CN105501443A - Unmanned sugarcane harvester - Google Patents
Unmanned sugarcane harvester Download PDFInfo
- Publication number
- CN105501443A CN105501443A CN201510942454.5A CN201510942454A CN105501443A CN 105501443 A CN105501443 A CN 105501443A CN 201510942454 A CN201510942454 A CN 201510942454A CN 105501443 A CN105501443 A CN 105501443A
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- CN
- China
- Prior art keywords
- unmanned
- sugarcane
- lithium ion
- ion battery
- harvesting machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention relates to an unmanned sugarcane harvester and belongs to the technical field of unmanned aerial vehicle application. An unmanned aerial vehicle provides sugarcane field aerial image information for the unmanned sugarcane harvester in work. The unmanned aerial vehicle flies at the low altitude above the unmanned sugarcane harvester harvesting mature sugarcane in farmland, a photoelectric pod is installed below the front of the unmanned aerial vehicle, a high-pixel digital camera installed in the photoelectric pod is aligned with the unmanned sugarcane harvester and surrounding farmland to perform full-automatic photographing work, an image sensor of the digital camera inputs acquired sugarcane field aerial image information into a first electronic computer to be stored and imaged, and a digital image is input into a flight control machine and used for guiding the unmanned aerial vehicle to fly. The sugarcane field aerial image information is input into a second electronic computer to be stored and operated through a first wireless communication device in the unmanned aerial vehicle, radio waves and a second wireless communication device in the unmanned sugarcane harvester, an operation result of the sugarcane field aerial image information is input into an unmanned self-control driving device, and a sugarcane harvesting device in the front of the unmanned sugarcane harvester is controlled to harvest mature sugarcane stalks.
Description
Technical field
The present invention relates to unmanned plane provides sugarcane field aviation image information to the unmanned cane harvesting machine in operation, belongs to unmanned plane applied technical field.
Background technology
Sugarcane is main sugaring crop, to squeeze the juice sugaring, must gather in the crops in time in the maturity stage that sugarcane Nutrient matter is high with its cylindrical stem.Past employment is insisted on cutter and is cut sugarcane genotypes worker employed in a plant nursery and measure greatly, when gathering in the crops the stem stalk of sugarcane with manned cane harvesting machine afterwards, chaufeur is sitting in the local field can only seen in operator's compartment and growing cane, and can't see the panorama in sugarcane field, and the industrial accident of leaking the ripe sugarcane of harvest easily occurs.Sugarcane has sugarcane and fruit two kinds, sugarcane, and the cultivated area of sugarcane is large, especially needs mechanical harvest.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide unmanned plane to provide sugarcane field aviation image information to the unmanned cane harvesting machine in operation.
The harvesting sugarcane device of unmanned cane harvesting machine front portion carries out the operation of gathering in the crops sugarcane genotypes in sugarcane field.Unmanned plane is had in flight in low latitude above unmanned cane harvesting machine.Unmanned plane is provided with photoelectric nacelle below front portion, full-automatic camera work is carried out in the sugarcane field gathering in the crops sugarcane or do not gather in the crops sugarcane that the high pixel digital camera be arranged in photoelectric nacelle aims at the unmanned cane harvesting machine that carrying out gathering in the crops ripe sugarcane genotypes operation and surrounding, the sugarcane field aviation image information input automatic computer first obtained stores and imaging by the imageing sensor of digital camera, digital 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, automatic computer first, fly to control mechanical, electrical motivation, the photoelectric nacelle that is connected with automatic computer first powers.Sugarcane field aviation image information to be inputted the radio communication device second in unmanned cane harvesting machine by the radio communication device first in unmanned plane by radiowave, then input automatic computer second and store union, its operation result carries out gathering in the crops the operation of ripe sugarcane genotypes by the harvesting sugarcane device that unmanned automatic control pilot instrument precisely controls unmanned cane harvesting machine front portion, significantly reduce the industrial accident of leaking the ripe sugarcane of harvest, improve speed and the quality of the ripe stem stalk of results sugarcane.Unmanned plane once find that there is the phenomenon of the ripe sugarcane of Lou harvest, just can notify unmanned cane harvesting machine subsequent collection immediately in low latitude, guarantees the ripe sugarcane in sugarcane field all to gather in the crops up.In unmanned cane harvesting machine, lithium ion battery second is powered respectively to unmanned automatic control pilot instrument, automatic computer second, radio communication device second by conductor wire second.Because unmanned plane obtains sugarcane field aviation image information aloft, and provide detailed sugarcane field aviation image information to unmanned cane harvesting machine, thus the harvesting sugarcane device making the unmanned automatic control pilot instrument in unmanned cane harvesting machine precisely can control unmanned cane harvesting machine carries out the operation that special quality gathers in the crops ripe sugarcane genotypes.
High pixel digital camera airborne on unmanned plane has high-resolution performance, precisely can distinguish the image in the sugarcane field gathering in the crops sugarcane and the sugarcane field not gathering in the crops sugarcane, the image in the image in what high pixel digital camera was shot with video-corder gather in the crops the sugarcane field of sugarcane and the sugarcane field that do not gather in the crops sugarcane has obviously difference, image to be sent to radio communication device second, automatic computer second, unmanned automatic control pilot instrument in unmanned cane harvesting machine by the radio communication device first on unmanned plane by radiowave, guide unmanned cane harvesting machine precisely to gather in the crops ripe sugarcane genotypes.
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, lithium ion battery first 2, conductor wire first 3, automatic computer first 4, photoelectric nacelle 5, radio communication device first 6, fly control machine 7, electrical motor 8, unmanned cane harvesting machine 12, harvesting sugarcane device 13, lithium ion battery second 14, unmanned automatic control pilot instrument 15, automatic computer second 16, radio communication device second 17, conductor wire second 18 forms;
The sugarcane field 10 having gathered in the crops sugarcane and the sugarcane field 11 not gathering in the crops sugarcane is had in sugarcane field 9, unmanned cane harvesting machine 12 carries out the operation of gathering in the crops sugarcane in sugarcane field 9, in the front portion of unmanned cane harvesting machine 12, harvesting sugarcane device 13 is installed, unmanned automatic control pilot instrument 15 is installed in the front portion of the fuselage of unmanned cane harvesting machine 12, in the middle part of the fuselage of unmanned cane harvesting machine 12, automatic computer second 16 is installed, in the rear portion of the fuselage of unmanned cane harvesting machine 12, radio communication device second 17 is installed, in the bottom of the fuselage of unmanned cane harvesting machine 12, lithium ion battery second 14 is installed, unmanned plane 1 is had in flight in low latitude above unmanned cane harvesting machine 12, in the front portion of unmanned plane 1, electrical motor 8 is installed, lithium ion battery first 2 is installed in the middle part of the fuselage of unmanned plane 1, at the top of the fuselage of unmanned plane 1, radio communication device first 6 is installed, on the top at the rear of lithium ion battery first 2, automatic computer first 4 is installed, install in the bottom at the rear of lithium ion battery first 2 and fly control machine 7, below unmanned plane 1 front portion, photoelectric nacelle 5 is installed,
In unmanned plane 1, radio communication device first 6 is connected with automatic computer first 4 by conductor wire first 3, automatic computer first 4 is connected with photoelectric nacelle 5 by conductor wire first 3, radio communication device first 6 is connected with lithium ion battery first 2 by conductor wire first 3, automatic computer first 4 is connected with lithium ion battery first 2 by conductor wire first 3, lithium ion battery first 2 is connected with electrical motor 8 by conductor wire first 3, lithium ion battery first 2 by conductor wire first 3 with fly control machine 7 and be connected, fly control machine 7 to be connected with electrical motor 8 by conductor wire first 3, automatic computer first 4 by conductor wire first 3 with fly control machine 7 and be connected, in unmanned cane harvesting machine 12, radio communication device second 17 is connected with automatic computer second 16 by conductor wire second 18, automatic computer second 16 is connected with lithium ion battery second 14 by conductor wire second 18, automatic computer second 16 is connected with unmanned automatic control pilot instrument 15 by conductor wire second 18, unmanned automatic control pilot instrument 15 is connected with lithium ion battery second 14 by conductor wire second 18, lithium ion battery second 14 is connected with radio communication device second 17 by conductor wire second 18, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 17 in radiowave and unmanned cane harvesting machine 12.
Lithium ion battery first 2 and lithium ion battery second 14 are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
Photoelectric nacelle 5 is the photoelectric nacelle of inner installation CCD camera or the inner photoelectric nacelle installing CMOS camera.
Compared with prior art, the invention has the beneficial effects as follows: the operation 1. achieving the precisely sugarcane genotypes that results are ripe, unmanned plane gets sugarcane field aviation image information in low latitude, sugarcane field aviation image information is transferred to by radio communication device and radiowave the unmanned cane harvesting machine carrying out gathering in the crops sugarcane genotypes operation, makes unmanned cane harvesting machine precisely gather in the crops the ripe whole sugarcane genotypes in sugarcane field according to the sugarcane field aviation image information that unmanned plane provides.2. unmanned plane and unmanned cane harvesting machine are all powered by lithium ion battery; without fossil fuel oil; adopt in air, do not discharge carbon dioxide 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.
Detailed description of the invention
Unmanned plane is carrying out farmland and is gathering in the crops the low airflight above the unmanned cane harvesting machine of ripe sugarcane operation, unmanned plane installs photoelectric nacelle below front portion, full-automatic camera work is carried out in the farmland that the high pixel digital camera that photoelectric nacelle inside is installed aims at unmanned cane harvesting machine and surrounding, the sugarcane field aviation image information input automatic computer first obtained stores and imaging by the imageing sensor of digital camera, digital image input flies control machine, guides the flight of unmanned plane.Sugarcane field aviation image information stores union by radio communication device first, the radiowave in unmanned plane and the input of the radio communication device second in unmanned cane harvesting machine automatic computer second, its operation result inputs unmanned automatic control pilot instrument, and the harvesting sugarcane device controlling unmanned cane harvesting machine front portion carries out the operation of gathering in the crops ripe sugar cane stem.
Embodiment in is by reference to the accompanying drawings further described by the present invention below:
By unmanned plane 1, lithium ion battery first 2, conductor wire first 3, automatic computer first 4, photoelectric nacelle 5, radio communication device first 6, fly control machine 7, electrical motor 8, unmanned cane harvesting machine 12, harvesting sugarcane device 13, lithium ion battery second 14, unmanned automatic control pilot instrument 15, automatic computer second 16, radio communication device second 17, conductor wire second 18 forms;
The sugarcane field 10 having gathered in the crops sugarcane and the sugarcane field 11 not gathering in the crops sugarcane is had in sugarcane field 9, unmanned cane harvesting machine 12 carries out the operation of gathering in the crops sugarcane in sugarcane field 9, in the front portion of unmanned cane harvesting machine 12, harvesting sugarcane device 13 is installed, unmanned automatic control pilot instrument 15 is installed in the front portion of the fuselage of unmanned cane harvesting machine 12, in the middle part of the fuselage of unmanned cane harvesting machine 12, automatic computer second 16 is installed, in the rear portion of the fuselage of unmanned cane harvesting machine 12, radio communication device second 17 is installed, in the bottom of the fuselage of unmanned cane harvesting machine 12, lithium ion battery second 14 is installed, unmanned plane 1 is had in flight in low latitude above unmanned cane harvesting machine 12, in the front portion of unmanned plane 1, electrical motor 8 is installed, lithium ion battery first 2 is installed in the middle part of the fuselage of unmanned plane 1, at the top of the fuselage of unmanned plane 1, radio communication device first 6 is installed, on the top at the rear of lithium ion battery first 2, automatic computer first 4 is installed, install in the bottom at the rear of lithium ion battery first 2 and fly control machine 7, below unmanned plane 1 front portion, photoelectric nacelle 5 is installed,
In unmanned plane 1, radio communication device first 6 is connected with automatic computer first 4 by conductor wire first 3, automatic computer first 4 is connected with photoelectric nacelle 5 by conductor wire first 3, radio communication device first 6 is connected with lithium ion battery first 2 by conductor wire first 3, automatic computer first 4 is connected with lithium ion battery first 2 by conductor wire first 3, lithium ion battery first 2 is connected with electrical motor 8 by conductor wire first 3, lithium ion battery first 2 by conductor wire first 3 with fly control machine 7 and be connected, fly control machine 7 to be connected with electrical motor 8 by conductor wire first 3, automatic computer first 4 by conductor wire first 3 with fly control machine 7 and be connected, in unmanned cane harvesting machine 12, radio communication device second 17 is connected with automatic computer second 16 by conductor wire second 18, automatic computer second 16 is connected with lithium ion battery second 14 by conductor wire second 18, automatic computer second 16 is connected with unmanned automatic control pilot instrument 15 by conductor wire second 18, unmanned automatic control pilot instrument 15 is connected with lithium ion battery second 14 by conductor wire second 18, lithium ion battery second 14 is connected with radio communication device second 17 by conductor wire second 18, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 17 in radiowave and unmanned cane harvesting machine 12.
Lithium ion battery first 2 and lithium ion battery second 14 are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
Photoelectric nacelle 5 is the photoelectric nacelle of inner installation CCD camera or the inner photoelectric nacelle installing CMOS camera.
Present invention achieves unmanned plane in low latitude and sugarcane field carrying out gathering in the crops world information between the unmanned cane harvesting machine of sugarcane genotypes operation interconnected, share, unmanned cane harvesting machine uses interconnected information to improve speed and the quality of the operation of the sugarcane genotypes that results are ripe.
Unmanned plane in the low latitude of flight above unmanned cane harvesting machine, by the high pixel digital camera installed in the photoelectric nacelle below the front portion that is arranged on unmanned plane, aim at the sugarcane field that the unmanned cane harvesting machine that carrying out gathering in the crops sugarcane genotypes operation and surrounding gathered in the crops sugarcane and the sugarcane field not gathering in the crops sugarcane carries out full-automatic camera work.With the remote sensing technology of unmanned plane and Beidou satellite navigation location technology for core, unmanned plane is obtained sugarcane field aviation image information as flying platform and full-automatic camera work platform, store and imaging in automatic computer first, sugarcane field aviation image information image is used in flight control system, and by radio communication device first, by radiowave, by sugarcane field aviation image information, the radio communication device second sent in unmanned cane harvesting machine receives, after receiving, input automatic computer second stores union, its operation result inputs unmanned automatic control pilot instrument, the chief source of information gathering in the crops sugarcane genotypes operation is precisely carried out as the unmanned cane harvesting machine of control.Unmanned plane carries out the overall process of operation at the unmanned cane harvesting machine of low air surveillance, find that there is the ripe sugarcane of leaking and receiving in sugarcane field, notify unmanned cane harvesting machine subsequent collection immediately, guarantee the sugarcane genotypes of sugarcane field maturation all to gather in the crops up, be conducive to the quality and the speed that improve the ripe sugarcane genotypes of results.Be arranged on the electricity consumption of all current consumers in the lithium ion battery first supply unmanned plane in unmanned plane, the lithium ion battery second be arranged in unmanned cane harvesting machine supplies the electricity consumption of the whole current consumers in unmanned cane harvesting machine.
Now enumerate embodiment as follows:
Embodiment one:
The low airflight of unmanned plane above the unmanned cane harvesting machine carrying out the operation of gathering in the crops sugarcane genotypes, unmanned plane is provided with photoelectric nacelle below front portion, full-automatic camera work is carried out in the sugarcane field that the 3600 ten thousand pixel CCD camera that photoelectric nacelle inside is installed aim at unmanned cane harvesting machine and surrounding, the sugarcane field aviation image information input automatic computer first obtained stores and imaging by the imageing sensor in CCD camera, digital image input flies control machine, guides the flight of unmanned plane.Sugarcane field aviation image information stores union by radio communication device first, the radiowave in unmanned plane and the input of the radio communication device second in unmanned cane harvesting machine automatic computer second, its operation result inputs unmanned automatic control pilot instrument, and the harvesting sugarcane device controlling unmanned cane harvesting machine front portion carries out the operation of precisely gathering in the crops ripe sugarcane genotypes.The information achieving the unmanned cane harvesting machine of the aerial unmanned plane in sky and sugarcane Tanaka is interconnected, mature for sugarcane field sugarcane genotypes is all gathered in the crops complete by the sugarcane field aviation image information that unmanned cane harvesting machine is provided according to unmanned plane, is provided with sugarcane genotypes Storage in the bottom of unmanned cane harvesting machine.Be arranged on the electricity consumption in the lithium titanate lithium ion battery first supply unmanned plane in unmanned plane, the lithium titanate lithium ion battery second be arranged in unmanned cane harvesting machine supplies the electricity consumption in unmanned cane harvesting machine.
Embodiment two:
The low airflight of unmanned plane above the unmanned cane harvesting machine carrying out the operation of gathering in the crops sugarcane genotypes, unmanned plane is provided with photoelectric nacelle below front portion, full-automatic camera work is carried out in the sugarcane field that the forty-two million pixel CMOS camera that photoelectric nacelle inside is installed aims at unmanned cane harvesting machine and surrounding, the sugarcane field aviation image information input automatic computer first obtained stores and imaging by the imageing sensor in CMOS camera, digital image input flies control machine, guides the flight of unmanned plane.Sugarcane field aviation image information stores union by radio communication device first, the radiowave in unmanned plane and the input of the radio communication device second in unmanned cane harvesting machine automatic computer second, its operation result inputs unmanned automatic control pilot instrument, and the harvesting sugarcane device controlling unmanned cane harvesting machine front portion carries out the operation of precisely gathering in the crops ripe sugarcane genotypes.The information achieving the unmanned cane harvesting machine of the aerial unmanned plane in sky and sugarcane Tanaka is interconnected, mature for sugarcane field sugarcane genotypes is all gathered in the crops complete by the sugarcane field aviation image information that unmanned cane harvesting machine is provided according to unmanned plane, is provided with sugarcane genotypes Storage in the bottom of unmanned cane harvesting machine.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 cane harvesting machine supplies the electricity consumption in unmanned cane harvesting machine.
Claims (3)
1. unmanned plane provides sugarcane field aviation image information to the unmanned cane harvesting machine in operation, it is characterized in that, by unmanned plane (1), lithium ion battery first (2), conductor wire first (3), automatic computer first (4), photoelectric nacelle (5), radio communication device first (6), fly control machine (7), electrical motor (8), unmanned cane harvesting machine (12), harvesting sugarcane device (13), lithium ion battery second (14), unmanned automatic control pilot instrument (15), automatic computer second (16), radio communication device second (17), conductor wire second (18) forms;
The sugarcane field (10) gathering in the crops sugarcane and the sugarcane field (11) not gathering in the crops sugarcane is had in sugarcane field (9), unmanned cane harvesting machine (12) carries out the operation of gathering in the crops sugarcane in sugarcane field (9), in the front portion of unmanned cane harvesting machine (12), harvesting sugarcane device (13) is installed, in the front portion of the fuselage of unmanned cane harvesting machine (12), unmanned automatic control pilot instrument (15) is installed, in the middle part of the fuselage of unmanned cane harvesting machine (12), automatic computer second (16) is installed, in the rear portion of the fuselage of unmanned cane harvesting machine (12), radio communication device second (17) is installed, in the bottom of the fuselage of unmanned cane harvesting machine (12), lithium ion battery second (14) is installed, unmanned plane (1) is had in flight in the low latitude of the top of unmanned cane harvesting machine (12), in the front portion of unmanned plane (1), electrical motor (8) is installed, in the middle part of the fuselage of unmanned plane (1), lithium ion battery first (2) is installed, at the top of the fuselage of unmanned plane (1), radio communication device first (6) is installed, on the top at the rear of lithium ion battery first (2), automatic computer first (4) is installed, install in the bottom at the rear of lithium ion battery first (2) and fly control machine (7), below unmanned plane (1) is anterior, photoelectric nacelle (5) is installed,
In unmanned plane (1), radio communication device first (6) is connected with automatic computer first (4) by conductor wire first (3), automatic computer first (4) is connected with photoelectric nacelle (5) by conductor wire first (3), radio communication device first (6) is connected with lithium ion battery first (2) by conductor wire first (3), automatic computer first (4) is connected with lithium ion battery first (2) by conductor wire first (3), lithium ion battery first (2) is connected with electrical motor (8) by conductor wire first (3), lithium ion battery first (2) by conductor wire first (3) with fly control machine (7) and be connected, fly control machine (7) to be connected with electrical motor (8) by conductor wire first (3), automatic computer first (4) by conductor wire first (3) with fly control machine (7) and be connected, in unmanned cane harvesting machine (12), radio communication device second (17) is connected with automatic computer second (16) by conductor wire second (18), automatic computer second (16) is connected with lithium ion battery second (14) by conductor wire second (18), automatic computer second (16) is connected with unmanned automatic control pilot instrument (15) by conductor wire second (18), unmanned automatic control pilot instrument (15) is connected with lithium ion battery second (14) by conductor wire second (18), lithium ion battery second (14) is connected with radio communication device second (17) by conductor wire second (18), radio communication device first (6) in unmanned plane (1) is interconnected by the radio communication device second (17) in radiowave and unmanned cane harvesting machine (12).
2. unmanned plane according to claim 1 provides sugarcane field aviation image information to the unmanned cane harvesting machine in operation, it is characterized in that, described lithium ion battery first (2) and lithium ion battery second (14) are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
3. unmanned plane according to claim 1 provides sugarcane field aviation image information to the unmanned cane harvesting machine in operation, it is characterized in that, described photoelectric nacelle (5) is the photoelectric nacelle of inner installation CCD camera or the inner photoelectric nacelle installing CMOS camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510942454.5A CN105501443A (en) | 2015-12-16 | 2015-12-16 | Unmanned sugarcane harvester |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510942454.5A CN105501443A (en) | 2015-12-16 | 2015-12-16 | Unmanned sugarcane harvester |
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| CN105501443A true CN105501443A (en) | 2016-04-20 |
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| CN201510942454.5A Pending CN105501443A (en) | 2015-12-16 | 2015-12-16 | Unmanned sugarcane harvester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107390699A (en) * | 2017-09-04 | 2017-11-24 | 广西民族大学 | The route planning system and its route planning method of a kind of sugarcane planting machine |
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