基于射线检测算法的无人机植保作业电子围栏设计

Design of Electronic Fence of UAV for Plant Protection Assignment Based on Ray Method

保障植保无人机执行喷洒作业时不越过作业地块边界,是保证植保无人机作业安全性与高效性的必要前提。设计了一种高效可靠的无人机植保作业电子围栏,能够实时检测无人机是否越界,并在有越界风险时及时发出预警。首先,算法根据作业地块边界、无人机飞行速度等关键要素确定电子围栏报警模型并由此生成安全边界。当无人机飞行在安全边界内时,算法不对其进行越界检测;当无人机飞行于安全边界与作业边界之间时,算法将进行越界检测并同时发出预警,提示无人机操作人员随时准备控制无人机改变航向;当无人机飞行于作业边界之外时,将反馈越界标志,提供给飞行控制系统或无人机操作人员介入控制。测试表明:无人机植保作业电子围栏能够实现高效、可靠的飞行监测,实时检测植保无人机飞行是否越界,并在有越界风险时及时发出越界预警。

It is very important and necessary to ensure plant protection unmanned aerial vehicle( UAV)not to cross its working field border when it is performing spray job. Meanwhile,it is the key technology for farmers to keep their working UAVs safe and with high working efficiency. In order to guarantee the security and efficiency of working plant protection UAV,a highly efficient and reliable electronic fence system was designed and developed based on ray method,which could be used for detecting whether the UAV had crossed its working field's border,and giving a warning in time when there was cross-border trend. The basic idea of the method was to generate a safety border inside the working field's original border based on the area of field border and UAV's flying speed. When the UAV was detected to fly inside the safety boundary,there was no need for cross-border detection; when the UAV was detected to fly between its working field's border and its safety border,it was needed to proceed detecting whether the UAV was going to cross the working field's border,and a warning should be triggered by electronic fence system if the UAV was going to cross the border. The system would throw an exception when the UAV was out of its working field's border. The system was tested and the results showed that the developed electronic fence system for plant protection UAV could be used to detect UAVs' flying state in real time,and monitor whether plant protection UAVs crossed their working border and give a warning in time whenever there was any cross-border trend.