CN105487539A - Unmanned tractor - Google Patents
Unmanned tractor Download PDFInfo
- Publication number
- CN105487539A CN105487539A CN201510942469.1A CN201510942469A CN105487539A CN 105487539 A CN105487539 A CN 105487539A CN 201510942469 A CN201510942469 A CN 201510942469A CN 105487539 A CN105487539 A CN 105487539A
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- Prior art keywords
- unmanned
- lithium ion
- ion battery
- conductor wire
- tractor
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- 238000004891 communication Methods 0.000 claims abstract description 47
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 60
- 229910001416 lithium ion Inorganic materials 0.000 claims description 60
- 239000004020 conductor Substances 0.000 claims description 47
- 239000002689 soil Substances 0.000 claims description 18
- 239000005955 Ferric phosphate Substances 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
- LBSANEJBGMCTBH-UHFFFAOYSA-N manganate Chemical compound [O-][Mn]([O-])(=O)=O LBSANEJBGMCTBH-UHFFFAOYSA-N 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
- 239000002253 acid Substances 0.000 claims description 3
- 229910017052 cobalt Inorganic materials 0.000 claims description 3
- 239000010941 cobalt Substances 0.000 claims description 3
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000000916 dilatatory effect Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 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 1
- 230000005611 electricity Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 239000005431 greenhouse gas Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000032258 transport 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
- G05D1/02—Control of position or course in two 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 tractor 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 tractor carrying out farmland ploughing land operation, the lower surface of the front portion of the unmanned aerial vehicle is provided with a photoelectric nacelle, a high-pixel digital camera installed in the photoelectric nacelle is aligned with a ploughed farmland for full-automatic photographing operation, an image sensor in the digital camera inputs obtained farmland aerial image information into a first electronic computer for storage and imaging, digital images are input into a flight control machine for guiding flight of the unmanned aerial vehicle. The farmland aerial image information is input to a second electronic computer for storage and computation through a first wireless communication apparatus, radio waves and a second wireless communication apparatus, and a computation result is input to an unmanned self-control driving apparatus for controlling a plough of the unmanned tractor to carry out land ploughing operation, such that the phenomenon of missed ploughing in the operation process of farmland ploughing is reduced, the operation quality is improved, and yield increase of grain is facilitated.
Description
Technical field
The present invention relates to a kind of unmanned tractor, belong to unmanned plane applied technical field.
Background technology
The bar field having the reclamation area in large stretch of farmland relies on manned tractor-drawn turnplow to plough agricultural land soil always.Agricultural reclamation area, northeast used Stalin's No. 80 crawler-pulled ten turnplows to plough many bulk farmlands at 1949 to 1958, and the Dongfanghong crawler tractor of nineteen fifty-nine Luoyang first tractor plant production transports many farms, the whole nation to and rural area traction five-furrow plough ploughs farmland.
Because the driver of tractor pulls operating rod; observe the distance that front is limited; when manipulation tractor-drawn turnplow carries out the farmland operation of ploughing soil; tractor forwards straight-line travelling should be taken into account; take the tilling depth of the turnplow of rear traction again into account and plough the wide cut of agricultural land soil; run into the problem such as the situations such as change of moisture content and the edge of a field are turned, detour in field of agricultural land soil and the skills involved in the labour of driver; often there will be plough-leaking phenomenon, the farmland that tractor-drawn turnplow is balked can affect later seeding quality and grain yield.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, a kind of unmanned tractor is provided.
Unmanned tractor-drawn turnplow carries out the operation of ploughing soil in farmland.Unmanned plane is had in flight low latitude above unmanned tractor.Unmanned plane installs photoelectric nacelle below front portion, the high pixel digital camera be arranged in photoelectric nacelle is aimed at the farmland ploughed and is carried out full-automatic camera work, adopt the digital camera shooting of the high pixel of about 4,000 ten thousand pixels, the farmland aviation image information input robot calculator first obtained stores and imaging by the imageing sensor in digital camera, digital image input flies control machine, guides the flight of unmanned plane.Lithium ion battery first in unmanned plane is powered respectively to robot calculator first, radio communication device first, the photoelectric nacelle that flies to control mechanical, electrical motivation and be connected with robot calculator first by conductor wire first.Radio communication device first sends farmland aviation image information to radio communication device second by radiowave, and then input robot calculator second and store union, its operation result precisely controls unmanned tractor by unmanned automatic control pilot instrument and draws the operation that turnplow carries out ploughing agricultural land soil, significantly reduce the phenomenon in farmland of balking, significantly improve the quality of ploughing earth working.In unmanned tractor, 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 farmland aviation image information aloft, and provide detailed farmland aviation image information to unmanned tractor, thus make the unmanned automatic control pilot instrument in unmanned tractor precisely can control unmanned tractor to draw turnplow and carry out high-quality operation of ploughing soil.
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, photoelectric nacelle 5, radio communication device first 6, fly control machine 7, motor 8, unmanned tractor 9, unmanned automatic control pilot instrument 10, robot calculator second 11, radio communication device second 12, lithium ion battery second 13, conductor wire second 14 forms;
The agricultural land soil 16 of having ploughed and the agricultural land soil 17 of not ploughing is had in farmland 18, unmanned tractor 9 is drawn turnplow 15 and is ploughed farmland 18, in the front portion of the fuselage of unmanned tractor 9, unmanned automatic control pilot instrument 10 is installed, at the middle part of the fuselage of unmanned tractor 9, robot calculator second 11 is installed, at the rear portion of the fuselage of unmanned tractor 9, radio communication device second 12 is installed, in the bottom of the fuselage of unmanned tractor 9, lithium ion battery second 13 is installed, unmanned plane 1 is had in flight in low latitude above unmanned tractor 9, radio communication device first 6 is installed in the front portion of unmanned plane 1, below the front portion of unmanned plane 1, photoelectric nacelle 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 photoelectric nacelle 5 by conductor wire first 3, radio communication device first 6 is connected with lithium ion battery first 2 by conductor wire first 3, 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, robot calculator first 4 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, in unmanned tractor 9, radio communication device second 12 is connected with robot calculator second 11 by conductor wire second 14, robot calculator second 11 is connected with lithium ion battery second 13 by conductor wire second 14, robot calculator second 11 is connected with unmanned automatic control pilot instrument 10 by conductor wire second 14, unmanned automatic control pilot instrument 10 is connected with lithium ion battery second 13 by conductor wire second 14, lithium ion battery second 13 is connected with radio communication device second 12 by conductor wire second 14, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 12 in radiowave and unmanned tractor 9.
Lithium ion battery first 2 and lithium ion battery second 13 are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
Photoelectric nacelle 5 is the photoelectric nacelle of inner installation CCD camera or the inner photoelectric nacelle installing CMOS camera.
Compared with prior art, the invention has the beneficial effects as follows: 1. because unmanned plane obtains farmland aviation image information in low latitude, and provide farmland aviation image information to the unmanned tractor that Tracting share in farmland carries out ploughing earth working, thus enable the unmanned automatic control pilot instrument in unmanned tractor draw turnplow according to farmland aviation image information plough earth working accurately to control unmanned tractor, reduce the phenomenon in farmland of balking, significantly improve the operation quality of ploughing agricultural land soil.2. unmanned plane and unmanned tractor are all powered with lithium ion battery, and without fossil fuel oil, not emission greenhouse gas, is conducive to preserving the ecological environment, is conducive to mitigation of climate change, improve air quality.3. unmanned plane finds there is the field of balking in farmland aloft, notify that unmanned tractor is drawn turnplow and removed additional cultivation immediately, the soil in farmland all ploughed, plough thoroughly, plough neat, plough flat.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Embodiment
Unmanned plane is carrying out farmland and is ploughing the low airflight above the unmanned tractor of earth working, unmanned plane is provided with photoelectric nacelle below front portion, the high pixel digital camera be arranged in photoelectric nacelle is aimed at the farmland ploughed and is carried out full-automatic camera work, the farmland aviation image information input robot calculator first obtained stores and imaging by the imageing sensor in digital camera, digital image input flies control machine, guides the flight of unmanned plane.Farmland aviation image information stores union by radio communication device first, radiowave, radio communication device second input robot calculator second, operation result inputs unmanned automatic control pilot instrument, control unmanned tractor and draw the operation that turnplow carries out ploughing soil, decrease the phenomenon occurring balking in the operation process of ploughing farmland, improve operation quality, be conducive to increases in grain production.
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, photoelectric nacelle 5, radio communication device first 6, fly control machine 7, motor 8, unmanned tractor 9, unmanned automatic control pilot instrument 10, robot calculator second 11, radio communication device second 12, lithium ion battery second 13, conductor wire second 14 forms;
The agricultural land soil 16 of having ploughed and the agricultural land soil 17 of not ploughing is had in farmland 18, unmanned tractor 9 is drawn turnplow 15 and is ploughed farmland 18, in the front portion of the fuselage of unmanned tractor 9, unmanned automatic control pilot instrument 10 is installed, at the middle part of the fuselage of unmanned tractor 9, robot calculator second 11 is installed, at the rear portion of the fuselage of unmanned tractor 9, radio communication device second 12 is installed, in the bottom of the fuselage of unmanned tractor 9, lithium ion battery second 13 is installed, unmanned plane 1 is had in flight in low latitude above unmanned tractor 9, radio communication device first 6 is installed in the front portion of unmanned plane 1, below the front portion of unmanned plane 1, photoelectric nacelle 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 photoelectric nacelle 5 by conductor wire first 3, radio communication device first 6 is connected with lithium ion battery first 2 by conductor wire first 3, 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, robot calculator first 4 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, in unmanned tractor 9, radio communication device second 12 is connected with robot calculator second 11 by conductor wire second 14, robot calculator second 11 is connected with lithium ion battery second 13 by conductor wire second 14, robot calculator second 11 is connected with unmanned automatic control pilot instrument 10 by conductor wire second 14, unmanned automatic control pilot instrument 10 is connected with lithium ion battery second 13 by conductor wire second 14, lithium ion battery second 13 is connected with radio communication device second 12 by conductor wire second 14, radio communication device first 6 in unmanned plane 1 is interconnected by the radio communication device second 12 in radiowave and unmanned tractor 9.
Lithium ion battery first 2 and lithium ion battery second 13 are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
Photoelectric nacelle 5 is the photoelectric nacelle of inner installation CCD camera or the inner photoelectric nacelle installing CMOS camera.
The world information that present invention achieves the unmanned plane in low latitude and the unmanned tractor in farmland is interconnected, shared, uses interconnected information to improve the quality of ploughing farmland earth working.
Unmanned plane in the low latitude of flight above unmanned tractor, by install fore below photoelectric nacelle in high pixel digital camera, full-automatic camera work is carried out in the farmland aimed in ploughing.With the remote sensing technology of unmanned plane and Beidou satellite navigation location technology for core, using unmanned plane as flying platform and full-automatic camera work platform, obtain farmland aviation image information, store and imaging in robot calculator first, flying the image using farmland aviation image information in control machine, and by radio communication device first, by radiowave, by farmland aviation image information, the radio communication device second sent in unmanned tractor receives, the information input robot calculator second received stores union, its operation result inputs unmanned automatic control pilot instrument, the chief source of information that turnplow precisely carries out ploughing earth working is drawn as the unmanned tractor of control.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 tractor supplies the electricity consumption of all electrical appliances in unmanned tractor.
Now enumerate embodiment as follows:
Embodiment one:
The low airflight of unmanned plane above farmland, unmanned plane is provided with photoelectric nacelle below front portion, be arranged on 4000 in photoelectric nacelle ten thousand pixel CCD camera to aim at the farmland ploughed and carry out full-automatic camera work, the farmland aviation image information input robot calculator first obtained stores and imaging by the imageing sensor in CCD camera, digital image input flies control machine, guides the flight of unmanned plane.Farmland aviation image information stores union by radio communication device first, radio communication device second input robot calculator second, and its operation result inputs unmanned automatic control pilot instrument, controls unmanned tractor and draws the operation that turnplow carries out ploughing agricultural land soil.Be arranged on the electricity consumption of all electrical appliances 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 tractor supplies the electricity consumption of all electrical appliances in unmanned tractor.The information achieving the unmanned tractor in the aerial unmanned plane in sky and farmland is interconnected, decreases the phenomenon occurring balking in the operation process of ploughing farmland, improves the quality of ploughing earth working, is conducive to increases in grain production good harvest.
Embodiment two:
The low airflight of unmanned plane above farmland, unmanned plane is provided with photoelectric nacelle below front portion, be arranged on 4100 in photoelectric nacelle ten thousand pixel CMOS camera to aim at the farmland ploughed and carry out full-automatic camera work, the farmland aviation image information input robot calculator first obtained stores and imaging by the imageing sensor in CMOS camera, digital image input flies control machine, guides the flight of unmanned plane.Farmland aviation image information stores union by radio communication device first, radio communication device second input robot calculator second, and its operation result inputs unmanned automatic control pilot instrument, controls unmanned tractor and draws the operation that turnplow carries out ploughing agricultural land soil.Be arranged on the electricity consumption of all electrical appliances in the manganate lithium ion battery first supply unmanned plane in unmanned plane, the manganate lithium ion battery second be arranged in unmanned tractor supplies the electricity consumption of all electrical appliances in unmanned tractor.The information achieving the unmanned tractor in the aerial unmanned plane in sky and farmland is interconnected, decreases the phenomenon occurring balking in the operation process of ploughing farmland, improves the quality of ploughing earth working, is conducive to increases in grain production good harvest.
Claims (3)
1. a unmanned tractor, it is characterized in that, by unmanned plane (1), lithium ion battery first (2), conductor wire first (3), robot calculator first (4), photoelectric nacelle (5), radio communication device first (6), fly control machine (7), motor (8), unmanned tractor (9), unmanned automatic control pilot instrument (10), robot calculator second (11), radio communication device second (12), lithium ion battery second (13), conductor wire second (14) forms;
The agricultural land soil (16) of having ploughed and the agricultural land soil (17) of not ploughing is had in farmland (18), the dilatory turnplow (15) of unmanned tractor (9) ploughs farmland (18), in the front portion of the fuselage of unmanned tractor (9), unmanned automatic control pilot instrument (10) is installed, at the middle part of the fuselage of unmanned tractor (9), robot calculator second (11) is installed, at the rear portion of the fuselage of unmanned tractor (9), radio communication device second (12) is installed, in the bottom of the fuselage of unmanned tractor (9), lithium ion battery second (13) is installed, unmanned plane (1) is had in flight in the low latitude of the top of unmanned tractor (9), in the front portion of unmanned plane (1), radio communication device first (6) is installed, photoelectric nacelle (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 photoelectric nacelle (5) by conductor wire first (3), radio communication device first (6) is connected with lithium ion battery first (2) by conductor wire first (3), 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, robot calculator first (4) 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), in unmanned tractor (9), radio communication device second (12) is connected with robot calculator second (11) by conductor wire second (14), robot calculator second (11) is connected with lithium ion battery second (13) by conductor wire second (14), robot calculator second (11) is connected with unmanned automatic control pilot instrument (10) by conductor wire second (14), unmanned automatic control pilot instrument (10) is connected with lithium ion battery second (13) by conductor wire second (14), lithium ion battery second (13) is connected with radio communication device second (12) by conductor wire second (14), radio communication device first (6) in unmanned plane (1) is interconnected by the radio communication device second (12) in radiowave and unmanned tractor (9).
2. the unmanned tractor of one according to claim 1, it is characterized in that, described lithium ion battery first (2) and lithium ion battery second (13) are ferric phosphate lithium ion battery or cobalt acid lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.
3. the unmanned tractor of one according to claim 1, is characterized in that, described photoelectric nacelle (5) is the photoelectric nacelle of inner installation CCD camera or the inner photoelectric nacelle installing CMOS camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510942469.1A CN105487539A (en) | 2015-12-16 | 2015-12-16 | Unmanned tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510942469.1A CN105487539A (en) | 2015-12-16 | 2015-12-16 | Unmanned tractor |
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| Publication Number | Publication Date |
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| CN105487539A true CN105487539A (en) | 2016-04-13 |
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| CN201510942469.1A Pending CN105487539A (en) | 2015-12-16 | 2015-12-16 | Unmanned tractor |
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| Country | Link |
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| CN (1) | CN105487539A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099925A (en) * | 2018-08-31 | 2018-12-28 | 江苏大学 | A kind of unmanned farm machinery navigation path planning and operation quality appraisal procedure and device |
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Application publication date: 20160413 |