CN105432210A - Unmanned beet harvester - Google Patents
Unmanned beet harvester Download PDFInfo
- Publication number
- CN105432210A CN105432210A CN201510942458.3A CN201510942458A CN105432210A CN 105432210 A CN105432210 A CN 105432210A CN 201510942458 A CN201510942458 A CN 201510942458A CN 105432210 A CN105432210 A CN 105432210A
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- China
- Prior art keywords
- unmanned
- lithium ion
- ion battery
- beet
- conductor wire
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D25/00—Lifters for beet or like crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to an unmanned beet harvester, and belongs to the technical field of unmanned aerial vehicle application. An unmanned aerial vehicle flies in low altitude over the unmanned beet harvester which performs beet harvesting operation in farmland, the lower face of the front portion of the unmanned aerial vehicle is provided with a synthetic aperture radar which performs full-automatic photography work by aiming at the unmanned beet harvester and surrounding farmland of which beet is being harvested, an active microwave sensor of the synthetic aperture radar inputs acquired aerial image information of the farmland into a first electronic computer to be stored and imaged, and a radar image is input into a flight control computer to guide flying of the unmanned aerial vehicle. The aerial image information of the farmland is input into a second electronic computer through a first wireless communication device in the unmanned aerial vehicle, radio waves and a second wireless communication device in the unmanned beet harvester to be stored and calculated, and a calculated result is input into an unmanned self-control driving device to control a beet harvesting device arranged on the front portion of the unmanned beet harvester to perform operation of harvesting the beet.
Description
Technical field
The present invention relates to a kind of unmanned sugarbeet harvester, belong to unmanned plane applied technical field.
Background technology
Beet is biennial herb plant, is a main sugar source beyond tropical sugarcane.Beet sugar accounts for 1 of world's candy output
/5, main product state is Russia, Ukraine, the U.S., France etc., and there is beet producing region in inner mongolia autonomous region, and Along North Jiangsu also has a small amount of plantation.Containing sugar in the root of beet, granulated sugar can be produced.The block root gathering in the crops beet with manned sugarbeet harvester improves operating efficiency.There is beet harvesting apparatus the front portion of someone sugarbeet harvester, and there is beet root storage and transportation apparatus at rear portion., a part for front Sugarbeet Fields can only be seen in the driver's cabin that driver is sitting in people's sugarbeet harvester, the panorama of Sugarbeet Fields can not be seen, the production accident of leaking the ripe beet root of harvest easily occurs.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, a kind of unmanned sugarbeet harvester is provided.
The beet harvesting apparatus of unmanned sugarbeet harvester front portion carries out the operation of gathering in the crops beet in farmland, has unmanned plane in flight in the low latitude above unmanned sugarbeet harvester.Unmanned plane installs synthetic aperture radar below front portion, be arranged on synthetic aperture radar below unmanned plane to aim at the farmland of carrying out gathering in the crops the unmanned sugarbeet harvester of beet ripe block root operation and the farmland gathering in the crops beet of surrounding and not gathering in the crops beet and carry out full-automatic camera work, the farmland aviation image information input electronic computer first obtained stores and imaging by the active microwave sensor of synthetic aperture radar, radar image input flies control machine, guides the flight of unmanned plane.Lithium ion battery first in unmanned plane by conductor wire first respectively to radio communication device first, electronic computer first, fly to control mechanical, electrical motivation, the synthetic aperture radar that is connected with electronic computer first powers.Farmland aviation image information to be sent to the radio communication device second in unmanned sugarbeet harvester by the radio communication device first in unmanned plane by radio wave, then input electronic computer second and store union, its operation result carries out gathering in the crops the operation of ripe beet root by the beet harvesting apparatus that unmanned automatic control pilot instrument precisely controls unmanned sugarbeet harvester front portion, significantly reduce the production accident of leaking and receiving the ripe block root of beet, improve speed and the quality of the precisely ripe beet root of results.Unmanned plane once find there is the ripe beet leaking and receive in farmland, just can notify unmanned sugarbeet harvester subsequent collection immediately in low latitude, guarantees that ripe beet root is all gathered in the crops in time.In unmanned sugarbeet harvester, lithium ion battery second is powered respectively to unmanned automatic control pilot instrument, electronic computer second, radio communication device second by conductor wire second.Because unmanned plane obtains farmland aviation image information aloft, and provide detailed farmland aviation image information to unmanned sugarbeet harvester, thus the beet harvesting apparatus making the unmanned automatic control pilot instrument in unmanned sugarbeet harvester precisely can control unmanned sugarbeet harvester front portion carries out the operation of high-quality results beet root.
The block root growth of sugar beet, in the soil of plow layer, is exposed at outside the blade of each piece of root grown on top on the ground surface in farmland, observes the CF of blade, can judge that the root of beet is ripe or prematurity, and the degree of maturation.Unmanned plane is in low airflight above the farmland of planting beet, and the synthetic aperture radar be arranged on below unmanned plane is a kind of high-resolution imaging radar, can obtain similar photo-optical high-resolution radar image under the meteorological condition that visibility is extremely low.Synthetic aperture radar, as a kind of active microwave sensor, has the advantages that not realize round-the-clock, round-the-clock earth observation by the restriction of illumination gentle time condition.Airborne synthetic aperture radar on unmanned plane can obtain the image of the different color of beet leaf color in farmland through morning fog, the image of different color indicates the different maturity in the beet maturing stage, thus whether the maturity telling the beet in farmland is applicable to mechanical harvest, guarantees that beet plants ripe in farmland gathered in the crops in time by unmanned sugarbeet harvester.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
By unmanned plane 1, screw 2, lithium ion battery first 3, electronic computer first 4, synthetic aperture radar 5, radio communication device first 6, fly control machine 7, electromotor 8, conductor wire first 9, unmanned sugarbeet harvester 10, beet harvesting apparatus 11, lithium ion battery second 12, unmanned automatic control pilot instrument 13, conductor wire second 14, electronic computer second 15, radio communication device second 16, form;
The farmland 18 having gathered in the crops beet and the farmland 19 not gathering in the crops beet is had in farmland 17, unmanned sugarbeet harvester 10 carries out the operation of gathering in the crops beet in farmland 17, in the front portion of unmanned sugarbeet harvester 10, beet harvesting apparatus 11 is installed, unmanned automatic control pilot instrument 13 is installed in the front portion of the fuselage of unmanned sugarbeet harvester 10, at the middle part of the fuselage of unmanned sugarbeet harvester 10, electronic computer second 15 is installed, at the rear portion of the fuselage of unmanned sugarbeet harvester 10, radio communication device second 16 is installed, in the bottom of the fuselage of unmanned sugarbeet harvester 10, lithium ion battery second 12 is installed, unmanned plane 1 is had in flight in low latitude above unmanned sugarbeet harvester 10, in the front portion of the fuselage of unmanned plane 1, electromotor 8 is installed, at the middle part of the fuselage of unmanned plane 1, lithium ion battery first 3 is installed, at the rear portion of the fuselage of unmanned plane 1, radio communication device first 6 is installed, install in the below of lithium ion battery first 3 and fly control machine 7, at the rear flying control machine 7, electronic computer first 4 is installed, below electronic computer first 4, below unmanned plane 1, synthetic aperture radar 5 is installed,
In unmanned plane 1, screw 2 is connected with electromotor 8 by rotating shaft, radio communication device first 6 is connected with electronic computer first 4 by conductor wire first 9, electronic computer first 4 is connected with synthetic aperture radar 5 by conductor wire first 9, radio communication device first 6 is connected with lithium ion battery first 3 by conductor wire first 9, electronic computer first 4 is connected with lithium ion battery first 3 by conductor wire first 9, lithium ion battery first 3 is connected with electromotor 8 by conductor wire first 9, lithium ion battery first 3 by conductor wire first 9 with fly control machine 7 and be connected, fly control machine 7 to be connected with electromotor 8 by conductor wire first 9, electronic computer first 4 by conductor wire first 9 with fly control machine 7 and be connected, in unmanned sugarbeet harvester 10, radio communication device second 16 is connected with electronic computer second 15 by conductor wire second 14, electronic computer second 15 is connected with lithium ion battery second 12 by conductor wire second 14, electronic computer second 15 is connected with unmanned automatic control pilot instrument 13 by conductor wire second 14, unmanned automatic control pilot instrument 13 is connected with lithium ion battery second 12 by conductor wire second 14, lithium ion battery second 12 is connected with radio communication device second 16 by conductor wire second 14, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 16 in radio wave and unmanned sugarbeet harvester 10.
Lithium ion battery first 3 and lithium ion battery second 12 are ferric phosphate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery.
Compared with prior art, the invention has the beneficial effects as follows: 1. achieve the operation of precisely gathering in the crops the ripe beet in farmland, unmanned plane gets farmland aviation image information in low latitude, farmland aviation image information is sent to by radio communication device and radio wave the unmanned sugarbeet harvester carrying out gathering in the crops ripe beet operation, unmanned sugarbeet harvester is made precisely to gather in the crops beet ripe in farmland according to the farmland aviation image information obtained in the low latitude of unmanned plane above the farmland of planting beet, the sugar content of the root of ripe beet is high, can for producing the measured granulated sugar of matter.2. unmanned plane and unmanned sugarbeet harvester are all powered by lithium ion battery; without fossil fuel oil; adopt in air, do not discharge carbonic acid gas in power generation process photovoltaic electric current and wind-powered electricity generation electric current to lithium ion cell charging; be conducive to preserving the ecological environment; be conducive to mitigation of climate change, improve air quality.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Embodiment
The low airflight of unmanned plane above the unmanned sugarbeet harvester carrying out farmland results beet operation, unmanned plane is provided with synthetic aperture radar below front portion, synthetic aperture radar is aimed at the farmland that unmanned sugarbeet harvester and surrounding gathering in the crops beet and is carried out full-automatic camera work, the farmland aviation image information input electronic computer first obtained stores and imaging by the active microwave sensor of synthetic aperture radar, radar image input flies control machine, guides the flight of unmanned plane.Farmland aviation image information stores union by radio communication device first, the radio wave of unmanned plane and the radio communication device second input electronic computer second of unmanned sugarbeet harvester, its operation result inputs unmanned automatic control pilot instrument, and the beet harvesting apparatus controlling unmanned sugarbeet harvester front portion carries out the operation of gathering in the crops beet.
Embodiment in is by reference to the accompanying drawings further described by the present invention below:
By unmanned plane 1, screw 2, lithium ion battery first 3, electronic computer first 4, synthetic aperture radar 5, radio communication device first 6, fly control machine 7, electromotor 8, conductor wire first 9, unmanned sugarbeet harvester 10, beet harvesting apparatus 11, lithium ion battery second 12, unmanned automatic control pilot instrument 13, conductor wire second 14, electronic computer second 15, radio communication device second 16, form;
The farmland 18 having gathered in the crops beet and the farmland 19 not gathering in the crops beet is had in farmland 17, unmanned sugarbeet harvester 10 carries out the operation of gathering in the crops beet in farmland 17, in the front portion of unmanned sugarbeet harvester 10, beet harvesting apparatus 11 is installed, unmanned automatic control pilot instrument 13 is installed in the front portion of the fuselage of unmanned sugarbeet harvester 10, at the middle part of the fuselage of unmanned sugarbeet harvester 10, electronic computer second 15 is installed, at the rear portion of the fuselage of unmanned sugarbeet harvester 10, radio communication device second 16 is installed, in the bottom of the fuselage of unmanned sugarbeet harvester 10, lithium ion battery second 12 is installed, unmanned plane 1 is had in flight in low latitude above unmanned sugarbeet harvester 10, in the front portion of the fuselage of unmanned plane 1, electromotor 8 is installed, at the middle part of the fuselage of unmanned plane 1, lithium ion battery first 3 is installed, at the rear portion of the fuselage of unmanned plane 1, radio communication device first 6 is installed, install in the below of lithium ion battery first 3 and fly control machine 7, at the rear flying control machine 7, electronic computer first 4 is installed, below electronic computer first 4, below unmanned plane 1, synthetic aperture radar 5 is installed,
In unmanned plane 1, screw 2 is connected with electromotor 8 by rotating shaft, radio communication device first 6 is connected with electronic computer first 4 by conductor wire first 9, electronic computer first 4 is connected with synthetic aperture radar 5 by conductor wire first 9, radio communication device first 6 is connected with lithium ion battery first 3 by conductor wire first 9, electronic computer first 4 is connected with lithium ion battery first 3 by conductor wire first 9, lithium ion battery first 3 is connected with electromotor 8 by conductor wire first 9, lithium ion battery first 3 by conductor wire first 9 with fly control machine 7 and be connected, fly control machine 7 to be connected with electromotor 8 by conductor wire first 9, electronic computer first 4 by conductor wire first 9 with fly control machine 7 and be connected, in unmanned sugarbeet harvester 10, radio communication device second 16 is connected with electronic computer second 15 by conductor wire second 14, electronic computer second 15 is connected with lithium ion battery second 12 by conductor wire second 14, electronic computer second 15 is connected with unmanned automatic control pilot instrument 13 by conductor wire second 14, unmanned automatic control pilot instrument 13 is connected with lithium ion battery second 12 by conductor wire second 14, lithium ion battery second 12 is connected with radio communication device second 16 by conductor wire second 14, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 16 in radio wave and unmanned sugarbeet harvester 10.
Lithium ion battery first 3 and lithium ion battery second 12 are ferric phosphate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery.
Present invention achieves to carry out in unmanned plane in low latitude and farmland gathering in the crops world information between the unmanned sugarbeet harvester of ripe beet operation interconnected, share, unmanned sugarbeet harvester uses interconnected information to improve speed and the quality of the operation of gathering in the crops ripe beet.
Unmanned plane in the low latitude of flight above unmanned sugarbeet harvester, by the synthetic aperture radar below the front portion that is arranged on unmanned plane, aim at the farmland that the unmanned sugarbeet harvester that carrying out gathering in the crops ripe beet operation and surrounding gathered in the crops beet and the farmland not gathering in the crops beet carries out full-automatic camera work.With the synthetic aperture radar image-forming technology of unmanned plane and Beidou satellite navigation location technology for core, unmanned plane is obtained farmland aviation image information as flying platform and full-automatic camera work platform, store and imaging in electronic computer first, the image of farmland aviation image information is used in flight control system, and by radio communication device first, by radio wave, by farmland aviation image information, the radio communication device second inputted in unmanned sugarbeet harvester receives, after receiving, input electronic computer second stores union, its operation result inputs unmanned automatic control pilot instrument, the chief source of information gathering in the crops ripe beet operation is precisely carried out as the unmanned sugarbeet harvester of control.Unmanned plane carries out the overall process of operation at the unmanned sugarbeet harvester of low air surveillance, find the ripe beet leaking receipts in farmland, notify unmanned sugarbeet harvester subsequent collection immediately, guarantee beet ripe in farmland to gather in the crops up in time, all results are complete within the best maturing stage to be conducive to ripe beet root.Be arranged on the electricity consumption of all electrical appliances in the lithium ion battery first supply unmanned plane in unmanned plane, the lithium ion battery second be arranged in unmanned sugarbeet harvester supplies the electricity consumption of the whole electrical appliances in unmanned sugarbeet harvester.
Now enumerate embodiment as follows:
Embodiment one:
Unmanned plane is in the low airflight carrying out gathering in the crops in farmland above the unmanned sugarbeet harvester of ripe beet operation, unmanned plane is provided with synthetic aperture radar below front portion, full-automatic camera work is carried out in the farmland that synthetic aperture radar aims at unmanned sugarbeet harvester and surrounding, the farmland aviation image information input electronic computer first obtained stores and imaging by the active microwave sensor of synthetic aperture radar, radar image input flies control machine, guides the flight of unmanned plane.Farmland aviation image information stores union by radio communication device first, the radio wave in unmanned plane and the input of the radio communication device second in unmanned sugarbeet harvester electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the beet harvesting apparatus controlling unmanned sugarbeet harvester front portion carries out the operation of gathering in the crops ripe beet.The information achieving the unmanned sugarbeet harvester in the aerial unmanned plane in sky and farmland is interconnected, makes unmanned sugarbeet harvester carry out gathering in the crops the operation of ripe beet in time according to the farmland aviation image information that unmanned plane provides.Be arranged on the electricity consumption in the manganate lithium ion battery first supply unmanned plane in unmanned plane, the manganate lithium ion battery second be arranged in unmanned sugarbeet harvester supplies the electricity consumption in unmanned sugarbeet harvester.
Embodiment two:
Unmanned plane is in the low airflight carrying out gathering in the crops in farmland above the unmanned sugarbeet harvester of ripe beet operation, unmanned plane is provided with synthetic aperture radar below front portion, full-automatic camera work is carried out in the farmland that synthetic aperture radar aims at unmanned sugarbeet harvester and surrounding, the farmland aviation image information input electronic computer first obtained stores and imaging by the active microwave sensor of synthetic aperture radar, radar image input flies control machine, guides the flight of unmanned plane.Farmland aviation image information stores union by radio communication device first, the radio wave in unmanned plane and the input of the radio communication device second in unmanned sugarbeet harvester electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the beet harvesting apparatus controlling unmanned sugarbeet harvester front portion carries out the operation of gathering in the crops ripe beet.The information achieving the unmanned sugarbeet harvester in the aerial unmanned plane in sky and farmland is interconnected, makes unmanned sugarbeet harvester carry out gathering in the crops the operation of ripe beet in time according to the farmland aviation image information that unmanned plane provides.Be arranged on the electricity consumption in the ferric phosphate lithium ion battery first supply unmanned plane in unmanned plane, the ferric phosphate lithium ion battery second be arranged in unmanned sugarbeet harvester supplies the electricity consumption in unmanned sugarbeet harvester.
Claims (2)
1. a unmanned sugarbeet harvester, it is characterized in that, by unmanned plane (1), screw (2), lithium ion battery first (3), electronic computer first (4), synthetic aperture radar (5), radio communication device first (6), fly control machine (7), electromotor (8), conductor wire first (9), unmanned sugarbeet harvester (10), beet harvesting apparatus (11), lithium ion battery second (12), unmanned automatic control pilot instrument (13), conductor wire second (14), electronic computer second (15), radio communication device second (16), form;
The farmland (18) gathering in the crops beet and the farmland (19) not gathering in the crops beet is had in farmland (17), unmanned sugarbeet harvester (10) carries out the operation of gathering in the crops beet in farmland (17), in the front portion of unmanned sugarbeet harvester (10), beet harvesting apparatus (11) is installed, in the front portion of the fuselage of unmanned sugarbeet harvester (10), unmanned automatic control pilot instrument (13) is installed, at the middle part of the fuselage of unmanned sugarbeet harvester (10), electronic computer second (15) is installed, at the rear portion of the fuselage of unmanned sugarbeet harvester (10), radio communication device second (16) is installed, in the bottom of the fuselage of unmanned sugarbeet harvester (10), lithium ion battery second (12) is installed, unmanned plane (1) is had in flight in the low latitude of the top of unmanned sugarbeet harvester (10), in the front portion of the fuselage of unmanned plane (1), electromotor (8) is installed, at the middle part of the fuselage of unmanned plane (1), lithium ion battery first (3) is installed, at the rear portion of the fuselage of unmanned plane (1), radio communication device first (6) is installed, install in the below of lithium ion battery first (3) and fly control machine (7), at the rear flying control machine (7), electronic computer first (4) is installed, below electronic computer first (4), synthetic aperture radar (5) is installed below unmanned plane (1),
In unmanned plane (1), screw (2) is connected with electromotor (8) by rotating shaft, radio communication device first (6) is connected with electronic computer first (4) by conductor wire first (9), electronic computer first (4) is connected with synthetic aperture radar (5) by conductor wire first (9), radio communication device first (6) is connected with lithium ion battery first (3) by conductor wire first (9), electronic computer first (4) is connected with lithium ion battery first (3) by conductor wire first (9), lithium ion battery first (3) is connected with electromotor (8) by conductor wire first (9), lithium ion battery first (3) by conductor wire first (9) with fly control machine (7) and be connected, fly control machine (7) to be connected with electromotor (8) by conductor wire first (9), electronic computer first (4) by conductor wire first (9) with fly control machine (7) and be connected, in unmanned sugarbeet harvester (10), radio communication device second (16) is connected with electronic computer second (15) by conductor wire second (14), electronic computer second (15) is connected with lithium ion battery second (12) by conductor wire second (14), electronic computer second (15) is connected with unmanned automatic control pilot instrument (13) by conductor wire second (14), unmanned automatic control pilot instrument (13) is connected with lithium ion battery second (12) by conductor wire second (14), lithium ion battery second (12) is connected with radio communication device second (16) by conductor wire second (14), radio communication device first (6) in unmanned plane (1) is interconnected by the radio communication device second (16) in radio wave and unmanned sugarbeet harvester (10).
2. the unmanned sugarbeet harvester of one according to claim 1, it is characterized in that, described lithium ion battery first (3) and lithium ion battery second (12) are ferric phosphate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510942458.3A CN105432210A (en) | 2015-12-16 | 2015-12-16 | Unmanned beet harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510942458.3A CN105432210A (en) | 2015-12-16 | 2015-12-16 | Unmanned beet harvester |
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| CN105432210A true CN105432210A (en) | 2016-03-30 |
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| CN201510942458.3A Pending CN105432210A (en) | 2015-12-16 | 2015-12-16 | Unmanned beet harvester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019062793A (en) * | 2017-09-29 | 2019-04-25 | 井関農機株式会社 | Control system of combine |
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