触觉感知遥操控无人机精准变量施药

UAV (unmanned aerial vehicle) spraying has been developed rapidly. Nowadays, the key issue is that the human operator is overly depended on the visual sensenation. In this project, therefore, teleoperated UAV precise variable spraying mode by integrated haptic and visual sensation together has been proposed to solve it. The main topics can be summarized as follow: 1st, human recognition and decision making is established by the acquired haptic sensation based on the psychophysics, and the theory model between stimulus strength and frequency with human perception is obtained; 2nd, according to the human perception theory, haptic sensation based on the Magneto-rheological fluids (MRFs) recreation theory and method can be obtained, in addition, haptic teleoperation of UAV spraying control algorithm and method can be obtained; 3rd, haptic sensation recreating control law, variable-rate precise spraying and obstacle avoidance control algorithms can be established based on acquired prescription map during in the teleoperated UAV spraying practice; 4th, based on the workload calibrated theory in the human machine interaction, workload evaluation between the fusion sensation (haptic plus visual)and visual sensation only will be done in the teleoperated UAV spraying experiments. Agricultural pesticide spraying mode can be refreshed according to the experimental results. The results and conclusions acquired in this research will provide theory and method support for haptic teleoperated robot system.

当前无人机植保作业发展较快，遥操控无人机植保作业存在对视觉感知过度依赖问题，且尚未引起足够重视。本项目提出力/触觉与视觉感知融于一体的新型遥操控无人机精准变量喷施作业模式，解决对视觉感知的过度依赖问题。重点研究: （1）研究基于心里物理学规律的触觉感知决策实施理论，建立力/触觉强度、频率与感知决策理论模型；（2）结合力/触觉感知决策理论模型，研究基于磁流变液的力/触觉感知再现理论与方法，并提出力/触觉感知遥操控无人机植保作业控制理论与实现方法；（3）结合应用背景，研究基于遥感系统实时获取农作物病虫害信息并解析出的施药处方图，获取基于力/触觉感知的精准变量农药喷施控制规律、力/触觉感知田间避障控制规律；（4）据人机交互中劳动强度计算理论，进行二元感知与单一视觉感知遥操控植保无人机植保作业对比实验研究，总结规律并创新植保作业模式。研究成果为触觉感知遥操控机器人领域的研究提供理论基础与技术支撑。

针对当前无人机植保作业快速发展，遥操控无人机植保作业存在对视觉感知过度依赖问题，且未引起足够重视。本项目提出力触觉与视觉感知融于一体的遥操控无人机精准变量喷施作业模式，解决对视觉感知的过度依赖问题。主要进行了，基于心里物理学规律的触觉感知理论模型研究，结合已研究的力触觉感知理论模型，依据研发的触觉感知操作平台，研究了力触觉感知再现控制模型。并结合实际应用背景，研究了病虫害施药处方；并依据人机交互中劳动强度计算理论，进行了二元感知与单一视觉感知遥操控植保无人机植保作业对比实验研究。研究成果可为触觉感知遥操控机器人领域的研究提供理论基础与技术支撑。