[American Society of Agricultural and Biological Engineers 2019 Boston, Massachusetts July 7- July 10, 2019 - ()] 2019 Boston, Massachusetts July 7- July 10, 2019 - <i>Laser detection of the boundary of UAV spray operation</i>

摘要： The agricultural plant protection UAV is beneficial to reducing pesticide, improving utilization rate, reducing harm to human beings and animals. The boundary detection and identification of the drone spray operation is an important aspect of the UAV spraying. The two-dimensional laser scanning range finder has the function of measuring object reflection characteristics. In order to obtain the detailed field information in the sampling interval, the laser detection system constructed not only measures the distance from the UAV to the rice and ridge, but also measures the reflection value of the rice and ridge. The distance between the rice and ridge is used as the threshold to identify the boundary. The signal division point appears near 1m with a variance of 0.27m. In the process of segmentation, there are many misjudgment points on the left side of the laser emission origin. Accurate identification of boundaries can provide a basis for path planning, especially the UAV spraying.