RU2725482C1 - Method and device for automatic control of agricultural crops cultivating - Google Patents

Abstract

FIELD: agriculture.SUBSTANCE: method comprises assessing soil composition of arable land and its production potential from soil samples, monitoring the state of development of crops based on their video images obtained using a visual inspection module, and industrial impact on technological processes. Samples and fragments of crops are taken and delivered from depressions of the site by means of robotic apparatuses, during operation of which no harmful effect on soil and agricultural crops is excluded. At the first stage, evaluation of composition of soil and its production potential is carried out by comparing video images of agricultural crops on the site, based on results of comparing video images, the site is divided into sections homogeneous by composition of soil and its potential. At the second stage of assessment, depressive areas are identified, at which technogenic impacts increasing the soil potential are required, and fragments of agricultural crops and soil samples are delivered from these depressive areas. That is followed by laboratory analysis of composition of soil and crops for each depressive area, and cultivation processes, agricultural crops and soil are developed and implemented. First and the second modems are installed respectively on the laboratory-control complex and the delivery module, in each of which a harmonic oscillation is generated at frequency ω, and manipulated in phase by a modulating code. Formed complex signal with the phase shift keying is converted in frequency using a frequency ω1st heterodyne. Voltage of 1st intermediate frequency ω=ω+ωis selected, amplified by power, emitted in ether, received at another object, amplified by power, converted by frequency using frequency ωof 2nd heterodyne. Allocate voltage 2nd intermediate frequency ω=ω–ω=ωmultiply voltage of 1st heterodyne frequency ωisolated complex signal with phase shift keying at a frequency ω2nd heterodyne performed its synchronous detection using voltage 2nd heterodyne with frequency ωas a reference voltage. Low-frequency voltage proportional to the modulating code is picked up and used. In laboratory-controlled system complex signals with a phase shift keying radiate at a frequency of ω=ω=ωand receiving at the frequency ω=ω=ωwhere ωis the third intermediate frequency, and on the module for delivering fragments of agricultural crops, on the contrary, complex signals with phase manipulation are emitted at frequency ω, and are received at frequency ω. ωand ωfrequency of heterodyne spread on the value of the second intermediate frequency ω–ω=ωModulation code M(t) on the laboratory-control complex includes commands for controlling on-board systems of the fragments delivery module, and video images of agricultural crops are included in the modulating code M(t) of the delivery module. Proposed device comprises laboratory-control complex, visual control module, module to deliver fragments from site to complex and visual control module. Note here that unmanned aerial vehicle is used as delivery module. Laboratory-control complex and delivery module are interconnected by info-communication link. Communication means are made in the form of two modems, the first of which is placed on the complex, and the second one – on the module of fragments delivery. Each modem comprises series-connected master oscillator, phase manipulator, the second input of which is connected to the output of discrete messages source, 1st mixer, 2nd input of which is connected to the output of the first heterodyne, amplifier of 1st intermediate frequency, 1st power amplifier, duplexer, input-output of which is connected to transceiving antenna, 2nd power amplifier, 2nd mixer, second input of which is connected to 2nd heterodyne output, 2nd amplifier intermediate frequency, multiplier, 2nd input of which is connected to output of 1st heterodyne, band-pass filter and phase detector, the second input of which is connected to output of 2nd heterodyne, and output is modem output. On complex signals with a phase shift keying are emitted at a frequency ω=ω=ωand accepted – at frequency ω=ω=ωand the delivery module with the phase shift keying signals are emitted at a frequency of ωbut taken at ωFrequency heterodynes ωand ωare separated by value of 2nd intermediate frequency ω–ω=ωEFFECT: inventions allow improving control efficiency of agricultural crops cultivation processes.2 cl, 4 dwg

Description

The proposed method and device relate to the field of agriculture, in particular to the implementation of controlled agricultural technologies, and can be used in the field of crop production.

Known methods and devices for automatic control of the processes of cultivation of crops (ed. Certificate of the USSR No. 903.767; RF patents No. 2.156.057, 2.265.989, 2.378.159, 2.444.177, 2.471.338, 2.489.846, 2.492.626 , 2.538.997, 2.558.225, 2.586.142; U.S. Patent Nos. 6,199,000, 6,421,010, 6,700,486; German Patent 4,442,171; French Patent 2,671,534; Zhukova O. Field Precision. Agroprofy Magazine, section Plant Growing, 2008, No. 3, pp. 12-34; Runov B.A., Pilnikova N.V. Fundamentals of Precision Agriculture Technology. St. Petersburg, AFI, 2012, pp. 39-40 and others).

Of the known methods and devices closest to the proposed are "Method and device for automatic control of the processes of cultivation of agricultural crops" (RF patent No. 2.538.997, А01G 1/00, 2012), which are selected as prototypes.

The known method and device provide for assessing the composition of the soil of the cultivated land and its production potential by soil samples, monitoring the state of development of crops by video images of crops obtained using the visual control module, and technogenic impacts on technological processes. Sampling and delivery of soil samples and crop fragments from depressed areas of cultivated land is carried out using robotic apparatus, the functioning of which eliminates the harmful effects on soil and crops. Moreover, the evaluation of the composition of the soil, its production potential and monitoring the state of development is carried out in two stages.

At the same time, at the first stage, the soil composition and its production potential are assessed by comparing video images of crops located on the cultivated land. According to the results of comparing video images, the cultivated land is divided into sections that are homogeneous in soil composition and its production potential.

At the second stage of the assessment, depressed areas of the cultivated land are identified that require technogenic impacts that increase the production potential of the soil. From these depressed areas, crop fragments and soil samples are delivered.

After this, a laboratory analysis of the composition of the soil and crops for each depressed plot of cultivated land is performed. They produce and carry out technogenic impacts on the technological processes of cultivation, crops and soil to increase the productivity of crops in depressed areas of cultivated land. A module for delivering crop fragments from cultivated land to the laboratory control complex has been introduced into the device. At the same time, an unmanned flying vehicle was used as a module for the delivery of plant fragments from the cultivated land. The module for visual monitoring of the state of crops on the cultivated land, the laboratory control complex and the module for the delivery of crop fragments from the cultivated land are interconnected by an infocommunication link, on which the efficiency of managing crops in real time depends largely on without damaging the soil and agricultural cultures.

An object of the invention is to increase the efficiency of control of the processes of cultivation of crops by using duplex radio modems as means of infocommunication using two frequencies and complex signals with phase shift keying.

The problem is solved in that the method of automatic control of the processes of cultivation of crops, providing, in accordance with the closest analogue, an assessment of the composition of the soil of the cultivated land and its production potential by soil samples, monitoring the state of development of crops by video images of crops obtained using the visual module control, and technological impacts on technological processes, while taking and delivering soil samples and crop fragments from depressed areas of cultivated land are performed using robotic apparatus, the functioning of which eliminates harmful effects on soil and crops, assessing the composition of the soil and its production potential and monitoring the state of development of crops is carried out in two stages, at the first stage, the soil composition and its production potential are assessed by comparing the video image cultivation of crops located on the cultivated land, and according to the results of comparing video images of agricultural crops, the cultivated land is divided into sections that are homogeneous in soil composition and its production potential, and at the second stage of the assessment, depressed sections of the cultivated land are identified that require technogenic impacts that increase production the potential of the soil, and from these depressed areas, fragments of crops and soil samples are delivered, then laboratory analysis of the composition of the soil and crops for each depressed area of the cultivated land is carried out, and technological effects on cultivation processes, crops and soil are developed and carried out to increase crop productivity in depressed areas of cultivated land, differs from the closest analogue in that they install the first and second modems, respectively but at the laboratory control complex and the module for the delivery of crop fragments, each of which generate a harmonic oscillation at a frequency ω _s , manipulate it in phase with a modulating code, the generated complex signal with phase manipulation is converted in frequency using the frequency ω _{g1 of the} first local oscillator, voltage of the first intermediate frequency ω _pr1 = ω _s + ω _g1 , amplify it by power, radiate it, receive it on another object, increase power, convert it by frequency using frequency ω _{g1 of the} second local oscillator, isolate the voltage of the second intermediate frequency ω _p2 = ω _{pr1 -ω g1} = ω _s , multiplied with the voltage of the first local oscillator with a frequency of ω _g2 , a complex signal with phase shift keying at a frequency ω _{g1 of the} second local oscillator is isolated, it is synchronously detected using the voltage of the second local oscillator with a frequency of ω _g1 as a reference voltage, emit low-frequency voltage proportional modulating his code, and using it, while on laboratory control complex complex signals with a phase shift keying radiate at frequency ω ₁ = ω _pr1 = ω _r2, and receiving at the frequency ω ₂ = ω _PR3 = ω _z1 where ω _PR3 - third intermediate frequency, and on the module for the delivery of fragments of agricultural crops, on the contrary, complex signals with phase manipulation emit at a frequency of ω ₂ , and receive at a frequency of ω ₁ , the frequencies of ω _g1 and ω _{g2 of} local oscillators are carried by the value of the second intermediate frequency ω _g2 -ω _g1 = ω _CR2 , the modulating code M ₁ (t) at the laboratory control complex includes commands for controlling the on-board systems of the module for the delivery of crop fragments; the modeling code M ₂ (t) for the module for delivering the crop fragments includes video images of crops.

The problem is solved in that the device for automatic control of the processes of cultivation of crops, containing, in accordance with the closest analogue, a laboratory control complex, a module for visual monitoring of the condition of crops on the cultivated land, a module for the delivery of fragments of crops from the cultivated land to the laboratory control complex Moreover, an unmanned aerial vehicle, a module for visual monitoring the state of crops on the cultivated field, a laboratory control complex and a module for delivering crop fragments from the cultivated field are connected with each other as an infocommunication connection as a module for delivering crop fragments from a cultivated field, differs from the nearest analogous to the fact that the means of infocommunication are equipped with two modems, the first of which is located at the laboratory control complex, and the second at m a module for delivering crop fragments from the cultivated field, each modem containing a serially connected master oscillator, a phase manipulator, the second input of which is connected to the output of the source of discrete messages, the first mixer, the second input of which is connected to the output of the first local oscillator, the amplifier of the first intermediate frequency, the first amplifier power, a duplexer, the input-output of which is connected to the transceiver antenna, a second power amplifier, a second mixer, the second input of which is connected to the output of the second local oscillator, a second intermediate frequency amplifier, a multiplier, the second input of which is connected to the output of the first local oscillator, a bandpass filter and a phase detector a second input coupled to an output of the second oscillator, and the output is the output of the modem, with laboratory-controlled complex complex signals with a phase shift keying emitted at the frequency ω ₁ = ω _pp1 = ω _r2, and accepted - at frequency ω ₂ = ω _PR3 = ω _g1 , and on the module Crop fragments from arable land, on the contrary, complex signals with phase shift keying are emitted at a frequency of ω ₂ and received at a frequency of ω ₁ , the frequencies of ω _g1 and ω _{g2 of} local oscillators are spaced by the value of the second intermediate frequency

w _{r1 r2} -ω = ω _WP2.

The mutual arrangement of blocks implementing the proposed method for automatic control of the processes of cultivation of crops is shown in FIG. 1. Structural diagrams of the first 1.1 and second 1.2 modems are provided in FIG. 2 and 3. A frequency diagram illustrating signal conversion is shown in FIG. 4.

The device for automatic control of crop cultivation processes includes a laboratory control complex 1, module 2 for visual monitoring of the state of crops on cultivated land 3, module 4 for delivering crop fragments from cultivated land 3 to laboratory control complex 1. Module 2 for visual control of the state of crops on cultivated land 3, the laboratory control complex 1 and module 4 for delivering crop fragments from cultivated land 3 are interconnected by means of infocommunication 5, using modems 1.1 and 1.2. In FIG. 1, the following designations are introduced: 6 - the executive working unit for the implementation of agricultural processes, 7 - cultivated land plots 3, homogeneous in soil composition and its production potential. As module 4, the delivery of fragments of agricultural crops from cultivated land 3 used an unmanned aerial vehicle. The visual control module 2 is installed on the module 4 for the delivery of crop fragments.

The first 1.1 and second 1.2 modems contain a serially connected master oscillator 8.1 (8.2), a phase manipulator 10.1 (10.2), the second input of which is connected to the output of the source 9.1 (9.2) of discrete messages, the first mixer 12.1 (12.2), the second input of which is connected to the output the first local oscillator 11.1 (11.2), the first intermediate frequency amplifier 13.1 (13.2), the first power amplifier 14.1 (14.2), the duplexer 15.1 (15.2), the input-output of which is connected to the transceiver antenna 16.1 (16.2), the second power amplifier 17.1 (17.2) , the second mixer 19.1 (19.2), the second input of which is connected to the output of the second local oscillator 18.1 (18.2), the amplifier 20.1 (20.2) of the second intermediate frequency, the multiplier 21.1 (21.2), the second input of which is connected to the output of the first local oscillator 11.1 (11.2), strip a filter 22.1 (22.2) and a phase detector 23.1 (23.2), the second input of which is connected to the output of the second local oscillator 18.1 (18.2), and the output is the output of the first 1.1 (second 1.2) modem.

The proposed method is implemented as follows.

In the course of automatic control of the processes of cultivation of agricultural crops, an assessment of the composition of the soil and its production potential, control of the state of development of agricultural crops is carried out in two stages:

1) at the first stage, as a source of information about the composition of the soil and its production potential, video images of crops located on the cultivated land obtained by means of technical vision are used. The video images of the different areas of the cultivated land are compared and according to the results of the comparison of the video images, the cultivated land is divided into sections that are homogeneous in soil composition and its production potential;

2) at the second stage, depressed areas of cultivated land are identified that require technogenic impacts to increase the production potential of the soil, and fragments of crops and soil samples are delivered from depressed areas. For each depressed plot of cultivated land, laboratory analysis of crop fragments and soil composition is performed and, based on the results of laboratory analysis, anthropogenic impacts on crops and soil are developed and implemented.

Obtaining video images of crops, delivery of fragments of crops and soil samples from depressed areas of the cultivated land is provided with the help of robotic devices, the functioning of which eliminates the harmful effects on soil and crops.

During the cultivation of crops, the delivery module 4 at a time specified by the technological process, upon a command from the laboratory control complex 1, circled the cultivated land 3 and, using the visual inspection module 2, takes pictures of crops.

To do this, a harmonic oscillation is generated by the 8.1 master oscillator

u _c1 (t) = U _c1 ⋅cos (ω _ct + ϕ _c1 ), 0≤t≤T _c1 ,

which is fed to the first input of the phase manipulator 10.1, to the second input of which a modulating code M ₁ (t) is supplied from the output of the source 9.1 discrete messages. As the modulating code M ₁ (t), there may be commands for controlling an unmanned aerial vehicle and turning on module 2 for visual monitoring of the state of crops on cultivated land 3.

A complex PSK signal is generated at the output of the phase manipulator 10.1

u ₁ (t) = U ₁ ⋅cos [ω _c t + ϕ _k1 (t) + ϕ _c1 ], 0≤t≤T _c1 ,

where ϕ _k1 (t) = {0, π} is the manipulated phase component that displays the phase manipulation law in accordance with the modulating code M ₁ (t), and ϕ _k1 (t) is const for Kτ _e <t <(k + 1 ) τ _e and can change abruptly at t = kτ _e , i.e. at the borders between elementary premises (k = 1, 2, ..., N);

τ _e , N is the duration and number of chips that make up the signal of duration T _c1 (T _c1 = τ _e ⋅ N);

which goes to the first input of the mixer 12.1. The second input of the last voltage of the local oscillator 11.1

u _g1 (t) = U _g1 ⋅cos (ω _g1 t + ϕ _g1 ).

At the output of the mixer 12.1, voltages of combination frequencies are generated. Amplifier 13.1 distinguishes the voltage of the first intermediate (total) frequency

u _CR1 (t) = U _CR1 ⋅cos [ω _CR1 t + ω _K1 (t) + ϕ _CR1 ], 0≤t≤T _c1 ,

Where

ω _pr1 = ω _s + ω _g1 - the first intermediate (total) frequency (Fig. 4);

ϕ _pr1 = ϕ _c1 + ϕ _g1 .

This voltage after amplification in the power amplifier 14.1 through the duplexer 15.1 enters the transceiver antenna 16.1, is radiated by it at a frequency ω ₁ = ω _pr1 , is picked up by the transceiver antenna 16.2 of the delivery module 4 and is fed to the first input of the mixer 19.2 through the duplexer 15.2 and the power amplifier 16.2 , the second input of which the local oscillator voltage 18.2 is supplied:

U _g1 (t) = U _g1 ⋅cos (ω _g1 t + ω _g1 ).

At the output of the mixer 19.2, voltages of combination frequencies are generated. Amplifier 20.2 distinguishes the voltage of the second intermediate (differential) frequency:

u _p2 (t) = U _p2 ⋅cos [ω _p2 t + ϕ _k1 (t) + ϕ _pr2 ], 0≤t≤T _s1 ,

Where

ω _p2 = ω _{pr1 -ω g1} - the second intermediate (difference) frequency;

ϕ _pr1 = ϕ _pr1 -ϕ _g1 ,

which goes to the first input of the multiplier 21.2, to the second input of which the local oscillator voltage 11.2

u _z2 (t) = U _r2 ⋅cos (ω t + φ _{r2 r2).}

At the output of the multiplier 21.2 voltage is formed

u ₂ (t) = U ₂ ⋅cos [ω _g1 t-ϕ _k1 (t) + ϕ _g1 ], 0≤t≤T _c1 ;

Where

which is allocated by a band-pass filter 22.2 and arrives at the first (information) input of the phase detector 23.2, at the second (reference) input of which the local oscillator voltage 18.2 is supplied

u _g1 (t) = U _g1 ⋅cos (ω _g1 + ϕ _g1 ).

As a result of synchronous detection, a low-frequency voltage is generated at the output of the phase detector 23.2

u _H1 (t) = U _H1 ⋅cos φ _k1 (t), 0≤t≤T _c1,

Where

proportional to the modulating code M ₁ (t). This voltage is supplied to the actuators of the delivery module 4.

The resulting video images of crops using module 4 are transmitted over the air to the laboratory control complex 1.

To do this, the master oscillator 8.2 form a harmonic oscillation

u _c2 (t) = U _c2 ⋅cos (ω _c t + ϕ _c2 ), 0≤t≤T _c2 ,

which is fed to the first input of the phase manipulator 10.2, to the second input of which a modulating code M ₂ (t) is supplied from the output of the source 9.2 discrete messages. As the modulating code M ₂ (t) can be an assessment of the composition of the soil of the cultivated land and its production potential, the state of development of crops.

A complex PSK signal is formed at the output of the phase manipulator 10.2

u ₃ (t) = U ₃ ⋅cos [ω _c t + φ _k2 (t) + φ _s2], 0≤t≤T _c2,

where ϕ _k2 (t) = {0, π} is the manipulated phase component that displays the phase manipulation law in accordance with the modulating code M ₂ (t), which is fed to the first input of the mixer 12.2. The second input of the latter is the voltage of the local oscillator 11.2

u _z2 (t) = U _r2 ⋅cos (ω t + φ _{r2 r2).}

At the output of the mixer 12.2, voltages of combination frequencies are generated. Amplifier 13.2 stands out the voltage of the third intermediate (differential) frequency

u _pr3 (t) = U _p3 ⋅cos [ω _pr3 t-ϕ _k2 (t) + ϕ _pr3 ], 0≤t≤T _c2 ,

Where

_PR3 ω = ω _z2 -ω _with - third intermediate (difference) frequency;

_PR3 cp = φ -φ _{r2 s2}

which, after amplification in the power amplifier 14.2 through the duplexer 15.2, enters the transceiver antenna 16.2, is radiated by it at a frequency ω ₂ = ω _pr3 , is captured by the transceiver antenna 16.1 and through the duplexer 15.1 and the power amplifier 17.1 is fed to the first input of the mixer 19.1, to the second input which the local oscillator voltage is 18.1

u _z2 (t) = U _r2 ⋅cos (ω t + φ _{r2 r2).}

At the output of the mixer 19.1, voltages of combination frequencies are generated. Amplifier 20.1 distinguishes the voltage of the second intermediate (differential) frequency

u _pp4 (t) = U _p4 ⋅cos [ω _p2 t + ϕ _k2 (t) + ϕ _pr4 ], 0≤t≤T _c2 ,

Where

_np2 ω = ω _z2 -ω _PR3 - second intermediate (difference) frequency;

_WP4 cp = φ -φ _{r2 PR3,}

which is supplied to the first input of the multiplier 21.1, the second input of which is supplied with the voltage u _g1 (t) of the local oscillator 11.1. At the output of the multiplier 21.1, a voltage is generated

u ₄ (t) = U ₄ ⋅cos [ω t + φ _{r2 k2} (t) + φ _4], 0≤t≤T _c2,

Where

which is allocated by the band-pass filter 22.1 and fed to the first (information) input of the phase detector 23.1, to the second (reference) of which the voltage U _g2 (t) of the local oscillator 18.1 is supplied. As a result of synchronous detection, a low-frequency voltage is generated at the output of the phase detector 23.1

u _n2 (t) = U _n2 ⋅cos ϕ _k2 (t), 0≤t≤T _c2 ;

Where

proportional to the modulating code M ₂ (t). This voltage from the output of modem 1.1 enters the laboratory-control complex 1, where, according to the video images of agricultural crops, various sections of the cultivated land 3 are compared and, according to the results of the comparison of the video images in digital form, the cultivated land is divided into sections 7, uniform in soil composition and its production potential.

Based on the results of a laboratory analysis of the development of crops, the chemical and mineral composition of the soil for each depressive area 7, they produce and carry out technogenic impacts on crops and soil in order to increase the productivity of agricultural crops 3 in depressed areas 7 using modems 1.1 and 1.2.

The frequencies ω _g1 and ω _g2 local oscillators are spaced by the value of the second intermediate frequency

w _{r2 r2} = ω -ω _WP2.

A similar duplex radio communication is established between the laboratory control complex 1 and the executive working unit 6 for the implementation of agricultural processes, between the module 4 for delivery of fragments of agricultural crops and the working unit 6 for the implementation of agricultural processes.

Thus, the proposed method and device in comparison with the prototype and other technical solutions for a similar purpose provide an increase in the efficiency of managing the processes of cultivation of crops. This is achieved through the use of duplex radio modems as means of infocommunication communication using two frequencies and complex signals with phase shift keying.

Complex PSK signals have high noise immunity, energy and structural secrecy.

The energy secrecy of these signals is due to their high compressibility in time and spectrum with optimal processing, which reduces the instantaneous radiated power. As a result, a complex PSK signal at the receiving point may be masked by noise and interference. Moreover, the energy of a complex PSK signal is by no means small. It is simply distributed over the time-frequency region so that at each point in this region the signal power is less than the power of noise and interference.

The structural secrecy of complex PSK signals is caused by a wide variety of their forms and significant ranges of parameter changes, which makes it difficult to optimally or at least quasi-optimally process complex PSK signals of an a priori unknown structure in order to increase the sensitivity of modem receivers.

Claims (2)

1. A method of automatic control of the processes of cultivation of crops, which involves assessing the composition of the soil of the cultivated land and its production potential by soil samples, monitoring the state of development of crops by video images of crops obtained using the visual control module, and technogenic impacts on technological processes, while sampling and delivery of soil samples and crop fragments from depressed areas of cultivated land is carried out using robotic apparatus, the operation of which eliminates the harmful effects on soil and crops, assessing the composition of the soil and its production potential and monitoring the state of development of crops is carried out in two stages, at the first stage, the composition of the soil and its production potential are assessed by comparing video images of crops on cultivated land, and according to the results of comparing video images of crops, the cultivated land is divided into areas that are homogeneous in soil composition and its productive potential, and at the second stage of the assessment, depressed areas of the cultivated area are identified that require technogenic impacts that increase the production potential of the soil, and from these depressed areas delivery of crop fragments and soil samples, after that a laboratory analysis of the composition of the soil and crops for each depressed plot of the cultivated land is performed, they develop and carry out technogenic impacts on the technological processes of cultivation, crops and soil to increase the productivity of crops in the depressed areas of the cultivated land, characterized in that the first and second modems are installed respectively on the laboratory control complex and the module for the delivery of fragments of agricultural crops a circuit, in each of which a harmonic oscillation is generated at a frequency of ω _s , manipulate it in phase with a modulating code, the generated complex signal with phase shift keying is converted in frequency using the frequency ω _{g1 of the} first local oscillator, the voltage of the first intermediate frequency ω _pr1 = ω _s + ω is _{isolated g1} , amplify it in power, radiate it into the ether, receive it on another object, amplify it in power, convert it in frequency using the frequency ω _{g1 of the} second local oscillator, isolate the voltage of the second intermediate frequency ω _pr2 = ω _{pr1 -ω g1} = ω _s , multiply with the voltage of the first local oscillator with a frequency of ω _g2 , a complex signal is extracted with phase shift keying at a frequency of ω _{g1 of the} second local oscillator, it is synchronously detected using the voltage of the second local oscillator with a frequency of ω _g1 as a reference voltage, a low-frequency voltage proportional to the modulating code is isolated, and it is used , at the same time, complex signals with f AZOV manipulation radiate at frequency ω ₁ = ω _pr1 = ω _r2, and receiving at the frequency ω ₂ = ω _PR3 = ω _z1 where ω _PR3 - the third intermediate frequency and the send module fragments of crops, on the contrary, the complex signals with a phase shift keying radiate at frequency ω _2, and receiving - at frequency ω _1, ω frequency ω _r1 and _r2 heterodyne spread on the value of the second intermediate frequency ω _z2 -ω _d1 = ω _np2 in M ₁ (t) modulating code laboratory control complex include commands for managing the on-board systems of the module for the delivery of crop fragments, the video module of the crops are included in the modulating code M ₂ (t) of the module for the delivery of crop fragments. 2. A device for automatic control of the processes of cultivation of crops, containing a laboratory control complex, a module for visual monitoring of the state of crops on the cultivated field, a module for the delivery of crop fragments from the cultivated land to the laboratory control complex, while as a module for the delivery of plant fragments from the cultivated an unmanned aerial vehicle, a module for visual monitoring of the state of crops on the cultivated land, a laboratory control complex, and a module for delivering crop fragments from the cultivated land are connected by an infocommunication connection, characterized in that the infocommunication means are made in the form of two modems, the first of which are located on the laboratory control complex, and the second on the module for the delivery of crop fragments from the cultivated land, each modem containing there is a serially connected master oscillator, a phase manipulator, the second input of which is connected to the output of the source of discrete messages, the first mixer, the second input of which is connected to the output of the first local oscillator, the amplifier of the first intermediate frequency, the first power amplifier, duplexer, the input-output of which is connected to the transceiver antenna , a second power amplifier, a second mixer, the second input of which is connected to the output of the second local oscillator, a second intermediate frequency amplifier, a multiplier, the second input of which is connected to the output of the first local oscillator, a bandpass filter and a phase detector, the second input of which is connected to the output of the second local oscillator, and the output is the output of the modem, with laboratory-controlled complex complex signals with a phase shift keying emitted at the frequency ω ₁ = ω _pr1 = ω _r2, and accepted - at frequency ω ₂ = ω _PR3 = ω _r1, and the module Delivery fragments crops with cultivated land, on the contrary, complex signals with phase manipulation emitted at frequency ω _2, and received at a frequency ω _1, ω frequency ω _r1 and _r2 oscillators spaced apart by the value of the second intermediate frequency ω _z2 -ω _d1 = ω _np2.

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