Space carrying system for farmland unmanned inspection operation and control method thereof

Abstract

The invention relates to a space carrying system for farmland unmanned inspection operation and a control method of the space carrying system. The system comprises a cloud control platform, a monitoring hanging bin, a cable and at least three carrying nodes arranged in a farmland. Each carrying node comprises a supporting frame, a winding device and an energy collecting assembly which are sequentially arranged from bottom to top. The winding device comprises a main base, a direction adjusting unit and a winding control unit which are sequentially arranged from bottom to top, the direction adjusting unit drives the winding control unit to rotate in the horizontal direction, one winding control unit drives one cable to stretch out and draw back, and the free end of the cable is connected with the monitoring hanging bin; the hoisting device of each carrying node is coordinated and linked through the cloud control platform, the hoisting control unit controls the extension length of the cable, and the direction adjusting unit controls the direction of the cable, so that the monitoring hanging bin reaches any position of the space covered by the space carrying system. The invention can adapt to farmlands in different shapes, even multilateral special-shaped farmlands, and belongs to the technical field of agricultural information equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural information equipment, and in particular to a space transport system for unmanned farmland inspection operations and a control method thereof. Background Art

[0002] Real-time monitoring of crop growth information is the key to reducing crop production risks and ensuring and increasing production. Traditional methods of field surveys of farmland usually require a lot of manpower and material resources. More advanced remote sensing satellites have limited spatial resolution and data quality is easily affected by weather, while drone monitoring platforms (including drone airport types) have prominent endurance issues. Therefore, in some application scenarios of farmland, ground-based unmanned monitoring platforms with higher accuracy and reliability are irreplaceable.

[0003] The existing ground monitoring platforms mainly include agricultural machinery platforms represented by tractors, self-propelled mobile platforms, distributed wireless network platforms and fixed track scanning platforms. Agricultural machinery platforms and self-propelled mobile platforms have the advantages of high flexibility and low cost, but it is difficult to pass through the operating area at high speed during data collection, and it is inevitable that the problem of reduced accuracy due to bumps and jitters will occur, and it is also easy to crush crops. Distributed wireless network platforms have higher real-time performance, but their global monitoring capabilities for farmland are not enough. Fixed track scanning platforms were first used in indoor crop monitoring systems. With the continuous deepening of research on field crop monitoring systems, they have gradually begun to be deployed in outdoor environments. The Rothamsted Research Center in the UK uses fixed tracks to build a fully automatic phenotyping platform Field Scanalyzer, which can carry a variety of sensors to form a sensor array for continuous high-throughput crop phenotyping information acquisition, but this type of platform has high investment costs, high operating and maintenance costs, and is not suitable for large operating areas. In addition, there are technologies such as indoor three-dimensional planting supporting rope traction and handling systems and unmanned agricultural robots driven by soft ropes in parallel, but they cannot avoid the problem of being unable to adapt to the complex terrain of farmland, and it is difficult to avoid the problem of reduced accuracy and wear of power and pulleys due to bumps and jitters during movement. For example, the “A kind of unmanned agricultural robot driven by soft ropes in parallel and its control method” disclosed in application number 202010246120.5 drives the workbench to move in space through a centrally symmetrically distributed tower column system, a winch system and a number of pulleys, and then combines an ultrasonic module to achieve position monitoring and feedback. However, it is not difficult to find that if the system is used in farmland, first, it lacks a spatial positioning method, making it difficult to adapt to polygonal and special-shaped farmland, and lacks a method for controlling the movement of the workbench. The fixed structure of the pulley is easy to wear and lacks collaborative optimization control.

[0004] In response to the above problems, the present invention proposes a space transport system and a control method for unmanned farmland inspection operations, which solves the problem of reduced accuracy due to bumps and jitters during movement. It can adapt to the shapes and complex terrains of different farmlands, and mount different types of agricultural sensors to perform multi-parameter unmanned instant inspections at different locations of the farmland, meeting the needs of monitoring crops throughout their entire growth period. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a space transport system and a control method for unmanned inspection of farmland, which can adapt to farmland of different shapes, even polygonal and irregular farmland. The monitoring pod can carry different types of agricultural sensors to perform multi-parameter unmanned inspection at different locations of the farmland.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A space transportation system for unmanned inspection of farmland comprises: a cloud control platform, a monitoring pod, cables, and at least three transportation nodes arranged in the farmland; the transportation node comprises a support frame, a hoisting device, and an energy collection component arranged in sequence from bottom to top; the hoisting device comprises a main base, a direction adjustment unit, and a hoisting control unit arranged in sequence from bottom to top, the direction adjustment unit drives the hoisting control unit to rotate in the horizontal direction, a hoisting control unit drives a cable to extend and retract, and the free end of the cable is connected to the monitoring pod; the hoisting devices of each transportation node are coordinated and linked through the cloud control platform, the hoisting control unit controls the extension length of the cable, and the direction adjustment unit controls the direction of the cable, so that the monitoring pod can reach any position in the space covered by the space transportation system.

[0008] As a preferred embodiment, the winch control unit includes: a winch base, a winch drive, a coupling, a cable winch, a cable limiter, a protective structure, and a positioning communication system; the winch drive, the cable winch, and the cable limiter are all arranged on the winch base, and the winch drive is connected to the cable winch through the coupling, driving the cable winch to rotate along the horizontal axis; the protective structure is used to make the winch control unit waterproof and dustproof, and the protective structure is provided with a through hole for the cable to pass through; the positioning communication system is arranged in the protective structure to provide location information of the current carrying node.

[0009] As a preference, the direction adjustment unit comprises a direction rotator and a direction driver; the direction rotator is arranged between the main base and the hoisting control unit, and is driven to rotate by the direction driver.

[0010] As a preferred embodiment, the energy collection component includes: a solar energy collector, an energy storage device, and a power distribution system.

[0011] As a preferred embodiment, the monitoring pod includes: a solar power supply, a mobile positioning communication module, a fixed plate, and a self-stabilizing pan-tilt platform; the solar power supply is arranged on the top of the fixed plate to absorb solar energy and provide power; the self-stabilizing pan-tilt platform is arranged on the bottom of the fixed plate to mount the agricultural sensor load and keep the load posture stable; a number of cables from a number of transport nodes are centrally fixed above the center of the fixed plate; the solar power supply provides power for the mobile positioning communication module, the self-stabilizing pan-tilt platform and the load, and the mobile positioning communication module provides coordinate information for the load.

[0012] A control method for a space transport system for unmanned farmland inspection operations is implemented through a cloud control platform, which is connected to a mobile positioning communication module of a monitoring pod and a positioning communication system of a winch control unit of each transport node through a wireless network; the working process of the cloud control platform is as follows:

[0013] S1. System initialization, check whether the system is abnormal;

[0014] S2. Read the location information of the monitoring pod and each transport node through the wireless network, including longitude, latitude, and elevation information;

[0015] S3. Set the origin coordinates and establish the local coordinate system of the space transport system composed of the current transport nodes;

[0016] S4. The user sets the motion trajectory parameters of the monitoring pod;

[0017] S5. monitor the movement of the pod in accordance with the motion trajectory parameters under the coordinated movement of each transport node;

[0018] S6. The monitoring pod completes the set motion trajectory, returns to the origin position, and ends the current task.

[0019] As a preferred embodiment, step S3 includes the following steps:

[0020] ST1. Perform plane projection calculation on the latitude and longitude position information of all transport nodes to obtain the plane coordinates (x, y) of each transport node;

[0021] ST2. Place the plane coordinates of each transport node in the plane coordinate system and calculate x min ,x max ,y min ,y max ;

[0022] ST3. Find the minimum elevation data H of each transport node min ;

[0023] ST4. x minThe coordinates of the transport node to which it belongs are set as the origin coordinates, and a local coordinate system is constructed. The x-boundary range and y-boundary range of the coordinate system are in the polygon formed by the plane coordinates of each transport node, and the elevation boundary range is {H s ,H min}, H s is the average elevation of farmland.

[0024] As a preferred embodiment, in step S4, the motion trajectory parameters include a number of spatial position points (x target ,y earget ,z target ), and both need to satisfy the boundary conditions of step S3 and ST4.

[0025] As a preferred embodiment, the method for the monitoring pod in step S5 to move according to the set motion trajectory under the coordinated motion of each transport node is as follows:

[0026] SP1. Assume the current coordinate of the monitoring pod is p(x p ,y p ,z p ), the target coordinate is t(x t ,y t ,z t ), the movement time is T;

[0027] SP2. Calculate the cable length from each transport node to the current coordinates of the monitoring pod;

[0028] SP3. Calculate the cable length from each transport node to the target coordinates of the monitoring pod;

[0029] SP4. Calculate the target number of rotations of different transport nodes within T time according to the change in cable length of different transport nodes;

[0030] SP5. The cloud control platform sends the target rotation number and the start motion time TP based on UTC (Universal Time Coordinated) to each carrier node;

[0031] SP6. The winches of each transport node start moving simultaneously at time TP and complete the target number of rotations within time T.

[0032] As a preferred embodiment, in step SP4, when different transport nodes complete the target number of rotations within the time T, the direction adjustment unit will synchronously adjust the direction angle of the winch control unit. The control method is as follows:

[0033] SQ1. Direction angle of each transport node winch control unit The positive y axis is 0° and the positive x axis is the positive direction;

[0034] SQ2. Calculate the target rotation angles of different transport nodes within T time according to the information of the target position and current position of the monitoring pod;

[0035] SQ3. The cloud control platform sends the target rotation angle and UTC start movement time TQ to each carrier node;

[0036] SQ4. The direction adjustment units of each transport node start moving at the same time at time TQ and complete the rotation of the target angle within time T;

[0037] TQ in step SQ3 is consistent with TP in step SP5; the target rotation angle in SQ2 refers to the horizontal rotation angle required for each transport node to control the monitoring pod to move from the current position to the target position to complete the cable retraction and release.

[0038] The present invention has the following advantages:

[0039] 1. The space carrier system adopts a unified UTC time-increase time synchronization control mechanism through the hoisting control unit and the direction adjustment unit, which can enable the monitoring pod to stably, quickly and accurately reach the set motion trajectory point under the coordinated movement of the cable, effectively alleviating the cable wear problem and cable derailment risk during long-term operation of the space carrier system.

[0040] 2. The space transport system used for unmanned inspection of farmland can control the spatial position of the monitoring pod in a coordinated manner, so that the agricultural sensor load mounted on it can monitor and analyze the farmland coverage area. The load has a flexible movement route and can complete unmanned all-round observation at different resolutions, different heights, different angles, different climates, and different phases. In addition, the space transport system can also carry other power operation devices to complete certain agricultural tasks.

[0041] 3. The space carrier system and its control method can be adapted to farmland plots of various shapes and elevations. When the monitoring pod is equipped with various high-precision sensor loads, compared with the existing monitoring technology, it not only avoids the problem of crop crushing, but also realizes real-time monitoring of farmland. By using modern communication technology, the farmland data can be transmitted to the background in a timely manner for agricultural decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the overall model of the space launch system.

[0043] Figure 2 This is a schematic diagram of the structure of the monitoring silo.

[0044] Figure 3 It is a structural schematic diagram of the direction adjustment unit.

[0045] Figure 4It is a schematic diagram of the structure of the energy collection component and the winch control unit.

[0046] Figure 5 This is a schematic diagram of the structure of the winch control unit.

[0047] Figure 6 This is a schematic diagram of the structure of the transport node.

[0048] Figure 7 This is the workflow diagram of the cloud control platform.

[0049] Figure 8 Construct a flow chart for a local coordinate system.

[0050] Fig. 9 A flow chart of a method for monitoring the movement of a nacelle according to a set motion trajectory under the coordinated movement of each transport node.

[0051] Fig.10 This is a flow chart of the direction adjustment unit control method.

[0052] In the figure, 1-carrying node, 2-energy collection component, 3-cable, 4-monitoring pod, 5-main base, 6-direction adjustment unit, 7-winch control unit, 8-support frame, 201-power distribution system, 202-energy storage device, 203-solar energy collector, 501-solar power supply, 502-mobile positioning communication module, 503-fixed plate, 504-self-stabilizing pan / tilt, 601-direction rotator, 602-direction drive, 701-winch base, 702-winch drive, 703-coupling, 704-cable winch, 705-cable limiter, 706-protection structure, 707-positioning communication system. DETAILED DESCRIPTION

[0053] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0054] Figure 1 and Figure 6 As shown, a space transport system for unmanned farmland inspection operations consists of a monitoring nacelle 4, a cable 3, four transport nodes 1 and a cloud control platform. Each transport node 1 includes a support frame 8, a hoisting device, and an energy collection component 2.

[0055] The monitoring pod 4 includes a solar power supply 501, a mobile positioning communication module 502, a fixed plate 503, and a self-stabilizing pan-tilt platform 504; the solar power supply 501 provides power for the mobile positioning communication module 502, the self-stabilizing pan-tilt platform 504 and the load, and the mobile positioning communication module 502 provides coordinate information for the load.

[0056] The monitoring nacelle 4 is connected to the hoisting device through a cable 3 (made of non-metallic material, and can be made of steel if used for heavy object transportation).

[0057] The four cables 3 of the four transport nodes 1 are centrally fixed above the center of the fixing plate 503 .

[0058] The supporting control method coordinates and links the movement of the hoisting devices of the four transport nodes 1, so that the monitoring nacelle 4 and the mounted load (agricultural sensor) can reach any position in the space (farmland) covered by the space transport system.

[0059] The transport node 1 comprises a support frame 8, a hoisting device, and an energy collecting assembly 2 which are arranged in sequence from bottom to top. The support frame 8 is fixedly installed at the corner of the farmland.

[0060] The hoisting device comprises a main base 5 (metal structure), a direction adjustment unit 6 and a hoisting control unit 7 which are arranged in sequence from bottom to top.

[0061] Figure 3 As shown, the direction adjustment unit includes a direction rotator 601 and a direction driver 602; the direction rotator 601 is arranged between the main base 5 and the hoisting control unit 7, and is driven to rotate by the direction driver 602. The direction adjustment unit 6 also includes a direction controller, which is convenient for accurately controlling the four hoisting control units 7 to rotate the required angles according to the instructions, so as to avoid the problem of the angles of the four hoisting control units 7 not being coordinated.

[0062] Figure 5 As shown, the hoisting control unit 7 includes: a hoisting base 701 (using a metal structure), a hoisting drive 702, a coupling 703 (rigid coupling), a cable hoist 704 (engineering cable reel GN804), a cable limiter 705 (metal U-shaped fixed pulley), a protective structure 706, and a positioning communication system 707 (GNSS&WIFI module); the hoisting drive 702, the cable hoist 704, and the cable limiter 705 are all arranged on the hoisting base 701, and the hoisting drive 702 is connected to the cable hoist 704 through the coupling 703, driving the cable hoist 704 to rotate along the axis in the horizontal direction; the protective structure 706 is used for waterproofing and dustproofing the hoisting control unit 7, and a through hole is provided on the protective structure 706 for the cable 3 to pass through; the positioning communication system 707 is arranged in the protective structure 706 to provide the location information of the current carrying node 1.

[0063] The cable hoist 704 includes a fixed node for fixing one end of the cable 3. The cable 3 is wound on the cable hoist 704. One end of the cable 3 is fixedly connected to the fixed node of the cable hoist 704, and the other end is output to the outside through the cable limiter 705 and connected to the monitoring nacelle 4. The relationship between the number of rotations K of the cable hoist 704 and the length L of the cable 3 output to the outside is:

[0064] L=f(K) (1)

[0065] Figure 4 As shown, the energy collection assembly includes: a solar energy collector 203 (600W / 320AH), an energy storage device 202 (24V lithium battery), and a power distribution system 201 (multi-channel automatic control box). By using the solar energy collector 203, the electricity cost can be reduced and clean energy can be effectively utilized.

[0066] Figure 2 As shown, the self-stabilizing gimbal 504 is disposed at the bottom of the fixing plate 503 and is used to mount the agricultural sensor load and keep the load posture stable.

[0067] A control method for a space transport system for unmanned inspection of farmland is implemented through a cloud control platform, which is connected to a mobile positioning communication module 502 of a monitoring pod 4 and a positioning communication system 707 of a hoisting control unit 7 of four transport nodes 1 through a wireless network; the working process of the cloud control platform is as follows:

[0068] S1. System initialization, check whether the system is abnormal;

[0069] S2. Read the location information of the monitoring pod 4 and each transport node 1 through the wireless network, including longitude, latitude, and elevation information;

[0070] S3. Set the origin coordinates and establish a local coordinate system of the space transport system composed of several transport nodes 1;

[0071] S4. The user sets the motion trajectory parameters of the monitoring pod 4;

[0072] S5. Monitoring the movement of the pod in accordance with the motion trajectory parameters under the coordinated movement of each transport node 1;

[0073] S6. Monitor that the pod 4 completes the set motion trajectory, returns to the origin position, and ends the current task.

[0074] When establishing the local coordinate system of the space carrier system composed of the current four carrier nodes 1 in S3, the calculation process ( Figure 8 )as follows:

[0075] ST1. Perform plane projection calculation on the latitude and longitude position information of all transport nodes 1 to obtain the plane coordinates (x, y) of each transport node;

[0076] ST2. Place the plane coordinates of each transport node in the plane coordinate system and calculate x min ,x max ,y min ,y max ;

[0077] ST3. Find the minimum elevation data H of each transport node 1 min;

[0078] ST4. x min The coordinates of the transport node 1 to which it belongs are set as the origin coordinates, and a local coordinate system is constructed. The x-boundary range and y-boundary range of the coordinate system are in the polygon formed by the plane coordinates of each transport node 1, and the elevation boundary range is {H s ,H min}, H s is the average elevation of farmland.

[0079] In step S4, the motion trajectory parameters include several spatial position points (x target ,y target ,z target ), and both need to satisfy the boundary conditions of step S3 and ST4.

[0080] Figure 4 The integrated closed-loop stepper motor in the system integrates the stepper motor, driver and position feedback sensor. The position feedback sensor is generally an encoder, which provides real-time feedback on the position of the motor shaft. The PLC (Programmable Logic Controller) is used as the upper controller to control the stepper motor, send motion instructions, and receive motor feedback information. The operator can interact with the system through devices such as touch screens to set the motor's operating mode and parameters.

[0081] like Figure 2 , Figure 5 As shown, both the winch control unit 7 and the self-stabilizing pan / tilt 504 are equipped with GNSS. In this system, the microcontroller uses the UTC time information output by the GNSS module to initialize and calibrate the unified time base for all timing controls in the system. After receiving and parsing the UTC time information in the GNSS data packet, the microcontroller uses the time to synchronize the operation time of the motor and other electronic devices. Through UTC time, the system can ensure the precise synchronization of the actions of multiple independent devices, avoiding inconsistent operations caused by network communication delays or time errors between different devices.

[0082] Based on the geographic location information obtained by GNSS, the microcontroller performs accurate motion calculation. Specifically, by calculating the difference in longitude and latitude between the current and target positions, the length of the cable 3 or the adjustment angle that the hoisting control unit 7 and the direction adjustment unit 6 need to retract can be obtained. The system will convert the geographic coordinate difference into the angle required for mechanical movement through an algorithm, and drive the motor to rotate accurately, thereby realizing the directional alignment or positioning function of the system. For example, if a target needs to be tracked, the system will control the hoisting control unit 7 and the direction adjustment unit 6 based on these motion solution results, so that they rotate according to a predetermined path or angle.

[0083] like Figure 7As shown, the cloud control platform controls the workflow of the monitoring pod 4 movement. The cloud platform ensures that the monitoring pod 4 moves accurately along the predetermined trajectory in space through the coordinated control of multiple carrier nodes. In order to ensure the high accuracy and synchronization of the movement process, the system relies on the precise coordination between the carrier nodes, and through calculation and communication, realizes the smooth movement of the monitoring pod 4 from the current coordinates to the target coordinates. The specific method is as follows:

[0084] SP1. First, the system obtains the initial state information of the monitoring pod 4, sets the current coordinate position of the monitoring pod 4 in space (i.e., the current coordinate) and the expected target position (i.e., the target coordinate). At the same time, the total time T of the motion process is determined, that is, the time (motion time) required for the monitoring pod 4 to move from the current coordinate to the target coordinate. These parameters are the basis for the subsequent motion control calculation.

[0085] SP2. Each transport node is connected to the monitoring pod 4 by a cable 3. During the movement, each transport node 1 adjusts the length of the cable 3 according to the position of the monitoring pod 4. To this end, the system first calculates the length of the cable 3 from each transport node 1 to the current position of the monitoring pod 4. The purpose of this step is to determine the current relative distance between the monitoring pod 4 and each node, and then make accurate adjustments in subsequent movements.

[0086] SP3. Next, the system calculates the length of the cable 3 from each transport node 1 to the target position of the monitoring pod 4 again according to the target coordinates of the monitoring pod 4. This step helps the system determine the length of the cable 3 that needs to be tightened or loosened for each transport node 1, so as to adjust the position of the monitoring pod 4 during the movement so that it moves along the predetermined trajectory.

[0087] SP4. In order to ensure that the monitoring pod 4 moves along the predetermined path, the system needs to accurately control the movement of each transport node 1. By comparing the current cable length and the target cable length of each transport node 1, the length change of the cable 3 that needs to be retracted and released at each node can be calculated. Then, based on this change, the system combines the motor parameters of each node and the cable 3 retraction and release law function, see formula (1), to calculate the number of turns that each node should rotate within a given movement time.

[0088] SP5. After completing the calculation of the target number of revolutions of each carrier node 1, the cloud control platform sends these data to each carrier node 1, including the number of revolutions that each carrier node 1 needs to perform and the unified UTC start time mark (i.e., the time reference for the start of the movement). The key to this step is to ensure that each carrier node starts executing instructions at the same time to avoid inconsistent movement caused by time errors between different nodes.

[0089] SP6. After receiving the command, each transport node 1 will start the movement synchronously according to the UTC time mark in its respective positioning communication system 707. Within the set movement time, each node completes the number of motor rotations it needs to perform. This means that the entire system will enable the monitoring pod 4 to move stably to the target position along the predetermined trajectory through precise synchronization and coordination.

[0090] like Fig.10 As shown, the cloud control platform monitors the workflow of the pod 4 movement. The movement methods of different transport nodes 1 in SP4 within T time are as follows:

[0091] SQ1. The system is the direction angle of the winch control unit 7 of each transport node 1 Set a unified benchmark. The direction angle of the hoisting control unit 7 of each transport node 1 The positive y axis is taken as 0° and the positive x axis is taken as the positive direction.

[0092] SQ2. Based on the information of the target position and current position of the monitoring pod 4, the rotation angles of different transport nodes 1 within the time T are calculated respectively.

[0093] SQ3. After completing the rotation angle calculation of each carrier node 1, the cloud control platform will send these angle adjustment instructions together with the UTC time to each carrier node 1.

[0094] SQ4. When the carrier node 1 receives the direction angle adjustment instruction and the UTC start time, each node will start the direction angle in its own positioning communication system 707 based on the UTC time. The entire adjustment process is completed within the specified movement time to ensure that the monitoring nacelle 4 moves smoothly along the predetermined trajectory.

[0095] TQ in step SQ3 is consistent with TP in step SP5; the target rotation angle in SQ2 refers to the horizontal rotation angle required for each transport node 1 to control the monitoring crane 4 to move from the current position to the target position to complete the retraction and release of the cable 3.

[0096] In the process of the cloud control platform, the direction angle of the carrier node 1 is By performing synchronous control, the system can not only accurately control the motion trajectory of the monitoring nacelle 4, but also adjust the direction of the cable 3 in real time during the movement of the hoisting device to maintain the balance and stability of the system and overcome the problem of lateral wear of the pulley. The entire process is coordinated by the cloud control platform and synchronized with the UTC time to ensure that the movement of each carrier node 1 in space is both accurate and synchronous. After a single movement is completed, the difference between the actual position and the expected position is calibrated. If there is a deviation between the actual position and the expected position, repeat the above steps to realize the self-stabilizing pan / tilt 504 mounting device moving to the target position for operation.

[0097] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A space transport system for unmanned farmland inspection operations, characterized in that: include: A cloud control platform, a monitoring pod, cables, and at least three transport nodes arranged in the farmland; the transport node includes a support frame, a hoisting device, and an energy collection component arranged in sequence from bottom to top; the hoisting device includes a main base, a direction adjustment unit, and a hoisting control unit arranged in sequence from bottom to top, the direction adjustment unit drives the hoisting control unit to rotate in the horizontal direction, and a hoisting control unit drives a cable to extend and retract, and the free end of the cable is connected to the monitoring pod; the hoisting devices of each transport node are coordinated and linked through the cloud control platform, the hoisting control unit controls the extension length of the cable, and the direction adjustment unit controls the direction of the cable, so that the monitoring pod can reach any position in the space covered by the space transportation system.

2. A space carrier system for unmanned farmland inspection according to claim 1, characterized in that: The winch control unit includes: a winch base, a winch drive, a coupling, a cable winch, a cable limiter, a protective structure, and a positioning communication system; the winch drive, the cable winch, and the cable limiter are all arranged on the winch base, and the winch drive is connected to the cable winch through the coupling, driving the cable winch to rotate along the horizontal axis; the protective structure is used to make the winch control unit waterproof and dustproof, and the protective structure is provided with a through hole for the cable to pass through; the positioning communication system is arranged in the protective structure to provide the location information of the current carrying node.

3. A space transport system for unmanned farmland inspection according to claim 1, characterized in that: The direction adjustment unit comprises a direction rotator and a direction driver; the direction rotator is arranged between the main base and the hoisting control unit, and is driven to rotate by the direction driver.

4. A space transport system for unmanned farmland inspection according to claim 1, characterized in that: The energy collection components include: solar energy collector, energy storage device, and power distribution system.

5. A space transport system for unmanned farmland inspection according to claim 1, characterized in that: The monitoring pod includes: a solar power source, a mobile positioning communication module, a fixed plate, and a self-stabilizing pan / tilt; the solar power source is arranged on the top of the fixed plate to absorb solar energy and supply power; The self-stabilizing gimbal is set at the bottom of the fixed plate to mount the agricultural sensor load and keep the load posture stable; A plurality of cables from a plurality of transport nodes are centrally fixed above the center of the fixed plate; The solar power supply provides power for the mobile positioning communication module, the self-stabilizing gimbal and the load, and the mobile positioning communication module provides coordinate information for the load.

6. A control method for a space carrier system for unmanned farmland inspection operations according to any one of claims 1 to 5, implemented through a cloud control platform, characterized in that: The cloud control platform is connected to the mobile positioning communication module of the monitoring nacelle and the positioning communication system of the hoisting control unit of each transport node through a wireless network; the working process of the cloud control platform is as follows: S1. System initialization, check whether the system is abnormal; S2. Read the location information of the monitoring pod and each transport node through the wireless network, including longitude, latitude, and elevation information; S3. Set the origin coordinates and establish the local coordinate system of the space transport system composed of the current transport nodes; S4. The user sets the motion trajectory parameters of the monitoring pod; S5. monitor the movement of the pod in accordance with the motion trajectory parameters under the coordinated movement of each transport node; S6. The monitoring pod completes the set motion trajectory, returns to the origin position, and ends the current task.

7. A control method for a space carrier system for unmanned farmland inspection according to claim 6, characterized in that: Step S3 includes the following steps: ST1. Perform plane projection calculation on the latitude and longitude position information of all transport nodes to obtain the plane coordinates (x, y) of each transport node; ST2. Place the plane coordinates of each transport node in the plane coordinate system and calculate x min , x max ,y min ,y max ; ST3. Find the minimum elevation data H of each transport node min ; ST4. x min The coordinates of the transport node to which it belongs are set as the origin coordinates, and a local coordinate system is constructed. The x-boundary range and y-boundary range of the coordinate system are in the polygon formed by the plane coordinates of each transport node, and the elevation boundary range is {H s , H min }, H s is the average elevation of farmland.

8. A control method for a space carrier system for unmanned farmland inspection according to claim 7, characterized in that: In step S4, the motion trajectory parameters include several spatial position points (x target ,y target , z target ), and both need to satisfy the boundary conditions of step S3 and ST4.

9. A control method for a space carrier system for unmanned farmland inspection according to claim 6, characterized in that: The method for the monitoring pod to move according to the set motion trajectory under the coordinated motion of each transport node in step S5 is as follows: SP1. Assume the current coordinate of the monitoring pod is p(x p ,y p , z p ), the target coordinate is t(x t ,y t , z t ), the movement time is T; SP2. Calculate the cable length from each transport node to the current coordinates of the monitoring pod; SP3. Calculate the cable length from each transport node to the target coordinates of the monitoring pod; SP4. Calculate the target number of rotations of different transport nodes within T time according to the change in cable length of different transport nodes; SP5. The cloud control platform sends the target rotation number and the UTC-based start motion time TP to each carrier node; SP6. The winches of each transport node start moving simultaneously at time TP and complete the target number of rotations within time T.

10. A control method for a space carrier system for unmanned farmland inspection according to claim 9, characterized in that: In step SP4, when different transport nodes complete the target number of rotations within time T, the direction adjustment unit will synchronously adjust the direction angle of the winch control unit. The control method is as follows: SQ1. Direction angle of each transport node winch control unit The positive y axis is 0° and the positive x axis is the positive direction; SQ2. Calculate the target rotation angles of different transport nodes within T time according to the information of the target position and current position of the monitoring pod; SQ3. The cloud control platform sends the target rotation angle and UTC start movement time TQ to each carrier node; SQ4. The direction adjustment units of each transport node start moving at the same time at time TQ and complete the rotation of the target angle within time T; The TP in step SQ3 is consistent with the TP in step SP5; the target rotation angle in SQ2 refers to the horizontal rotation angle required for each transport node to control the monitoring pod to move from the current position to the target position to complete the cable retraction and release.

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