Agricultural operation method, apparatus and device, and computer storage medium

Abstract

Disclosed in the present invention are an agricultural operation method, apparatus and device, and a computer storage medium. The agricultural operation method specifically comprises: after acquiring a first position relationship of a crop in an area awaiting operation relative to two operation mechanisms, on the basis of the first position relationship of the crop relative to the two operation mechanisms, outputting first control instructions respectively and separately executed by means of the two operation mechanisms, so as to ensure that each operation mechanism bypasses the crop at least at a preset threshold distance from the crop. The technical core lies in acquiring the first position relationship of each operation mechanism relative to the crop and then obtaining corresponding execution instructions, so that each operation mechanism can act separately and bypass the crop at the preset threshold distance. In this way, when bypassing the crop, each operation mechanism can cover an area as close to the crop as possible, and the problem whereby operation cannot be performed in the area on the side to which the crop has deviated when the crop deviates significantly or whereby an opening angle cannot be adjusted on the basis of the sizes of different crops is solved, thereby improving the quality of the whole operation.

Description

An agricultural operation method, apparatus, equipment, and computer storage medium Technical Field

[0001] This invention relates to the field of agricultural technology, and in particular to an agricultural operation method, apparatus, equipment, and computer storage medium. Background Technology

[0002] Traditional farming is based on manual labor, which has some problems, such as low labor efficiency, high labor costs, and unsuitability for large-scale agricultural cultivation. At the same time, due to the huge amount of labor involved in agricultural operations, it also has adverse effects on human health.

[0003] Therefore, automated farming technology has emerged, providing an excellent solution for large-scale farming and labor liberation. For example, in weeding, automatic weeders can be used to perform inter-row and inter-plant weeding. As shown in Figure 1, this type of automatic weeder typically includes multiple weeding devices, each including two actuators 100. These two actuators 100 usually operate simultaneously according to the same execution command. As shown in Figure 1, these actuators open outward or close inward simultaneously during operation, thus avoiding crops and performing operations between weeds. Specifically, this type of equipment has only one power control structure 200, which enables synchronous and simultaneous control of the weeding blades. This type of agricultural operation is suitable for situations where crops in the same row are arranged in a straight line or where the differences in size and growth between crops are very small. As shown in Figure 2, if a single crop 001 deviates significantly from the centerline d of the two actuators 100, both actuators 100 need to open at a sufficiently large angle simultaneously. This prevents the removal of weeds in the area S1 surrounding the crop, resulting in poor weed control, especially in the area S1 to the right of the crop, where weeds absorb nutrients and water from the surrounding area, hindering the crop's growth. Similarly, within the same row of crops, if the blades are opened at the same angle due to differences in size between the preceding and following crops, weeds around the smaller crop cannot be removed.

[0004] Therefore, the aforementioned technical problems need to be solved. Summary of the Invention

[0005] The main objective of this invention is to provide an agricultural operation method, apparatus, equipment, and computer storage medium, aiming to solve the problem that when existing agricultural equipment is in operation, multiple actuators of the same device can only operate synchronously, which makes it impossible to effectively operate on the area around the crop when the crop deviates significantly from the center line of the operation direction, resulting in poor overall operation results.

[0006] To achieve the above objectives, the present invention provides an agricultural operation method, comprising the following steps: obtaining a first positional relationship between crops in the area to be operated and two operating mechanisms; and outputting a first control command executed separately by the two operating mechanisms based on the first positional relationship between the crops and the two operating mechanisms to ensure that each operating mechanism bypasses the crop at least at a preset threshold distance from the crop.

[0007] Preferably, the control command is implemented by controlling the swing angle of each working mechanism.

[0008] Preferably, as the operating mechanism swings in real time, the distance closest to the crop in the effective operating area of ​​each operating mechanism is equal to the preset threshold.

[0009] Preferably, the preset threshold is the distance closest to the crop in the effective working area of ​​each of the operating mechanisms.

[0010] Preferably, after bypassing the crop, a second control command is output, which is executed by the two working mechanisms respectively so that the two working mechanisms can each process at least half of the area to be worked.

[0011] Preferably, after bypassing the crop, the method further includes the following steps: obtaining a second positional relationship between the next crop and the two working mechanisms; and outputting two third control commands to be executed separately by the two working mechanisms according to the second positional relationship to ensure that each working mechanism operates on both sides of the next crop along the walking direction axis.

[0012] Preferably, before bypassing the crops, the two working mechanisms are able to sweep across the working area enclosed by the axes of the two crops and the two working mechanisms along the direction of travel.

[0013] Preferably, the first positional relationship between the crops in the area to be worked and the two working mechanisms is specifically calculated based on the image data of the area to be worked.

[0014] Preferably, the first positional relationship is calculated based on the crop growth center of the crop in the area to be operated.

[0015] Preferably, the step of outputting a first control command executed separately by the two working mechanisms based on the first positional relationship of the crop relative to the two working mechanisms to ensure that each working mechanism bypasses the crop at least at a preset threshold distance from the crop specifically includes creating a gap between the two working mechanisms that can avoid the crop, the size of which is equal to the two preset thresholds plus the diameter of the main stem of the crop growth center of the crop to be worked.

[0016] Preferably, the step of obtaining the first positional relationship of the crop in the area to be operated relative to the two operating mechanisms specifically includes: obtaining the initial first positional relationship of the crop in the area to be operated relative to the two operating mechanisms; determining whether the initial first positional relationship exceeds an initial preset threshold; if it exceeds, outputting an initial position adjustment control command for the agricultural operating equipment to execute in order to achieve pre-adjustment in the lateral direction according to an initial adjustment value, wherein the initial adjustment value is equal to the absolute value of the difference between the initial preset threshold and the distance value of the operating mechanism farthest from the crop; obtaining the position of the crop in the area to be operated relative to the two mechanisms again to obtain the first positional relationship; if it does not exceed, the initial first positional relationship is the first positional relationship.

[0017] In addition, to achieve the above objectives, the present invention also provides an agricultural operation device, comprising: a calculation module for obtaining a first positional relationship between a crop in the area to be operated and two operating mechanisms; and an output module for outputting a first control command executed separately by the two operating mechanisms according to the first positional relationship between the crop and the two operating mechanisms, so as to ensure that each operating mechanism bypasses the crop at least at a preset threshold distance from the crop.

[0018] Meanwhile, for the above purposes, an agricultural operation device is also proposed, comprising: an operation device configured to have two operating mechanisms capable of operating independently; a control device electrically connected to the two operating mechanisms for performing execution control on the two operating mechanisms; the control device is configured to have a memory, a processor, and an agricultural operation processing program stored in the memory and executable on the processor, wherein: when the agricultural operation processing program is executed by the processor, it implements the steps of an agricultural operation method as described above.

[0019] Preferably, the agricultural operating equipment further includes a lateral movement device; the lateral movement device is equipped with at least one set of the operating devices, and the lateral movement device is used to control at least one set of the operating devices to adjust their lateral position when under control.

[0020] Preferably, each working mechanism is equipped with a sensor assembly, which is connected to the control device to provide feedback to the control device on the rotation angle information when the working mechanism opens and closes, so that the control device can control the opening and closing of each working mechanism according to the rotation angle information.

[0021] The present invention also proposes an agricultural operation vehicle, including a walking machine, which is equipped with any of the above-mentioned agricultural operation equipment.

[0022] The present invention also proposes an agricultural robot, including an autonomous walking machine body and a solar power supply component disposed on the autonomous walking machine body. The solar power supply component includes a solar panel, which is installed above the autonomous walking machine body and partially obscures the autonomous walking machine body. The autonomous walking machine body has any of the above-mentioned agricultural operation equipment.

[0023] Finally, the present invention also proposes a computer storage medium storing an agricultural operation processing program, which, when executed by a processor, implements the steps of an agricultural operation method as described above.

[0024] The beneficial effects achievable by this invention are as follows: The agricultural operation method, apparatus, equipment, and computer storage medium proposed in this embodiment specifically involve obtaining a first positional relationship between the crop in the area to be operated and two operating mechanisms, and then outputting a first control command executed separately by each of the two operating mechanisms based on this first positional relationship. This ensures that each operating mechanism bypasses the crop at least at a preset threshold distance. The core of this technology lies in obtaining the first positional relationship of each operating mechanism relative to the crop, thereby obtaining the corresponding execution command. This allows each operating mechanism to act independently and bypass the crop at a preset threshold. In this way, when bypassing the crop, each operating mechanism can traverse the area near the crop as much as possible, avoiding the problem of the area on the offset side being unoperable when the crop is significantly offset, or the inability to adjust the opening and closing angle according to different crop sizes, thus improving the overall quality of the operation. Attached Figure Description

[0025] Figure 1 is a structural schematic diagram of existing weeding equipment; Figure 2 is a schematic diagram of the principle of existing weeding; Figure 3 is a structural schematic diagram of the working device; Figure 4 is a structural schematic diagram of the arrangement of weeding blades of the two working mechanisms; Figure 5 is a structural schematic diagram of the weeding blade swinging to form a notch; Figure 6 is a flowchart of an agricultural operation method; Figure 7 is a structural schematic diagram of the working mechanism and the coordinate system; Figure 8 is a structural schematic diagram of the weeding blade executing the first control command; Figure 9 is a structural schematic diagram of the crop; Figure 10 is a schematic diagram of the weeding operation process; Figure 11 is a schematic diagram of the state change of the weeding blade during the gradual swinging process; Figure 12 is a schematic diagram of the circular trajectory of the weeding blade around the center of the crop; Figure 13 is a structural schematic diagram of the weeding blade executing the second control command after bypassing the crop; Figure 14 is a structural schematic diagram of the weeding blade along the Y' direction of the walking axis when executing the third control command after bypassing the crop; Figure 15 is a schematic diagram of the arrangement of the two working mechanisms projected in the Y-axis direction in the area between the lines connecting the two working mechanisms; Figure 16 is a schematic diagram of the working device moving in the working area; Figure 17 is a structural schematic diagram of the lateral movement device. Figure 18 is a schematic diagram of an agricultural operation device; Figure 19 is a schematic diagram of an agricultural operation equipment; Figure 20 is a schematic diagram of an agricultural operation vehicle; Figure 21 is a schematic diagram of an agricultural robot; Figure 22 is a schematic diagram of a structure in which the weeding blades are positioned rearwards in the direction of machine movement; Figure 23 is a schematic diagram of a structure in which the weeding blades are positioned laterally; Reference numerals: 001-First crop, 100-Actuator, 200-Power control structure, 01-Connecting line, 02-Projection line, 03-Notch, 04-Crop, 041 - Main trunk, 10- Operating device, 101- Support, 102- Operating mechanism, 1021- Power component, 1022- Rotating shaft, 1023- Weeding blade, 10231- First end point, 10232- Second end point, 20- Control device, 30- Lateral movement device, 301- Slide rail, 302- Guide rod, S10- Operating ridge, 1000- Walking machine, 2000- Agricultural operating equipment, 10000- Automatic walking machine body, 20000- Solar power supply component, 20001- Solar panel. Detailed Implementation

[0026] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0027] As described in the background section, in existing technologies, the cooperating working mechanisms under the same device operate simultaneously. When a crop deviates too far from the centerline of the two working mechanisms, the working mechanism closer to the crop needs to open its angle sufficiently in advance to avoid the crop as quickly as possible. Consequently, the other working mechanism also simultaneously opens its angle to the same extent, making it difficult to work on the area S1 between the working mechanism farther from the crop and the crop. Specifically, when the equipment is a weeder, the weeds in area S1 cannot be removed, resulting in poor weeding performance and affecting the growth of the corresponding crop.

[0028] The technical solution of the present invention will be described in detail below with reference to Figures 3-23. Specifically, the present invention proposes an agricultural operation method, the core of which lies in obtaining the position information of two operating mechanisms relative to the crop, and then outputting instructions for the two operating mechanisms to execute according to the position information, so that the two no longer have to perform the action of bypassing the crop simultaneously, thus ensuring high-quality operation results.

[0029] This agricultural operation method can be used in agricultural machinery with different functions, such as weeders. Of course, it is not limited to weeders. This solution uses a weeder as an example for illustration, but it is not limited to this.

[0030] As shown in Figure 3, this figure illustrates the hardware device used in the execution of the work according to the technology of this invention patent, namely, a weeding device 10. This device 10 is used to perform weeding operations.

[0031] In detail, the working device 10 includes a support 101 on which two sets of opposing working mechanisms 102 are mounted. The two sets of working mechanisms 102 can operate independently. Specifically, each working mechanism 102 is controlled by a control device 20. The specific operation of the working mechanism 102 is controlled by the control device 20.

[0032] It should be understood that in this embodiment, each of the operating mechanisms 102 has at least one operating mode in which the two operating mechanisms 102 do not interfere with each other. For example, if there is a first operating mechanism and a second operating mechanism, then the first operating mechanism performs its own operation, and the second operating mechanism performs its own operation, without affecting each other.

[0033] As shown in Figures 3 and 4, in this embodiment, each working mechanism 102 includes a weeding blade 1023. From the top view, the weeding blades 1023 on the left and right sides are arranged opposite each other. Each weeding blade 1023 can rotate at different angles within a plane; this angle is settable, for example, between 1 and 180°. However, it is not limited to this; it can rotate within a 360° range.

[0034] It should be understood that when the two weeding blades 1023 simultaneously swing inward and close, the projection line 02 of the line 01 connecting the rotation centers of the two weeding blades 1023 can completely cover the line 01. This technique ensures that as the entire working device 10 moves along the working direction, the two weeding blades 1023 can sweep across the area to be worked between the two working mechanisms 102, thereby ensuring the effectiveness of weeding.

[0035] It should be understood that in this solution, Figure 3 shows one specific embodiment. Specifically, as shown in Figure 3, the direction perpendicular to the figure and pointing inward is set as the forward movement direction of the working mechanism 102. In this embodiment, the weeding blades 1023 are positioned facing forward. When the two weeding blades 1023 are brought together and moved close to the crop, the two weeding blades 1023 open outward to both sides, which can push the soil outward and prevent soil from accumulating around the crop when the weeding blades 1023 are opened; at the same time, in the closed state, as the working mechanism 102 moves forward, the soil also tends to be pushed outward.

[0036] Of course, as shown in Figure 22, in some other embodiments, the weeding blade 1023 can also be set to face backward, that is, the opposite of the direction shown in Figure 3.

[0037] As shown in Figure 23, in some embodiments, the weeding blades 1023 can also be arranged laterally. Two weeding blades 1023 can move laterally inwards to close together, and laterally outwards to open. In this structure, the corresponding power unit 1021 can drive the weeding blades 1023 to move laterally. When the power unit 1021 is a motor, a transmission mechanism can convert the motor's rotational motion into lateral movement. Of course, the three configurations of the weeding blades 1023 described above are just specific structures; other suitable structural layouts are also possible.

[0038] As shown in Figure 5, the two weeding blades 1023 can swing apart by a certain distance, forming a gap 03 between their ends. This gap 03 allows the crop 04 to pass through, thus avoiding the crop. Alternatively, both weeding blades 1023 can simultaneously rotate outwards at a certain angle to form the gap 03; one weeding blade 1023 can swing inwards while the other swings outwards to create the gap 03; or one weeding blade 1023 can remain stationary while the other swings outwards or inwards to create the gap 03. The control of the weeding blades 1023 is based on the actual control of the control device 20. It should be noted that the area between the two working mechanisms 102 along the forward direction is defined as the inner area, and the area outside this area is defined as the outer area. For example, the left-hand weeding blade 1023 swings to the left to move outwards, and to the right to move inwards; the right-hand weeding blade 1023 swings to the left to move inwards, and to the right to move outwards.

[0039] It should be noted that the two operating mechanisms 102 can be implemented with identical or different structures. For ease of explanation, in a specific embodiment, the two operating mechanisms 102 adopt the same structure. For clarity, as shown in Figure 3, one of the operating mechanisms 102 will be described in detail. As shown on the left side of Figure 3, the operating mechanism 102 includes a power component 1021, the output end of which is connected to a rotating shaft 1022, the lower end of which is connected to the weeding blade 1023. The power component 1021 can be, for example, a servo motor. When the power component 1021 is working, it drives the rotating shaft 1022 to rotate, and the rotating shaft 1022 drives the weeding blade 1023 to swing inward or outward during the rotation. That is, in this solution, it is preferable to use a motor drive device as the power source for the operating mechanism 102, which ensures rapid and quick response.

[0040] In detail, the control device 20 is installed on the working device 10, or it can be installed separately on one of the working mechanisms 102. The control device 20 is used to control the working device 10. Specifically, it is used to control the specific operation of the two working mechanisms 102 on the working device 10 respectively.

[0041] In addition, the control device 20 can also be mounted on an agricultural work vehicle. For example, in conventional operation, a tractor pulls the work device 10 to perform work in the work area. The control device 20 can be mounted on the tractor, which can be, for example, a tractor.

[0042] In detail, the control device 20 includes at least a processor and a memory. In operation, the memory stores the control program, and the processor executes the control program to control the operating device 10. The processor may be, for example, a CPU, a GPU, or various dedicated chips. Besides the processor and memory, the control device 20 may also include a network interface, a user interface, and a communication bus. The communication bus is used to establish communication between these components. The user interface may include a display screen, an input unit such as a keyboard, and optionally, a standard wired interface or a wireless interface. The network interface may optionally include a standard wireless interface (such as a Wi-Fi interface). The memory may be high-speed RAM or non-volatile memory, such as disk storage. Alternatively, the memory may be a storage device independent of the aforementioned processor.

[0043] Additionally, the hardware for executing this invention may include an image vision system (not shown in the figure), which is used to acquire the location and specific parameters of crops in the area to be worked. The image vision system can be mounted on the working device 10 or on a traction machine, such as a tractor. This image vision system can distinguish between crops and non-crops within the area to be worked and provide detailed positioning information for the crops. Of course, this image vision system can also identify and analyze specific parameters of the crops, such as crop size, rootstock, crop growth center, stem diameter, and other plant parameters. It should be understood that this image vision system can be implemented using existing image recognition technology; therefore, it is not described in detail in this technical solution. However, this should not be construed as insufficient disclosure of the invention. Example 1

[0044] Specifically, to address the challenge of operating in the area S1 between crops, this embodiment proposes an agricultural operation method. This method enables individual control of two operating mechanisms 102 and allows them to avoid crops based on specific parameters. Specifically, referring to Figure 6, the method includes the following steps: obtaining a first positional relationship between the crops in the area to be operated and the two operating mechanisms 102; and outputting a first control command, executed individually by each of the two operating mechanisms, based on the first positional relationship between the crops and the two operating mechanisms, to ensure that each operating mechanism bypasses the crop at least at a preset threshold distance from it.

[0045] In detail, in this embodiment, the first control command is implemented by controlling the swing angle of each working mechanism. That is, the power component 1021 controls the swing of the corresponding weeding blade 1023 to control each working mechanism 102. Of course, if the weeding blade 1023 adopts the lateral movement structure described above, then the first control command controls the lateral movement of the corresponding power component 1021 to achieve opening and closing.

[0046] Specifically, in some embodiments, the first positional relationship between the crop in the area to be worked and the two working mechanisms is calculated based on the acquired image data of the area to be worked. Specifically, this first positional relationship is obtained by an image vision system. Specifically, this first positional relationship is calculated based on the crop growth center of the crop in the area to be worked. For example, taking a top-down view, the crop growth center is obtained through an image vision system in a top-down view of a crop. Or, for some specific crops, the stalk of the crop to be worked is the crop growth center. Specifically, this crop growth center can vary depending on the different growth stages of the crop.

[0047] Importantly, in this embodiment, determining the first positional relationship enables precise control, thereby meeting the need for accurate operations. It should be understood that on a ridge, different crops have different sizes; some are larger, and some are smaller. Traditional techniques control the cutting tools to open and close according to a uniform standard. However, due to the different crop sizes, using a uniform opening and closing standard means that the area around the smaller crops cannot be used for agricultural operations.

[0048] Specifically, the location of the crop growth center is first determined. In some embodiments, the location of the crop growth center is centered on the stalk of the crop, the center point of the overall outline of the crop in a top view, or the center of the crop's root system. Of course, the location of the crop growth center is not limited to these two scenarios and can be determined according to different crops. The crop growth center can be obtained using an image vision system. It should be understood that this image vision system can employ existing visual recognition CCD technology used in agricultural operations. The first positional relationship here is based on the location of the crop growth center, thus enabling precise location positioning for crops of varying sizes. For example, an image of the crop's outline can be obtained using visual recognition CCD technology, and the location of the crop growth center can be determined based on the overall outline of the crop. For ease of explanation, the following will use a crop with a main stem structure as an example, where the main stem structure is the crop growth center, as shown in Figure 9. However, this is merely an example and not a limitation. Additionally, it should be noted that the main stem here can also be the center point of the part of the crop where the exposed portion enters the soil, for example, the point where the crop just emerges from the ground. It is important to understand that in this embodiment, the crop growth center has a certain size; for example, for a crop with a main stem, the diameter of the main stem is the size of the crop growth center. Positioning is based on the center point of this size, while the size of the crop growth center needs to be considered when calculating the size of the gap 03. Of course, the size of the crop growth center is obtained through an image vision system.

[0049] It should be understood that the first positional relationship includes the positional information of the two operating mechanisms 102 relative to the crop. As shown in Figure 7, the first positional relationship includes the positional information of the left operating mechanism 102 relative to the crop (first positional information) and the positional information of the right operating mechanism 102 relative to the crop (second positional information).

[0050] The first positional relationship can be calculated by the control device 20. Specifically, the control device 20 obtains the positional information of the crop through an image vision system, and then calculates the first positional relationship based on the relative positions of the two working mechanisms 102 with respect to the image vision system.

[0051] For example, as shown in Figure 7, the line connecting the two working mechanisms 102 is taken as the X-axis, the direction perpendicular to the X-axis and pointing in the direction of operation is taken as the Y-axis, and the intersection of the centerline between the two working mechanisms 102 and the X-axis is taken as the origin O. The coordinates of the crop 04 obtained by the image vision system are (X0, Y0). Then, the deviation of the two working mechanisms 102 relative to the crop in the X-axis direction can be calculated. It should be clear that the positions of the two working mechanisms 102 relative to the origin O are fixed in the lateral direction. For example, at the same moment when the coordinate position (X0, Y0) of the crop is obtained, the coordinate positions of the left and right working mechanisms 102 are (X1, Y1) and (X2, Y2) respectively; then, at this time, the lateral deviation of the left working mechanism 102 from the crop is (X0-X1), and the lateral deviation of the right working mechanism 102 from the crop is (X2-X0).

[0052] In this embodiment, the first positional relationship between the two working mechanisms 102 and the crop 04 is calculated by the image vision system, and in particular, the distance between the two working mechanisms 102 and the crop 04 in the X-axis direction is obtained.

[0053] After obtaining the corresponding first positional relationship, the first control command is output according to the first positional relationship of the crop 04 relative to the two operating mechanisms 102, and is executed separately by the two operating mechanisms 102 respectively, so as to ensure that each operating mechanism 102 bypasses the crop 04 at least at a preset threshold distance from the crop.

[0054] Importantly, in this embodiment, a first control command suitable for each operating mechanism 102 can be output based on the first positional relationship between the crop 04 and the operating mechanism 102, thereby enabling each operating mechanism 102 to bypass the crop 04. Specifically, there are two first control commands: one for controlling the left operating mechanism 102 and one for controlling the right operating mechanism 102. The movement of both operating mechanisms 102 is controlled based on their first positional relationship with the crop 04, and there is no direct relationship between them. This technology effectively solves the problem in the prior art where two operating mechanisms can only perform the same operation simultaneously, preventing operation on area S2. In this technology, since the two operating mechanisms 102 operate independently, they can bypass the crop 04 based on a preset threshold, thus ensuring the execution of operations on area S2.

[0055] Specifically, as shown in Figure 8, the crop 04 is located to the left of the Y-axis (the center line between the two working mechanisms 102). The crop 04 forms a directional axis Y' along the working direction. Therefore, during precision operation, the weeding blade 1023 of the left working mechanism 102 must be to the left of the directional axis Y', and the weeding blade 1023 of the right working mechanism 102 must be to the right of the directional axis Y'. This creates a gap 03 between the left and right weeding blades 1023, allowing the crop to pass through this gap 03 during operation to avoid weeding.

[0056] The preset threshold is customizable. It can be selected based on different crops or operational standards, such as 1cm, 2cm, or other spacing. Any technique that merely changes the preset threshold should fall within the protection scope of this invention.

[0057] Referring to Figures 8 and 9, the preset threshold is defined as D2. This preset threshold D2 is the lateral distance from the crop 04. Of course, in one specific embodiment, it can be based on the main stem 041 of the crop 04. That is, the preset threshold D2 is the distance between the operating mechanism 102 and the main stem 041 of the crop 04.

[0058] It is important to understand that the distance of the preset threshold D2 relative to the working mechanism 102 is based on the endpoint closest to Y' projected onto the X-axis along the Y' direction of the working mechanism 102. For example, as shown in Figure 8, the two weeding blades 1023 form a straight rod structure. The rightmost first endpoint 10231 of the left weeding blade 1023 is the reference distance between the working mechanism 102 and the crop 04. Similarly, the leftmost second endpoint 10232 of the right weeding blade 1023 is the reference distance between the working mechanism 102 and the crop 04. Thus, the distance between the left and right weeding blades 1023 will be the diameter of the crop plus two preset thresholds D2. For example, if the diameter of the main stem 041 of the crop 04 is D1, then the distance between the endpoints of the left and right weeding blades 1023 in the X-axis direction is 2D2+D1, which is also the size of the notch 03.

[0059] Specifically, in this embodiment, the step of outputting a first control command, executed independently by each of the two working mechanisms, based on the first positional relationship of the crop relative to the two working mechanisms to ensure that each working mechanism bypasses the crop at least at a preset threshold distance from the crop, specifically includes creating a gap between the two working mechanisms that allows them to avoid the crop. The size of this gap is equal to two of the preset thresholds D2 plus the diameter D1 of the main stem of the crop to be worked on. That is, the first control command can cause the two working mechanisms 102 to open, creating a gap 03 between the ends of the two working mechanisms 102, and the size of this gap 03 is exactly equal to 2D2+D1. Of course, this is a preferred gap size setting, and it can also be larger than 2D2+D1.

[0060] It should be understood that the diameter D1 of the main stem 041 of the crop 04 can be obtained through an image vision system. For example, if the crop is a vegetable, the image vision system determines the diameter D1 of the main stem 041 of the crop 04 while simultaneously judging the core of the crop 04. That is, the distance between a weeding blade 1023 and the core of the crop 04 is D2 + 0.5D1. In this embodiment, since the outer diameter of the main stem 041 of different crops is different, the size of the gap 03 between the two weeding blades 1023 varies with the crop. It is generally understood that within the same type of crop, different outlines have different main stem 041 diameters, which is determined by the crop's production cycle and growth. Therefore, in this embodiment, the size of the gap 03 between the two weeding blades 1023 is equal to 2D2 + D1. D2 is preset according to different types of crops, while D1 is the diameter of the main stem 041 of the crop obtained in real time through visual recognition CCD technology. Therefore, since the diameter of the main stem 041 of different crops is different, the size of the notch 03 between the two corresponding weeding blades 1023 changes continuously with the size of the crop throughout the entire operation. That is, the notch 03 is not fixed, which improves the accuracy of the entire weeding operation.

[0061] Specifically, as shown in Figure 10, this figure illustrates a schematic diagram of the weeding operation process. In some embodiments, in the area between crop plants, the left and right weeding blades 1023 are arranged along the X-axis. When moving along the Y-axis to a set distance S from the next crop 04, a first control command is executed by each of the two operating mechanisms based on the first positional relationship of the crop relative to the two operating mechanisms, ensuring that each operating mechanism bypasses the crop at least at a preset threshold distance. For example, the set distance S can be the aforementioned preset threshold D2, or other set values. For example, to allow sufficient reaction time, the set distance S can be 2D2, 3D2, etc., but it is not limited to this and can be selected according to actual needs. As shown in Figure 10, when the Y-axis distance reaches the set distance, the two weeding blades 1023 swing outward under the action of the power member 1021 until the notch 03 is left. That is, the process of change from the lower part of Figure 10 to the upper part.

[0062] The technical solution of this invention can solve the problem that traditional methods cannot target the area S2 between the actuator and the crop on the side far from the crop, thus improving the quality of weeding.

[0063] Furthermore, in another specific embodiment, as the working mechanism 102 swings in real time, the distance closest to the crop 04 in the effective working area of ​​each working mechanism 102 is equal to the preset threshold.

[0064] Specifically, this embodiment is an optimization of the above embodiment. It should be understood that in the above embodiment, the two weeding blades 1023 immediately adjust to a preset angle after reaching a set distance S, so that the gap 03 avoiding the crop immediately appears to achieve crop avoidance. This optimization technology mainly achieves a gradual oscillation, thereby ensuring that the small area S3 between the set distance S and the transition to the crop avoidance state (i.e., the two weeding blades 1023 oscillate to the position with the gap 03) can also be used for agricultural operations. Specifically, this small area S3 can also be weeded, thereby improving the weeding effect.

[0065] As detailed in Figure 11, in this embodiment, the weeding blade 1023 is a straight rod, and the effective working area is the weeding blade 1023. During the swinging process, the position of the weeding blade 1023 relative to the crop 04 at its closest distance changes, and its changing state is shown in Figure 11 as state A → state B → state C. During this changing process, the weeding blade 1023 can gradually sweep across the small area S3, thereby optimizing the weeding effect.

[0066] It should be understood that during the oscillation process of the working mechanism 102, the weeding blade 1023 gradually changes, and at the same time, the point closest to the crop 04 continuously changes. These points form an arc with a radius of a preset threshold D2. Thus, except for the area between the arc and the crop 04 at the rear end of the crop 04, all other areas can be weeded, thereby improving the working effect. Specifically, as shown in Figure 12, during the gradual change process, the distance between the end of the weeding blade 1023 and the main stem of the crop remains at the preset threshold D2. Therefore, the weeding blade 1023 forms a circular area around the crop 04, centered on the heart (main stem), with a diameter of 2D2+D1. The portion within this circular area is not swept by the weeding blade 1023, while the area outside the circular area is swept, achieving weeding. This greatly improves the quality and accuracy of the work. The outermost polygon in the figure represents the path of the weeding blade 1023 during normal operation. After optimization in this embodiment, circular operation control can be achieved, and the operation area can be increased. As shown in Figure 12, the shaded area between the polygon and the circle is the newly added operation area after optimization in this embodiment.

[0067] Specifically, in this solution, the preset threshold D2 is the distance closest to the crop 04 within the effective working area of ​​each operating mechanism 102. This ensures that the closest distance to the crop 04 within the entire effective working area of ​​the operating mechanism 102 is at the preset threshold D2, thereby guaranteeing the effectiveness of the weeding operation and preventing the crop 04 from being damaged due to excessive proximity.

[0068] Furthermore, after bypassing the crop 04, a second control command is output. This second control command is executed by the two working mechanisms respectively, enabling each of the two working mechanisms 102 to process at least half of the area to be worked. Specifically, as shown in Figure 13, after bypassing the previous crop 04, the control device 20 can output the second control command to the two working mechanisms 102. Each working mechanism executes the second control command output by the control device 20, enabling the corresponding working mechanism 102 to sweep through at least half of the area to be worked, that is, when one working mechanism 102 reaches or crosses the centerline, it moves towards the other working mechanism 102. Specifically, each weeding blade 1023 is controlled to reach or cross the centerline position. This ensures that the two weeding blades 1023 can work in the direction of processing the same amount of working area as much as possible, which is beneficial for the two weeding blades 1023 to perform the same working mileage, ensuring that the wear of the two weeding blades 1023 is similar, and thus ensuring that the two weeding blades 1023 have similar working life.

[0069] Of course, it should be clear that there are two second control commands in this embodiment, and the two second control commands are used to control the two working mechanisms 102 respectively. Specifically, the two second control commands are executed by the two power components 1021 respectively, thereby realizing angle swing control.

[0070] In another specific embodiment, after bypassing the crop 04, the following steps are also included: obtaining the second positional relationship of the next crop relative to the two working mechanisms; and outputting two third control commands to be executed separately by the two working mechanisms according to the second positional relationship to ensure that each working mechanism operates on both sides of the next crop along the walking direction axis.

[0071] Specifically, this embodiment mainly involves adjusting the two working mechanisms 102 to be located on both sides of the walking axis Y' of the crop 04 after bypassing a crop. This facilitates the faster driving of the two weeding blades 1023 to the preset position for weeding when approaching the next crop 04.

[0072] As shown in Figure 14, the weeding blade 1023 on the left is positioned to the left of or close to the travel axis Y' of the next crop 04. The weeding blade 1023 on the right is positioned to the right of or close to the travel axis Y' of the next crop 04.

[0073] Importantly, to ensure effective weeding in the inter-plant area between adjacent crops 04, the two working mechanisms 102 can sweep across the working area enclosed by the two crops and the axes of the two working mechanisms 102 along the direction of travel before bypassing the crops. As shown in Figure 15, the projection of the two working mechanisms 102 on the left and right sides in the Y-axis direction can cover the area between the lines connecting the two working mechanisms 102 in the lateral direction. In this way, during the machine's movement, the two working mechanisms 102 can completely perform comprehensive weeding operations in the inter-plant area.

[0074] In some other embodiments, the step of obtaining the first positional relationship of the crop in the area to be operated relative to the two operating mechanisms specifically includes: obtaining the initial first positional relationship of the crop in the area to be operated relative to the two operating mechanisms; determining whether the initial first positional relationship exceeds an initial preset threshold; if it exceeds, outputting an initial position adjustment control command for the agricultural operating equipment to execute in order to achieve a pre-adjustment in the lateral direction according to an initial adjustment value, wherein the initial adjustment value is equal to the absolute value of the difference between the initial preset threshold and the distance value of the operating mechanism farthest from the crop; obtaining the position of the crop in the area to be operated relative to the two mechanisms again to obtain the first positional relationship; if it does not exceed, the initial first positional relationship is the first positional relationship.

[0075] Specifically, during the operation, the working mechanism may experience significant positional deviations due to the traction machine (such as a tractor). Generally, the traction machine travels along the length of the agricultural work row, but there will inevitably be some deviations, sometimes substantial. In such cases, adjusting the position of each individual working mechanism alone is insufficient to correct these deviations and achieve precise operation. Therefore, an overall positional adjustment of all working mechanisms is necessary.

[0076] Specifically, the initial first positional relationship of the crops in the area to be worked relative to the two working mechanisms is obtained. This initial first positional relationship is based on the offset of the line connecting the two working mechanisms 102 along the traveling direction of the traction machine. That is, the distance of the crops in the direction Y perpendicular to the traveling direction of the traction mechanism is obtained. When this distance exceeds the initial preset threshold, an initial position adjustment control command is output for the agricultural operating equipment to execute, so as to achieve a pre-adjustment in the lateral direction according to the initial adjustment value, thereby achieving an overall lateral offset of all working mechanisms 102. It should be understood that the lateral direction here is the direction perpendicular to the traveling direction Y. For example, as shown in Figure 16, the area to be worked has multiple rows of working ridges S10, and each working ridge S10 has crops 04 arranged at intervals along the length of the working ridge. Specifically, when determining whether the initial first positional relationship exceeds an initial preset threshold, the process is as follows: In the horizontal direction, the distance between the working mechanism 102 and the crop is L1 (L1 is the distance between the working mechanism furthest from the crop and the crop). L1 is then compared to the preset threshold L0. If L1 > L0, the deviation is deemed too large, requiring a unified positional adjustment for all working mechanisms 102. In this case, the difference ΔL = |L1 - L0|. The distance to be adjusted is ΔL, and this adjustment is made in the direction of reducing L1.

[0077] Specifically, as shown in Figure 16, all the working mechanisms 102 are mounted on the lateral moving device 30. Adjustments can be made by adjusting the lateral moving device 30. In some embodiments, as shown in Figure 17, the lateral moving device 30 includes, for example, a slide rail 301, which is fitted onto a guide rod 302. The slide rail 301 is driven by a driving mechanism to slide back and forth along the guide rod 302. All the working mechanisms 102 are mounted on the slide rail 301. When the driving mechanism drives the slide rail 301 to slide along the guide rod 302, all the working mechanisms 102 move accordingly. In this embodiment, the driving mechanism can be, for example, a servo motor and a lead screw and slider structure, which controls the drive of the slide rail 301. Of course, the driving mechanism is not limited to this and can be any other structure.

[0078] After the initial adjustment, the position of the crop in the work area relative to the two mechanisms is obtained again to obtain the first positional relationship. Then, based on the first positional relationship of the crop relative to the two working mechanisms, a first control command is output for each of the two working mechanisms to be executed individually, so as to ensure that each working mechanism bypasses the crop at least at a preset threshold distance from the crop. The specific execution of this step is as described above and will not be repeated here.

[0079] In another scenario, if the initial first positional relationship is determined not to exceed an initial preset threshold, then the initial first positional relationship is assumed to be the first positional relationship. Subsequently, based on the first positional relationship of the crop relative to the two operating mechanisms, first control commands are output, each executed individually by one of the two operating mechanisms, to ensure that each operating mechanism bypasses the crop at least at a preset threshold distance from the crop. The specific execution of this step is as described above and will not be repeated here. Example 2

[0080] Furthermore, to achieve the objectives of this invention and improve the weeding effect in the area to be treated, this invention also proposes an agricultural operation device. As shown in Figure 18, the agricultural operation device includes a calculation module and an output module. The calculation module is used to obtain a first positional relationship between the crop in the area to be treated and two operating mechanisms. The output module is used to output a first control command, executed separately by each of the two operating mechanisms, based on the first positional relationship between the crop and the two operating mechanisms, to ensure that each operating mechanism bypasses the crop at least at a preset threshold distance from the crop.

[0081] The execution process of the calculation module and the output module is the same as that of the execution method in Embodiment 1, and will not be described again in this embodiment.

[0082] The agricultural operating device of this embodiment enables individual control of different operating mechanisms 102, which can solve the problem that traditional weeding devices cannot effectively weed the sides of crops. Example 3

[0083] As shown in Figure 19, another aspect of the present invention provides an agricultural operation device, which includes: an operation device 10 configured to have two operation mechanisms capable of operating independently; a control device 20 electrically connected to the two operation mechanisms for performing execution control on the two operation mechanisms; the control device 20 is configured to have a memory, a processor, and an agricultural operation processing program stored in the memory and executable on the processor, wherein: when the agricultural operation processing program is executed by the processor, it implements the steps of an agricultural operation method as described in any one of the above embodiments.

[0084] The steps of the agricultural operation method are the same as those described in Example 1, and will not be repeated here.

[0085] Specifically, the working device includes two sets of working mechanisms 102, and the specific operation control of the two sets of working mechanisms 102 can be achieved independently. That is, each set of working mechanisms 102 can perform its own operation and is not affected by the operation of the other set of working mechanisms 102.

[0086] The operating mechanisms of the agricultural operating equipment in this embodiment can execute control commands independently without being affected by other operating mechanisms. Therefore, during specific operations, automatic adjustments can be made based on their respective initial positional relationships with the crops, enabling operations over a larger area and thus improving operational efficiency.

[0087] In detail, this agricultural work equipment is a standalone structure that can be mounted on a corresponding tractor and towed along the work area to perform weeding operations during the journey. This tractor is, for example, an agricultural tractor.

[0088] In detail, referring to Figure 16, the agricultural operating equipment also includes a lateral movement device 30; at least one set of the operating devices 10 is mounted on the lateral movement device 30, which is used to control at least one set of the operating devices 10 in a lateral adjustment position when under control. Specifically, the structure of the lateral movement device 30 is the same as that described in Embodiment 1, and will not be repeated here. In this embodiment, the operating devices 10 are mounted on the lateral movement device 30. When the offset between the crop and the operating mechanism 102 is too large, preliminary adjustment can be made through the lateral movement device 30, and then specific fine adjustments can be made to the operating devices 10.

[0089] Furthermore, in some embodiments, each working mechanism 102 is equipped with a sensor assembly, which is connected to the control device 20 to provide feedback to the control device 20 on the rotation angle information when the weeding blades open and close, so that the control device 20 can control the opening and closing of each working mechanism 102 based on the rotation angle information. This allows the control device 20 to determine whether the rotation is in place based on the feedback. Of course, the sensor assembly is, for example, an angle detection sensor assembly. It should be understood that when the working mechanism 102 is driven to rotate to a suitable angle, there is usually a corresponding drive output of appropriate power to achieve rotation to the appropriate position. For example, a servo motor drives the corresponding weeding blade 1023 to swing at an angle. However, since control may have errors, simply relying on the actual output of the servo motor to determine whether it is the actual rotation angle will lead to inaccurate operation or direct damage to the crop when errors occur. Therefore, the sensor assembly can detect in real time whether the corresponding rotation angle is consistent with the control angle output by the control device 20. If they are inconsistent, a signal is fed back to the control device 20, and the control device 20 further adjusts the rotation of the working mechanism 102. For example, if the angle of both weeding blades 1023 needs to be adjusted to rotate outward by 10°, but the blades 1023 actually only rotate by 8° under the action of the power unit 1021, then the corresponding sensor assembly will detect this 8° rotation angle information and feed it back to the control device 20. The control device 20 will then control the power unit 1021 to output control to make the weeding blades 1023 rotate by another 2°. This technology can improve the accuracy of control, avoid errors, and meet the requirements of precision operation. Example 4

[0090] As shown in Figure 20, this invention proposes an agricultural operation vehicle, including a walking machine 1000, which is equipped with an agricultural operation device 2000 as described in Embodiment 3. Specifically, the walking machine is, for example, an agricultural tractor, and the agricultural tractor and the agricultural operation device are assembled to form an agricultural vehicle with agricultural operation functions. In this embodiment, the agricultural operation device and the walking machine are detachably connected. During use, the agricultural operation device is directly installed on the corresponding position of the walking machine; when not in use, it can be directly detached. The agricultural operation vehicle of this embodiment can adapt to the use of existing tractors in agricultural operations. Only the corresponding agricultural operation device needs to be installed. Example 5

[0091] As shown in Figure 21, this invention also proposes an agricultural robot, including an autonomous walking robot body 10000 and a solar power supply component 20000 disposed on the autonomous walking robot body 10000. The solar power supply component 20000 includes a solar panel 20001, which is installed above the autonomous walking robot body 10000 and partially obscures the autonomous walking robot body 10000. The autonomous walking robot body 10000 has an agricultural operation device as described in Embodiment 3.

[0092] Specifically, in this embodiment, the agricultural operation equipment and the automatic walking robot body 10000 form a complete machine. The agricultural robot itself includes the agricultural operation equipment. Unlike the agricultural operation vehicle described in Embodiment 4, the walking robot 1000 in Embodiment 4 does not include agricultural operation equipment. The walking robot 1000 in Embodiment 4 can be an existing vehicle, such as an existing tractor on a farm, directly equipped with the corresponding agricultural operation equipment. In this embodiment, however, the automatic walking robot body 10000 is designed as an integral part of the corresponding agricultural operation equipment.

[0093] In this embodiment, one of the energy sources for the agricultural robot is a solar power supply component 20000. Specifically, the solar panel 20001 of the solar power supply component 20000 is located above the entire automated walking robot body 10000. For example, the solar panel 20001 can shade the entire automated walking robot body 10000, or it can shade only a part of the automated walking robot body 10000. This ensures that the solar panel 20001 has sufficient area to receive solar radiation, thereby enabling power supply.

[0094] Of course, in addition to solar power, it can also have other energy supply systems, such as fuel-fired power systems and plug-in power systems.

[0095] The automated walking machine body 10000 can be any existing automated machine. It can walk automatically and has an automated walking control system.

[0096] The agricultural robot in this embodiment can automatically walk in the work area, and during the walking process, it can independently perform work operations by controlling the corresponding working mechanism 102 in a set of working devices to achieve the function of precise work. Example 6

[0097] This embodiment proposes a computer storage medium storing an agricultural operation processing program, which, when executed by a processor, implements the steps of an agricultural operation method as described in any of the above embodiments.

[0098] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0099] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0100] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0101] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

[0102] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

[0103] Type the free content description paragraph for the sequence list here.

Claims

1. An agricultural work method characterized by, The method comprises the following steps: obtaining a first position relationship of crops in a to-be-worked region relative to two working mechanisms; and outputting first control instructions for the two working mechanisms to be executed individually according to the first position relationship of the crops relative to the two working mechanisms, so as to ensure that each working mechanism bypasses the crops at a preset threshold distance from the crops.

2. A method of agricultural work according to claim 1, characterised in that: The first control instructions are realized by controlling the swing angle of each working mechanism.

3. A method of agricultural work according to claim 2, characterised in that: During real-time swinging of the working mechanisms, the distance from each working mechanism to the crops on the effective working region of the working mechanism is equal to the preset threshold.

4. A method of agricultural work according to claim 1, characterised in that: The preset threshold is the distance from each working mechanism to the crops on the effective working region of the working mechanism.

5. A method of agricultural work according to claim 1, characterised in that: After bypassing the crops, second control instructions are outputted for the two working mechanisms to be executed individually, so that the two working mechanisms can process at least half of the to-be-worked region.

6. A method of agricultural work according to claim 1, characterised in that: After bypassing the crops, the following steps are further included: obtaining a second position relationship of the next crops relative to the two working mechanisms; and outputting two third control instructions for the two working mechanisms to be executed individually according to the second position relationship, so as to ensure that each working mechanism works on both sides of the next crops along the axis of the walking direction.

7. A method of agricultural work according to claim 1, characterised in that: Before bypassing the crops, the two working mechanisms can sweep through the working region surrounded by the two crops and the two working mechanisms along the axis of the walking direction.

8. A method of agricultural work according to claim 1, characterised in that: The first position relationship of the crops in the to-be-worked region relative to the two working mechanisms is calculated according to the image data of the to-be-worked region.

9. A method of agricultural work according to claim 8, characterised in that: The first position relationship is calculated based on the crop growth center of the crops in the to-be-worked region.

10. A method of agricultural work according to claim 9, characterised in that: The outputting of the first control instructions for the two working mechanisms to be executed individually according to the first position relationship of the crops relative to the two working mechanisms specifically includes causing a gap between the two working mechanisms that can avoid the crops, and the size of the gap is equal to the sum of the two preset thresholds and the diameter of the main stem of the crop growth center of the to-be-worked crops.

11. A method of agricultural work according to claim 1, characterised in that: The step of obtaining the first position relationship of the crops in the to-be-worked region relative to the two working mechanisms specifically comprises the following steps: obtaining an initial first position relationship of the crops in the to-be-worked region relative to the two working mechanisms; judging whether the initial first position relationship exceeds an initial preset threshold; if yes, outputting an initial position adjustment control instruction for the agricultural working device to be executed to realize a preliminary adjustment in the transverse direction according to an initial adjustment value, which is equal to the absolute value of the difference between the initial preset threshold and the distance value of the working mechanism farthest from the crops; obtaining the first position relationship of the crops in the to-be-worked region relative to the two working mechanisms again; and if no, the initial first position relationship is the first position relationship.

12. An agricultural implement comprising: The method comprises the following steps: a calculation module is configured to obtain a first position relationship of crops in a to-be-worked region relative to two working mechanisms; and The output module is configured to output a first control instruction for each of the two work mechanisms to ensure that each work mechanism bypasses the crop by a preset threshold distance from the crop according to a first positional relationship of the crop relative to the two work mechanisms.

13. An agricultural work device characterized by comprising: The application comprises: The work device (10) is configured to have two work mechanisms (102) capable of independent work; a control device (20) is electrically connected to the two work mechanisms for performing control on the two work mechanisms; the control device (20) is configured to have a memory, a processor, and an agricultural work processing program stored in the memory and executable on the processor, wherein the agricultural work processing program is executed by the processor to implement the steps of the agricultural work method according to any one of claims 1 to 11.

14. An agricultural work machine according to claim 13, characterized in that: The agricultural work device further comprises a lateral movement device (30); at least one set of the work device (10) is mounted on the lateral movement device (30), and the lateral movement device (30) is used to control the lateral adjustment position of at least one set of the work device (10) in a controlled manner.

15. An agricultural work machine according to claim 13, characterized in that: Each work mechanism (102) is provided with a sensor assembly connected to the control device (20) for feeding the control device (20) with rotation angle information of the work mechanism (102) when the work mechanism (102) is opened and closed, so that the control device (20) controls the opening and closing of each work mechanism (102) according to the rotation angle information.

16. An agricultural work vehicle comprising a walking machine, characterized by: The walking machine is equipped with an agricultural work device according to claim 13 or 14 or 15.

17. An agricultural robot comprising an autonomous walking machine body and a solar powered assembly disposed on the autonomous walking machine body, the solar powered assembly comprising a solar panel, characterised in that: The solar panel is installed above the automatic walking machine body and partially shields the automatic walking machine body; the automatic walking machine body is provided with an agricultural work device according to claim 13 or 14 or 15.

18. A computer storage medium, characterized in that: The computer readable storage medium stores an agricultural work processing program, and the agricultural work processing program is executed by the processor to implement the steps of the agricultural work method according to any one of claims 1 to 11.

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