Obstacle detection method for plant protection UAV based on laser displacement sensor

Abstract

The present invention discloses a laser displacement sensor-based plant protection unmanned aerial vehicle obstacle detection method and belongs to the detection technical field. The method comprisesthe following steps that: when a plant protection unmanned aerial vehicle arrives at a work area and starts operation, an obstacle detection function is started; obstacle data are collected in real time during the operation; obstacle data blocks are extracted from data collected each time; obstacle parameters are analyzed and calculated according to the extracted data blocks; and pattern identification is performed on obstacle types. The laser displacement sensor-based plant protection unmanned aerial vehicle obstacle detection method of the present invention is not affected by ambient light,has good real-time performance and high detection accuracy, can meet nighttime operation requirements and realize the on-line detection of farmland obstacles during the operation of the plant protection unmanned aerial vehicle.

Description

technical field [0001] The present invention relates to the field of detection technology, in particular to an online detection method for farmland obstacles, and more specifically, to an online detection method for farmland obstacles based on laser displacement sensors used in the operation of plant protection drones . Background technique [0002] With the aging of my country's population and the continuous development of urbanization, the rural labor force will face a long-term shortage. It is an inevitable development trend to replace manpower with machines. At present, the plant protection drones used for pesticide spraying have developed rapidly in recent years. In some plant protection operation areas, there will be common obstacles such as trees and utility poles. The existence of obstacles will affect the safety of plant protection drone operations. Therefore, Obstacle detection and automatic obstacle avoidance are one of the key technologies to ensure the safety o...

AI Technical Summary

Problems solved by technology

Through the natural light image collection and analysis of the operation scene, the position information of obstacles is obtained to realize obstacle avoidance. Natural light imaging is easily affected by ambient light, and the amount of image data is large, which affects the recognition rate of real-time online detection; it is difficult to detect when the light is insufficient, and it is impossible to work at night.

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