CN105432240A - Unmanned hay rake - Google Patents
Unmanned hay rake Download PDFInfo
- Publication number
- CN105432240A CN105432240A CN201510942448.XA CN201510942448A CN105432240A CN 105432240 A CN105432240 A CN 105432240A CN 201510942448 A CN201510942448 A CN 201510942448A CN 105432240 A CN105432240 A CN 105432240A
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- China
- Prior art keywords
- unmanned
- lithium ion
- ion battery
- hay rake
- 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
- A01D80/00—Parts or details of, or accessories for, haymakers
-
- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention relates to an unmanned hay rake, and belongs to the technical field of unmanned aerial vehicle application. An unmanned aerial vehicle flies in low altitude over the unmanned hay rake which rakes cut-down pasture grass into windrows, the lower face of the front portion of the unmanned aerial vehicle is provided with an electro-optical pod, a high-pixel digital camera installed in the electro-optical pod performs full-automatic photography work by aiming at the unmanned hay rake and surrounding grassland, an image sensor of the digital camera inputs acquired aerial image information of the grassland into a first electronic computer to be stored and imaged, and a digital image is input into a flight control computer to guide flying of the unmanned aerial vehicle. The aerial image information of the grassland 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 hay rake to be stored and calculated, and a calculated result is input into an unmanned self-control driving device to control a windrow raking device arranged on the back portion of the unmanned hay rake to perform operation of raking pasture grass which is spread on the ground after being cut down.
Description
Technical field
The present invention relates to a kind of unmanned hay rake, belong to unmanned plane applied technical field.
Background technology
In annual autumn, the herbage on collection grassland be hugged, to the forage grass of domestic animal winterization.First with grass harvester, herbage dark green on grassland being cut down loose being laid on ground shines to half-dried, because light green green grass water content is many, be accumulated in can generate heat together rotten, after herbage solarization is half-dried, set out hay rake and be laid on the integrated swath of ground grass by loose, the object of hugging grass is that herbage is fully dried, and is convenient to the collection of hay.Later stage is set out binder collection swath and breaks into bale, bale can be transported grassland, be accumulated in raise livestock intensively, in batches for domestic animal of feeding winter.With manned hay rake hug collection cut afterwards loose be laid on ground herbage become swath time, driver is sitting in driver's cabin can only see neighbouring grassland, can not see the panorama on grassland, and the production accident of leaking receiving portions swath easily occurs.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, providing unmanned plane to cut the loose unmanned hay rake of one being laid on ground herbage operation afterwards for grassland aviation image information to hugging collection.
The device hugging collection swath of unmanned hay rake front portion carries out the operation of hugging collecting and distributing paving herbage on grassland.Unmanned plane is had in flight in low latitude above unmanned hay rake.Unmanned plane installs photoelectric nacelle below front portion, the high pixel digital camera be arranged in photoelectric nacelle aim at carrying out hugging collection cutting afterwards loose be laid on the operation of ground herbage unmanned hay rake and the hugging the grassland that collected herbage and do not hug the grassland collecting herbage and carry out full-automatic camera work of surrounding, the grassland aviation image information input electronic computer first obtained stores and imaging by the imageing sensor in 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, electronic computer first, fly to control mechanical, electrical motivation, the photoelectric nacelle that is connected with electronic computer first powers.Grassland aviation image information to be sent to the radio communication device second in unmanned hay rake by the radio communication device first in unmanned plane by radio wave, then input electronic computer second and store union, the device hugging collection swath that its operation result precisely controls unmanned hay rake front portion by unmanned automatic control pilot instrument carries out hugging the operation of the ground herbage of collecting and distributing paving, significantly reduce the accident of leaking and hugging herbage on ground, improve and hug the collecting and distributing speed and the quality that are laid on ground herbage.Unmanned plane once find that the collecting and distributing situation being laid on ground herbage is hugged in omission, just can notify that unmanned hay rake is mended immediately and hug herbage in low latitude, guarantees that being laid on ground herbage by faling apart all hugs integrated swath.In unmanned hay rake, 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 grassland aviation image information aloft, and provide detailed grassland aviation image information to unmanned hay rake, thus the device hugging collection swath making the unmanned automatic control pilot instrument in unmanned hay rake precisely can control unmanned hay rake rear portion carries out high-quality operation of hugging collecting and distributing grass one-tenth swath.
High pixel digital camera airborne on unmanned plane has high-resolution performance, precisely can distinguish and hug the grassland collecting the herbage cut down, the image not hugging the grassland collecting the herbage cut down and the grassland of hugging integrated herbage swath.The image hugging the grassland collecting the herbage cut down that the digital camera of high pixel is aloft shot with video-corder respectively, the image on the image not hugging the grassland collecting the herbage cut down and the grassland of hugging integrated herbage swath have obviously difference, the high pixel digital camera on unmanned plane can also remote sensing to the change of careless look of drying into swath from loose grass.Image to be sent to radio communication device second, electronic computer second, unmanned automatic control pilot instrument in unmanned hay rake by the radio communication device first on unmanned plane by radio wave, guide unmanned hay rake to hug the herbage of loose paving on collection ground in time.
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, electronic computer first 4, photoelectric nacelle 5, radio communication device first 6, fly control machine 7, electromotor 8, unmanned hay rake 13, hug the collection device 14 of swath, radio communication device second 15, electronic computer second 16, conductor wire second 17, unmanned automatic control pilot instrument 18, lithium ion battery second 19 forms;
Grassland 9 has the grassland 10 of having hugged and having collected and cutting down herbage, do not hug and collected the grassland 11 of cutting down herbage and the grassland 12 of hugging integrated herbage swath, unmanned hay rake 13 is enterprising on grassland 9 is about to cut the loose operation being laid on the integrated swath of ground grass afterwards, the device 14 hugging collection swath is installed at the rear portion of unmanned hay rake 13, unmanned automatic control pilot instrument 18 is installed in the front portion of the fuselage of unmanned hay rake 13, at the middle part of the fuselage of unmanned hay rake 13, electronic computer second 16 is installed, at the rear portion of the fuselage of unmanned hay rake 13, radio communication device second 15 is installed, in the bottom of the fuselage of unmanned hay rake 13, lithium ion battery second 19 is installed, unmanned plane 1 is had in flight in low latitude above unmanned hay rake 13, in the front portion of unmanned plane 1, electromotor 8 is installed, at 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, electronic 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 electronic computer first 4 by conductor wire first 3, electronic 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, electronic computer first 4 is connected with lithium ion battery first 2 by conductor wire first 3, lithium ion battery first 2 is connected with electromotor 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 electromotor 8 by conductor wire first 3, electronic computer first 4 by conductor wire first 3 with fly control machine 7 and be connected, in unmanned hay rake 13, radio communication device second 15 is connected with electronic computer second 16 by conductor wire second 17, electronic computer second 16 is connected with lithium ion battery second 19 by conductor wire second 17, electronic computer second 16 is connected with unmanned automatic control pilot instrument 18 by conductor wire second 17, unmanned automatic control pilot instrument 18 is connected with lithium ion battery second 19 by conductor wire second 17, lithium ion battery second 19 is connected with radio communication device second 15 by conductor wire second 17, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 15 in radio wave and unmanned hay rake 13.
Lithium ion battery first 2 and lithium ion battery second 19 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: 1. achieve and precisely hug collection and cut the loose operation being laid on ground herbage afterwards, unmanned plane gets grassland aviation image information in low latitude, by radio communication device and radio wave grassland aviation image information sent to and carry out hugging the unmanned hay rake that collecting and distributing grass becomes the operation of swath, unmanned hay rake is precisely hugged on collection grassland according to grassland aviation image information that unmanned plane provides cut down, fall apart and be laid on herbage ground starting dry, loose grass is hugged integrated swath, get ready for binder collection swath breaks into bale.2. unmanned plane and unmanned hay rake 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
Unmanned plane is carrying out the low airflight above by the unmanned hay rake of the operation of the integrated swath of grass cut down, unmanned plane is provided with photoelectric nacelle below front portion, full-automatic camera work is carried out on the grassland that the high pixel digital camera that photoelectric nacelle inside is installed aims at unmanned hay rake and surrounding, the grassland aviation image information input electronic 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.Grassland 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 hay rake electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the device hugging collection swath controlling unmanned hay rake rear portion carries out hugging the operation that collection cuts the ground herbage of loose paving afterwards.
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, electronic computer first 4, photoelectric nacelle 5, radio communication device first 6, fly control machine 7, electromotor 8, unmanned hay rake 13, hug the collection device 14 of swath, radio communication device second 15, electronic computer second 16, conductor wire second 17, unmanned automatic control pilot instrument 18, lithium ion battery second 19 forms;
Grassland 9 has the grassland 10 of having hugged and having collected and cutting down herbage, do not hug and collected the grassland 11 of cutting down herbage and the grassland 12 of hugging integrated herbage swath, unmanned hay rake 13 is enterprising on grassland 9 is about to cut the loose operation being laid on the integrated swath of ground grass afterwards, the device 14 hugging collection swath is installed at the rear portion of unmanned hay rake 13, unmanned automatic control pilot instrument 18 is installed in the front portion of the fuselage of unmanned hay rake 13, at the middle part of the fuselage of unmanned hay rake 13, electronic computer second 16 is installed, at the rear portion of the fuselage of unmanned hay rake 13, radio communication device second 15 is installed, in the bottom of the fuselage of unmanned hay rake 13, lithium ion battery second 19 is installed, unmanned plane 1 is had in flight in low latitude above unmanned hay rake 13, in the front portion of unmanned plane 1, electromotor 8 is installed, at 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, electronic 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 electronic computer first 4 by conductor wire first 3, electronic 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, electronic computer first 4 is connected with lithium ion battery first 2 by conductor wire first 3, lithium ion battery first 2 is connected with electromotor 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 electromotor 8 by conductor wire first 3, electronic computer first 4 by conductor wire first 3 with fly control machine 7 and be connected, in unmanned hay rake 13, radio communication device second 15 is connected with electronic computer second 16 by conductor wire second 17, electronic computer second 16 is connected with lithium ion battery second 19 by conductor wire second 17, electronic computer second 16 is connected with unmanned automatic control pilot instrument 18 by conductor wire second 17, unmanned automatic control pilot instrument 18 is connected with lithium ion battery second 19 by conductor wire second 17, lithium ion battery second 19 is connected with radio communication device second 15 by conductor wire second 17, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 15 in radio wave and unmanned hay rake 13.
Lithium ion battery first 2 and lithium ion battery second 19 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 grassland carrying out hug world information between the unmanned hay rake of collection herbage operation interconnected, share, unmanned hay rake uses interconnected information to improve hugs speed and the quality that the ground loose grass of collection becomes the operation of swath.
Unmanned plane in the low latitude of flight above unmanned hay rake, by the high pixel digital camera installed in the photoelectric nacelle below the front portion that is arranged on unmanned plane, aim at carrying out hugging collecting and distributing grass become the unmanned hay rake of the operation of swath and surrounding to hug collect cut down after loosely spread herbage, do not hug and collected the loose grassland spreading herbage and three kinds of situations of hugging integrated herbage swath after cutting down and carry 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 grassland aviation image information as flying platform and full-automatic camera work platform, store and imaging in electronic computer first, the digital image of grassland aviation image information is used in flight control system, and by radio communication device first, by radio wave, by grassland aviation image information, the radio communication device second sent in unmanned hay rake receives, after receiving, input electronic computer second stores union, its operation result inputs unmanned automatic control pilot instrument, precisely carry out hugging loose grass on collection ground as the unmanned hay rake of control and become the chief source of information of the operation of swath.Unmanned plane carries out the overall process of operation at the unmanned hay rake of low air surveillance, find grassland has omission, be loosely laid on ground herbage, notify that unmanned hay rake is mended immediately to hug, guarantee to be laid on ground herbage all to hug integrated swath by loose on grassland, be conducive to improving hugging and be collecting and distributingly laid on speed and the quality that ground herbage becomes swath.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 hay rake supplies the electricity consumption of the whole electrical appliances in unmanned hay rake.
Now enumerate embodiment as follows:
Embodiment one:
The low airflight of unmanned plane above the unmanned hay rake carrying out hugging loose grass one-tenth swath operation on collection ground, grassland, unmanned plane is provided with photoelectric nacelle below front portion, full-automatic camera work is carried out on the grassland that the 3500 ten thousand pixel CCD camera that photoelectric nacelle inside is installed aim at unmanned hay rake and surrounding, the grassland aviation image information input electronic 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.Grassland 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 hay rake electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the device hugging collection swath controlling unmanned hay rake front portion carries out hugging the loose grass in collection ground and becomes swath operation.The information achieving the ground unmanned hay rake of the aerial unmanned plane in sky and grassland is interconnected, makes unmanned hay rake be laid on ground herbage according to the grassland aviation image information that unmanned plane provides by faling apart in grassland and all hugs integrated swath.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 hay rake supplies the electricity consumption in unmanned hay rake.
Embodiment two:
The low airflight of unmanned plane above the unmanned hay rake carrying out hugging loose grass one-tenth swath operation on collection ground, grassland, unmanned plane is provided with photoelectric nacelle below front portion, full-automatic camera work is carried out on the grassland that the 4000 ten thousand pixel CMOS cameras that photoelectric nacelle inside is installed aim at unmanned hay rake and surrounding, the grassland aviation image information input electronic 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.Grassland 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 hay rake electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the device hugging collection swath controlling unmanned hay rake front portion carries out hugging the loose grass in collection ground and becomes swath operation.The information achieving the ground unmanned hay rake of the aerial unmanned plane in sky and grassland is interconnected, makes unmanned hay rake be laid on ground herbage according to the grassland aviation image information that unmanned plane provides by faling apart in grassland and all hugs integrated swath.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 hay rake supplies the electricity consumption in unmanned hay rake.
Claims (3)
1. a unmanned hay rake, it is characterized in that, by unmanned plane (1), lithium ion battery first (2), conductor wire first (3), electronic computer first (4), photoelectric nacelle (5), radio communication device first (6), fly control machine (7), electromotor (8), unmanned hay rake (13), hug the collection device (14) of swath, radio communication device second (15), electronic computer second (16), conductor wire second (17), unmanned automatic control pilot instrument (18), lithium ion battery second (19) forms;
Grassland (9) have the grassland (10) of hugging and collecting and cutting down herbage, do not hug and collected the grassland (11) of cutting down herbage and the grassland (12) of hugging integrated herbage swath, unmanned hay rake (13) is about to cut the loose operation being laid on the integrated swath of ground grass afterwards grassland (9) are enterprising, the device (14) hugging collection swath is installed at the rear portion of unmanned hay rake (13), in the front portion of the fuselage of unmanned hay rake (13), unmanned automatic control pilot instrument (18) is installed, at the middle part of the fuselage of unmanned hay rake (13), electronic computer second (16) is installed, at the rear portion of the fuselage of unmanned hay rake (13), radio communication device second (15) is installed, in the bottom of the fuselage of unmanned hay rake (13), lithium ion battery second (19) is installed, unmanned plane (1) is had in flight in the low latitude of the top of unmanned hay rake (13), in the front portion of unmanned plane (1), electromotor (8) is installed, at 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), electronic 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 electronic computer first (4) by conductor wire first (3), electronic 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), electronic computer first (4) is connected with lithium ion battery first (2) by conductor wire first (3), lithium ion battery first (2) is connected with electromotor (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 electromotor (8) by conductor wire first (3), electronic computer first (4) by conductor wire first (3) with fly control machine (7) and be connected, in unmanned hay rake (13), radio communication device second (15) is connected with electronic computer second (16) by conductor wire second (17), electronic computer second (16) is connected with lithium ion battery second (19) by conductor wire second (17), electronic computer second (16) is connected with unmanned automatic control pilot instrument (18) by conductor wire second (17), unmanned automatic control pilot instrument (18) is connected with lithium ion battery second (19) by conductor wire second (17), lithium ion battery second (19) is connected with radio communication device second (15) by conductor wire second (17), radio communication device first (6) in unmanned plane (1) is interconnected by the radio communication device second (15) in radio wave and unmanned hay rake (13).
2. the unmanned hay rake of one according to claim 1, it is characterized in that, described lithium ion battery first (2) and lithium ion battery second (19) are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
3. the unmanned hay rake of one according to claim 1, 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 |
|---|---|---|---|
| CN201510942448.XA CN105432240A (en) | 2015-12-16 | 2015-12-16 | Unmanned hay rake |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510942448.XA CN105432240A (en) | 2015-12-16 | 2015-12-16 | Unmanned hay rake |
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| CN105432240A true CN105432240A (en) | 2016-03-30 |
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| CN201510942448.XA Pending CN105432240A (en) | 2015-12-16 | 2015-12-16 | Unmanned hay rake |
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| CN2586347Y (en) * | 2002-11-04 | 2003-11-19 | 宋加昌 | Machine both for mowing and raking |
| US20140081479A1 (en) * | 2012-09-19 | 2014-03-20 | The Boeing Company | Forestry Management System |
| CN204270115U (en) * | 2014-11-14 | 2015-04-15 | 山东农业大学 | The special flight control system of a kind of plant protection unmanned plane |
| CN204443171U (en) * | 2015-01-12 | 2015-07-08 | 贾志林 | Clutch plays rake hay rake |
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2015
- 2015-12-16 CN CN201510942448.XA patent/CN105432240A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030130767A1 (en) * | 2002-01-07 | 2003-07-10 | Carroll Ernest A. | Method of and apparatus for acquiring aerial imagery for precision farming |
| CN2586347Y (en) * | 2002-11-04 | 2003-11-19 | 宋加昌 | Machine both for mowing and raking |
| US20140081479A1 (en) * | 2012-09-19 | 2014-03-20 | The Boeing Company | Forestry Management System |
| CN204270115U (en) * | 2014-11-14 | 2015-04-15 | 山东农业大学 | The special flight control system of a kind of plant protection unmanned plane |
| CN204443171U (en) * | 2015-01-12 | 2015-07-08 | 贾志林 | Clutch plays rake hay rake |
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