METHOD AND DEVICE FOR AUTOMATIC CONTROL OF AGRICULTURAL CROPS CULTIVATING Russian patent published in 2020 - IPC A01G22/00 G01N33/24 A01G7/00 

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_c, and manipulated in phase by a modulating code. Formed complex signal with the phase shift keying is converted in frequency using a frequency ω_h1 1st heterodyne. Voltage of 1st intermediate frequency ω_in1=ω_c+ω_h1 is selected, amplified by power, emitted in ether, received at another object, amplified by power, converted by frequency using frequency ω_h1 of 2nd heterodyne. Allocate voltage 2nd intermediate frequency ω_in2=ω_in1–ω_h1=ω_c, multiply voltage of 1st heterodyne frequency ω_h2 isolated complex signal with phase shift keying at a frequency ω_h1 2nd heterodyne performed its synchronous detection using voltage 2nd heterodyne with frequency ω_h1 as 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 ω₁=ω_in1=ω_h2 and receiving at the frequency ω₂=ω_in3=ω_h1, where ω_in3 is 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 ω₂, and are received at frequency ω₁. ω_h1 and ω_h2 frequency of heterodyne spread on the value of the second intermediate frequency ω_h2–ω_h1=ω_in2. Modulation code M₁(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 M₂(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 ω₁=ω_in1=ω_h2 and accepted – at frequency ω₂=ω_in3=ω_h1, and the delivery module with the phase shift keying signals are emitted at a frequency of ω₂ but taken at ω_1. Frequency heterodynes ω_h1 and ω_h2 are separated by value of 2nd intermediate frequency ω_h2–ω_h1=ω_in2.

EFFECT: inventions allow improving control efficiency of agricultural crops cultivation processes.

2 cl, 4 dwg