The Research On Key Technology Of Agricultural Unmanned Aerial Vehicle For Disaster Monitoring And Plant Protection

Agricultural UAV(Unmanned Aerial Vehicle)is a kind of unmanned aircraft that is dynamic,controllable and can carry a variety of task devices to perform many agricultural tasks and be used repeatedly.It is widely used in the field of information of remote sensing,agricultural condition monitoring,pesticide plant protection and other agricultural areas.This paper researches on technologies which use Multi blade unmanned agricultural aircraft to conduct two kinds of typical plant protection work,agricultural condition monitoring and pesticide plant protection.The technologies of agricultural condition monitoring mainly solve how to use UAV to make an inspection tour to master the situation of a disaster area,how to calibrate the camera system,how to calculate and access the size of affected area and how to plan multi sampling point circuit route.The technologies of pesticide plant protection mainly solve how to plan the route when UAV is conducting pesticide plant protection task.First of all,this paper analyzes the current situation of agricultural UAV and the application of agricultural technology at home and abroad,and then expounds the research background and significance of this paper.Secondly,aiming at the problem of calibrating agricultural remote sensing UAV camera system and based on camera imaging principle,a linear calibration model of camera is established and camera intrinsic and extrinsic parameters is calibrated.On this basis,according to known camera parameters and the flight height information of the aircraft,the paper studies the methods of processing farmland disaster area images and provides coordinate of polygon target in affected areas and the method of calculating the area.Furthermore,aiming at problem of planning the multi aerial sampling point inspection tour of a large affected area,the pater attributes it to the multiple traveling salesman mathematical model and provides UAV flight sorties as well as the method of the voyage operation path planning with the help of genetic algorithm.Finally,aiming at the problem of planning the UAV route of plant spraying,the paper analyzes the influence of wind on spraying operations and provides the "reentrant" operation mode to achieve full coverage of the working area of the UAV route planning method.The feasibility of the model and method is verified by simulation and experiment.