CN105487549A - Unmanned harvester - Google Patents
Unmanned harvester Download PDFInfo
- Publication number
- CN105487549A CN105487549A CN201510942465.3A CN201510942465A CN105487549A CN 105487549 A CN105487549 A CN 105487549A CN 201510942465 A CN201510942465 A CN 201510942465A CN 105487549 A CN105487549 A CN 105487549A
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- Prior art keywords
- unmanned
- lithium ion
- ion battery
- harvester
- conductor wire
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- 241000209140 Triticum Species 0.000 claims abstract description 69
- 235000021307 Triticum Nutrition 0.000 claims abstract description 69
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 64
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 64
- 238000004891 communication Methods 0.000 claims abstract description 48
- 239000004020 conductor Substances 0.000 claims description 47
- 239000005955 Ferric phosphate Substances 0.000 claims description 5
- 239000002253 acid Substances 0.000 claims description 5
- 229910017052 cobalt Inorganic materials 0.000 claims description 5
- 239000010941 cobalt Substances 0.000 claims description 5
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 claims description 5
- 229940032958 ferric phosphate Drugs 0.000 claims description 5
- WBJZTOZJJYAKHQ-UHFFFAOYSA-K iron(3+) phosphate Chemical compound [Fe+3].[O-]P([O-])([O-])=O WBJZTOZJJYAKHQ-UHFFFAOYSA-K 0.000 claims description 5
- 229910000399 iron(III) phosphate Inorganic materials 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- LBSANEJBGMCTBH-UHFFFAOYSA-N manganate Chemical compound [O-][Mn]([O-])(=O)=O LBSANEJBGMCTBH-UHFFFAOYSA-N 0.000 claims description 3
- 238000003306 harvesting Methods 0.000 abstract description 12
- 238000003384 imaging method Methods 0.000 abstract description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 206010000372 Accident at work Diseases 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an unmanned harvester which provides wheat field aerial image information for wheat harvesting operation through an unmanned aerial vehicle, and belongs to the technical field of application of an unmanned aerial vehicle. The unmanned aerial vehicle flies at a low altitude above the unmanned harvester carrying out the wheat harvesting operation, the lower portion of the front surface of the wheat harvesting operation is provided with an synthetic aperture radar, the synthetic aperture radar carries out full-automatic photographing work by aligning itself with a wheat field in which wheat is harvested, an active microwave sensor of the synthetic aperture radar inputs the obtained wheat field aerial image information into a first electronic computer for storage and imaging, and radar images are input to a flight control machine for guiding flight of the unmanned aerial vehicle. The wheat field aerial image information is input to a second electronic computer for storage and computation through a first wireless communication apparatus in the unmanned aerial vehicle, radio waves and a second wireless communication apparatus in the unmanned harvester, a computation result is input to an unmanned self-control driving apparatus for controlling a harvesting apparatus at the front portion of the unmanned harvester to carry out the wheat harvesting operation, a first lithium ion battery supplies power in the unmanned aerial vehicle, and a second lithium ion battery supplies power in the unmanned harvester.
Description
Technical field
The present invention relates to unmanned plane supplies wheatland aviation image information to the unmanned harvester of getting wheat operation, belongs to unmanned plane applied technical field.
Background technology
When wheat is ripe, the color of Mai Ye is gradually by green flavescence, due to the difference of wheat breed, the difference of rate of fertilizer application, the maturation of the wheat in each field has early to be had late, set out unmanned plane and make an inspection tour wheat belt, and carry out full-automatic camera work, the change of more each wheat field color, arrange the order of getting wheat.Wheat ninety percent is ripe, hundred per cent is received, and too early, wheat grouting is not enough, and production declining, gathered in the crops evening for results, and wheat comes off field, and output also can decline.Carry out large-area little wheat harvesting work with manned harvester, because driver can only observe limited distance in wheatland, occur sometimes to leak the industrial accident of cutting wheat.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide unmanned plane for wheatland aviation image information to the unmanned harvester of getting wheat operation.
The reaping apparatus of unmanned harvester carries out the operation of getting wheat in wheatland.Unmanned plane is had in flight in low latitude above unmanned harvester.Unmanned plane installs synthetic-aperture radar below front portion, synthetic-aperture radar aim at carrying out the unmanned harvester of accurate getting wheat operation and surrounding gather in and the wheat paddock of non-getting wheat carries out full-automatic camera work, the wheatland aviation image information input robot calculator 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, robot calculator first, fly to control mechanical, electrical motivation, the synthetic-aperture radar that is connected with robot calculator first powers.Wheatland aviation image information to be sent to the radio communication device second in unmanned harvester by the radio communication device first in unmanned plane by radiowave, then input robot calculator second and store union, its operation result carries out the operation of accurate getting wheat by the reaping apparatus that unmanned automatic control pilot instrument precisely controls unmanned harvester front portion, significantly reduce the accident of leaking and cutting wheat, improve quality that is accurate, getting wheat in time.Unmanned plane once find there is the industrial accident of leaking and cutting wheat in wheatland, just can notify unmanned harvester subsequent collection immediately in low latitude, guarantees that wheat gathers in time, transports to threshing ground after threshing.In unmanned harvester, lithium ion battery second is powered respectively to unmanned automatic control pilot instrument, robot calculator second, radio communication device second by conductor wire second.Because unmanned plane obtains wheatland aviation image information aloft, and provide detailed wheatland aviation image information to unmanned harvester, thus the reaping apparatus making the unmanned automatic control pilot instrument in unmanned harvester precisely can control unmanned harvester front portion carries out the operation of high-quality getting wheat.
Synthetic-aperture radar 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.Synthetic-aperture radar can obtain the radar image of wheatland fact through the early summer morning fog above wheatland.When wheat got the harvest in quickly by unmanned harvester all through the night, synthetic-aperture radar can obtain the wheatland radar image at night through the curtain of night, controlled the quality of getting wheat by the relative assembly of unmanned harvester.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
By unmanned plane 1, lithium ion battery first 2, conductor wire first 3, robot calculator first 4, synthetic-aperture radar 5, radio communication device first 6, fly control machine 7, motor 8, unmanned harvester 12, reaping apparatus 13, lithium ion battery second 14, conductor wire second 15, unmanned automatic control pilot instrument 16, robot calculator second 17, radio communication device second 18 forms;
The wheatland 10 of getting wheat and the wheatland 11 of non-getting wheat is had in wheatland 9, reaping apparatus 13 getting wheat in wheatland of unmanned harvester 12 front portion, in the front portion of the fuselage of unmanned harvester 12, unmanned automatic control pilot instrument 16 is installed, at the middle part of the fuselage of unmanned harvester 12, robot calculator second 17 is installed, at the rear portion of the fuselage of unmanned harvester 12, radio communication device second 18 is installed, in the bottom of the fuselage of unmanned harvester 12, lithium ion battery second 14 is installed, unmanned plane 1 is had in flight in low latitude above unmanned harvester 12, radio communication device first 6 is installed in the front portion of unmanned plane 1, below the front portion of unmanned plane 1, synthetic-aperture radar 5 is installed, at the rear of radio communication device first 6, robot calculator first 4 is installed, lithium ion battery first 2 is installed in the middle part of unmanned plane 1, in the top of unmanned plane 1, motor 8 is installed, install in the rear portion of unmanned plane 1 and fly control machine 7,
In unmanned plane 1, radio communication device first 6 is connected with robot calculator first 4 by conductor wire first 3, robot calculator first 4 is connected with synthetic-aperture radar 5 by conductor wire first 3, radio communication device first 6 is connected with lithium ion battery first 2 by conductor wire first 3, robot calculator first 4 is connected with lithium ion battery first 2 by conductor wire first 3, lithium ion battery first 2 is connected with 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 motor 8 by conductor wire first 3, robot calculator first 4 by conductor wire first 3 with fly control machine 7 and be connected, in unmanned harvester 12, radio communication device second 18 is connected with robot calculator second 17 by conductor wire second 15, robot calculator second 17 is connected with lithium ion battery second 14 by conductor wire second 15, robot calculator second 17 is connected with unmanned automatic control pilot instrument 16 by conductor wire second 15, unmanned automatic control pilot instrument 16 is connected with lithium ion battery second 14 by conductor wire second 15, lithium ion battery second 14 is connected with radio communication device second 18 by conductor wire second 15, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 18 in radiowave and unmanned harvester 12.
Lithium ion battery first 2 and lithium ion battery second 14 are ferric phosphate lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery.
Compared with prior art, the invention has the beneficial effects as follows: 1. achieve operation that is accurate, getting wheat in time, unmanned plane gets wheatland aviation image information in low latitude, wheatland aviation image information is sent to by radio communication device and radiowave the unmanned harvester carrying out getting wheat operation, make unmanned harvesting function according to the maturity of wheat, enter wheatland getting wheat in good time, guarantee that wheat gathers in time, threshing in time, transport to threshing ground in time to get on to ted, obtain high yield good harvest.2. unmanned plane and unmanned harvester are all powered by lithium ion battery, without fossil fuel oil, are conducive to preserving the ecological environment, are 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 the unmanned harvester of getting wheat operation, unmanned plane installs synthetic-aperture radar below front portion, the wheatland that synthetic-aperture radar aims at getting wheat carries out full-automatic camera work, the wheatland aviation image information input robot calculator first obtained stores and imaging by the active microwave sensor of synthetic-aperture radar, radar image input flies control machine, guides unmanned plane during flying.Wheatland 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 harvester robot calculator second, its operation result inputs unmanned automatic control pilot instrument, the reaping apparatus controlling unmanned harvester front portion carries out the operation of getting wheat, lithium ion battery first is powered in unmanned plane, and lithium ion battery second is powered in unmanned harvester.
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, robot calculator first 4, synthetic-aperture radar 5, radio communication device first 6, fly control machine 7, motor 8, unmanned harvester 12, reaping apparatus 13, lithium ion battery second 14, conductor wire second 15, unmanned automatic control pilot instrument 16, robot calculator second 17, radio communication device second 18 forms;
The wheatland 10 of getting wheat and the wheatland 11 of non-getting wheat is had in wheatland 9, reaping apparatus 13 getting wheat in wheatland of unmanned harvester 12 front portion, in the front portion of the fuselage of unmanned harvester 12, unmanned automatic control pilot instrument 16 is installed, at the middle part of the fuselage of unmanned harvester 12, robot calculator second 17 is installed, at the rear portion of the fuselage of unmanned harvester 12, radio communication device second 18 is installed, in the bottom of the fuselage of unmanned harvester 12, lithium ion battery second 14 is installed, unmanned plane 1 is had in flight in low latitude above unmanned harvester 12, radio communication device first 6 is installed in the front portion of unmanned plane 1, below the front portion of unmanned plane 1, synthetic-aperture radar 5 is installed, at the rear of radio communication device first 6, robot calculator first 4 is installed, lithium ion battery first 2 is installed in the middle part of unmanned plane 1, in the top of unmanned plane 1, motor 8 is installed, install in the rear portion of unmanned plane 1 and fly control machine 7,
In unmanned plane 1, radio communication device first 6 is connected with robot calculator first 4 by conductor wire first 3, robot calculator first 4 is connected with synthetic-aperture radar 5 by conductor wire first 3, radio communication device first 6 is connected with lithium ion battery first 2 by conductor wire first 3, robot calculator first 4 is connected with lithium ion battery first 2 by conductor wire first 3, lithium ion battery first 2 is connected with 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 motor 8 by conductor wire first 3, robot calculator first 4 by conductor wire first 3 with fly control machine 7 and be connected, in unmanned harvester 12, radio communication device second 18 is connected with robot calculator second 17 by conductor wire second 15, robot calculator second 17 is connected with lithium ion battery second 14 by conductor wire second 15, robot calculator second 17 is connected with unmanned automatic control pilot instrument 16 by conductor wire second 15, unmanned automatic control pilot instrument 16 is connected with lithium ion battery second 14 by conductor wire second 15, lithium ion battery second 14 is connected with radio communication device second 18 by conductor wire second 15, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 18 in radiowave and unmanned harvester 12.
Lithium ion battery first 2 and lithium ion battery second 14 are ferric phosphate lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery.
The world information between the unmanned harvester carrying out getting wheat operation in unmanned plane in low latitude and wheatland of present invention achieves is interconnected, share, and unmanned harvester uses interconnected information to improve speed and the quality of the operation of getting wheat.
Unmanned plane in the low latitude of flight above unmanned harvester, by the synthetic-aperture radar below the front portion that is arranged on unmanned plane, the wheatland aiming at the unmanned harvester that carrying out getting wheat operation and surrounding getting wheat and non-getting wheat 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 wheatland aviation image information as flying platform and full-automatic camera work platform, store and imaging in robot calculator first, wheatland aviation image information is used in flight control system, and by radio communication device first, by radiowave, by wheatland aviation image information, the radio communication device second inputted in unmanned harvester receives, after receiving, input robot calculator second stores union, its operation result inputs unmanned automatic control pilot instrument, the chief source of information of in good time harvesting is precisely carried out as the reaping apparatus controlling unmanned harvester front portion.Unmanned plane carries out the overall process of operation at the unmanned harvester of low air surveillance, find to leak the industrial accident of cutting wheat, notify unmanned harvester subsequent collection immediately, guarantee that in wheatland, wheat all gathers in totally, be conducive to that summer harvest wheat gathers in time, threshing, ted, warehouse entry, high yield good harvest.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 harvester supplies the electricity consumption of the whole electrical appliances in unmanned harvester.
Now enumerate embodiment as follows:
Embodiment one:
The low airflight of unmanned plane above the unmanned harvester carrying out accurate getting wheat operation, unmanned plane is provided with synthetic-aperture radar below front portion, the wheatland of wheatland and non-getting wheat that synthetic-aperture radar aims at getting wheat carries out full-automatic camera work, the wheatland aviation image information input robot calculator 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.Wheatland 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 harvester robot calculator second, its operation result inputs unmanned automatic control pilot instrument, the reaping apparatus controlling unmanned harvester front portion carries out the operation of accurate getting wheat, electricity consumption in ferric phosphate lithium ion battery first supply unmanned plane, ferric phosphate lithium ion battery second supplies the electricity consumption in unmanned harvester.
Embodiment two:
The low airflight of unmanned plane above the unmanned harvester carrying out accurate getting wheat operation, unmanned plane is provided with synthetic-aperture radar below front portion, the wheatland of wheatland and non-getting wheat that synthetic-aperture radar aims at getting wheat carries out full-automatic camera work, the wheatland aviation image information input robot calculator 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.Wheatland 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 harvester robot calculator second, its operation result inputs unmanned automatic control pilot instrument, the reaping apparatus controlling unmanned harvester front portion carries out the operation of accurate getting wheat, electricity consumption in cobalt acid lithium ion battery first supply unmanned plane, cobalt acid lithium ion battery second supplies the electricity consumption in unmanned harvester.
Claims (2)
1. unmanned plane supplies wheatland aviation image information to the unmanned harvester of getting wheat operation, it is characterized in that, by unmanned plane (1), lithium ion battery first (2), conductor wire first (3), robot calculator first (4), synthetic-aperture radar (5), radio communication device first (6), fly control machine (7), motor (8), unmanned harvester (12), reaping apparatus (13), lithium ion battery second (14), conductor wire second (15), unmanned automatic control pilot instrument (16), robot calculator second (17), radio communication device second (18) forms;
The wheatland (11) of the wheatland of getting wheat (10) and non-getting wheat is had in wheatland (9), reaping apparatus (13) getting wheat in wheatland that unmanned harvester (12) is anterior, in the front portion of the fuselage of unmanned harvester (12), unmanned automatic control pilot instrument (16) is installed, at the middle part of the fuselage of unmanned harvester (12), robot calculator second (17) is installed, at the rear portion of the fuselage of unmanned harvester (12), radio communication device second (18) is installed, in the bottom of the fuselage of unmanned harvester (12), lithium ion battery second (14) is installed, unmanned plane (1) is had in flight in the low latitude of the top of unmanned harvester (12), in the front portion of unmanned plane (1), radio communication device first (6) is installed, synthetic-aperture radar (5) is installed below the front portion of unmanned plane (1), at the rear of radio communication device first (6), robot calculator first (4) is installed, in the middle part of unmanned plane (1), lithium ion battery first (2) is installed, in the top of unmanned plane (1), motor (8) is installed, install in the rear portion of unmanned plane (1) and fly control machine (7),
In unmanned plane (1), radio communication device first (6) is connected with robot calculator first (4) by conductor wire first (3), robot calculator first (4) is connected with synthetic-aperture radar (5) by conductor wire first (3), radio communication device first (6) is connected with lithium ion battery first (2) by conductor wire first (3), robot calculator first (4) is connected with lithium ion battery first (2) by conductor wire first (3), lithium ion battery first (2) is connected with 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 motor (8) by conductor wire first (3), robot calculator first (4) by conductor wire first (3) with fly control machine (7) and be connected, in unmanned harvester (12), radio communication device second (18) is connected with robot calculator second (17) by conductor wire second (15), robot calculator second (17) is connected with lithium ion battery second (14) by conductor wire second (15), robot calculator second (17) is connected with unmanned automatic control pilot instrument (16) by conductor wire second (15), unmanned automatic control pilot instrument (16) is connected with lithium ion battery second (14) by conductor wire second (15), lithium ion battery second (14) is connected with radio communication device second (18) by conductor wire second (15), radio communication device first (6) in unmanned plane (1) is interconnected by the radio communication device second (18) in radiowave and unmanned harvester (12).
2. unmanned plane according to claim 1 supplies wheatland aviation image information to the unmanned harvester of getting wheat 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 manganate lithium ion battery or lithium titanate lithium ion battery or cobalt acid lithium ion battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510942465.3A CN105487549A (en) | 2015-12-16 | 2015-12-16 | Unmanned harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510942465.3A CN105487549A (en) | 2015-12-16 | 2015-12-16 | Unmanned harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105487549A true CN105487549A (en) | 2016-04-13 |
Family
ID=55674586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510942465.3A Pending CN105487549A (en) | 2015-12-16 | 2015-12-16 | Unmanned harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105487549A (en) |
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2015
- 2015-12-16 CN CN201510942465.3A patent/CN105487549A/en active Pending
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Application publication date: 20160413 |