Agricultural robot autonomous tracing method and system based on image recognition, and robot

The invention discloses an agricultural robot autonomous tracing method and system based on image recognition and a robot, and the method comprises the steps: obtaining target trajectory information in the advancing process of the robot, and extracting a target trajectory image in the target trajectory information according to a target color; dividing the obtained target trajectory image into a plurality of partitions, and endowing different weight information to obtain the deviation angle information of the target trajectory and the future trajectory direction of the robot; the theoretical target speed of the robot is calculated according to the future trajectory direction and the current four-wheel running speed of the robot; further adjusting the theoretical target speed of the robot according to the surrounding obstacle information read by the robot to generate a final speed; and controlling the robot based on the final speed of the robot, and executing a motion instruction according to a command to compl