RU215249U1 - DEVICE FOR PROCESSING AGRICULTURAL LAND PLOTS BY LASER RADIATION - Google Patents

Abstract

The utility model relates to mechatronic systems and can be used as a laser plant stimulator. The device includes a block of six laser modules installed in two rows, with a total power of 6 W with an adjustable tilt angle of 6 degrees, mounted on a bracket with a damping platform for mounting to a multi-rotor UAV, a two-axis electronic stabilizer and control system, and two brushless motors rigidly mounted on a U-shaped mount, one of which is designed to rotate the block of laser modules along the roll axis, and the second - to rotate the block of laser modules along the pitch axis, while each of the six lasers is equipped with a radiator, placed in a rectangular case with active cooling and has one degree of freedom, also for the simultaneous adjustment of three lasers in a row, a belt drive is used, which allows you to set the required angle of inclination of the laser beam to achieve the required surface radiation flux density with a power of 1 W / m ² at a flight height of 10 meters. EFFECT: providing the possibility of stabilizing the irradiation process and adjusting the area of the treated surface.

Description

The utility model relates to mechatronic systems and can be used as a laser plant stimulator.

The configuration of the device makes it possible to adjust the angles of the laser flare, which makes it possible to control the radiation power emitted per unit area and the area of the illumination spot.

A utility model is known (RU No. 168240, A01G 7/04, 01/24/2017) used for laser irradiation of greenhouse plants. The device includes semiconductor laser modules with cylindrical lenses, batteries, an electromechanical unit for moving laser modules along a row with greenhouse plants through nutrient solution supply pipes.

A scanning device is known (RU No. 2732231, A01C 1/00, 09/14/2020), which includes a laser, a horizontal scanning prism that perceives the laser beam and deploys it into a horizontal beam plane, and an optomechanical frame scanner that converts the horizontal beam plane into a vertical one. - a horizontal beam plane, characterized in that the optomechanical frame scanner is made in the form of a roller with a double truncated mirror tetrahedral pyramid, which ensures the formation of a rectangular spot with an area S = a⋅b, where a and b are the lengths of the sides of a rectangular frame for processing large areas of vegetative plants by scanning frame laser radiation from the height of a quadrocopter flight.

A device for pre-sowing treatment of seeds and plants is known (RU No. 2321032, G02B 6/12, 27.03.2008). The device contains a control unit, a laser generator in the housing and a scanning device containing a mirror driven by an electric drive. The drive is additionally introduced into the scanning device. The latter consists of a fixed glass with a hole, a platform, a rack with two axes parallel to each other, two pulleys, an element for transmitting rotation of one of the axes of the rack. The platform is mounted on a glass with the possibility of rotation from the electric motor. The rack is rigidly fixed on the platform perpendicular to its surface. The axles of the rack are mounted on it with the help of bearings parallel to the surface of the platform. The pulleys are fixed on the axes of the rack and are interconnected by a belt drive. An element for transmitting rotation of one of the rack axes is kinematically connected to the surface of the fixed cup. The mirror is rigidly fixed on one of the axes so that its surface is parallel to this axis and intersects with the optical axis of the emitter. Due to the said drive, the mirror rotates simultaneously in two mutually perpendicular planes, and the reflected beam scans the space in all directions.

A device for laser processing of protective biological products is known (RU No. 198815, A01C 1/00, 07/29/2020), including a laser source and a control unit. The device is additionally equipped with an electromechanical assembly with a pump motor for pumping a solution of protective biological preparations through a working container with plane-parallel transparent edges, a circuit for switching on the motor of the electromechanical assembly and a sensor for the presence of a solution in the working container. The solution presence sensor in the working container is electrically connected to the control unit, and the control unit is electrically connected to the laser radiation source and to the motor switching circuit of the electromechanical assembly.

A device for precision laser processing of plants in culture in vitro (RU No. 165722, A01G 7/04, 10.11.2016) is known. The device includes a source of laser radiation, a control unit, an electromechanical assembly with a motor and two rotating disk platforms on a common vertical axis located one below the other, a circuit for switching on the motor of the electromechanical assembly, and a "sector" reed switch sensor. At the same time, the control unit contains a built-in timer, and the upper platform is divided into several sectors, in which one flask with in vitro plants is placed. On the outer side of the disk of the lower platform are removable magnets that determine the location of the center of the sectors of the upper platform. The "sector" reed sensor is fixed at some distance from the lower platform on the rack, while the reed sensor is electrically connected to the timer of the control device, and the control device is electrically connected to the laser radiation source and to the motor switching circuit of the electromechanical unit.

A device for laser treatment of seeds and plants is known (RU No. 75530, A01C 1/00, 20.08.2008), including a laser generator fixed in a tubular rod, a scanning device installed above the laser generator from the side of the emitter, including an adapter rigidly fixed to the rod, made composite in the form of a flange with a ring fixed on top of it, a platform mounted by means of a bearing on the adapter with the possibility of its rotation by means of a friction transmission from an electric motor mounted on a carrier plate rigidly fixed on the adapter and placed in a housing rigidly attached to this plate and connected a spring with a rod, a rack rigidly fixed on the platform perpendicular to its surface, axes and, mounted with the help of bearings on the rack at a distance from each other along the length of the rack parallel to each other and the surface of the platform, two pulleys and, fixed on these axes and interconnected belt driven, roller, fixed and on one of the axes and frictionally connected to the upper end surface of the fixed adapter ring, a mirror fixed on the second axis so that its surface is parallel to this axis and intersects with the optical axis of the laser generator emitter. A mounting bracket is fixed on the bar for fixing the device on a vehicle when processing fields and orchards. The base is made removable and is attached to the bar with the help of an element. The device is equipped with a laser generator activation unit and a control unit. The laser generator is fixed inside the rod with the help of a bushing, and the "electric motor-platform" friction transmission is made with the help of a friction roller rigidly fixed on the electric motor axis and in close contact with the side surface of the platform side surface.

The closest in technical essence to the claimed device and selected as a prototype is a device for processing agricultural and forest plantations with laser radiation from an unmanned aerial vehicle (RU No. "Gaia 160AG NO FC Combo", whose flight time with one battery is 60 minutes, takeoff weight is 23 kg. The hexacopter is equipped with an optomechanical unit for a two-coordinate scanning laser vertical scan. The coordinates of reference to the terrain are entered into the memory of the hexacopter and the size of the radiation window of the optomechanical vertical scanning unit is set to a given processing area. After entering the operating point, located at a height of 10 meters above the middle of the field, the hexacopter hangs and for 30 seconds performs laser processing with scanning frame laser radiation in the form of a rectangular light frame, the size of which is set manually and is up to 350 × 350 meters. The location of the field, its configuration and area are determined in advance. Based on these data, the operator enters the trajectory and flight parameters into the memory of the hexacopter using the keyboard of the control unit: flight speed, altitude and the final point of the route.

The disadvantages of the device are a small processing area, a high spread of exposure modes.

The objective of the utility model is the need to stabilize the irradiation process and the possibility of adjusting the area of the treated surface.

EFFECT: providing the possibility of stabilizing the process of irradiation of the treated surface when adjusting its area.

The task is achieved in that the device for processing agricultural land by means of laser radiation includes six laser modules with a total power of 6 watts with an adjustable tilt angle of 6 degrees, mounted on a bracket with a damping platform for mounting to a multi-rotor UAV, a two-axis electronic stabilizer and located on the UAV control system, while the support leg of the bracket rigidly connected to a brushless motor located perpendicular to the U-shaped mount, which rotates the laser unit of the device enclosed in the U-shaped mount along the roll axis; rotation along the pitch axis is carried out by a second brushless motor located at one end of the U-shaped mount of the laser unit, consisting of two rows of lasers, each of the six lasers is equipped with a radiator, placed in a rectangular case with active cooling and has one degree of freedom, also for simultaneous adjustment of three lasers in a row, a belt drive is used, which allows you to set the required angle of inclination of the laser beam to achieve the required surface radiation flux density with a power of 1 W/m² at a flight height of 10 meters.

The claimed utility model is illustrated by drawings, which show:

figure 1 - configuration of the device for processing agricultural areas by means of laser radiation, where:

a – frontal view;

b – right side view;

figure 2 - the appearance of the device for processing agricultural land by laser radiation;

Fig.3 - configuration fixed on an unmanned aerial vehicle device for processing agricultural land by laser radiation;

Fig.4 - the appearance of a device mounted on an unmanned aerial vehicle for processing agricultural land by means of laser radiation.

The following symbols are used in the images and in the text:

1 - two-axis electronic stabilizer (the entire device except for the laser unit);

2 – block of laser modules;

3 – rectangular case with active cooling;

4 - radiator;

5 - belt drive;

6 - U-shaped mount;

7 – brushless motor 1 for rotating the U-shaped attachment of the laser unit;

8 – brushless motor 2;

9 - support post;

10 - bracket with damping platform.

A device for processing agricultural land by laser radiation consists of a two-axis electronic stabilizer 1, on which a block of laser modules 2 is fixed, including modules in rectangular cases with active cooling 3 and radiators 4 in the upper part of each module. The device of a certain tilt angle of the modules is carried out by means of a belt drive 5. The laser unit is enclosed in a U-shaped mount 6, on which two collector motors 7, 8 are fixed. This design is rigidly connected to the support column 9 and is attached to the UAV by means of a bracket with a damping platform 10.

The device works as follows:

A certain sequence of actions is followed to implement the laser processing process with specified characteristics by means of an unmanned aerial vehicle (UAV).

UAV characteristics: flight time 25-30 minutes; the maximum weight that can lift 4 kg; quadcopter weight 2 kg; maximum altitude is 1500 m, flight range is 1500-2000 m, maximum flight speed is 60 km/h. This quadcopter has a Pixhawk 4 flight controller (with PX4 firmware). The flight controller has a built-in inertial navigation system, including: an accelerometer, a gyroscope and a magnetometer, as well as a barometer. In addition, the UAV is equipped with an RTK GPS sensor for high-precision positioning of the UAV in space. Characteristics of the laser device: laser power - 1 W, surface energy density - 1 W / m ² , radiation angle - 6 °.

The dimensions and coordinates of the cultivated area of the field are determined in advance. Based on these data, the operator from the keyboard of the ground control station sets the coordinates of the area for irradiation, the speed and altitude of the flight. The flight controller installed on the UAV calculates the optimal trajectory that covers the entire given area. The operator does not need to travel to the center of the field to launch the UAV. The take-off point may be at some distance from the treated area. After entering all the input data and calculating the trajectory, the operator launches the flight mission. Further, the entire flight task is performed without human intervention. After gaining the operating altitude, the UAV moves along the planned trajectory. Due to the use of the RTK GPS sensor as part of the UAV hardware, the deviation from the movement trajectory does not exceed 10 cm. After the processing of the specified area is completed, the laser turns off, and the UAV returns to the starting point along the calculated shortest path to it and makes an automatic landing. This is due to the fact that the path planning algorithm takes into account the parameters of the laser device when constructing the trajectory. Due to the presence of a trajectory planner unit that evenly covers the irradiation area, the UAV uses a device for laser irradiation, which includes six laser modules, a two-axis electronic stabilizer and a control system. The inclusion of a pair of brushless motors allows you to adjust the treatment area by changing the position of the laser unit, belt drives allow you to adjust and fix the angles of inclination of each row of device lasers separately to achieve the desired spot size, as well as adjust the radiated power per unit area of the treated surface. The small weight of the device makes it easy to move it to the UAV. It is also possible to easily replace faulty modules.

The results of processing plants using a device for laser irradiation using an UAV, carried out on the sown areas of the Novgorod Research Institute of Agriculture, St. Petersburg Federal Research Center of the Russian Academy of Sciences, and the proposed algorithm are presented in table No. 1.

Analysis of the data obtained showed that the treatment of plants with laser radiation leads to an increase in the mass fraction of dry matter by 5-8%, crude protein in dry matter in fodder crops by 5-48%, an increase in the mass fraction of fiber in dry matter by an average of 2-10%. %, an increase in the content of crude protein by 8.5-19%. Such an increase in indicators increases the value of forage crops, as well as an increase in the height of the grass stand and the yield of protein in feed mixtures.

The use of a special device and a developed algorithm for processing plants makes it possible to achieve uniform irradiation of vast areas under crops. The advantages of the developed device are high positioning accuracy due to RTK GPS, the ability to be at some distance from the treated area so that the laser beam does not hit the operator and other equipment. The advantages of the proposed developed irradiation algorithm include its versatility. The proposed algorithm for constructing a path for uniform laser irradiation of a site takes into account the area of the laser spot to ensure the required radiation characteristics when using any laser device.

In addition, an electronic two-axis stabilizer allows stable irradiation of territories in windy weather.

In addition, the automated control system allows for point irradiation of the treated surface.

In addition, belt drives allow you to fix two rows of lasers on the device at the required angle, which allows you to adjust the size of the illumination spot and the emitted power per unit area.

In addition, the modularity of the device makes it easy to replace faulty units with serviceable ones or with laser units of a different power.

Table 1. Results of processing forage crops, 2021

Culture, variety C.m. yield, t/ha in dry matter Mass fraction of dry matter, % Collection from 1 ha Mass fraction of crude protein, % Mass fraction of crude fiber, % Number of OE, MJ/kg Number of feed units, kg/kg Dry matter, t Crude protein, kg Meadow fescue s. Binara 22.4 7.92 29.8 9.64 0.75 28.4 6.4 503.8 Meadow fescue s. Binara, irradiation 21.9 8.35 30.6 9.49 0.73 29.9 6.5 546.8 Festulolium s. Allegro 13.6 7.44 23.7 10.73 0.93 27.7 3.8 280.3 Festulolium s. Allegro, irradiation 16.7 7.33 26.1 10.30 0.86 26.9 4.5 329.3 Red fescue Diana 11.9 9.22 34.3 8.83 0.63 32.1 3.8 352.2 Red fescue s. Diana, irradiation 11.1 9.7 35.4 8.63 0.60 34.7 3.9 373.6 Ezha national team with. Khlynovskaya 20.4 6.86 35.9 8.54 0.59 29.7 6.1 415.6 Ezha national team with. Khlynovskaya, irradiation 15.9 10.21 35.9 8.54 0.59 30.7 4.9 498.4

Claims (1)

A device for processing agricultural land by laser radiation, including a block of six laser modules installed in two rows, with a total power of 6 W with an adjustable tilt angle of 6 degrees, mounted on a bracket with a damping platform for mounting to a multi-rotor UAV, a two-axis electronic stabilizer, control system and two brushless motors, rigidly mounted on a U-shaped mount, one of which is designed to rotate the laser module block along the roll axis, and the second - to rotate the laser module block along the pitch axis, with each of the six lasers equipped with a radiator, placed in a rectangular housing with active cooling and has one degree of freedom, also for the simultaneous adjustment of three lasers in a row, a belt drive is used, which allows you to set the required angle of inclination of the laser beam to achieve the required surface radiation flux density with a power of 1 W / m ² at flight altitude 10 meters.

Images