Automated system for remote monitoring of agricultural land conditions

Abstract

FIELD: agriculture.SUBSTANCE: invention relates to the field of remote monitoring of agricultural lands 9 using automatic mobile robots and can be used in systems for monitoring the condition of fruit, berry and vegetable crops based on such indicators as germination, presence of diseases or pests, yield, and degree of ripeness of fruits. The system comprises two unmanned robots 6, 7, as well as a base device 5, which has the ability to communicate with a central server 3 and includes, among other things, a simulation module for determining the optimal trajectories of movement of the unmanned robots 6, 7 and a unit for assessing the charge level of the batteries of the unmanned robots. This unit generates control signals for the power supply system of the base device 5 and the boxes for transporting and recharging robots 6, 7 in the event that the unmanned robots need recharging, i.e. the current charge of their batteries is insufficient to move along the constructed optimal trajectories.EFFECT: expansion of the system’s technological capabilities and the improvement of monitoring quality.1 cl, 4 dwg

Description

[0001] The invention relates to systems for automatic remote monitoring of agricultural land using mobile robots and can be used in plant growing to monitor the condition of fruit, berry, and vegetable crops based on such indicators as germination, the presence of diseases or pests, yield, and the degree of ripeness of fruits.

[0002] An automated system for applying consumables during agricultural field work is known, comprising a lead unmanned aerial vehicle (UAV) and a lead agricultural unit for controlling a group of ground robots designed to apply consumables. The UAV is capable of being connected to the lead agricultural unit via a tether or can perform free flight untethered. The UAV comprises a repeater for corrective coordinate corrections for the ground robots, receiving and transmitting antennas, and the ground robots are equipped with satellite navigation system signal receivers and correction signal receivers. The tether length is 20-30 meters. Power for the radio communication equipment and the lead UAV itself is provided through a cable connecting the lead UAV and the lead agricultural unit.Contains one or more RGB or multispectral cameras, automatic obstacle avoidance systems, additional automatic altitude rise systems when the correction signal weakens or disappears, and photo and video image transmission systems.

[0003] RU 2800212 C1

[0004] The disadvantages of the known device are:

[0005] 1) Using an unmanned aerial vehicle (UAV) is difficult when working on agricultural land planted with fruit, berry, or vegetable crops. Tree canopies and bush branches can obscure the UAV's view, making its use ineffective.

[0006] 2) Possibility of system disruption in the event of UAV failure (since the UAV coordinates the actions of ground robots).

[0007] 3) The range of the UAV is limited by the length of the cable.

[0008] 4) Risk of cable breakage or damage.

[0009] 5) The complexity of operation, which lies in the presence of a ground platform (leading agricultural unit) that unwinds, reels in, and controls the cable.

[0010] A device for automated tomato harvesting is known, which is a mobile platform equipped with means of movement and a housing, inside which a control unit, a power source is located, and a remotely controlled manipulator is fixed outside, equipped with a finger grip, a tomato recognition camera and a technical vision system, while a container for collecting tomatoes is fixed to the housing, made with the possibility of placing cooling elements in it, and independent motor-wheels with omnidirectional movement, fixed to the platform through a suspension, are used as means of movement of the platform, and an on-board computer is installed in the housing, providing recognition and classification of tomatoes according to the degree of ripeness using a pre-installed convolutional neural network, wherein the suspension is a swinging trolley and includes rotary stands connected on one side to the motor-wheels, and on the other side - to the rotary elements of the suspension,These are in turn connected to linear actuators mounted on the sides of the platform. Dry ice or cooling packs containing refrigerant are used as cooling elements. The vision system consists of a video camera and an ultrasonic rangefinder connected to a control unit. The manipulator is equipped with a vacuum pump and is also equipped with a GPS-based navigation system.

[0011] RU 2796270 C1

[0012] The disadvantages of the known device are:

[0013] 1) The need to search for and transport the device to the base in case the battery charge is exhausted.

[0014] 2) Lack of the ability to generate optimal trajectories for the robot’s movement (and, as a result, the ability to save battery power).

[0015] The closest to the claimed technical solution in terms of technical essence and the technical result achieved is an unmanned robot for monitoring crop yields, characterized in that it contains a frame with steerable wheels, a control and navigation system with control and measuring instruments, an on-board computer, a power supply system and a technical vision system, as well as a module for mapping crop yields with a system of multispectral, stereoscopic and thermal imaging cameras, mounted on a frame with the ability to adjust the height of its location in accordance with the height of the plants by means of a technological adapter.

[0016] RU 169363 U1

[0017] Disadvantages of the prototype:

[0018] 1) The need to search for and transport the device to the base in case the battery charge is exhausted.

[0019] 2) The inability to generate optimal trajectories for the robot’s movement (and, as a consequence, the ability to save battery power).

[0020] The technical objective of the claimed invention is to increase the speed and quality of the process of monitoring the condition of agricultural lands by:

[0021] - saving battery power as a result of generating optimal trajectories for unmanned robots;

[0022] - preventing situations in which the battery of an unmanned robot runs out while monitoring the condition of agricultural land, and, as a result, the need to search for it and transport it to the base.

[0023] The technical result of the claimed invention is:

[0024] - the ability to calculate the battery charge level required to return to base;

[0025] - the ability to generate optimal trajectories for the unmanned robot and, as a result, save battery power.

[0026] The technical result is achieved in that an automated system for remote monitoring of the state of agricultural land, including an unmanned robot for monitoring crop yields, characterized in that it contains a frame with steerable wheels, a control and navigation system with control and measuring instruments, an on-board computer, a power supply system and a technical vision system, combined into a first device, as well as a module for mapping crop yields with a system of multispectral, stereoscopic and thermal imaging cameras, mounted on a frame with the ability to adjust the height of its location in accordance with the height of the plants by means of a technological adapter,

[0027] furthermore, it further comprises a second unmanned robot and a base device including a receiving and transmitting antenna providing a radio bridge with a remote central server, the first and second unmanned robots, a read-only memory device, a simulation module, two boxes for transporting and recharging the first and second unmanned robots, a frame with steerable wheels, a control and navigation system with control and measuring instruments, a machine vision system, a power supply system, a unit for assessing the charge level of the batteries of the unmanned robots,

[0028] wherein the first output of the simulation module is connected to the input of the transmitting-receiving antenna, the first and second outputs of the transmitting-receiving antenna are connected to the first and second inputs of the battery charge level estimation unit of the unmanned robots, the third and fourth outputs of the transmitting-receiving device are connected to the first and second inputs of the simulation module, the fifth output of the transmitting-receiving antenna is connected to the first input of the read-only memory device,

[0029] the second, third, fourth outputs of the simulation module are connected to the second, third, fourth inputs of the read-only memory, the first, second outputs of the read-only memory are connected to the third and fourth inputs of the simulation module, the third output of the read-only memory is connected to the third input of the battery charge level estimation unit of unmanned robots,

[0030] the first output of the battery charge level assessment unit of the unmanned robots is connected to the input of the power supply system, the second output of the battery charge level assessment unit of the unmanned robots is connected to the first input of the boxes for transporting and recharging the unmanned robots,

[0031] The first output of the control and navigation system with control and measuring instruments is connected to the second input of the boxes for transporting and recharging unmanned robots, the second output of the control and navigation system with control and measuring instruments is connected to the input of the frame with steerable wheels, the output of the machine vision system is connected to the input of the control and navigation system with control and measuring instruments,

[0032] the base device is configured to receive data from the first and second unmanned robots, store said data in a permanent storage device and transmit it to the central server,

[0033] The simulation module is designed with the ability to generate optimal trajectories, as well as transmit them through a transmitting and receiving antenna to the first and second unmanned robots,

[0034] the battery charge level assessment unit is configured to receive optimal trajectories from the simulation module, as well as to calculate the energy required by the first and second unmanned robots to move along the optimal trajectory, and to issue control actions to the power supply system of the base device and boxes for transporting and recharging the batteries of the first and second unmanned robots,

[0035] wherein the basic device simulation module is a high-performance microcontroller, including a transition graph generation unit, a node selection unit for the transition, a unit for checking the condition for unmanned robots to reach the base node, a unit for updating the edge attractiveness indicators, a unit for checking the condition for stopping the functioning procedure of the simulation module,

[0036] the output of the transition graph generation unit is connected to the first input of the node selection unit for the transition, the first and second outputs of the node selection unit for the transition are connected to the first and second inputs of the unit for checking the condition of reaching the base node by unmanned robots, the first output of the unit for checking the condition of reaching the base node by unmanned robots is connected to the input of the unit for updating the edge attractiveness indicators, the second and third outputs of the unit for checking the condition of reaching the base node by unmanned robots are connected to the third and fourth inputs of the unit for selecting the node for the transition, the output of the unit for updating the edge attractiveness indicators is connected to the input of the unit for checking the condition of stopping the functioning procedure of the simulation module, the output of the unit for checking the condition of stopping the functioning procedure of the simulation module is connected to the second input of the unit for selecting the node for the transition.

[0037] Fig. 1 shows a diagram of an automated system for remote monitoring of the state of agricultural land, where:

[0038] 1 - Decision maker (DM).

[0039] 2 - Description of the task, including the classes of objects that unmanned robots need to identify (e.g., types of insect pests, agricultural plants, as well as physical obstacles, the recognition of which is necessary to ensure the integrity of unmanned robots), transition graph parameters (see formula (1)), simulation module parameters, such as the importance coefficient of the edge attractiveness indicator T ij , the importance coefficient of the vertex visibility parameter n ij , the coefficient of reduction of the value T ij , the condition for stopping the functioning procedure of the simulation module.

[0040] 3 - A central server located remotely, equipped with an access terminal for interaction with the decision maker 1, as well as a transmitting and receiving antenna with a coverage radius of at least 100 km, providing a radio bridge with the base device 5 at a speed of at least 50 Mbps.

[0041] 4 - Transition graph (see formula (1)), containing the values ​​of edge attractiveness indicators, see formula (2) (based on edge attractiveness indicators, unmanned robots can construct optimal trajectories for surveying agricultural land). An example of a transition graph is shown in Fig. 2.

[0042] The transition graph represents a set of the form:

[0043]

[0044] where V is the set of vertices, V={v j}, j=1,2,…,N V , N V - the number of vertices contained in the set V, where each vertex v jcorresponds to a certain square area traversable by an unmanned robot, the length of the side of which is entered by decision maker 1 and is contained in task 2 (in this case, the dimensions of this square area are selected based on the dimensions of the unmanned robots);

[0045] E - set of edges, E={e ij}, where e ij - an edge connecting adjacent vertices v i and v j , while the direct transition from the vertex v i to the top v j for an unmanned robot is possible (i.e. the terrain between v i and v j is passable for an unmanned robot 4, 5), i=1,2,…,N V , j=1,2, …, N V , i≠j , N V - the number of vertices contained in the set V;

[0046] T - a set of indicators of attractiveness of the ribs e ij ∈E, T={T ij}, T ij - the value of the edge attractiveness index e ij , determined by the formula

[0047]

[0048] where p is the coefficient of reduction of the value of T ij , p∈[0,1], I is the iteration number (attempt), ΔT ij (I) - the indicator of updating the value T ij at the 1st iteration, calculated using the formulas

[0049]

[0050] where Q is some constant value (usually Q=1), L t - the length of the trajectory t passed at the 1st iteration, where the trajectory is understood as a chain of vertices e ij , visited by a mobile robot 4 or 5, C NV - the number of vertices not visited by the robot 4 or 5, C R - the number of vertices revisited by the robot 4 or 5.

[0051] 5 - Basic device. It is an automatically controlled mobile robot containing a frame with steerable wheels, a control and navigation system with instrumentation, a machine vision system, a large-capacity read-only memory (at least 1 TB), a power supply system (internal combustion engine), a simulation module (for generating optimal trajectories for unmanned robots on agricultural land, see Fig. 3), which is a high-performance microcontroller, a transmitting and receiving antenna with a coverage radius of at least 100 km, providing a radio bridge with a central server at a speed of at least 50 Mbit / s. The basic device is equipped with boxes for transporting and recharging unmanned robots.The base device receives agricultural land monitoring results from unmanned robots (via a transmitting and receiving antenna) and stores them on a permanent storage device, as well as further transmitting them to a central server.

[0052] 6, 7 - The first and second unmanned robots, comprising a frame with steerable wheels, a control and navigation system with instrumentation, an on-board computer (central processor, random access memory, read-only memory), a power supply system (battery) and a vision system, as well as a module with a system of multispectral, stereoscopic and thermal imaging cameras, mounted on the frame with the ability to adjust its height in accordance with the height of the plants by means of a technological adapter, also equipped with a transceiver antenna (allows data transmission at a rate of at least 300 Mbps within a radius of 500 m). Unmanned robots can also be equipped with equipment for collecting samples, applying fertilizers, weeding, and treating agricultural land from pests. The minimum number of unmanned robots is 2 pcs., the maximum number is limited by the technical characteristics of the base device, namely the volume of the permanent memory for storing the collected information, the number of installed boxes for transporting and recharging unmanned robots.

[0053] 8 - Monitoring results - a three-dimensional map of agricultural land, representing a set of tuples of the following type:

[0054]

[0055] where x, y, z are spatial coordinates, c is the color parameter of the point, t is the class code of the object to which the point belongs.

[0056] 9 - Agricultural fields separated by forest belts. It is recommended to deploy one unmanned robot per field.

[0057] Fig. 2 shows a fragment of the generated transition graph, where

[0058] 10 - Forest belts.

[0059] 11 - Agricultural crop plantings.

[0060] 12 - Examples of transition graph nodes.

[0061] 13 - Examples of transition graph edges.

[0062] Fig. 3 shows the structure of the simulation module. Fig. 3 shows:

[0063] 14 - Description of the task, including the classes of objects that unmanned robots 6, 7 need to identify (for example, types of insect pests, agricultural plants, as well as physical obstacles, the recognition of which is necessary to ensure the integrity of unmanned robots), parameters of the transition graph (see formula (1)), parameters of the simulation module, such as the importance coefficient of the edge attractiveness indicator T ij , the importance coefficient of the vertex visibility parameter n ij , the coefficient of reduction of the value T ij , the condition for stopping the functioning procedure of the simulation module.

[0064] 15 - Monitoring results - a three-dimensional map of agricultural lands, representing a set of tuples of the type corresponding to formula (5).

[0065] 16 - Block for forming a transition graph (see formula (1), Fig. 2) by dividing 6-7 sections of a three-dimensional map of agricultural land (see formula (5)) passable by unmanned robots into squares, with each square being assigned a vertex v j , vertices v i and v j , between which the unmanned robot 6-7 can make a transition, are connected by edges e ij

[0066] 17 - Transition graph (see formula (1)).

[0067] 18 - Vertex selection block. The graph vertex v is selected. j ∈V (see formula (1)), to which the transition will be made from the current vertex v i ∈V.

[0068] 19 - List of visited peaks (S).

[0069] 20 - Block for checking the condition of unmanned robots 6-7 reaching the base vertex (entry point of unmanned robots 6-7 to agricultural land 9).

[0070] 21 - Edge Attractiveness Indicator Update Block (T ij ).

[0071] 22 - Block for checking the condition for stopping the functioning procedure of the simulation module.

[0072] 23 - Transition graph (see formula (1)) with updated values ​​of edge attractiveness indicators (T ij ).

[0073] Fig. 4 shows the structure of the basic device 5, where

[0074] 24 - Frame with steerable wheels.

[0075] 25 - Control and navigation system with instrumentation.

[0076] 26 - Technical vision system.

[0077] 27 - Large-capacity permanent storage device (at least 1 TB).

[0078] 28 - Power supply system (internal combustion engine).

[0079] 29 - Simulation module (for generating optimal trajectories for unmanned robots on agricultural lands, see Fig. 3), which is a high-performance microcontroller,

[0080] 30 - A transmitting and receiving antenna with a coverage radius of at least 100 km, providing a radio bridge with a central server at a speed of at least 50 Mbps,

[0081] 31 - Boxes for transportation and recharging of unmanned robots.

[0082] 32, 33 - The first and second unmanned robots, comprising a frame with steerable wheels, a control and navigation system with instrumentation, an on-board computer (central processor, random access memory, read-only memory), a power supply system (battery) and a vision system, as well as a module with a system of multispectral, stereoscopic and thermal imaging cameras, mounted on the frame with the ability to adjust its height in accordance with the height of the plants by means of a technological adapter, also equipped with a transmitting and receiving antenna (allows data transmission at a rate of at least 300 Mbps within a radius of 500 m). Unmanned robots can also be equipped with equipment for collecting samples, applying fertilizers, weeding, and treating agricultural land from pests. The minimum number of unmanned robots is 2 pcs., the maximum number is limited by the technical characteristics of the base device, namely the volume of the permanent memory for storing the collected information, the number of installed boxes for transporting and recharging unmanned robots.

[0083] 34 - Description of the task, including the classes of objects that the unmanned robots 32, 33 need to identify (for example, types of insect pests, agricultural plants, as well as physical obstacles, the recognition of which is necessary to ensure the integrity of the unmanned robots), the parameters of the transition graph (see formula (1)), the parameters of the simulation module, such as the importance coefficient of the edge attractiveness indicator T ij , the importance coefficient of the vertex visibility parameter n ij , the coefficient of reduction of the value T ij , the condition for stopping the functioning procedure of the simulation module.

[0084] 35 - Monitoring results - a three-dimensional map of agricultural land, representing a set of tuples of the type corresponding to formula (5).

[0085] 36 - Transition graph (see formula (1)) with updated values ​​of edge attractiveness indicators (T ij ).

[0086] 37 - Environmental perceptions.

[0087] 38 - Control actions for wheels.

[0088] 39 - Control actions for boxes for transporting and recharging unmanned robots (open the door, close the door).

[0089] 40 - Control action for power supply system 28 for the purpose of activating the interface for recharging unmanned robots 32, 33.

[0090] 41 - A central server located remotely, equipped with an access terminal for interaction with the decision maker 1 (see Fig. 1), as well as a receiving and transmitting antenna with a coverage radius of at least 100 km, providing a radio bridge with the base device at a speed of at least 50 Mbit / s.

[0091] 42, 43 - Information about the charge level of batteries of unmanned robots 32, 33.

[0092] 44 - A transition graph that was generated earlier (possibly by another base station) and stored on the central server 4.

[0093] 45 - Battery charge level assessment unit for unmanned robots 32, 33.

[0094] The automated system for remote monitoring of agricultural land conditions operates as follows.

[0095] 1) The decision maker 1 transmits the description of task 2 to the central server 3 via the access terminal. The central server 3 transmits the description of task 2 to the receiving and transmitting antenna 30 of the base device 5, as well as the transition graph 4 (if any), previously constructed for the data of agricultural land 9.

[0096] 2) The task description 2, as well as the transition graph 4 (if any), previously constructed for the agricultural land data, are also transmitted from the base device 5 to the unmanned robots 6 and 7. The transition graph 4 (in Fig. 4-44) is also stored on the read-only memory 27 of the base device 5.

[0097] 3) Unmanned robots 6, 7 leave boxes 31 located on base device 5 and begin monitoring, during which they form three-dimensional models of agricultural land 9, representing sets of tuples described by formula (5). During the transition, the edge with the maximum transition probability is selected (see formulas (7), (8)) (if transition graph 4 was transmitted to unmanned robots 6, 7). The monitoring results 8 are transmitted to base device 5 via transceiver antenna 30 and stored in read-only memory 27.

[0098] 4) Unmanned robots 6, 7 return to base device 5. Machine vision system 26 of base device 5 recognizes unmanned robots 6, 7 and transmits control action 39 to boxes 31 to open the doors. Unmanned robots 6, 7 then enter boxes 31.

[0099] 5) Base device 5 transmits monitoring results to central server 3 via transmit / receive antenna 30. Decision maker 1 can view monitoring results 8 by connecting to central server 3 via an access terminal. If transition graph 4 was previously generated, step 7 is performed; otherwise, step 6 is performed.

[0100] 6) On the base device 5, on the simulation module 29, based on the three-dimensional model (see formula (5)) obtained from unmanned robots 6-7 as the results of monitoring 8, a transition graph is constructed (see formula (1)) according to the following algorithm (executed on the basis of the “ant algorithm”, Ant Colony Optimization, described in [Dan Simon. Evolutionary Optimization Algorithms / trans, from English by AV Logunov. - M.: DMK Press, 2020. - 1002 p.: ill]):

[0101] a) At the transition graph generation block 16 the following is performed:

[0102] - Determining, based on a three-dimensional map of agricultural land 15, the space passable by unmanned robots 6-7.

[0103] - Dividing the agricultural land space passable by unmanned robots 6-7 into squares (the length of the side is included in the description of task 2, entered by decision maker 1), with each square being assigned a vertex v j , vertices v i and v j, between which the unmanned robot 6-7 can make a transition, are connected by edges e ij (see formula (1)).

[0104] - Definition of parameter T ij (attractiveness index) for each edge e ij , connecting the vertices v i and v j , initially initialized to zero (see formulas (2-4)). If the vertices v i and v j connected by edge e ij , this means that there is the possibility of unimpeded transition between them (i.e. there are no physical barriers between the peaks, the transition can be carried out without the risk of damage to agricultural crops).

[0105] - Define the base vertex - the entry point of unmanned robots 6-7 to agricultural land 9. The unmanned robots return to this point after monitoring agricultural land 9. As a rule, the entry point is the location of the base device 5.

[0106] The resulting transition graph 17 is passed to the node selection block for transition 18.

[0107] b) At the node selection block for transition 18, the following is performed:

[0108] - For each unmanned robot 6-7, the following parameters are determined: list of visited vertices 19 (S), vertex visibility v j , denoted as

[0109]

[0110] where d ij - the distance between the unmanned robot located at the vertex v i , and the vertex v j .

[0111] - Probability of an unmanned robot leaving vertex v i to the top v j is determined by the formulas:

[0112]

[0113] where a is the importance coefficient of the attractiveness indicator of the edge T ij (see formula (2)), a∈[0,1], b is the importance coefficient of the visibility parameter of vertex n ij (see formula (6)), b∈[0,1].

[0114] Next, the transition graph 17 and the list of visited vertices 19 are transmitted to the block for checking the condition of reaching the base vertex 20 by unmanned robots.

[0115] c) Upon reaching the base vertex (this condition is checked at block 20), the T indicator is updated ij for each edge e ij The trajectory t traversed by the unmanned robot (at block 21) is calculated using formulas (2-4). The updated transition graph 23 is passed to block 22 to check the stopping condition. Otherwise, transition graph 17 and the list of visited vertices 19 are returned to block 18, and steps (b-c) are repeated.

[0116] d) At block 22, the stop condition is checked:

[0117] - reaching the maximum number of iterations I max (the decision maker is introduced, for example, I max = 100);

[0118] - ΔL <L stop , where L stop - some threshold value of the parameter of change in the length of the trajectory constructed at iteration I, ΔL=(∑ i∈{I,I+1,…,I+N} |L i+1 -L i|) / N, I - iteration number, L i+1 -L i - the lengths of the trajectories constructed at the corresponding iterations.

[0119] If the stopping condition is reached, then the transition graph 23 (in Fig. 1 it is designated as 4) is fed to the output of the simulation module 29 and, further, to the unmanned robots 6-7, as well as to the central server 3. Otherwise, the transition graph 23 returns to block 18 and steps (b-d) are repeated.

[0120] The resulting transition graph contains the optimal trajectory of the unmanned robot when surveying agricultural land 9.

[0121] 7) The base device 5 requests information about the charge level of their batteries 42, 43 from the unmanned robots 6, 7 (32, 33 - in Fig. 4) located in the boxes 31. The unit 45 receives this information via the transmitting and receiving antenna 30 and also reads the transition graph 44 from the read-only memory device 27. Then, based on the data on the energy consumption of the unmanned robots 32, 33, as well as the length of the planned trajectory of their movement (determined by the transition graph 44), it is determined whether the current charge level of the battery is sufficient to complete it. If the current charge level is insufficient, control actions 40 are generated for the power supply system 28 of the base device 5, as well as the boxes 31, which initiate the recharging mode of the batteries of the unmanned robots 32, 33.

Claims

An automated system for remote monitoring of the condition of agricultural land, comprising a first unmanned robot for monitoring crop yields, which includes a frame with steerable wheels, a control and navigation system with control and measuring instruments, an on-board computer, a power supply system, a machine vision system and a module for mapping crop yields with a system of multispectral, stereoscopic and thermal imaging cameras, mounted on a frame with the ability to adjust the height of its location in accordance with the height of the plants by means of a technological adapter, characterized in that it is equipped with a second unmanned robot and a base device including a receiving and transmitting antenna capable of communicating via a radio bridge with a remote central server, the first and second unmanned robots, a read-only memory device, a simulation module,two boxes for transporting and recharging the first and second unmanned robots, a frame with steerable wheels, a control and navigation system with control and measuring devices, a machine vision system, a power supply system and a unit for assessing the charge level of the batteries of the unmanned robots, wherein the first output of the simulation module is connected to the input of the receiving and transmitting antenna, the first and second outputs of the receiving and transmitting antenna are connected to the first and second inputs of the unit for assessing the charge level of the batteries of the unmanned robots, the third and fourth outputs of the receiving and transmitting device are connected to the first and second inputs of the simulation module, the fifth output of the receiving and transmitting antenna is connected to the first input of the read-only memory, the second, third, fourth outputs of the simulation module are connected to the second, third and fourth inputs of the read-only memory, the first, second outputs of the read-only memory are connected to the third and fourth inputs of the simulation module,the third output of the read-only memory is connected to the third input of the battery charge level evaluation unit of the unmanned robots, the first output of the battery charge level evaluation unit of the unmanned robots is connected to the input of the power supply system, the second output of the battery charge level evaluation unit of the unmanned robots is connected to the first input of the boxes for transporting and recharging the unmanned robots, the first output of the control and navigation system with control and measuring instruments is connected to the second input of the boxes for transporting and recharging the unmanned robots, the second output of the control and navigation system with control and measuring instruments is connected to the controlled wheels of the frame, and the output of the machine vision system is connected to the input of the control and navigation system with control and measuring instruments, wherein, the base device is configured to receive data from the first and second unmanned robots, store said data in a permanent storage device and transmit it to the central server, the simulation module is configured to generate optimal trajectories of movement of the said robots and transmit them through a transmitting and receiving antenna to the first and second unmanned robots, and the battery charge level assessment unit is configured to receive optimal trajectories from the simulation module, calculate the energy required by the first and second unmanned robots to move along the optimal trajectory, and issue control actions to the power supply system of the base device and boxes for transporting and recharging the batteries of the first and second unmanned robots, wherein the module for simulating the base device is implemented in the form of a high-performance microcontroller, including a unit for generating a transition graph, a unit for selecting a vertex for the transition, a unit for checking the condition of reaching the base vertex by unmanned robots, a unit for updating the edge attractiveness indicators, and a unit for checking the condition of stopping the procedure of operating the simulation module, wherein the output of the unit for generating a transition graph is connected to the first input of the unit for selecting a vertex for the transition, the first and second outputs of the unit for selecting a vertex for the transition are connected to the first and second inputs of the unit for checking the condition of reaching the base vertex by unmanned robots, the first output of the unit for checking the condition of reaching the base vertex by unmanned robots is connected to the input of the unit for updating the edge attractiveness indicators, the second and third outputs of the unit for checking the condition of reaching the base vertex by unmanned robots are connected to the third and fourth inputs of the unit for selecting a vertex for the transition,the output of the edge attractiveness indicator update block is connected to the input of the block for checking the condition for stopping the functioning procedure of the simulation module, the output of the block for checking the condition for stopping the functioning procedure of the simulation module is connected to the second input of the block for selecting the vertex for the transition.

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