The development of technologies and means of harvesting grain crops contributes to an increase in the level of mechanization of work, labor productivity, the quality of threshing and a reduction in harvesting time, but they all have specific drawbacks. This is due to the fact that the development of technologies is carried out without the use of innovations that are fundamentally different from traditional means. The article analyzes modern methods and means of harvesting grain crops by various methods, identifies their main shortcomings. It has been established that most of the existing harvesting methods do not provide threshing of grain crops in conditions of high soil moisture; in areas of fields with a large slope and difficult terrain; and also have a significant force effect on the soil, leading to its overcompaction. An equation for the variable performance of an unmanned aerial vehicle is obtained, as well as a condition for the efficiency of its operation. The shift productivity of the vehicle was calculated when harvesting grain crops, taking into account its carrying capacity, the yield of grain crops and the distance of transportation of the spike part of plants to the threshing point. It has been established that an increase in the distance of transportation of the ears of plants to the threshing point leads to a decrease in the shift productivity of the unmammed aerial vehicle; an increase in crop yields and carrying capacity leads to an increase in the shift productivity of the vehicle. Taking into account the obtained theoretical results of the research, a layout diagram of a unit for harvesting grain crops was developed on the basis of a standard unmanned aerial vehicle.

Guskov Yuriy A., Kurnosov Anton F.

1. Semenov S. A., Vasilev S. A., Maksimov I. I. Osobennosti realizatsii i perspektivy primeneniya tekhnologii tsifrovogo zemledeliya v APK [Features of the implementation and prospects for the use of digital farming technology in the agro-industrial complex]. Vestnik Chuvashskoi gosudarstvennoi sel'skokhozyaistvennoi akademii. – Bulletin of the Chuvash State Agrarian University, 2018; 1: 69–76 (in Russ.).
2. Vygolova E. R. Bespilotnye traktora v sel'skom khozyaistve [Unmanned tractors in agriculture]. Proceedings from Scientific support of the agro-industrial complex: XI Vserossijskaya konferenciya – XI All-Russian Conference. (PP. 335–336), Krasnodar, Kubanskij gosudarstvennyj agrarnyj universitet, 2018 (in Russ.).
3. Lomakin S. G., Berdyshev V. E. Analiz tekhnicheskogo urovnya zernouborochnykh kombainov "Rostsel'mash" [Analysis of the technical level of Rostselmash combine harvesters]. Vestnik Moskovskogo gosudarstvennogo agroinzhenernogo universiteta. – Bulletin of the Moscow State Agroengineering University, 2018; 6: 34–42 (in Russ.).
4. Rusinov A. V., Slyusarenko V. V. Snizhenie vozdeistviya dvizhitelei mashinno-traktornykh agregatov na pochvu putem optimal'nogo raspredeleniya vesa po osyam [Reducing the impact of the propulsors of machine-tractor units on the soil by optimal weight distribution along the axes]. Nauchnaya zhizn'. – Scientific Life, 2015; 6: 35–42 (in Russ.).
5. Shchitov S. V., Kuznetsov E. E., Polikutina E. S. Povyshenie prodol'no-poperechnoi ustoichivosti i snizhenie tekhnogennogo vozdeistviya na pochvu kolesnykh mobil'nykh energeticheskikh sredstv: monografiya [Increasing the longitudinal-transverse stability and reducing the technogenic impact on the soil of wheeled mobile power vehicles: monograph], Blagoveshchensk, Dal'nevostochnyj gosudarstvennyj agrarnyj universitet, 2020, 148 p. (in Russ.).
6. Buryanov A. I., Dmitrenko A. I., Buryanov M. A. Otsenka novykh netraditsionnykh tekhnologii uborki zernovykh kolosovykh kul'tur [Evaluation of new non-traditional technologies for harvesting grain crops]. Tekhnika i oborudovanie dlya sela. – Machinery and Equipment for Rural Area, 2010; 10: 16–19 (in Russ.).
7. Avdeev P. I. Ispol'zovanie bespilotnykh letatel'nykh apparatov dlya sel'skogo khozyaistva [Use of unmanned aerial vehicles for agriculture]. Proceedings from Modern trends in the development of science and technology: XX Mezhdunarodnaya nauchno-prakticheskaya konferenciya – XX International Scientific and Practical Conference. (PP. 6–8), Belgorod, IP Tkacheva E. P., 2016 (in Russ.).
8. Aravind K. R., Raja P., Pérez-Ruiz M. Task-based agricultural mobile robots in arable farming: a review. Spanish Journal of Agricultural Research, 2017; 15.
9. Smirnov I. G., Marchenko L. A., Lichman G. I. Bespilotnye letatel'nye apparaty dlya vneseniya pestitsidov i udobrenii v sisteme tochnogo zemledeliya [Unmanned aerial vehicles for the application of pesticides and fertilizers in the precision farming system]. Sel'skokhozyaistvennye mashiny i tekhnologii. – Agricultural Machineru and Technologies, 2017; 3: 10–16 (in Russ.).
10. Voronkov I. V. Metodika i apparatno-programmnye sredstva dlya monitoringa sostoyaniya posevov na rannikh stadiyakh vegetatsii [Methodology and hardware and software for monitoring the condition of crops in the early stages of vegetation]. Sel'skokhozyaistvennye mashiny i tekhnologii. – Agricultural Machineru and Technologies, 2017; 5: 33–37 (in Russ.).
11. Kurnosov A. F., Guskov Yu. A. Sposob uborki zernovykh kul'tur [Method of grain crop harvesting]. Patent RF, no 2659243 yandex.ru 2020 Retrieved from https://yandex.ru/patents/doc/RU2659243C1_20180629 (Accessed 10 February 2023) (in Russ.).
12. Izmailov A. Yu., Lobachevskii Ya. P., Khoroshenkov V. K. Optimizatsiya upravleniya tekhnologicheskimi protsessami v rastenievodstve [Optimization of process control in crop production]. Sel'skokhozyaistvennye mashiny i tekhnologii. – Agricultural Machineru and Technologies, 2018; 12 (3): 4–11 (in Russ.).
13. Izmailov A. Yu., Khoroshenkov V. K., Kolesnikova V. A. Sredstva avtomatizatsii dlya upravleniya sel'skokhozyaistvennoi tekhnikoi [Automation tools for the control of agricultural machinery]. Sel'skokhozyaistvennye mashiny i tekhnologii. – Agricultural Machineru and Technologies, 2017; 3: 3–9 (in Russ.).