CN105474872A - Unmanned oilseed rape harvester - Google Patents
Unmanned oilseed rape harvester Download PDFInfo
- Publication number
- CN105474872A CN105474872A CN201510942466.8A CN201510942466A CN105474872A CN 105474872 A CN105474872 A CN 105474872A CN 201510942466 A CN201510942466 A CN 201510942466A CN 105474872 A CN105474872 A CN 105474872A
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- unmanned
- lithium ion
- ion battery
- rape
- unmanned plane
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/02—Self-propelled combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an unmanned oilseed rape harvester which harvests rapeseeds according to farmland aerial image information supplied by an unmanned plane and belongs to the technical field of unmanned plane application. The unmanned plane flies at the low altitude above the unmanned oilseed rape harvester which conducts the operation of harvesting oilseed rape in the farmland, a synthetic aperture radar is installed below the front portion of the unmanned plane, the synthetic aperture radar is aligned with the unmanned oilseed rape harvester and the farmland where oilseed rape is harvested and performs fully-automated shooting work, an active type microwave sensor of the synthetic aperture radar inputs the obtained farmland aerial image information into a first electronic computer for storage and imaging, and radar images are input into a flight control machine for guiding the unmanned plane to fly. The farmland aerial image information is input into a second electronic computer for storage and operation through a first wireless communication device in the unmanned plane, radio waves and a second wireless communication device in the unmanned oilseed rape harvester, and the operation result is input into an unmanned self-control driving device, so that a oilseed rape harvesting device arranged on the front portion of the unmanned oilseed rape harvester is controlled to conduct oilseed rape harvesting operation.
Description
Technical field
The present invention relates to unmanned plane supplies farmland aviation image information to the unmanned rape harvest machine of results vegetable seed, belongs to unmanned plane applied technical field.
Background technology
Rape is important oil crop, squeezes edible oil supply urban and rural residents daily edible by rape seed.Need results in time when rape is ripe, if results not in time, very ripe rape can explode pod and to fall seed, causes very large waste.After growth of rape comes to the ripening period, the dish pod coloration of rape can change, plantation rape peasant for many years, and the change observing the dish pod color of rape just can grasp the suitable time of results rape.With manned have people's rape harvest machine to gather in the crops rape seed time, driver is sitting in the rape can only seeing local in driver's cabin, can not see the panorama of Rapeseed Field, and the production accident of leaking the ripe rape of harvest easily occurs.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide unmanned plane for farmland aviation image information to the unmanned rape harvest machine of results vegetable seed.
The rape harvest device of unmanned rape harvest machine front portion carries out the operation of gathering in the crops vegetable seed in farmland.Unmanned plane is had in flight in low latitude above unmanned rape harvest machine.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 rape harvest machine of maturated oil vegetable seed operation and the farmland gathering in the crops rape of surrounding and not gathering in the crops rape 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 in 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 rape harvest machine 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 the operation of gathering in the crops maturated oil vegetable seed by the rape harvest device that unmanned automatic control pilot instrument precisely controls unmanned rape harvest machine front portion, significantly reduce the production accident of leaking harvest stand oil vegetable seed, improve speed and the quality of precisely results maturated oil vegetable seed.Unmanned plane once find there is the ripe rape leaking and receive in farmland, just can notify unmanned rape harvest machine subsequent collection immediately in low latitude, guarantees that ripe rape seed is all gathered in the crops in time.In unmanned rape harvest machine, 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 rape harvest machine, thus the rape harvest device making the unmanned automatic control pilot instrument in unmanned rape harvest machine precisely can control unmanned rape harvest machine front portion carries out the operation of high-quality results maturated oil vegetable seed.
After the growing of rape comes to the ripening period, the color of the pod wall of rape pod can change, and the pod wall image that unmanned plane obtains rape maturing stage different colours in low latitude calculates proper time, can notify that unmanned rape harvest machine enters ripe Rapeseed Field and gathers in the crops in good time by radio wave.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 color of the rape pod wall of different parts in farmland through morning fog, store and imaging in electronic computer first, radar image carries out computing by radio communication device first, radio wave, radio communication device second input electronic computer second, the unmanned rape harvest machine of information guidance of operation result enters farmland and precisely gathers in the crops ripe rapeseed plants, and rape seed deviate from time by the sheller unit in unmanned rape harvest machine.
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 rape harvest machine 13, rape harvest device 14, lithium ion battery second 15, unmanned automatic control pilot instrument 16, electronic computer second 17, conductor wire second 18, radio communication device second 19, form;
The farmland 11 having gathered in the crops rape and the farmland 12 not gathering in the crops rape is had in farmland 10, unmanned rape harvest machine 13 in farmland 10 is carrying out the operation of gathering in the crops rape seed, unmanned plane 1 is had in flight in low latitude above unmanned rape harvest machine 13, in the front portion of unmanned rape harvest machine 13, rape harvest device 14 is installed, in the front portion of the fuselage of unmanned rape harvest machine 13, unmanned automatic control pilot instrument 16 is installed, at the middle part of the fuselage of unmanned rape harvest machine 13, electronic computer second 17 is installed, at the rear portion of the fuselage of unmanned rape harvest machine 13, radio communication device second 19 is installed, in the bottom of the fuselage of unmanned rape harvest machine 13, lithium ion battery second 15 is installed, screw 2 is installed in the front end of the rotating shaft before unmanned plane 1, 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 rape harvest machine 13, radio communication device second 19 is connected with electronic computer second 17 by conductor wire second 18, electronic computer second 17 is connected with lithium ion battery second 15 by conductor wire second 18, electronic computer second 17 is connected with unmanned automatic control pilot instrument 16 by conductor wire second 18, unmanned automatic control pilot instrument 16 is connected with lithium ion battery second 15 by conductor wire second 18, lithium ion battery second 15 is connected with radio communication device second 19 by conductor wire second 18, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 19 in radio wave and unmanned rape harvest machine 13.
Lithium ion battery first 3 and lithium ion battery second 15 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: the operation 1. achieving precisely results maturated oil vegetable seed, unmanned plane gets farmland aviation image information in low latitude, by radio communication device and radio wave, farmland aviation image information is sent to the unmanned rape harvest machine carrying out the operation of gathering in the crops maturated oil vegetable seed, make unmanned rape harvest machine precisely gather in the crops ripe rape seed according to the farmland aviation image information obtained in the low latitude of unmanned plane above the farmland of plantation rape.2. unmanned plane and unmanned rape harvest machine 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 rape harvest machine of operation carrying out farmland results rape seed, unmanned plane installs synthetic aperture radar below front portion, synthetic aperture radar aims at unmanned rape harvest machine and surrounding carries out full-automatic camera work in the farmland of results rape seed, 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 rape harvest machine electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the rape harvest device controlling unmanned rape harvest machine front portion carries out the operation of gathering in the crops rape seed.
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 rape harvest machine 13, rape harvest device 14, lithium ion battery second 15, unmanned automatic control pilot instrument 16, electronic computer second 17, conductor wire second 18, radio communication device second 19, form;
The farmland 11 having gathered in the crops rape and the farmland 12 not gathering in the crops rape is had in farmland 10, unmanned rape harvest machine 13 in farmland 10 is carrying out the operation of gathering in the crops rape seed, unmanned plane 1 is had in flight in low latitude above unmanned rape harvest machine 13, in the front portion of unmanned rape harvest machine 13, rape harvest device 14 is installed, in the front portion of the fuselage of unmanned rape harvest machine 13, unmanned automatic control pilot instrument 16 is installed, at the middle part of the fuselage of unmanned rape harvest machine 13, electronic computer second 17 is installed, at the rear portion of the fuselage of unmanned rape harvest machine 13, radio communication device second 19 is installed, in the bottom of the fuselage of unmanned rape harvest machine 13, lithium ion battery second 15 is installed, screw 2 is installed in the front end of the rotating shaft before unmanned plane 1, 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 rape harvest machine 13, radio communication device second 19 is connected with electronic computer second 17 by conductor wire second 18, electronic computer second 17 is connected with lithium ion battery second 15 by conductor wire second 18, electronic computer second 17 is connected with unmanned automatic control pilot instrument 16 by conductor wire second 18, unmanned automatic control pilot instrument 16 is connected with lithium ion battery second 15 by conductor wire second 18, lithium ion battery second 15 is connected with radio communication device second 19 by conductor wire second 18, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 19 in radio wave and unmanned rape harvest machine 13.
Lithium ion battery first 3 and lithium ion battery second 15 are ferric phosphate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery.
The world information that present invention achieves the unmanned plane in low latitude and carrying out gathering in the crops between the unmanned rape harvest machine of rape seed operation in farmland is interconnected, shared, and unmanned rape harvest machine uses interconnected information to improve speed and the quality of the operation of results maturated oil vegetable seed grain.
Unmanned plane in the low latitude of flight above unmanned rape harvest machine, by the synthetic aperture radar below the front portion that is arranged on unmanned plane, aim at the farmland that the unmanned rape harvest machine that carrying out gathering in the crops the operation of maturated oil vegetable seed and surrounding gathered in the crops rape seed and the farmland not gathering in the crops rape seed 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 rape harvest machine 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 the operation of maturated oil vegetable seed is precisely carried out as the unmanned rape harvest machine of control.Unmanned plane carries out the overall process of operation at the unmanned rape harvest machine of low air surveillance, find in farmland, there is the ripe rapeseed plants leaking and receive, notify unmanned rape harvest machine subsequent collection immediately, rape ripe in farmland is guaranteed to gather in the crops up in time, all results are complete within the most suitable maturing stage to be conducive to ripe rapeseed plants, avoid fried pod, the seed that falls causes damage.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 rape harvest machine supplies the electricity consumption of the whole electrical appliances in unmanned rape harvest machine.
Now enumerate embodiment as follows:
Embodiment one:
The low airflight of unmanned plane above the unmanned rape harvest machine carrying out farmland results maturated oil vegetable seed 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 rape harvest machine 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 rape harvest machine electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the rape harvest device controlling unmanned rape harvest machine front portion carries out the operation of gathering in the crops maturated oil vegetable seed.The information achieving the unmanned rape harvest machine in the aerial unmanned plane in sky and farmland is interconnected, makes unmanned rape harvest machine carry out gathering in the crops the operation of maturated oil vegetable seed in time according to the farmland aviation image information that unmanned plane provides.Be arranged on the electricity consumption in the cobalt acid lithium ion battery first supply unmanned plane in unmanned plane, the cobalt acid lithium ion battery second be arranged in unmanned rape harvest machine supplies the electricity consumption in unmanned rape harvest machine.
Embodiment two:
The low airflight of unmanned plane above the unmanned rape harvest machine carrying out farmland results maturated oil vegetable seed 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 rape harvest machine 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 rape harvest machine electronic computer second, its operation result inputs unmanned automatic control pilot instrument, and the rape harvest device controlling unmanned rape harvest machine front portion carries out the operation of gathering in the crops maturated oil vegetable seed.The information achieving the unmanned rape harvest machine in the aerial unmanned plane in sky and farmland is interconnected, makes unmanned rape harvest machine carry out gathering in the crops the operation of maturated oil vegetable seed 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 rape harvest machine supplies the electricity consumption in unmanned rape harvest machine.
Claims (2)
1. unmanned plane gives the unmanned rape harvest machine of results vegetable seed for farmland aviation image information, 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 rape harvest machine (13), rape harvest device (14), lithium ion battery second (15), unmanned automatic control pilot instrument (16), electronic computer second (17), conductor wire second (18), radio communication device second (19), composition,
The farmland (11) gathering in the crops rape and the farmland (12) not gathering in the crops rape is had in farmland (10), unmanned rape harvest machine (13) in farmland (10) is carrying out the operation of gathering in the crops rape seed, unmanned plane (1) is had in flight in the low latitude of the top of unmanned rape harvest machine (13), in the front portion of unmanned rape harvest machine (13), rape harvest device (14) is installed, in the front portion of the fuselage of unmanned rape harvest machine (13), unmanned automatic control pilot instrument (16) is installed, at the middle part of the fuselage of unmanned rape harvest machine (13), electronic computer second (17) is installed, at the rear portion of the fuselage of unmanned rape harvest machine (13), radio communication device second (19) is installed, in the bottom of the fuselage of unmanned rape harvest machine (13), lithium ion battery second (15) is installed, screw (2) is installed in the front end of the rotating shaft before unmanned plane (1), 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 rape harvest machine (13), radio communication device second (19) is connected with electronic computer second (17) by conductor wire second (18), electronic computer second (17) is connected with lithium ion battery second (15) by conductor wire second (18), electronic computer second (17) is connected with unmanned automatic control pilot instrument (16) by conductor wire second (18), unmanned automatic control pilot instrument (16) is connected with lithium ion battery second (15) by conductor wire second (18), lithium ion battery second (15) is connected with radio communication device second (19) by conductor wire second (18), radio communication device first (6) in unmanned plane (1) is interconnected by the radio communication device second (19) in radio wave and unmanned rape harvest machine (13).
2. unmanned plane according to claim 1 gives the unmanned rape harvest machine of results vegetable seed for farmland aviation image information, it is characterized in that, described lithium ion battery first (3) and lithium ion battery second (15) 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 |
|---|---|---|---|
| CN201510942466.8A CN105474872A (en) | 2015-12-16 | 2015-12-16 | Unmanned oilseed rape harvester |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510942466.8A CN105474872A (en) | 2015-12-16 | 2015-12-16 | Unmanned oilseed rape harvester |
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| CN105474872A true CN105474872A (en) | 2016-04-13 |
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| CN201510942466.8A Pending CN105474872A (en) | 2015-12-16 | 2015-12-16 | Unmanned oilseed rape harvester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109313446A (en) * | 2016-06-10 | 2019-02-05 | 天宝公司 | Pellucidly realize the self-navigation of mobile machine |
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