Research On UAV Mapping Technology Applied In Agricultural Plant Protection

In recent years,China's rural labor force has been continuously lost,and agricultural production costs have continued to increase.In order to reduce the cost of plant protection and improve the efficiency of work,the plant protection drone with independent operation capability has been widely used.At present,the main operation target of plant protection drones is field crops in plain areas,and the operation plan is relatively mature.However,China's plain terrain accounts for only 12%of the total land area.In other complex teirains,there arc also a variety of crops that can be used for plant protection and drone maintenance.The application space of plant protection drones is still very broad.However,in order to realize the autonomous operation of the plant protection drone in these complex terrains,it is necessary to combine the elevation data of a large number of terrains and other features to plan the plant protection operation route.To this end,there is a need for a method for quickly obtaining ground information and extracting surface elevation data.The terrain 3D model reconstruction technology based on UAV mapping technology can realize the rapid acquisition and processing of surface elevation information.Therefore,the research on terrain 3D model reconstruction technology based on UAV mapping technology is of great significance to the autonomous operation of plant protection drones in the field of agricultural plant protection.The main research contents of this paper include:(1)Aiming at the problem that it is difficult for the plant protection UAV to operate autonomously in complex tenrain,a solution based on UAV mapping technology for the autonomous operation of the complex terrain plant protection UAV is proposed.By acquiring the positive photography image of the ground,this scheme generates the three-dimensional model of the teirain,extracts the height infonnation therein,and combines the route planning algorithm of the UAV for plant protection to generate the route for plant protection operation with height changes,so that the UAV plant protection operation can adapt to the complex terrain.(2)The key algorithm of the autonomous operation solution of plant protection UAV is studied.It can realize aerial photography UAV route planning,image distortion correction,image 3D reconstruction,3D model correction and other functions,and on the basis of extracting ground elevation information,it can plan the autonomous operation route of plant protection UAV for complex terrain.(3)Completed the software and hardware design of the autonomous operation solution of the plant protection UAV.DJI UAV was selected as the ground image acquisition tool,and the production and processing of 3D terrain model were realized by Agisoft PhotoScan,ArcGIS and other software.(4)A terrain 3D model correction algorithm is proposed to correct the overall distortion of the model.(5)On the basis of the generated high-precision 3D model of complex terrain,the field operation experiment of plant protection UAV in tea garden was designed,and the autonomous operation of plant protection UAV in complex terrain was successfully realized.