tree status data in the orchard along with the robot's work monitoring. In the embodiment of the present invention, the monitoring device includes: a temperature sensor, a humidity sensor, a light intensity sensor, a wind speed and direction sensor, a spectrum analyzer, a laser radar and a high-resolution camera; wherein: the spectrum analyzer and the high-resolution camera used can capture the fruit tree status image, and identify the pest and disease situation, leaf color change and other information through image processing technology; the laser radar can generate point cloud data to construct a three-dimensional image of the fruit tree, and then obtain the estimated information of the current branch diameter, branch length, branch number, etc. of the fruit tree, providing a data basis for the current fruit tree growth analysis.

[0064] In another embodiment, the monitoring device can also be installed at a preset location in the orchard. In this case, the monitoring device also includes sensing equipment such as soil moisture sensors and pH sensors, which are used to obtain indicators such as soil moisture and pH value, monitor the pH value of irrigation water, ensure that it is suitable for fruit trees to absorb nutrients, avoid overwatering or drought, and ensure that the soil is within the optimal pH range suitable for the growth of fruit trees.

[0065] In the embodiment of the present invention, the control device specifically includes: automatic irrigation equipment, intelligent fertilization equipment and spraying equipment, etc.; wherein: the automatic irrigation equipment includes drip irrigation equipment and micro-sprinkler irrigation equipment. The drip irrigation equipment directly delivers water to the root area of ​​the fruit tree through a series of pipes and drippers distributed under the ground, reducing water evaporation loss, and can be used in combination with fertilizers (i.e., fertilizer and water integration) to promote nutrient absorption; the micro-sprinkler irrigation equipment uses a small nozzle to evenly spray fine water droplets around the fruit tree, which is suitable for a wider planting area, can effectively increase air humidity, and is conducive to the growth of certain fruit trees with higher humidity requirements. Intelligent fertilization equipment includes liquid fertilizer injectors and variable fertilizer applicators, etc., which can mix liquid fertilizers into irrigation water in proportion, and apply them directly to the roots of fruit trees through drip irrigation or sprinkler irrigation equipment. Fertilizers are accurately applied according to the growth stage of the fruit tree and soil conditions to achieve optimal nutrient supply. Spraying equipment includes drone spraying equipment and electrostatic sprayers, etc., which are mainly used for the application of pesticides, herbicides or other chemicals to ensure that the agents are evenly distributed and not excessive. Among them, drone spraying equipment carries a small spray device to complete the spraying task in the air. It is highly flexible and particularly suitable for complex terrain or hard-to-reach areas. It is easy to operate and has a fast response speed. Electrostatic sprayers charge the drug solution with static electricity, so that it can better adhere to the target surface, improve the efficacy of the drug, reduce drift, and reduce the amount of drug used.

[0066] Furthermore, in an embodiment of the present invention, the data analysis platform obtains standard growth environment data of the target growth of fruit trees under laboratory conditions based on the growth characteristics of the fruit tree species; by comparing the standard growth environment data with the environmental data obtained by the monitoring device, the difference between the standard growth environment data and the environmental data obtained by the monitoring device is used to evaluate the orchard environment. For example, when it is found that the humidity is lower than the standard or the temperature is higher than the standard, instructions are issued to control the micro-sprinkler irrigation equipment to spray water to increase humidity and reduce temperature.

[0067] Further, in the embodiment of the present invention, the data analysis platform establishes a fruit tree growth analysis model based on the fruit tree status data:

[0068] Q=G+Y

[0069] G=α1D+α2L+α3M

[0070] Y=β1C+β2Z+β3S

[0071] Among them, Q represents the growth status value of fruit trees, G represents the nutrient value of fruit tree branches, Y represents the nutrient value of fruit tree leaves, D represents the diameter of fruit tree branches, L represents the length of fruit tree branches, M represents the number of fruit tree branches, α1, α2, and α3 represent the contribution factors of the diameter of fruit tree branches, the length of branches, and the number of branches, respectively. C represents the color status value of fruit tree leaves, Z represents the wrinkle degree value of fruit tree leaves, S represents the insect pest degree value of fruit tree leaves, and β1, β2, and β3 represent the influence coefficients of the color status value of fruit tree leaves, the wrinkle degree value of leaves, and the insect pest degree value of leaves, respectively.

[0072] The growth status of the fruit trees is then evaluated based on the calculated growth status value of the fruit trees. If it is less than the preset threshold, instructions are generated to control the operation of the automatic irrigation equipment and the intelligent fertilization equipment to supplement nutrients for the fruit trees to improve the growth status value of the fruit trees.

[0073] Further, in the embodiment of the present invention, the monitoring platform is a monitor (displaying a large screen) + control platform, which is used to display the three-dimensional map of the orchard ecological environment constructed by the visual SLAM device, the monitoring data obtained by the monitoring device, the operating status of the control device, and the location information of each device. Through the platform, the control device can also be linked, and the operation of the control device can be manually controlled. In addition, it can be installed in a mobile terminal for remote viewing and control. The monitoring platform enables managers to clearly understand the ecological environment of the orchard and the operating status of the equipment, and can intuitively present the overall layout and terrain characteristics of the orchard, which helps managers to better understand the spatial structure of the orchard, plan planting areas, path planning, etc. With the continuous work of the visual SLAM robot, the three-dimensional map can be updated in real time to reflect the latest changes in the orchard (such as newly planted trees, removed obstacles, etc.), ensuring the accuracy and timeliness of the data. The monitoring platform can display data from various monitoring devices, such as temperature, humidity, light intensity, soil moisture, nutrients, etc. These data can be visualized in the form of charts, heat maps, etc., which is convenient for quickly identifying abnormal situations or trend changes. In addition to real-time data, the platform can also store and provide historical data query functions to help users analyze long-term trends and make more scientific decisions. The monitoring platform can also display the working status of control devices such as automatic irrigation systems, intelligent fertilization equipment, and spraying drones in real time; for example, it can display information such as the tasks currently being performed, the amount of work completed, and the remaining tasks. Through GPS or other positioning technologies, the monitoring platform can accurately display the current location of each device in the orchard, which is particularly important for large orchards and can help managers quickly find specific equipment or areas that need attention. The monitoring platform not only enables managers to grasp the status of the orchard anytime and anywhere, greatly improving the level of intelligent orchard management, but also promotes the effective use of resources, reduces labor costs, ensures the healthy growth of fruit trees, and improves the efficiency and flexibility of orchard management.

[0074] From the description of the above embodiments, those skilled in the art can know that the present invention proposes an orchard ecological environment monitoring and control system, which combines advanced technologies such as computer vision, robotics and sensor technology, and can realize real-time monitoring of various ecological environment parameters in the orchard, and can also display a three-dimensional map of the orchard ecological environment and monitoring data, etc., and can evaluate the orchard environment and the growth status of fruit trees based on the monitoring data, and then perform corresponding regulation to optimize the growth conditions of fruit trees, thereby helping to improve the yield and quality of fruits. The system of the present invention can improve the efficiency and accuracy of orchard management, and has a certain role in promoting agricultural automation and intelligence.

[0075] Those skilled in the art should understand that the embodiments of the present invention can be provided as a system, an apparatus or a computer program product, etc. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0076] It should be noted that the word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several distinct components, and by means of a suitably programmed computer.

[0077] This specification adopts a progressive description, and the same and similar parts between various implementations can be referred to each other. The unexplained parts of the embodiments of the present invention can be obtained from the corresponding product specifications or the prior art in the field, which are well-known in the field and will not be described in detail.

[0078] The above embodiments of the present invention are described in detail, and the principles and implementation methods of the present invention are explained. The description of the above embodiments is only used to help understand the method and core concept of the present invention.

[0079] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An orchard ecological environment monitoring and control system, characterized in that: The system comprises: a visual SLAM device, a monitoring device, a data analysis platform, a control device and a monitoring platform; the visual SLAM device, the monitoring device, the control device and the monitoring platform are respectively connected to the data analysis platform, wherein: The visual SLAM device is used to obtain images inside the orchard, construct a three-dimensional map of the orchard's ecological environment, and locate the orchard; The monitoring device is used to monitor various ecological environment data and fruit tree status data in the orchard, and transmit the monitoring data to the data analysis platform; The data analysis platform is used to store monitoring data, analyze and process the monitoring data, evaluate the orchard environment and the growth status of fruit trees, and generate control instructions based on the evaluation results and send them to the control device; The control device is used to control the ecological environment of the orchard according to the control instruction; The monitoring platform is used to display the three-dimensional map of the orchard ecological environment constructed by the visual SLAM device, the monitoring data obtained by the monitoring device, the operating status of the control device and the location information of each device.

2. The orchard ecological environment monitoring and control system according to claim 1, characterized in that: The visual SLAM device and the monitoring device are integrated and mounted on a track robot or a wheeled robot, or the visual SLAM device is mounted on a track robot or a wheeled robot and the monitoring device is installed at a preset position in the orchard.

3. The orchard ecological environment monitoring and control system according to claim 2 is characterized in that: The visual SLAM device includes: a perception module, an image processing module, a feature matching module, a three-dimensional map construction module, a path planning module and a walking control module; wherein: The perception module is used to capture color images and depth information of the orchard ecological environment, and transmit the captured data to the image processing module for subsequent processing; The image processing module receives the output data of the perception module, performs image denoising and enhancement to improve data quality, and extracts feature points from the processed image to provide a basis for positioning and construction of a three-dimensional map of the orchard ecological environment; The feature matching module uses the feature points provided by the image processing module to perform time series feature matching to estimate the displacement and posture change data of the robot; The three-dimensional map construction module constructs and updates the three-dimensional map of the orchard ecological environment based on the posture data provided by the feature matching module and in combination with known environmental information; The path planning module plans an optimal navigation path from the current position to the target position according to the three-dimensional map output by the three-dimensional map construction module and the current position of the robot; The walking control module receives the optimal navigation path information provided by the path planning module, controls the robot to work according to the planned path, and dynamically adjusts the walking path during operation using the real-time image provided by the perception module.

4. The orchard ecological environment monitoring and control system according to claim 1, characterized in that: The monitoring device includes: a temperature sensor, a humidity sensor, a light intensity sensor, a wind speed and direction sensor, a spectrum analyzer, a laser radar and a high-resolution camera.

5. The orchard ecological environment monitoring and control system according to claim 1, characterized in that: The data analysis platform obtains standard growth environment data of target growth of fruit trees under laboratory conditions based on the growth characteristics of fruit tree species; and evaluates the orchard environment by comparing the standard growth environment data with the environmental data obtained by the monitoring device and utilizing the difference between the standard growth environment data and the environmental data obtained by the monitoring device.

6. The orchard ecological environment monitoring and control system according to claim 1, characterized in that: The data analysis platform evaluates the growth status of fruit trees according to a fruit tree growth analysis model; the fruit tree growth analysis model is: Q=G+Y G=α1D+α2L+α3M Y=β1C+β2Z+β3S Among them, Q represents the growth status value of fruit trees, G represents the nutrient value of fruit tree branches, Y represents the nutrient value of fruit tree leaves, D represents the diameter of fruit tree branches, L represents the length of fruit tree branches, M represents the number of fruit tree branches, α1, α2, and α3 represent the contribution factors of the diameter of fruit tree branches, the length of branches, and the number of branches, respectively. C represents the color status value of fruit tree leaves, Z represents the wrinkle degree value of fruit tree leaves, S represents the insect pest degree value of fruit tree leaves, and β1, β2, and β3 represent the influence coefficients of the color status value of fruit tree leaves, the wrinkle degree value of leaves, and the insect pest degree value of leaves, respectively.

7. The orchard ecological environment monitoring and control system according to claim 1, characterized in that: The control device includes: automatic irrigation equipment, intelligent fertilization equipment and spraying equipment.

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