Space transportation system for unmanned inspection of agricultural fields and control method thereof

Abstract

The present application relates to a kind of space carrying system and its control method for unmanned inspection operation of farmland, system includes: cloud control platform, monitoring hoist bin, cable, at least three setting in farmland carrying node;Carrying node includes support frame, winding device, energy collection component arranged in turn from bottom to top;Winding device includes main base, direction adjusting unit, winding control unit arranged in turn from bottom to top, direction adjusting unit drives winding control unit to rotate in horizontal direction, one winding control unit drives one cable to stretch and retract, and the free end of cable is connected with monitoring hoist bin;Through cloud control platform, the winding device of each carrying node is coordinated and linked, winding control unit controls cable extension length, direction adjusting unit controls cable direction, so that monitoring hoist bin reaches the arbitrary position of space covered by space carrying system.The present application can be adapted to different shapes of farmland, even multi-edge special-shaped farmland, belong to the technical field of agricultural information equipment.

Description

Technical Field

[0001] This invention relates to the field of agricultural information equipment technology, specifically to a space transport system and its control method for unmanned farmland inspection operations. Background Technology

[0002] Real-time monitoring of crop growth information is crucial for reducing crop production risks and ensuring and increasing yields. Traditional methods of conducting on-site surveys of farmland typically require significant manpower and resources, while more advanced remote sensing satellites suffer from limited spatial resolution and data quality susceptibility to weather conditions. Furthermore, unmanned aerial vehicle (UAV) monitoring platforms (including UAV airport types) face significant limitations in terms of endurance. Therefore, in certain farmland application scenarios, unmanned ground-based monitoring platforms, offering higher accuracy and reliability, are irreplaceable.

[0003] 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 offer advantages such as high flexibility and low cost, but they struggle to traverse the work area at high speeds during data acquisition, inevitably leading to decreased accuracy due to bumps and vibrations, and also easily damaging crops. Distributed wireless network platforms offer higher real-time performance, but their global monitoring capabilities for farmland are still insufficient. Fixed-track scanning platforms were initially used in indoor crop monitoring systems, and with the deepening research into field crop monitoring systems, they are gradually being deployed in outdoor environments. The Rothamsted Research Centre in the UK has built a fully automated phenotyping platform, the Field Scanalyzer, using fixed tracks. This platform can carry multiple sensors to form a sensor array for continuous, high-throughput acquisition of crop phenotypic information; however, such platforms have high investment costs, high operating and maintenance costs, and are not suitable for large work areas. In addition, there are technologies such as indoor vertical planting with rope traction and handling systems and unmanned agricultural robots driven by parallel flexible cables. However, these technologies cannot avoid the problem of being unable to adapt to the complex terrain of farmland, and they also cannot avoid the problems of decreased accuracy and wear and tear on the power source and pulleys due to bumps and vibrations during movement. For example, the "unmanned agricultural robot driven by parallel flexible cables and its control method" disclosed in application number 202010246120.5 uses a centrally symmetrically distributed tower system, a winch system and several pulleys to drive the worktable to move in space, and then combines an ultrasonic module to realize position monitoring and feedback. However, it is not difficult to find that if the system is applied to farmland, firstly, it lacks a spatial positioning method, making it difficult to adapt to irregularly shaped farmland, and secondly, it lacks a method for controlling the movement of the worktable. The fixed structure of the pulleys is prone to wear, and there is a lack of collaborative optimization control.

[0004] To address the aforementioned issues, this invention proposes a space-based transportation system and its control method for unmanned farmland inspection operations. This system solves the problem of decreased accuracy due to bumps and vibrations during movement. It can adapt to different farmland shapes and complex terrains, and can carry different types of agricultural sensors to perform multi-parameter unmanned real-time inspections at different locations in the farmland, meeting the needs for monitoring the entire growth period of crops. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the purpose of this invention is to provide a space transport system and its control method for unmanned farmland inspection operations. This system can adapt to farmland of different shapes, even polygonal irregular farmland. The monitoring pod is equipped with different types of agricultural sensors, enabling multi-parameter unmanned inspections at different locations in the farmland.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A space-based transportation system for unmanned farmland inspection operations includes: a cloud control platform, a monitoring pod, cables, and at least three transportation nodes set up in the farmland. Each transportation node includes a support frame, a winch device, and an energy collection component arranged sequentially from bottom to top. The winch device includes a main base, a direction adjustment unit, and a winch control unit arranged sequentially from bottom to top. The direction adjustment unit drives the winch control unit to rotate horizontally, and each winch control unit drives the extension and retraction of a cable, with the free end of the cable connected to the monitoring pod. The cloud control platform coordinates the winch devices of each transportation node, with the winch control unit controlling the cable extension length and the direction adjustment unit controlling the cable direction, enabling the monitoring pod to reach any location within the space covered by the space-based transportation system.

[0008] As a preferred embodiment, the winch control unit includes: a winch base, a winch driver, a coupling, a cable winch, a cable limiter, a protective structure, and a positioning and communication system. The winch driver, cable winch, and cable limiter are all mounted on the winch base. The winch driver is connected to the cable winch via the coupling, driving the cable winch to rotate along its horizontal axis. The protective structure provides waterproofing and dustproofing for the winch control unit and has through holes for cables to pass through. The positioning and communication system is located within the protective structure, providing the current location information of the transport node.

[0009] As a preferred embodiment, the direction adjustment unit includes a direction rotator and a direction driver; the direction rotator is disposed between the main base and the hoist control unit and is driven to rotate by the direction driver.

[0010] As a preferred option, the energy collection components include: solar collectors, energy storage devices, and power distribution systems.

[0011] As a preferred embodiment, the monitoring pod includes: a solar power supply, a mobile positioning and communication module, a fixed plate, and a self-stabilizing gimbal; the solar power supply is located on the top of the fixed plate to absorb solar energy and provide power; the self-stabilizing gimbal is located at the bottom of the fixed plate to mount the agricultural sensor load and maintain the load's stable posture; several cables from several transport nodes are centrally fixed above the center of the fixed plate; the solar power supply provides power to the mobile positioning and communication module, the self-stabilizing gimbal, and the load, and the mobile positioning and communication module provides coordinate information to the load.

[0012] A control method for a space-based vehicle system used for unmanned farmland inspection operations is implemented through a cloud control platform. The cloud control platform is connected via a wireless network to the mobile positioning and communication module of the monitoring pod and the positioning and communication systems of the winch control units at each vehicle node. The workflow of the cloud control platform is as follows:

[0013] S1. System initialization, checking for system abnormalities;

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

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

[0016] S4. The user sets the motion trajectory parameters for monitoring the hoist;

[0017] S5. Monitor the movement of the pod according to the motion trajectory parameters under the coordinated movement of each transport node;

[0018] S6. Monitor the hoist to complete the set motion trajectory, return to the origin position, and end the current task.

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

[0020] ST1. Perform planar projection calculations on the latitude and longitude location information of all launch nodes to obtain the planar coordinates (x, y) of each launch node;

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

[0022] ST3. Calculate the minimum elevation data H for each transport node. min ;

[0023] ST4. x minThe coordinates of the respective carrier node are set as the origin coordinates, and a local coordinate system is constructed. The x-boundary and y-boundary ranges of the coordinate system lie within the polygon formed by the planar coordinates of each carrier node, and the elevation boundary range is {H}. s H min}, H s This represents the average elevation of the farmland.

[0024] As a preferred embodiment, in step S4, the motion trajectory parameters include several spatial location points (x... target ,y earget ,z target All of them must satisfy the boundary conditions of ST4 in step S3.

[0025] As a preferred option, the monitoring pod in step S5 moves according to a set trajectory under the coordinated movement of each transport node, as follows:

[0026] SP1. Let the current coordinates of the monitoring pod be p(x). p ,y p ,z p The target coordinates are t(x). t ,y t ,z t The motion 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 number of target rotations of different carrier nodes within time T based on the cable length variation values ​​of different carrier 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 hoisting devices of each transport node start moving simultaneously at time TP and complete the target rotation number of revolutions within time T.

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

[0033] SQ1. Direction angle of the hoist control unit at each transport node With the positive y-axis as 0° and the positive x-axis as the positive direction;

[0034] SQ2. Calculate the target rotation angle of different transport nodes within time T based on the information of the monitored target position and the current position of the pod;

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

[0036] SQ4. The orientation adjustment units of each carrier node start moving simultaneously at time TQ and complete the rotation of the target angle within time T.

[0037] The TQ in step SQ3 is the same as the TP in step SP5; the target rotation angle in SQ2 refers to the horizontal rotation angle required for each carrier node to control and monitor the pod to move from its current position to the target position to complete the cable retraction and deployment.

[0038] The present invention has the following advantages:

[0039] 1. The space transportation system adopts a unified UTC time-incremental synchronization control mechanism through the hoist control unit and the direction adjustment unit, which enables the monitoring gondola 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 the risk of cable derailment during long-term operation of the space transportation system.

[0040] 2. The space-based transport system for unmanned farmland inspection operations can be linked and controlled to determine the spatial position of the monitoring pod, enabling the agricultural sensor payload mounted on it to monitor and analyze the farmland coverage area. The payload's movement route is flexible, allowing for unattended, all-around observation at different resolutions, heights, angles, climates, and time phases. Furthermore, this space-based transport system can also carry other powered operating devices to complete specific agricultural tasks.

[0041] 3. The space transportation 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 existing monitoring technologies, it not only avoids crop damage, but also enables real-time monitoring of farmland. Using modern communication technology, farmland data can be transmitted to the background in a timely manner for agricultural decision-making. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall model of the space transportation system.

[0043] Figure 2 A schematic diagram of the structure for monitoring the suspended pod.

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

[0045] Figure 4This is a schematic diagram of the energy collection component and the hoist control unit.

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

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

[0048] Figure 7 This is a flowchart of the cloud control platform's workflow.

[0049] Figure 8 Flowchart for constructing a local coordinate system.

[0050] Figure 9 A flowchart illustrating a method for monitoring the movement of a gondola along a set trajectory under the coordinated movement of various transport nodes.

[0051] Figure 10 This is a flowchart of the direction adjustment unit control method.

[0052] In the diagram, 1-transportation node, 2-energy collection component, 3-cable, 4-monitoring pod, 5-main base, 6-direction adjustment unit, 7-hoisting control unit, 8-support frame, 201-power distribution system, 202-energy storage device, 203-solar collector, 501-solar power supply, 502-mobile positioning and communication module, 503-fixed plate, 504-self-stabilizing gimbal, 601-direction rotator, 602-direction driver, 701-hoisting base, 702-hoisting driver, 703-coupling, 704-cable winch, 705-cable limiter, 706-protective structure, 707-positioning and communication system. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to specific embodiments.

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

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

[0056] The monitoring pod 4 is connected to the winch device via cable 3 (made of non-metallic material; steel material can be used if used for heavy load transport).

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

[0058] The supporting control method coordinates the movement of the winches of the four transport nodes 1, enabling the monitoring pod 4 and its load (agricultural sensors) to reach any location in the space (farmland) covered by the space transport system.

[0059] The transport node 1 includes a support frame 8, a winch device, and an energy collection component 2, arranged sequentially from bottom to top. The support frame 8 is fixedly installed at the corner of the farmland.

[0060] The winch device includes a main base 5 (metal structure), a direction adjustment unit 6, and a winch control unit 7 arranged sequentially 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 located between the main base 5 and the hoist control unit 7 and is driven to rotate by the direction driver 602. The direction adjustment unit 6 also includes a direction controller, which facilitates precise control of the four hoist control units 7 to rotate at the required angle according to the instructions, and avoids the problem of incoordination of the angles of the four hoist control units 7.

[0062] Figure 5 As shown, the winch control unit 7 includes: a winch base 701 (using a metal structure), a winch driver 702, a coupling 703 (rigid coupling), a cable winch 704 (engineering cable reel GN804), a cable limiter 705 (metal U-shaped fixed pulley), a protective structure 706, and a positioning and communication system 707 (GNSS & WIFI module). The winch driver 702, cable winch 704, and cable limiter 705 are all mounted on the winch base 701. The winch driver 702 is connected to the cable winch 704 via the coupling 703, driving the cable winch 704 to rotate along its horizontal axis. The protective structure 706 is used for waterproofing and dustproofing the winch control unit 7, and has a through hole for the cable 3 to pass through. The positioning and communication system 707 is located inside the protective structure 706, providing the current location information of the transport node 1.

[0063] The cable winch 704 includes a fixing node for securing one end of the cable 3. The cable 3 is wound around the cable winch 704, with one end fixedly connected to the fixing node and the other end output to the outside via the cable limiter 705, connecting to the monitoring pod 4. The relationship between the number of rotations K of the cable winch 704 and the length L of the cable 3 output to the outside is as follows:

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

[0065] Figure 4 As shown, the energy collection components include: a solar 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 collector 203, electricity costs can be reduced, and clean energy can be effectively utilized.

[0066] Figure 2 As shown, the self-stabilizing gimbal 504 is located at the bottom of the fixed plate 503 and is used to mount agricultural sensor loads and maintain the stability of the load posture.

[0067] A control method for a space-based vehicle system used for unmanned farmland inspection operations is implemented through a cloud control platform. The cloud control platform is connected via a wireless network to the mobile positioning and communication module 502 of the monitoring pod 4 and the positioning and communication system 707 of the winch control units 7 of the four transport nodes 1. The workflow of the cloud control platform is as follows:

[0068] S1. System initialization, checking for system abnormalities;

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

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

[0071] S4. The user sets the motion trajectory parameters for monitoring the hoisting module 4;

[0072] S5. Monitor the movement of the pod according to the motion trajectory parameters under the coordinated movement of each transport node 1;

[0073] S6. Monitor the completed motion trajectory of the pod 4, return to the origin position, and end the current task.

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

[0075] ST1. Perform planar projection calculations on the latitude and longitude location information of all carrier nodes 1 to obtain the planar coordinates (x, y) of each carrier node;

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

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

[0078] ST4. x min The coordinates of the associated carrier node 1 are set as the origin coordinates, and a local coordinate system is constructed. The x-boundary and y-boundary ranges of the coordinate system are within the polygon formed by the planar coordinates of each carrier node 1, and the elevation boundary range is {H}. s H min}, H s This represents the average elevation of the farmland.

[0079] In step S4, the motion trajectory parameters include several spatial position points (x... target ,y target ,z target All of them must satisfy the boundary conditions of ST4 in step S3.

[0080] Figure 4 The integrated closed-loop stepper motor integrates the stepper motor, driver, and position feedback sensor into one unit. The position feedback sensor is typically an encoder, providing real-time feedback on the motor shaft position. A PLC (Programmable Logic Controller) is used as the host controller to control the stepper motor, send motion commands, and receive motor feedback information. Operators can interact with the system via touchscreens or other devices to set the motor's operating mode and parameters.

[0081] like Figure 2 , Figure 5 As shown, both the hoist control unit 7 and the self-stabilizing gimbal 504 are equipped with GNSS receivers. In this system, the microcontroller uses the UTC time information output by the GNSS module to initialize and calibrate a unified time reference for all timing controls within the system. After receiving and parsing the UTC time information in the GNSS data packet, the microcontroller uses this time for the operation of the synchronous motor and other electronic equipment. By using UTC time, the system can ensure precise synchronization of the actions of multiple independent devices, avoiding inconsistencies in operation caused by network communication delays or time errors between different devices.

[0082] Based on the geographic location information acquired via GNSS, the microcontroller performs precise motion calculations. Specifically, by calculating the latitude and longitude differences between the current and target locations, the required cable length 3 or adjustment angle for the hoist control unit 7 and the direction adjustment unit 6 can be determined. The system uses an algorithm to convert the geographic coordinate differences into the angles required for mechanical movement, driving the motor to rotate precisely, thereby achieving the system's orientation alignment or positioning functions. For example, if tracking a target is required, the system will control the hoist control unit 7 and the direction adjustment unit 6 based on these motion calculation results, causing them to rotate along a predetermined path or angle.

[0083] like Figure 7As shown, the cloud control platform controls the movement of the monitoring pod 4. Through the coordinated control of multiple transport nodes, the cloud platform ensures that the monitoring pod 4 moves precisely along a predetermined trajectory in space. To guarantee high precision and synchronization during the movement, the system relies on precise collaborative operations between the transport nodes and achieves smooth movement of the monitoring pod 4 from its current coordinates to the target coordinates through calculation and communication. The specific method is as follows:

[0084] SP1. First, the system acquires the initial state information of the monitoring module 4, sets its current coordinate position in space (i.e., current coordinates) and the expected target position (i.e., target coordinates). Simultaneously, it determines the total motion time T, which is the time required for the monitoring module 4 to move from its current coordinates to the target coordinates (motion time). These parameters form the basis for subsequent motion control calculations.

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

[0086] SP3. Next, based on the target coordinates of the monitoring gondola 4, the system recalculates the cable 3 lengths from each transport node 1 to the target position of the monitoring gondola 4. This step helps the system determine the cable 3 lengths that need to be tightened or loosened at each transport node 1, thereby adjusting the position of the monitoring gondola 4 during movement to make it move along the predetermined trajectory.

[0087] SP4. To ensure that the monitoring gondola 4 moves along the predetermined path, the system needs to precisely control the actions of each transport node 1. By comparing the current cable length and the target cable length of each transport node 1, the change in the length of the cable 3 that each node needs to retract or extend can be calculated. Then, based on this change, combined with the motor parameters of each node and the cable 3 retraction and extension law function, see formula (1), the system calculates the number of rotations that each node should make within a given motion time.

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

[0089] SP6. Upon receiving the instruction, each carrier node 1 will synchronously initiate movement according to the UTC time stamp in its respective positioning and communication system 707. Within the set movement time, each node completes the required number of motor rotations. This means that the entire system will, through precise synchronization and coordination, enable the monitoring pod 4 to move stably along the predetermined trajectory to the target position.

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

[0091] SQ1. The system provides the hoist control unit 7 for each transport node 1, specifying the directional angle. Establish a unified benchmark. The direction angle of the hoist control unit 7 at each transport node 1. With the positive y-axis as 0° and the positive x-axis as the positive direction.

[0092] SQ2. Based on the information of the target position and current position of the monitored pod 4, calculate the rotation angle of different transport nodes 1 within time T.

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

[0094] SQ4. After carrier node 1 receives the direction angle adjustment command and UTC start time, each node will start adjusting the direction angle in its respective positioning communication system 707, using UTC time as the reference. The adjustment process was completed within the specified movement time, ensuring that the monitoring gondola 4 moved smoothly along the predetermined trajectory.

[0095] The TQ in step SQ3 is the same as the TP in step SP5; the target rotation angle in SQ2 refers to the horizontal rotation angle required for each transport node 1 to control and monitor the 4th chamber to move from its current position to the target position to complete the cable 3 winding and unwinding.

[0096] In the cloud control platform's process, the direction angle of carrier node 1 is controlled. Synchronous control allows the system to not only precisely control the movement trajectory of the monitoring pod 4, but also adjust the direction of the cable 3 in real time during the movement of the winch device to maintain system balance and stability, and to overcome the problem of lateral wear of the pulleys. The entire process, coordinated by the cloud control platform and synchronized with UTC time, ensures that the movement of each transport node 1 in space is both precise and synchronous. After each movement, the difference between the actual position and the desired position is calibrated. If there is a deviation between the actual and desired positions, the above steps are repeated, thereby enabling the self-stabilized gimbal 504 mounting device to move to the target position for operation.

[0097] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A control method for a space transportation system for unmanned inspection of agricultural fields, the space transportation system comprising: A cloud control platform, a monitoring hanging warehouse, a cable, and at least three carrying nodes arranged in a farmland; The carrying node comprises a support frame, a hoisting device, and an energy collection assembly arranged in sequence from bottom to top; the hoisting device comprises a main base, a direction adjusting unit, and a hoisting control unit arranged in sequence from bottom to top; the direction adjusting unit drives the hoisting control unit to rotate in the horizontal direction; one hoisting control unit drives one cable to stretch and retract; the free end of the cable is connected with the monitoring hanging warehouse; the cloud control platform coordinates the linkage of the hoisting devices of the carrying nodes; the hoisting control unit controls the cable extension length; the direction adjusting unit controls the cable direction, so that the monitoring hanging warehouse reaches any position in the space covered by the space carrying system; the method is implemented by the cloud control platform, wherein the cloud control platform is connected with the mobile positioning communication module of the monitoring hanging warehouse and the positioning communication system of the hoisting control unit of each carrying node through a wireless network; the working process of the cloud control platform is as follows: S1. System initialization, detecting whether the system is abnormal; S2. Reading the position information of the monitoring hanging warehouse and each carrying node through a wireless network, including longitude, latitude, and elevation information; S3. Setting the original point coordinate and establishing the local coordinate system of the space carrying system composed of the current carrying nodes; S4. User setting the motion trajectory parameters of the monitoring hanging warehouse; S5. The monitoring hanging warehouse moves according to the motion trajectory parameters under the cooperative motion of the carrying nodes; S6. The monitoring hanging warehouse completes the set motion trajectory and returns to the original position, ending the current task; Step S3 comprises the following steps: ST1. Perform planar projection calculation on all the carrying node latitude and longitude position information to obtain the planar coordinates of each carrying node ; ST2. Place each carrier node planar coordinate in a planar coordinate system, and find ; ST3. Find the minimum elevation data for each carrier node ; ST4. Will The coordinate of the carrier node belongs to the origin coordinate, and the local coordinate system is constructed. The x boundary range and y boundary range of the coordinate system are in the polygon composed of the plane coordinates of each carrier node, and the boundary range of the height is , The average height of the farmland.

2. The control method of the space transportation system for unmanned inspection of agricultural fields according to claim 1, characterized in that: In step S4, the motion trajectory parameters include several spatial position points , and all need to satisfy the boundary conditions of ST4 in step S3.

3. The control method of the space transportation system for unmanned inspection of agricultural fields according to claim 1, characterized in that: The method that the monitoring hanging warehouse moves according to the set motion trajectory under the cooperative motion of the carrying nodes in step S5 is as follows: SP1. Set the current coordinate of the monitored hoistway as , the target coordinate as , and the movement time as T; SP2. Calculating the cable length from each carrying node to the current coordinate of the monitoring hanging warehouse; SP3. Calculating the cable length from each carrying node to the target coordinate of the monitoring hanging warehouse; SP4. According to the cable length change value of different carrying nodes, the target rotation number of different carrying nodes in the time is calculated respectively. time. SP5. The cloud control platform sends the target rotation number and the UTC-based starting motion time TP to each carrying node; SP6. The hoisting devices of each carrier node start moving at the same time at the TP moment and complete the target number of turns in the time t.

4. The control method of the space transportation system for unmanned inspection of agricultural fields according to claim 3, characterized in that: In step SP6, while the different carrier nodes complete the target number of rotation turns within T time, the direction adjusting unit synchronously adjusts the direction angle of the winch control unit , the control method is as follows: SQ1. Directional angle of each carrier node winch control unit With y positive axis as 0°, and x positive axis as positive direction. SQ2. According to the information of the target position and the current position of the monitoring hanging warehouse, the target rotation angle of each carrying node within T time is calculated; SQ3. The cloud control platform sends the target rotation angle and the UTC starting motion time TQ to each carrying node; SQ4. The direction adjusting units of each carrying node start to move at the same time at TQ time and complete the target angle rotation within T time; 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 carrying node to control the monitoring hanging warehouse to move from the current position to the target position and complete the cable retraction and extension.

5. The control method of a space transportation system for unmanned inspection of agricultural fields according to claim 1, characterized in that: The winch control unit comprises a winch base, a winch driver, a shaft coupling, a cable winch, a cable limiter, a protective structure and a positioning communication system. The winch driver, the cable winch and the cable limiter are arranged on the winch base. The winch driver is connected with the cable winch through the shaft coupling and drives the cable winch to rotate along the horizontal axis. The protective structure is used for waterproofing and dustproofing of the winch control unit. 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 and provides the position information of the current carrying node.

6. The control method of a space transportation system for unmanned inspection of agricultural fields according to claim 1, characterized in that: The direction adjusting unit comprises a direction rotator and a direction driver. The direction rotator is arranged between the main base and the winch control unit and is driven to rotate by the direction driver.

7. The control method of a space transportation system for unmanned inspection of agricultural fields according to claim 1, characterized in that: The energy collecting assembly comprises a solar energy collector, an energy storage device and a power distribution system.

8. The control method of a space transportation system for unmanned inspection of agricultural fields according to claim 1, characterized in that: The monitoring hanging warehouse comprises a solar power supply, a mobile positioning communication module, a fixed plate and a self-stabilizing holder. The solar power supply is arranged on the top of the fixed plate and is used for absorbing solar energy and supplying power. The self-stabilizing holder is arranged on the bottom of the fixed plate and is used for mounting the agricultural sensor load and keeping the load posture stable. The cables from the plurality of carrying nodes are concentrated and fixed above the center of the fixed plate. The solar power supply provides power for the mobile positioning communication module, the self-stabilizing holder and the load. The mobile positioning communication module provides coordinate information for the load.

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