Scientific Journal of KubSAU

The article gives a brief historical overview of the development work on the creation of agricultural robots. We also give characteristics of the market for robots, with their descriptions since 2002 onwards. The work presents main problems when creating agricultural robots, with more detailed features such as orientation in space using machine vision tools, as well as video surveillance to identify and recognize the characteristics of plants. Continuous, panoramicallythree-dimensional tracking of each plant can be provided by using a video network, able to distinguish between separate plants within the field of view of the cameras, lined up in particularly targeted technological points. Custom video shooting is possible for individual plants, with the aim of identifying deviations in development, degree of maturation, detection of disease and other technological purposes. It is shown that positioning and motion control of the technological trajectory can be carried out using satellite navigation systems either using ground positioning, including machine vision and targeting laser, for example pathpointer or sensor barriers. For detection, identification and positioning we commonly use satellite navigation GPS system (mainly for monitoring vehicles and agricultural units). As well as television and digital video surveillance and positioning system in real-timeRTLS, but each of these systems has its limitations. Network wireless local positioning RFID (Radio-frequency identification) is used for various purposes in a variety of applications, allowing you to monitor the location and movement of objects and reliably identify them both outside and inside the premises. But none of these systems could possibly accomplish the task completely. The solution may be sharing the listed systems. This integration offers opportunities not available for separate systems. This article describes a platform with a caterpillar engine, as the basis of unmanned robot for farmlands

Damage of grain and seeds by machines makes essential negative impact on sowing qualities of seeds and processing properties of grain. While processing of grain a lot of various cars and actions differently injure weevils. To exclude traumatizing of grains in the course of mechanical preparation is not obviously possible, as working bodies of cars are a source of mechanical and thermomechanical damages. Besides, injured weevils on the physical-mechanical properties practically do not differ from whole, i.e. they do not possess signs for machine division. To reduce traumatizing of weevils is possible with the help of application of optimum technologies of machining, selection of the conforming technological modes, using as a part of actions of constructional stuffs with a low elastic modulus, perfection of their design data. For definition of injuring ability of various machines and actions through which takes place grain lots, have developed a procedure which allows with high degree of reliance to estimate complex traumatizing of weevils (namely, their outside integuments and intrinsic frames) machines and the actions which are a part of aggregates and complexes for machine preparation of grain and seeds. The developed procedure bases on a basis of the standard documents regulating test methods of agricultural machinery and together with it allows to consider connatural heterogeneity of the grain lots arriving for processing

Increase of gross grain collecting and minimization of cost of its production essentially depends on technologies and technical means, which are used while grain crops cultivation. At the same time the existing industrial seed farming and the grain’s production are assumed the multiple mechanical and thermomechanical impacts on grain from working tools of cars and units that leads to weevils’ traumatizing. Grain damage negatively affects its technological and fodder characteristics; seeds’ traumatizing causes the decrease in their sowing and fruitful features. It isn't possible to extract injured seeds from the pile because working tools damage the weevils itself and also there are small differences between damaged and undamaged weevils. It is possible to reduce grain traumatizing while machine preparation by reducing the quantity and extent of mechanical and thermomechanical impacts on weevils, by optimization of technological operations and by controlling the regimes and adjustments of working tools. The work of winnower machines M-819 KAS-10+SBVS-5 and AS- 10+ was researched while developing a technique of complex quantitative and quality standard of machines’ and tools’ influence on weevils’ traumatizing. It was ascertained that on different stages of weevils’ mechanical preparation it get different injuries in quantitative and qualitative expressions. It was offered to estimate the injuring ability of machines by the impact of seeds’ injures influence on its sowing features. Also there was a conception of traumatizing coefficient which includes either quantitative or qualitative debriefing influences of the traumatizing on grains features

The article analyzes the structures of domestic selfpropelled potato harvesters, developed in 60-90th of the last century. It considers their layout: based on selfpropelled chassis NL-45, NL-65, NL-75, K-mounted single-row and double-row 5B K-5A and KKSSH-2, on the basis of MTZ-142 Four-KSKD-4; specialized harvesters KSK-4-I, KSK-4A-1.We have disclosed the advantages and disadvantages of each of the structures shown the way forward. The analysis shows a general trend of equipment self-propelled combines cartofeleuborochnyh means to monitor the work of the working bodies and councils-ment process, as well as hydrostatic transmission based hydroficated bridges or motor-wheels to run on high-styah soon. In the arrangement of machines and their technological schemes trend-Uwe crease width, equipment storage hopper, enabling productivity-dit unloading products in a number of oncoming traffic. We consider the design perspective of modular self-propelled potato harvester BCSC-4K, consisting of technological and power module. Conducted owners-governmental tests combine BCSC-4K display-whether it combines advantages over KSK-4-I and KSK-4A-I performance and quality indicators

Productivity of seeds of cereal crops essentially depends on the quality of the seed grain, which is being defined both by biological condition of seeds and technologies and technical resources, which are being used in, machine processing of seed heap. In this connection, different injuries of weevils which are occurred while mechanical and thermomechanical influences from tools of machines and aggregates have got vital importance. Apart from the breaches of integrity of the weevil’s cover there are also exist traumatizing changes of its inside structures which are frequently covered with casings and do not being viewed with visual inspection. Conditions of inside structures of weevils were researched with radiographic method and also were defined possible types of traumatizing changes which depend on mechanical and thermomechanical influences, which were eliminated in universal classification of injures among the inside structures of seeds of agricultural cultures. Also, wу have analyzed the influence of chosen types of injuries on seeds’ sowing qualities and found that all injures of weevils essentially and differentially influenced the sowing and fruitful qualities and should be considered while choosing the technological schemes of preparation, working tools and while tuning the aggregates’ regime of work attached to the machine processing of grain and seed heap