植保无人机作业管控关键技术研究.pdf

植保无人机作业管控关键技术研究 摘 要 近年来，植保无人机在农田作业的喷灌，播种，生长监控等方面发挥巨大作用，植 保无人机具有远距离作业，作业效率高，作业精准度高，作业量大，成本低廉等特点， 因此备受农业植保相关行业青睐。实现智能化作业管控是植保无人机实现高效作业的关 键，而地面控制站是实现植保无人机作业管控的载体，通过地面控制站管控实现定位导 航，智能作业，飞行控制和障碍物检测。纵观整个行业，缺少一款能真正满足企业植保 无人机作业管控需求的地面控制站系统，为此本文设计开发了一款能够在移动端和电脑 端进行数据交互并且满足企业植保无人机作业管控需求的地面控制站系统软件。 论文针对企业对植保无人机导航定位以及作业规划的需求，设计了基于高精度地图 的导航定位功能。针对特种作业模式以及数据反馈需求，实现了植保无人机作业航线自 动生成和实时作业监测的智能作业功能。针对植保无人机障碍物检测需求，提出了一种 基于光飞行时间的多点深度传感器的障碍物检测方法，并在嵌入式 linux 系统平台实现 了障碍物检测，同时将检测结果反馈到地面控制站。 最后本文对上述地面控制站进行了实验测试，测试的结果均达到需求；障碍物检测 的实验结果具有良好的实时性和准确性，可以满足植保无人机避障算法的研究扩展。 关键词：植保无人机; 作业管控; 地面控制站; 智能作业; 障碍物检测 I Research on Key Technologies of Farming Management and Control of UAV of Plant Protection Abstract In recent years, UAV of agricultural plant protection has played a great important role in sprinkler irrigation, seeding, growth monitoring and other aspects of farmland task.UAV of plant protection has the characteristics of long-distance, fast , high accuracy, large quantity, low cost, etc., so it is favored by the relevant industries of agricultural plant protection.The management and control of farming is important to the function of UAV of agricultural plant protection. Ground control station is the carrier of plant protection UAV operation control. Through ground control station management and control, positioning and navigation, intelligent operation, flight control and obstacle detection can be realized. Throughout the industry, there is a lack of a ground control station system that can truly meet the needs of plant protection UAV farming management and control. Therefore, this paper designs and develops a ground control station system software th