CN110709795A

CN110709795A - Agricultural unmanned aerial vehicle, storage medium, spraying system and control method and device thereof

Info

Publication number: CN110709795A
Application number: CN201880031596.8A
Authority: CN
Inventors: 常子敬; 周乐; 潘国秀; 何纲
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2020-01-17
Also published as: WO2019232691A1

Abstract

The invention discloses an agricultural unmanned aerial vehicle, a storage medium, a spraying system and a control method and a device thereof, wherein the method comprises the following steps: the liquid flow in the pipeline in the spraying system is obtained through a micro-mechanical thermal flowmeter, the micro-mechanical thermal flowmeter comprises a micro-electromechanical system and a measuring pipeline, the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of the liquid, and at least part of the thermosensitive element is leaked in the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline; and controlling the spraying system according to the liquid flow. According to the technical scheme disclosed by the invention, the liquid flow in the pipeline in the spraying system is obtained through the arranged micro-mechanical thermal flowmeter, the spraying system is controlled according to the liquid flow, the flow speed under the small flow is effectively and accurately measured, in addition, the micro-mechanical thermal flowmeter has low power consumption and light weight, is very suitable for airborne measurement, improves the measurement precision, and is beneficial to accurate flow control and accurate supplement of liquid medicine.

Description

Agricultural unmanned aerial vehicle, storage medium, spraying system and control method and device thereof

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an agricultural unmanned aerial vehicle, a storage medium, a spraying system, a control method and a control device of the spraying system.

Background

At present, unmanned aerial vehicles are applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, wherein the agricultural unmanned aerial vehicle is just emerging in China, is very fierce in development, is high in flying prevention operation efficiency by utilizing an unmanned aerial vehicle, is good in effect, and is an important direction of future agricultural development. The key of realizing high-efficient accurate operation is to fly to prevent that the in-process can accurate control pesticide sprays the volume, consequently, unmanned aerial vehicle agricultural sprays the measurement that operating system need can be accurate and carries the pesticide volume and spray the dose in real time, ensures that the operation process is even, accurate, controllable.

The existing spraying flow measurement mode of the unmanned aerial vehicle mainly adopts a turbine flowmeter, the impeller of the flowmeter is stressed to rotate under the action of fluid, the rotating speed of the flowmeter is in direct proportion to the average flow speed of a pipeline, the volume of the fluid is measured by measuring the number of turns of the impeller, and the rotating speed of the impeller is measured to measure the flow speed of the fluid. However, turbine flow meters have large errors in long-term consistency, requiring periodic user calibration, such as: measurement errors can be caused by medium viscosity change, liquid medicine corrosion, impurity precipitation and the like.

Disclosure of Invention

The invention provides an agricultural unmanned aerial vehicle, a storage medium, a spraying system, a control method and a control device of the agricultural unmanned aerial vehicle, and aims to solve the problems that when a turbine flowmeter is adopted to measure flow in the prior art, the turbine flowmeter has large errors in long-term consistency and needs to be calibrated regularly by a user.

A first aspect of the present invention is directed to a method of controlling a sprinkler system, comprising:

obtaining the liquid flow in a pipeline in a spraying system through a micro-mechanical thermal flow meter, wherein the micro-mechanical thermal flow meter comprises a micro-electromechanical system and a measuring pipeline, the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks into the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline;

and controlling the spraying system according to the liquid flow.

A second aspect of the present invention is to provide a control device of a sprinkler system, comprising:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement: obtaining the liquid flow in a pipeline in a spraying system through a micro-mechanical thermal flow meter, wherein the micro-mechanical thermal flow meter comprises a micro-electromechanical system and a measuring pipeline, the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks into the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline; and controlling the spraying system according to the liquid flow.

A third aspect of the present invention is to provide a sprinkler system comprising:

the micro-mechanical thermal flowmeter is arranged in a pipeline and used for collecting the liquid flow in the pipeline and sending the liquid flow to the control device; the method comprises the following steps: the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks out of the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline;

the control apparatus, comprising one or more processors, operating individually or in concert, to: and the micro mechanical thermal flow meter is in communication connection with the spraying system and is used for receiving the liquid flow in the pipeline acquired by the micro mechanical thermal flow meter and controlling the spraying system according to the liquid flow.

A fourth aspect of the present invention is to provide a storage medium, which is a computer storage medium having stored therein program instructions for implementing the control method of the sprinkler system of the first aspect.

A fifth aspect of the present invention is to provide an agricultural drone, including:

a frame;

the sprinkler system set up in the frame, include: the device comprises a micro-mechanical thermal flow meter and a control device in communication connection with the micro-mechanical thermal flow meter;

the micromechanical thermal flowmeter is arranged in a pipeline and used for collecting the liquid flow in the pipeline and sending the liquid flow to a control device, and comprises: the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks out of the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline;

the control device comprises one or more processors, acting alone or in conjunction, to: and receiving the liquid flow in the pipeline acquired by the micro-mechanical thermal flowmeter, and controlling the spraying system according to the liquid flow.

The agricultural unmanned aerial vehicle, the storage medium, the spraying system and the control method and the device thereof provided by the invention can obtain the liquid flow in the pipeline of the spraying system through the arranged micro-mechanical thermal flowmeter, and control the spraying system according to the liquid flow, thereby effectively solving the problems that the turbine flowmeter has larger error in long-term consistency and needs to be regularly calibrated by a user when adopting the turbine flowmeter to measure the flow in the prior art, in particular, the micro-mechanical thermal flowmeter is approximate to a straight-through pipeline, has no pressure loss, can accurately measure the flow rate under small flow, has low power consumption and light weight, is very suitable for airborne measurement, improves the measurement precision by calibrating the liquid to be measured, realizes the accurate flow control and the accurate supplement of liquid medicine during spraying operation, and effectively ensures the accurate degree of the use of the control method, is beneficial to the popularization and the application of the market.

Drawings

Fig. 1 is a schematic flow chart illustrating a control method of a spraying system according to an embodiment of the present invention;

fig. 2 is a schematic structural frame diagram of a micro-mechanical thermal flow meter according to an embodiment of the present invention;

fig. 3 is a first schematic flow chart of obtaining a first liquid flow rate in a first pipeline by the micro-mechanical thermal flowmeter according to the embodiment of the present invention;

fig. 4 is a schematic flow chart of obtaining a first liquid flow rate in a first pipeline through the micro-mechanical thermal flow meter according to the embodiment of the present invention;

fig. 5 is a first schematic flow chart of obtaining a second liquid flow rate in a second pipeline through the micro-mechanical thermal flow meter according to the embodiment of the present invention;

fig. 6 is a schematic flow chart of obtaining a second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter according to the embodiment of the present invention;

fig. 7 is a schematic flow chart of obtaining a liquid flow rate in a pipeline in a spraying system through a micro-mechanical thermal flowmeter according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart of the embodiment of the present invention for determining the total liquid flow of the pipeline according to the characteristic ratio and the branch liquid flow;

FIG. 9 is a schematic structural diagram of a control device of a spraying system according to an embodiment of the present invention;

FIG. 10 is a top view of a sprinkler system in accordance with an embodiment of the present invention;

FIG. 11 is a side view of a sprinkler system provided in accordance with an embodiment of the present invention;

FIG. 12 is a schematic view of another sprinkler system according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of an agricultural unmanned aerial vehicle according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram ii of an agricultural unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the present invention, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.

The unmanned aerial vehicle among the prior art sprays measurement of flow and mainly adopts the turbine flowmeter, and this kind of flowmeter is under the fluidic effect, and the impeller atress is rotatory, and its rotational speed is directly proportional with pipeline average velocity of flow. The fluid volume is measured by measuring the number of turns the impeller turns, and the fluid flow rate is measured by measuring the impeller speed. However, due to the presence of moving parts and the high requirements for structural design, it is difficult to make a small, lightweight and reliable product for onboard flow measurement of an unmanned aerial vehicle, and such a flow meter has large errors in long-term consistency, requiring periodic user calibration, for example: measurement errors can be caused by medium viscosity change, liquid medicine corrosion, impurity precipitation and the like.

Fig. 1 is a schematic flow chart illustrating a control method of a spraying system according to an embodiment of the present invention; fig. 2 is a schematic structural frame diagram of a micro-mechanical thermal flow meter according to an embodiment of the present invention; as can be seen with reference to fig. 1-2, in order to overcome the above-mentioned drawbacks, the present embodiment provides a method for controlling a spraying system, which is used for precisely controlling a liquid filling and/or a liquid spraying process of the spraying system, and specifically, the method may include:

s101: obtaining the liquid flow in the pipeline in the spraying system through a micro-mechanical thermal flowmeter, wherein the micro-mechanical thermal flowmeter comprises a micro-electromechanical system and a measuring pipeline 200, the micro-electromechanical system comprises a thermosensitive element 201 for measuring the temperature of the liquid, and the thermosensitive element 201 at least partially leaks into the measuring pipeline 200 so that the thermosensitive element 201 can be in contact with the liquid in the measuring pipeline 200;

the micro-mechanical system (MEMS) thermal flowmeter is a sensor for measuring the heat distribution of a medium in a pipeline, measures the temperature difference between an upstream and a downstream of a heat source by setting a fixed heat source and a temperature measuring point in the pipeline, and then estimates the flow in the pipeline by amplifying, conditioning, denoising and other processes of a temperature difference signal; the liquid flow in the pipeline 200 is measured by the micro-mechanical thermal flow meter, so that the accuracy and the reliability of measurement are effectively guaranteed, the micro-mechanical thermal flow meter does not need to be provided with a movable part, the measurement result is not influenced by vibration, the micro-mechanical thermal flow meter is convenient to miniaturize and lighten, and the convenience degree of use is further improved. In addition, the pipes may include an inlet pipe and an outlet pipe, and the liquid may be water, a liquid medicine (agricultural liquid medicine, medical liquid medicine, or the like), or other flowable liquid, or the like.

S102: and controlling the spraying system according to the liquid flow.

After the liquid flow is obtained, the spraying system can be controlled according to the measured liquid flow, specifically, different control strategies can be set for the liquid flow of the pipelines at different positions, for example: when the pipeline is a liquid inlet pipeline, the measured liquid flow of the pipeline is the filling liquid flow, the filling operation of the spraying system can be controlled according to the measured liquid flow, and the filling flow, the filling time and the like of the liquid can be specifically controlled; when the pipeline is a liquid outflow pipeline, the measured liquid flow of the pipeline is the outflow liquid flow, the spraying operation of the spraying system can be controlled according to the measured liquid flow, and the spraying amount, the spraying time and the like of the liquid can be specifically controlled; of course, those skilled in the art can set a corresponding control strategy according to specific design requirements as long as the accurate and reliable control of the spraying system can be effectively ensured.

The control method of the spraying system provided by this embodiment obtains the liquid flow rate in the pipeline in the spraying system through the micro mechanical thermal flowmeter, and the spraying system is controlled according to the liquid flow, thereby effectively solving the problems that when the flow is measured by a turbine flowmeter in the prior art, the turbine flow meter has large errors in long-term consistency and needs to be calibrated regularly by a user, and particularly, because the micro-mechanical thermal flowmeter is similar to a straight pipeline, no pressure loss exists at all, the flow velocity under small flow can be accurately measured, the sensor has low power consumption and light weight, is very suitable for airborne measurement, improves the measurement precision by calibrating the liquid to be measured, realizes accurate flow control and accurate supplement of liquid medicine during spraying operation, effectively ensures the use accuracy of the control method, and is beneficial to market popularization and application.

On the basis of the foregoing embodiment, with continued reference to fig. 1-2, in this embodiment, a specific implementation manner of obtaining the liquid flow rate in the pipeline in the spraying system through the micro mechanical thermal flow meter is not limited, and a person skilled in the art may set the implementation manner according to specific design requirements, where an application scenario that can be implemented is that the measured liquid flow rate is a spraying liquid flow rate, at this time, it is necessary to control the liquid to flow out of the water tank to reach a spraying load, and then to be sprayed out through the spraying load, and then, obtaining the liquid flow rate in the pipeline in the spraying system through the micro mechanical thermal flow meter may include:

s1011: a first liquid flow in a first pipeline is obtained through a micro mechanical thermal type flow meter, wherein the first pipeline is arranged between a water tank and at least one water pump in a spraying system, and the other side of the water pump is connected with a spraying load.

Wherein, first pipeline is the blowout pipeline, sprays the load and can be one or more shower nozzles, and is concrete, and liquid storage is in the water tank, after the water pump pressurization, be the negative pressure between water pump and the water tank, is the malleation between water pump and the load of spraying to go out the suction with liquid from the water tank and reach spraying load department, realize the spraying process, and in the spraying process, the first liquid flow that gathers can be as the parameter of control spraying operation.

Further, fig. 3 is a schematic first flowchart of a process for obtaining a first liquid flow rate in a first pipeline through a micro-mechanical thermal flowmeter according to an embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen with continued reference to fig. 3, in order to ensure accurate and reliable measurement of the first liquid flow, the obtaining of the first liquid flow in the first pipeline by the micro-mechanical thermal flow meter in the present embodiment may include:

s10111: acquiring pressure information in a first pipeline;

wherein the pressure information in the first conduit may be measured by a liquid pressure sensor arranged within the first conduit.

S10112: and when the pressure information is in a stable state, acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal flowmeter.

The micro-mechanical thermal flowmeter determines the flow speed of liquid in the pipeline by measuring the temperature difference of liquid at upstream and downstream of a heat source, the pressure needs to be ensured to be constant in measuring time, the liquid in the pipeline is full of the pipeline, and the micro-mechanical thermal flowmeter is horizontally arranged at the lower position of the pipeline as far as possible, so that the pipeline can be ensured to be full of the liquid. Therefore, after the pressure information is obtained, the pressure information can be analyzed and processed, whether the pressure information is in a stable state or not is judged, specifically, the pressure information can be analyzed and compared with a preset threshold pressure, if the pressure information is smaller than or equal to the threshold pressure, the pressure information can be determined to be in the stable state, at the moment, the pressure between the water pump and the water tank is also stable, at the moment, the first liquid flow is collected, and the accuracy of the first liquid flow measurement can be improved; when the pressure information is greater than the threshold pressure, the pressure information can be determined to be in an unstable state, and at this time, it is also indicated that the pressure change between the water pump and the water tank is large, and at this time, accurate measurement of the first liquid flow is inconvenient.

In order to further improve the accuracy and reliability of the pressure information judgment, the pressure information in the first pipeline can be obtained for multiple times within a preset time period, whether the pressure information is in a stable state every time is further judged, and if the pressure information is in the stable state, the first liquid flow can be obtained; if most of the pressure information in the multiple times of pressure information is in an unstable state, at this time, in order to ensure the accuracy and reliability of the first liquid flow measurement, it is inconvenient to acquire the first liquid flow.

The first liquid flow in the first pipeline is obtained through the micro mechanical thermal type flowmeter, and the first liquid flow can be collected when the pressure information is in a stable state, so that the accuracy degree of obtaining the first liquid flow is effectively guaranteed, and the accuracy and reliability of controlling the spraying operation in the spraying system according to the first liquid flow are improved.

Fig. 4 is a schematic flow diagram of a second process for obtaining a first liquid flow rate in a first pipeline through a micro-mechanical thermal flow meter according to an embodiment of the present invention, and as can be seen with reference to fig. 4, on the basis of the above embodiment, when obtaining the first liquid flow rate, because the first liquid flow rate is a collected liquid flow rate in the first pipeline, and the first pipeline is disposed between a water tank and at least one water pump in a spraying system, considering that a range of the micro-mechanical thermal flow meter is generally small, and when a plurality of water pumps in the spraying system operate simultaneously, a total flow rate may exceed that of the micro-mechanical thermal flow meter, therefore, in order to ensure stable reliability of use of the micro-mechanical thermal flow meter, obtaining the first liquid flow rate in the first pipeline through the micro-mechanical thermal flow meter in this embodiment may include:

s10113: acquiring a first sub-liquid flow in a first pipeline when a single water pump works through a micro mechanical thermal flowmeter;

when first pipeline sets up between water tank and a plurality of water pumps in sprinkler system, can control any one water pump in a plurality of water pumps and carry out work, when this water pump alone worked, can gather the first sub liquid flow of first pipeline through the thermal type flowmeter of micromachine.

S10114: acquiring a first rotating speed relation between other water pumps connected with a water tank in a spraying system and a water pump;

before, during or after the first sub-liquid flow is obtained, the rotating speed relation between the water pump which works independently and other water pumps in the spraying system can be obtained, and generally, the rotating speed of the water pump has a relation with the lift of the water pump, the diameter of an impeller, the outlet angle of blades, the number of blades and the like, so that the first rotating speed relation between the other water pumps and the water pump which works independently can be obtained through analysis by collecting the information.

S10115: a first liquid flow rate of the first conduit is determined based on the first rotational speed relationship and the first sub-liquid flow rate.

After the first rotation speed relation is obtained, the first rotation speed relation and the first sub liquid flow are analyzed and processed, and then the first liquid flow can be determined; for example: the rotating speed and/or the number of turns of a motor for driving the water pump can be determined according to the first rotating speed relation, and then the first liquid flow can be determined according to the direct proportional relation between the rotating speed and/or the number of turns of the motor and the liquid flow; of course, a person skilled in the art may also use other manners to determine the first liquid flow rate in the first pipeline, as long as the accuracy and reliability of obtaining the first liquid flow rate can be ensured, which is not described herein again.

In the embodiment, the flow of a single water pump is measured firstly, then the flow relation is calculated through the actual rotating speed relation of a plurality of water pumps, and then the total flow relation is calculated, so that the accuracy of the flow measurement of the first liquid is ensured while the safety and the reliability of the operation of the micro-mechanical thermal flowmeter are ensured, and the safety and the reliability of the control method are further improved.

Further, on the basis of the foregoing embodiment, with continuing reference to fig. 1 to 4, after obtaining the first liquid flow rate, in order to improve the practicability of the method, the controlling the spraying system according to the liquid flow rate in this embodiment may include:

s1021: the spray operation of the spray system is controlled in accordance with the first liquid flow rate.

In particular, the flow rate, speed, etc. of the spray liquid may be controlled in accordance with the first liquid flow rate, thereby achieving accurate control of the operation of spraying the liquid.

On the basis of the foregoing embodiment, with continued reference to fig. 1-2, as for a specific implementation manner of obtaining the liquid flow rate in the pipeline of the spraying system through the micro mechanical thermal flow meter, another application scenario that can be realized is that the measured liquid flow rate is a filling liquid flow rate, at this time, the liquid flows to the water tank from the water pump, so as to fill the water tank, and obtaining the liquid flow rate in the pipeline of the spraying system through the micro mechanical thermal flow meter may include:

s1012: and acquiring a second liquid flow in a second pipeline through the micro mechanical thermal flowmeter, wherein the second pipeline is arranged between a liquid filler and at least one water pump in the spraying system, and the other side of the water pump is connected with a water tank.

The second pipeline is a filling pipeline, the liquid filler can be a medicine box, specifically, liquid is stored in the liquid filler, negative pressure exists between the water pump and the liquid filler after the water pump is pressurized, positive pressure exists between the water pump and the water tank, so that the liquid is sucked out of the liquid filler and reaches the position of the water tank, the liquid filling process is achieved, and the collected second liquid flow can be used as a parameter for controlling the liquid filling process in the liquid filling process.

Fig. 5 is a first schematic flow chart of obtaining a second liquid flow rate in a second pipeline through a micro-mechanical thermal flowmeter according to an embodiment of the present invention; on the basis of the foregoing embodiment, as can be seen with continued reference to fig. 5, in order to ensure accurate and reliable flow measurement of the second liquid, the obtaining, by the micro-mechanical thermal flowmeter, the second liquid flow in the second pipeline in the present embodiment may include:

s10121: acquiring pressure information in the second pipeline;

wherein the pressure information in the second conduit may be measured by a liquid pressure sensor arranged in the second conduit.

S10122: and when the pressure information is in a stable state, acquiring a second liquid flow in the second pipeline through the micro-mechanical thermal flowmeter.

After the pressure information in the second pipeline is acquired, the pressure information can be analyzed and processed, whether the pressure information is in a stable state or not is judged, specifically, the pressure information can be analyzed and compared with a preset threshold pressure, if the pressure information is smaller than or equal to the threshold pressure, the pressure information can be determined to be in the stable state, at the moment, the pressure between the water pump and the liquid adding device is also stable, at the moment, the flow of the second liquid is collected, and the accuracy of the flow measurement of the second liquid can be improved; and when the pressure information is greater than the threshold pressure, the pressure information can be determined to be in an unstable state, and at the moment, the pressure change between the water pump and the liquid filler is large, so that the accurate measurement of the flow of the second liquid is inconvenient.

In order to further improve the accuracy and reliability of the pressure information judgment, the pressure information in the second pipeline can be obtained for multiple times within a preset time period, whether each piece of pressure information is in a stable state or not is further judged, and if the pieces of pressure information are in the stable state, the second liquid flow can be obtained; if most of the pressure information in the multiple times of pressure information is in an unstable state, the second liquid flow is not convenient to acquire in order to ensure the accuracy and reliability of the second liquid flow measurement.

Second liquid flow in the second pipeline is obtained through the micro-mechanical thermal type flow meter, and the second liquid flow can be collected when the pressure information is in a stable state, so that the accuracy degree of obtaining the second liquid flow is effectively guaranteed, and the accuracy reliability of controlling the spraying operation in the spraying system according to the second liquid flow is improved.

Fig. 6 is a schematic flow diagram of a second process for obtaining a second liquid flow rate in a second pipeline through a micro-mechanical thermal flow meter according to an embodiment of the present invention, and as can be seen with reference to fig. 6, on the basis of the foregoing embodiment, when obtaining the second liquid flow rate, because the second liquid flow rate is a collected liquid flow rate in the second pipeline, and the second pipeline is disposed between the liquid charger and the at least one water pump, considering that a range of the micro-mechanical thermal flow meter is generally small, and when a plurality of water pumps in the spraying system operate simultaneously, a total flow rate may exceed the range of the micro-mechanical thermal flow meter, and therefore, in order to ensure reliability of use of the micro-mechanical thermal flow meter, obtaining the second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter in the present embodiment may include:

s10123: acquiring a second sub-liquid flow in a second pipeline when a single water pump works through a micro mechanical thermal flowmeter;

when the second pipeline sets up between liquid filler and at least one water pump, can control any one water pump in a plurality of water pumps and carry out work, when this water pump alone worked, can gather the second sub liquid flow of second pipeline through the thermal-type flowmeter of micromachine.

S10124: acquiring a second rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

before, during or after the second sub-liquid flow is obtained, the rotating speed relationship between the water pump which works independently and other water pumps in the spraying system can be obtained, and generally, the rotating speed of the water pump has a relationship with the lift of the water pump, the diameter of an impeller, the outlet angle of blades, the number of blades and the like, so that the second rotating speed relationship between the other water pumps and the water pump which works independently can be obtained through analysis by collecting the information.

S10125: and determining the second liquid flow of the second pipeline according to the second rotation speed relation and the second liquid flow.

After the second rotation speed relation is obtained, the second liquid flow can be determined by analyzing and processing the second rotation speed relation and the second sub-liquid flow; for example: the rotating speed and/or the number of turns of the motor for driving the water pump can be determined according to the second rotating speed relationship, and then the second liquid flow can be determined according to the direct proportional relationship between the rotating speed and/or the number of turns of the motor and the liquid flow; of course, a person skilled in the art may also determine the second liquid flow rate in the second pipeline in other manners, as long as the accuracy and reliability of obtaining the second liquid flow rate can be ensured, which is not described herein again.

In the embodiment, the flow of a single water pump is measured firstly, then the flow relation is calculated through the actual rotating speed relation of a plurality of water pumps, and then the total flow relation is calculated, so that the accuracy of the flow measurement of the second liquid is ensured while the safety and the reliability of the operation of the micro mechanical thermal flowmeter are ensured, and the safety and the reliability of the control method are further improved.

Further, as can be seen with continued reference to fig. 1-2 and 5-6 on the basis of the above-mentioned embodiment, after the second liquid flow rate is obtained, in order to improve the practicability of the method, the controlling of the spraying system according to the liquid flow rate in the embodiment may include:

s1022: and controlling the liquid filling operation of the spraying system according to the second liquid flow.

Specifically, the flow rate, speed and the like during the spraying filling operation can be controlled according to the second liquid flow rate, so that the accurate control of the liquid filling operation is realized.

Fig. 7 is a schematic flow chart of obtaining a liquid flow rate in a pipeline in a spraying system through a micro-mechanical thermal flowmeter according to an embodiment of the present invention; FIG. 8 is a schematic flow chart of the method for determining the total liquid flow of the pipeline according to the characteristic ratio and the branch liquid flow provided by the embodiment of the invention; on the basis of the above embodiment, as can be seen with continued reference to fig. 7-8, the pipeline in the present embodiment may include a main pipeline and a branch pipeline connected to the main pipeline; at this time, obtaining, by the micro-mechanical thermal flow meter, a liquid flow rate in the pipe in the sprinkler system may include:

s1013: acquiring branch liquid flow in a branch pipeline through a micro mechanical thermal flowmeter;

because the range of the micro-mechanical thermal flowmeter is small, when the pipeline comprises the main pipeline and the branch pipeline, in order to ensure the stable and reliable work of the micro-mechanical thermal flowmeter, the branch liquid flow in the branch pipeline can be obtained through the micro-mechanical thermal flowmeter, so that the total flow in the pipeline can be obtained according to the branch liquid flow.

S1014: acquiring the characteristic proportion of a main pipeline and a branch pipeline;

before, during or after obtaining the branch liquid flow in the branch pipeline through the micro-mechanical thermal flowmeter, a characteristic ratio of the main pipeline to the branch pipeline may be obtained, and the characteristic ratio may include: pipe diameter proportion, bifurcation angle, Y-shaped angle, transition structure setting proportion (fillet structure proportion or sharp corner structure proportion) and the like.

S1015: and determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow.

After the characteristic proportion is obtained, the total liquid flow of the pipeline can be determined according to the characteristic proportion and the branch liquid flow, and specifically, determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow may include:

s10151: determining the main path liquid flow of the main path pipeline according to the branch path liquid flow and the characteristic proportion;

for example: when the characteristic ratio is a pipeline diameter ratio, assuming that the pipeline diameter ratio is 3:2, the ratio of the main-path liquid flow to the branch-path liquid flow is 3:2 and the branch liquid flow is a known quantity, so that the main liquid flow of the main pipe can be determined.

S10152: and determining the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.

After the branch liquid flow and the main liquid flow are obtained, the sum of the branch liquid flow and the main liquid flow can be determined as the total liquid flow of the pipeline, so that the accuracy and the reliability of obtaining the total liquid flow are guaranteed.

In this embodiment, for the design structure of the asymmetric shunt tube, the total pipeline flow is divided into a plurality of branch flows with fixed proportion, and the total pipeline flow is estimated by measuring the small branch flows, so that the accuracy and reliability of the total pipeline flow measurement are effectively ensured, and the safety and reliability of the micro mechanical thermal flowmeter are also improved.

It should be noted that, with reference to the foregoing embodiments, it can be seen that, in the present application, a specific pipeline may also be designed under the condition of a single water pump, where the pipeline has a fixed flow dividing ratio, and the branch liquid flow is measured under the operation of the single water pump, and the total liquid flow of the pipeline is estimated by using the branch liquid flow, the rotational speed relationship between the water pump and other water pumps, and the characteristic ratio between the main pipeline and the branch pipeline.

In summary, the control method provided by this embodiment obtains the liquid flow rate through the micro-mechanical thermal flowmeter, and the micro-mechanical thermal flowmeter has the characteristics of compact structure, low power consumption, shock resistance, low pipeline resistance, and almost no pressure loss, so that the problem of low measurement precision in the prior art is effectively overcome, and the method is suitable for an aircraft, and can realize accurate measurement of the liquid flow rate in a limited space and under the condition of almost no increased load, thereby improving the measurement precision, satisfying the accurate measurement of the aircraft on the pesticide application amount in agricultural operation, and ensuring the effectiveness and reliability of the operation.

FIG. 9 is a schematic structural diagram of a control device of a spraying system according to an embodiment of the present invention; as can be seen from fig. 9, the present embodiment provides a control device of a spraying system, the control device is used for executing the control method, and specifically, the control device may include:

a memory 101 for storing a computer program;

a processor 102 for executing a computer program stored in a memory to implement: obtaining the liquid flow in the pipeline in the spraying system through a micro-mechanical thermal flow meter, wherein the micro-mechanical thermal flow meter comprises a micro-electromechanical system and a measuring pipeline, the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of the liquid, and at least part of the thermosensitive element is leaked in the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline; and controlling the spraying system according to the liquid flow.

The specific implementation process and implementation effect of the operation steps implemented by the processor 102 in this embodiment are the same as those of the steps S101 to S102 in the above embodiment, and reference may be made to the above statements specifically, and no further description is given here.

Based on the foregoing embodiment, with reference to fig. 9, it can be seen that, in this embodiment, there is no limitation on a specific implementation manner of obtaining, by the processor 102 through the micro-mechanical thermal flow meter, a liquid flow rate in the pipeline in the spraying system, and a person skilled in the art can set the implementation manner according to specific design requirements, where an application scenario that can be implemented is that the measured liquid flow rate needs to control liquid to flow out of the water tank to the spraying load and further to obtain the liquid flow rate ejected by the spraying load, at this time, when the processor 102 obtains the liquid flow rate in the pipeline in the spraying system through the micro-mechanical thermal flow meter, the implementation scenario is configured as follows:

a first liquid flow in a first pipeline is obtained through a micro mechanical thermal type flow meter, wherein the first pipeline is arranged between a water tank and at least one water pump in a spraying system, and the other side of the water pump is connected with a spraying load.

Wherein, in order to ensure accurate reliability of the first liquid flow measurement, when the processor 102 acquires the first liquid flow in the first pipeline through the micro-mechanical thermal flow meter, it is configured to:

acquiring pressure information in a first pipeline; and when the pressure information is in a stable state, acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal flowmeter.

In addition, when the processor 102 obtains the first liquid flow rate, since the first liquid flow rate is the collected liquid flow rate in the first pipeline, and the first pipeline is disposed between the water tank and the at least one water pump in the spraying system, since the range of the micro-mechanical thermal flow meter is generally small, when a plurality of water pumps in the spraying system operate simultaneously, the total flow rate may exceed the range of the micro-mechanical thermal flow meter, in order to ensure the reliability of the use of the micro-mechanical thermal flow meter, when the processor 102 obtains the first liquid flow rate in the first pipeline through the micro-mechanical thermal flow meter, the processor is configured to:

acquiring a first sub-liquid flow in a first pipeline when a single water pump works through a micro mechanical thermal flowmeter; acquiring a first rotating speed relation between other water pumps connected with a water tank in a spraying system and a water pump; a first liquid flow rate of the first conduit is determined based on the first rotational speed relationship and the first sub-liquid flow rate.

Further, when the processor 102 controls the spraying system according to the liquid flow rate, it is configured to: the spray operation of the spray system is controlled in accordance with the first liquid flow rate.

Based on the foregoing embodiment, with reference to fig. 9, it can be seen that, in this embodiment, there is no limitation on a specific implementation manner of obtaining, by the processor 102 through the micro-mechanical thermal flow meter, a liquid flow rate in the pipeline of the spraying system, and a person skilled in the art may set the implementation manner according to specific design requirements, where another application scenario that can be implemented is to control the liquid flow rate when the liquid flows from the water pump to the water tank, so as to fill the liquid into the water tank, at this time, when the processor 102 obtains, through the micro-mechanical thermal flow meter, the liquid flow rate in the pipeline of the spraying system, the implementation manner is configured to:

and acquiring a second liquid flow in a second pipeline through the micro mechanical thermal flowmeter, wherein the second pipeline is arranged between a liquid filler and at least one water pump in the spraying system, and the other side of the water pump is connected with a water tank.

Wherein, in order to ensure the accurate reliability of the second liquid flow measurement, when the processor obtains the second liquid flow in the second pipeline through the micro-mechanical thermal type flowmeter, the processor is configured to:

acquiring pressure information in the second pipeline; and when the pressure information is in a stable state, acquiring a second liquid flow in the second pipeline through the micro-mechanical thermal flowmeter.

In addition, when the processor 102 obtains the second liquid flow rate, since the second liquid flow rate is the liquid flow rate in the second pipeline, and the second pipeline is disposed between the liquid charger and the at least one water pump, since the range of the micro-mechanical thermal flow meter is generally small, and when a plurality of water pumps are simultaneously operated in the spraying system, the total flow rate may exceed the range of the micro-mechanical thermal flow meter, in order to ensure the reliability of the use of the micro-mechanical thermal flow meter, in this embodiment, when the processor obtains the second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter, the processor is configured to:

acquiring a second sub-liquid flow in a second pipeline when a single water pump works through a micro mechanical thermal flowmeter; acquiring a second rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump; and determining the second liquid flow of the second pipeline according to the second rotation speed relation and the second liquid flow.

Further, to increase the utility of the method, when the processor 102 controls the spray system according to the liquid flow rate, it is configured to: and controlling the liquid filling operation of the spraying system according to the second liquid flow.

On the basis of the above embodiment, as can be seen with reference to fig. 9, the pipeline in the present embodiment may include a main pipeline and a branch pipeline connected to the main pipeline; at this time, when the processor 102 obtains the liquid flow rate in the pipe in the sprinkler system through the micro-mechanical thermal type flow meter, it is configured to:

acquiring branch liquid flow in a branch pipeline through a micro mechanical thermal flowmeter; acquiring the characteristic proportion of a main pipeline and a branch pipeline; and determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow.

Wherein, when the processor determines the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow, the processor is configured to: determining the main path liquid flow of the main path pipeline according to the branch path liquid flow and the characteristic proportion; and determining the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.

The control device of the spraying system provided in this embodiment can be used to execute the methods corresponding to the embodiments in fig. 2 to 8, and the specific execution manner and the beneficial effects thereof are similar and will not be described again here.

FIG. 10 is a top view of a sprinkler system in accordance with an embodiment of the present invention; FIG. 11 is a side view of a sprinkler system provided in accordance with an embodiment of the present invention; on the basis of the above embodiments, with continued reference to fig. 10 to 11, the present embodiment provides a spraying system for performing a spraying operation of a liquid, and specifically, the spraying system includes:

the micro-mechanical thermal type flow meter 301 is arranged in the pipeline 304 and used for collecting the liquid flow in the pipeline 304 and sending the liquid flow to the control device; the method comprises the following steps: the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of the liquid, and the thermosensitive element at least partially leaks into the measuring pipeline so as to be contacted with the liquid in the measuring pipeline;

control apparatus comprising one or more processors, operating individually or in concert, to: and the micro mechanical thermal flow meter 301 is in communication connection, and is used for receiving the liquid flow in the pipeline 304 acquired by the micro mechanical thermal flow meter 301 and controlling the spraying system according to the liquid flow.

The specific structure of the micro-mechanical thermal flow meter 301 can be referred to fig. 2; the specific implementation process and implementation effect of the operation steps executed by the micro-mechanical thermal flowmeter 301 and the processor in this embodiment are similar to those of steps S101 to S102 in the above embodiment, and specific reference may be made to the above statements, and details are not described here again.

In a specific application, it is realized that the pipeline 304 in the spraying system may include a first pipeline disposed between the water tank 300 and the at least one water pump 302, and the other end of the water pump 302 is connected with the spraying load 303, in this case, the first pipeline is the output pipeline 304 in the spraying system.

Another way that can be achieved is: the pipe 304 in the spraying system may include a second pipe disposed between the liquid filler and the at least one water pump 302, and the other end of the water pump 302 is connected to the water tank 300, in this case, the second pipe is the filling pipe 304 in the spraying system.

FIG. 12 is a schematic view of another sprinkler system according to an embodiment of the present invention; on the basis of the above embodiment, with continuing reference to fig. 12, still another way to achieve this is: the pipe 304 in this embodiment includes a main pipe 3041 and a branch pipe 3042 connected to the main pipe 3041, and the micro mechanical thermal flowmeter 301 is disposed in the branch pipe 3042. The main branch pipe 3041 and the branch pipe 3042 have a fixed characteristic ratio.

Further, for the first realizable manner, the pipeline 304 includes a first pipeline disposed between the water tank 300 and the at least one water pump 302, the other end of the water pump 302 is connected to the spraying load 303, and the realizable application scenarios are as follows: the measured liquid flow is the spraying liquid flow, at this time, the liquid is required to be controlled to flow out of the water tank 300 to reach the spraying load 303, and then is sprayed out through the spraying load 303; further, when the processor obtains the liquid flow rate in the pipe 304 in the sprinkler system through the micro-mechanical thermal type flow meter 301, it is configured to: a first liquid flow in the first conduit is obtained by a micro-mechanical thermal flow meter 301.

Wherein, in order to ensure accurate reliability of the first liquid flow measurement, when the processor acquires the first liquid flow in the first pipeline through the micro-mechanical thermal type flowmeter 301, the processor is configured to:

acquiring pressure information in a first pipeline; when the pressure information is in a stable state, the micro-mechanical thermal type flowmeter 301 obtains a first liquid flow rate in the first pipeline.

In addition, when the processor obtains the first liquid flow, since the first liquid flow is the collected liquid flow in the first pipeline, and the first pipeline is arranged between the water tank 300 and the at least one water pump 302 in the spraying system, since the range of the micro-mechanical thermal flow meter 301 is generally small, when the spraying system has a plurality of water pumps 302 operating simultaneously, the total flow may exceed the range of the micro-mechanical thermal flow meter 301, in order to ensure the reliability of the use of the micro-mechanical thermal flow meter 301, when the processor obtains the first liquid flow in the first pipeline through the micro-mechanical thermal flow meter 301, the processor is configured to:

acquiring a first sub-liquid flow in a first pipeline when a single water pump 302 works through a micro-mechanical thermal type flow meter 301; acquiring a first rotating speed relation between other water pumps connected with the water tank 300 in the spraying system and the water pump 302; a first liquid flow rate of the first conduit is determined based on the first rotational speed relationship and the first sub-liquid flow rate.

More preferably, when the processor controls the spraying system according to the liquid flow rate, the processor is configured to: the spray operation of the spray system is controlled in accordance with the first liquid flow rate.

Further, for the second realizable manner, the pipeline 304 in the spraying system may include a second pipeline disposed between the liquid charger and the at least one water pump 302, and the other end of the water pump 302 is connected with the water tank 300, and at this time, when the processor obtains the liquid flow rate in the pipeline 304 in the spraying system through the micro-mechanical thermal flowmeter 301, the processor is configured to: the second liquid flow in the second conduit is obtained by a micro-mechanical thermal flow meter 301.

Wherein, in order to ensure the accurate reliability of the second liquid flow measurement, when the processor obtains the second liquid flow in the second pipeline through the micro-mechanical thermal type flowmeter 301, the processor is configured to:

acquiring pressure information in the second pipeline; when the pressure information is in a stable state, the micro-mechanical thermal type flowmeter 301 obtains the second liquid flow rate in the second pipeline.

In addition, when the processor obtains the second liquid flow rate, since the second liquid flow rate is the liquid flow rate in the second pipeline, and the second pipeline is disposed between the liquid charger and the at least one water pump 302, since the range of the micro-mechanical thermal flow meter 301 is generally small, when a plurality of water pumps 302 in the spraying system operate simultaneously, the total flow rate may exceed the range of the micro-mechanical thermal flow meter 301, in order to ensure the reliability of the use of the micro-mechanical thermal flow meter 301, in this embodiment, when the processor obtains the second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter 301, the processor is configured to:

acquiring a second sub-liquid flow in a second pipeline when a single water pump 302 works through a micro mechanical thermal type flow meter 301; acquiring a second rotating speed relation between other water pumps connected with the water tank 300 in the spraying system and the water pump 302; and determining the second liquid flow of the second pipeline according to the second rotation speed relation and the second liquid flow.

Further, to improve the utility of the method, when the processor controls the spraying system according to the liquid flow, the processor is configured to: and controlling the liquid filling operation of the spraying system according to the second liquid flow.

Based on the above embodiment, as can be seen with reference to fig. 12, the pipes 304 in the present embodiment may include a main pipe 3041 and a branch pipe 3042 connected to the main pipe 3041; at this time, when the processor obtains the liquid flow rate in the pipe 304 in the sprinkler system through the micro-mechanical thermal type flow meter 301, it is configured to:

acquiring branch liquid flow in a branch pipeline 3042 through a micro mechanical thermal type flowmeter 301; acquiring the characteristic proportion of a main pipeline 3041 and a branch pipeline 3042; the total liquid flow rate of the conduit 304 is determined based on the characteristic ratio and the branch liquid flow rate.

Wherein, when the processor determines the total liquid flow of the conduit 304 from the characteristic ratio and the branch liquid flow, it is configured to: determining a main path liquid flow rate of the main path pipeline 3041 according to the branch path liquid flow rate and the characteristic proportion; the total liquid flow rate of the pipe 304 is determined from the branch liquid flow rate and the main liquid flow rate.

The spraying system provided by this embodiment can be used to execute the methods corresponding to the embodiments in fig. 2 to 8, and the specific execution manner and beneficial effects thereof are similar and will not be described again here.

In another aspect, the present invention provides a storage medium, which is a computer storage medium, and program instructions are stored in the computer storage medium, and the program instructions are used to implement the control method of the spraying system described above.

Fig. 13 is a schematic structural diagram of an agricultural unmanned aerial vehicle according to an embodiment of the present invention; fig. 14 is a schematic structural diagram of an agricultural unmanned aerial vehicle according to an embodiment of the present invention, and referring to fig. 13 to 14, in a further aspect of the present embodiment, an agricultural unmanned aerial vehicle 400 is provided, which includes a frame 410 and a spraying system.

The sprinkler system is disposed on the frame 410. The spraying system comprises a micro-mechanical thermal flow meter and a control device in communication connection with the micro-mechanical thermal flow meter.

The micro-mechanical thermal flowmeter is communicated with the pipeline and used for collecting the liquid flow in the pipeline and sending the liquid flow to the control device.

The micro-mechanical thermal flow meter comprises a micro-electromechanical system and a measuring pipeline. The micro-electromechanical system comprises a heat sensitive element for measuring the temperature of the liquid. The heat-sensitive element at least partially leaks out of the measuring tube, so that the heat-sensitive element can be brought into contact with the liquid in the measuring tube.

The control means comprises one or more processors, operating individually or in concert. The processor is configured to: and receiving the liquid flow in the pipeline acquired by the micro mechanical thermal flowmeter, and controlling the spraying system according to the liquid flow.

The specific structure of the micro-mechanical thermal flowmeter can be referred to as the figure 2; the specific structure of the spraying system can be referred to as shown in fig. 10-12, and the specific implementation process and implementation effect of the operation steps executed by the micro-mechanical thermal flow meter and the processor in this embodiment are similar to those of steps S101-S102 in the above embodiment, and the specific implementation process and implementation effect can be referred to the above statements, and are not described herein again.

Further, with continued reference to fig. 13-14, the agricultural drone 400 of the present embodiment may further include a flight power device 420, a plurality of spray heads 430, a plurality of water pumps 440, and a water tank 450;

wherein, flight power device 420 installs on frame 410 for provide flight power, a plurality of shower nozzles 430 are installed in flight power device 420's below, a plurality of water pumps 440 respectively with a plurality of shower nozzles 430 UNICOM for carry liquid to shower nozzle 430, spray away through shower nozzle 430, controlling means can also be connected with water pump 440 electricity, water tank 450 is used for depositing liquid, a plurality of water pumps 440 and water tank 450 intercommunication.

When specifically using, controlling means can selectively control a plurality of water pumps 440, sprays through the shower nozzle 430 of the water pump 440 intercommunication of choosing, can control spraying the region like this or spraying the effect, is favorable to improving the accuracy of spraying.

In addition, the frame 410 may be configured according to different requirements, for example, in the embodiment shown in fig. 13-14, the frame 410 includes a central body 410a, a horn 410b, and a landing foot 410c, the horn 410b is connected to the central body 410a for supporting the flight power device 420, and the landing foot 410c is connected to the central body 410a or the horn 410 b.

The flight power unit 420 may be an electric power unit, and specifically, the flight power unit 420 may include a propeller and a motor for driving the propeller to rotate. The spray head 430 is located directly below or obliquely below the flight power device 420, and specifically, as shown in the figure, a plurality of spray heads 430 are mounted on the horn 410b and/or the landing foot stand 410c, and when a plurality of spray heads 430 are mounted on the horn 410b, the spray heads 430 are located directly below the flight power device 420, so as to be more beneficial to improving the spraying penetration of the spray heads 430.

Further, the specific positions of the plurality of spray heads 430 can be designed according to different requirements, for example, the size of the spray heads 35764c the spray heads 430 are symmetrically arranged with respect to the roll axis of the agricultural drone 400, or the plurality of spray heads 430 are symmetrically arranged with respect to the pitch axis of the agricultural drone 400.

When the plurality of spray heads 430 are symmetrically arranged compared to the roll axis of the agricultural unmanned aerial vehicle 400, the left and right spray heads 430 of the agricultural unmanned aerial vehicle 400 can be controlled to spray conveniently, for example, if the agricultural unmanned aerial vehicle 400 sprays along the clockwise direction according to the boundary of the operation area, the right spray head 430 of the agricultural unmanned aerial vehicle 400 can be controlled to spray sand; if the agricultural drone 400 is spraying along the counterclockwise direction following the boundary of the service area, the left side spray head 430 of the agricultural drone 400 may be controlled to spray.

When specifically using, to the sprinkler system on this agricultural unmanned aerial vehicle 400, a mode that can realize does, pipeline in the sprinkler system can be including setting up the first pipeline between water tank 450 and at least one water pump 440, and the other end of water pump 440 is connected with the load that sprays, and at this moment, first pipeline is the output pipeline in the sprinkler system.

Another way that can be achieved is: the piping in the spraying system may include a second piping disposed between the liquid charger and the at least one water pump 440, and the other end of the water pump 440 is connected to the water tank 450, and at this time, the second piping is a filling piping in the spraying system.

Yet another way to achieve this is: the pipeline in this embodiment includes a main pipeline and a branch pipeline connected to the main pipeline, and the micro-mechanical thermal flowmeter is disposed in the branch pipeline. And the characteristic proportion of the main pipeline and the branch pipeline is fixed.

Further, for the first realizable manner, the pipeline includes a first pipeline disposed between the water tank 450 and the at least one water pump 440, and the other end of the water pump 440 is connected to a spraying load, and an application scenario that the measured liquid flow is a liquid flow that needs to be controlled to flow out of the water tank 450 to the spraying load and then be sprayed out through the spraying load is realized; at this time, when the processor obtains the liquid flow rate in the pipe in the sprinkler system through the micro-mechanical thermal type flowmeter, the processor is configured to: and acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal type flowmeter.

Wherein, in order to ensure the accurate reliability of the first liquid flow measurement, when the processor obtains the first liquid flow in the first pipeline through the micro-mechanical thermal type flowmeter, the processor is configured to:

In addition, when the processor obtains the first liquid flow, since the first liquid flow is the collected liquid flow in the first pipeline, and the first pipeline is arranged between the water tank 450 and the at least one water pump 440 in the spraying system, since the range of the micro-mechanical thermal flow meter is generally small, when a plurality of water pumps 440 in the spraying system operate simultaneously, the total flow may exceed the range of the micro-mechanical thermal flow meter, in order to ensure the reliability of the use of the micro-mechanical thermal flow meter, when the processor obtains the first liquid flow in the first pipeline through the micro-mechanical thermal flow meter, the processor is configured to:

acquiring a first sub-liquid flow in the first pipeline when the single water pump 440 works through a micro-mechanical thermal type flow meter; acquiring a first rotating speed relation between other water pumps 440 connected with a water tank 450 in the spraying system and the water pump 440; a first liquid flow rate of the first conduit is determined based on the first rotational speed relationship and the first sub-liquid flow rate.

Further, for the second realizable manner, the pipeline in the spraying system may include a second pipeline disposed between the liquid charger and the at least one water pump 440, and the other end of the water pump 440 is connected to the water tank 450, and when the processor obtains the liquid flow rate in the pipeline in the spraying system through the micro-mechanical thermal flowmeter, the processor is configured to: and acquiring a second liquid flow in the second pipeline through the micro-mechanical thermal type flow meter.

In addition, when the processor obtains the second liquid flow rate, since the second liquid flow rate is the liquid flow rate in the second pipeline, and the second pipeline is disposed between the liquid charger and the at least one water pump 440, since the range of the micro mechanical thermal flow meter is generally small, and when a plurality of water pumps 440 operate simultaneously in the spraying system, the total flow rate may exceed the range of the micro mechanical thermal flow meter, in order to ensure the reliability of the use of the micro mechanical thermal flow meter, in this embodiment, when the processor obtains the second liquid flow rate in the second pipeline through the micro mechanical thermal flow meter, the processor is configured to:

acquiring a second sub liquid flow in the second pipeline when the single water pump 440 works through a micro mechanical thermal type flowmeter; acquiring a second rotating speed relation between other water pumps 440 connected with the water tank 450 in the spraying system and the water pump 440; and determining the second liquid flow of the second pipeline according to the second rotation speed relation and the second liquid flow.

On the basis of the above embodiments, as can be seen with continued reference to fig. 13 to 14, the pipeline in this embodiment may include a main pipeline and a branch pipeline connected to the main pipeline; at this time, when the processor obtains the liquid flow rate in the pipe in the sprinkler system through the micro-mechanical thermal type flowmeter, the processor is configured to:

The agricultural unmanned aerial vehicle 400 provided by the embodiment can be used for executing the method corresponding to the embodiment of fig. 2-8, and the specific execution mode and the beneficial effect are similar, and are not described again here.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. With this understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor 101(processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

A control method of a spraying system of an agricultural unmanned aerial vehicle is characterized by comprising the following steps:

obtaining the liquid flow in a pipeline in a spraying system through a micro-mechanical thermal flow meter, wherein the micro-mechanical thermal flow meter comprises a micro-electromechanical system and a measuring pipeline, the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks into the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline;

and controlling the spraying system according to the liquid flow.
The method of claim 1, wherein obtaining the flow rate of the liquid in the pipe in the sprinkler system by a micro-mechanical thermal flow meter comprises:

the method comprises the steps of obtaining a first liquid flow in a first pipeline through the micro mechanical thermal flowmeter, wherein the first pipeline is arranged between a water tank and at least one water pump in the spraying system, and the other side of the water pump is connected with a spraying load.
The method of claim 2, wherein obtaining a first flow of liquid in a first conduit via the micromachined thermal flow meter comprises:

acquiring pressure information in the first pipeline;

and when the pressure information is in a stable state, acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal flowmeter.
The method of claim 2, wherein obtaining a first flow of liquid in a first conduit via the micromachined thermal flow meter comprises:

acquiring a first sub liquid flow in the first pipeline when a single water pump works through the micro-mechanical thermal type flow meter;

acquiring a first rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

determining a first liquid flow rate of the first pipeline according to the first rotating speed relation and the first sub liquid flow rate.
The method of claim 2, wherein controlling the spray system based on the liquid flow rate comprises:

controlling a spraying liquid operation of the spraying system according to the first liquid flow.
The method of claim 1, wherein obtaining the flow rate of the liquid in the pipe in the sprinkler system by a micro-mechanical thermal flow meter comprises:

and acquiring a second liquid flow in a second pipeline through the micro mechanical thermal flowmeter, wherein the second pipeline is arranged between a liquid filler and at least one water pump in the spraying system, and the other side of the water pump is connected with a water tank.
The method of claim 6, wherein obtaining a second flow of liquid in a second conduit via the micromachined thermal flow meter comprises:

acquiring pressure information in the second pipeline;

and when the pressure information is in a stable state, acquiring a second liquid flow in the second pipeline through the micro mechanical thermal flowmeter.
The method of claim 6, wherein obtaining a second flow of liquid within the second conduit via the micromachined thermal flow meter comprises:

acquiring a second sub liquid flow in the second pipeline when a single water pump works through the micro mechanical thermal type flowmeter;

acquiring a second rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

and determining the second liquid flow of the second pipeline according to the second rotating speed relation and the second liquid flow.
The method of claim 6, wherein controlling the spray system based on the liquid flow rate comprises:

and controlling the liquid filling operation of the spraying system according to the second liquid flow.
The method according to any one of claims 1-9, wherein the pipes comprise a main pipe and a branch pipe connected to the main pipe; obtaining a liquid flow rate in a pipeline in a spraying system through a micro-mechanical thermal type flowmeter, comprising:

acquiring branch liquid flow in the branch pipeline through a micro mechanical thermal flowmeter;

acquiring the characteristic proportion of the main pipeline and the branch pipeline;

and determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow.
The method of claim 10, wherein determining the total liquid flow rate of the conduit from the characteristic ratio and the branch liquid flow rate comprises:

determining a main path liquid flow of the main path pipeline according to the branch path liquid flow and the characteristic proportion;

and determining the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.
A control device for a sprinkler system, comprising:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement: obtaining the liquid flow in a pipeline in a spraying system through a micro-mechanical thermal flow meter, wherein the micro-mechanical thermal flow meter comprises a micro-electromechanical system and a measuring pipeline, the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks into the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline; and controlling the spraying system according to the liquid flow.
The apparatus of claim 12, wherein when the processor obtains the flow rate of the liquid in the pipe in the sprinkler system through the micro-machined thermal flow meter, the processor is configured to:

the method comprises the steps of obtaining a first liquid flow in a first pipeline through the micro mechanical thermal flowmeter, wherein the first pipeline is arranged between a water tank and at least one water pump in the spraying system, and the other side of the water pump is connected with a spraying load.
The apparatus of claim 13, wherein when the processor obtains the first flow of liquid in the first conduit through the micromachined thermal flow meter, it is configured to:

acquiring pressure information in the first pipeline;

and when the pressure information is in a stable state, acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal flowmeter.
The apparatus of claim 13, wherein when the processor obtains the first flow of liquid in the first conduit through the micromachined thermal flow meter, it is configured to:

acquiring a first sub liquid flow in the first pipeline when a single water pump works through the micro-mechanical thermal type flow meter;

acquiring a first rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

determining a first liquid flow rate of the first pipeline according to the first rotating speed relation and the first sub liquid flow rate.
The apparatus of claim 13, when the processor controls the spray system according to the liquid flow rate, configured to:

controlling a spraying liquid operation of the spraying system according to the first liquid flow.
The apparatus of claim 12, wherein when the processor obtains the flow rate of the liquid in the pipe in the sprinkler system through the micro-machined thermal flow meter, the processor is configured to:

and acquiring a second liquid flow in a second pipeline through the micro mechanical thermal flowmeter, wherein the second pipeline is arranged between a liquid filler and at least one water pump in the spraying system, and the other side of the water pump is connected with a water tank.
The apparatus of claim 17, wherein when the processor obtains a second flow of liquid in a second conduit through the micromachined thermal flow meter, it is configured to:

acquiring pressure information in the second pipeline;

and when the pressure information is in a stable state, acquiring a second liquid flow in the second pipeline through the micro mechanical thermal flowmeter.
The apparatus of claim 17, wherein when the processor obtains a second flow of liquid in the second conduit via the micromachined thermal flow meter, it is configured to:

acquiring a second sub liquid flow in the second pipeline when a single water pump works through the micro mechanical thermal type flowmeter;

acquiring a second rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

and determining the second liquid flow of the second pipeline according to the second rotating speed relation and the second liquid flow.
The apparatus of claim 17, when the processor controls the spray system according to the liquid flow rate, configured to:

and controlling the liquid filling operation of the spraying system according to the second liquid flow.
The apparatus according to any one of claims 12-20, wherein the pipes comprise a main pipe and a branch pipe connected to the main pipe; when the processor obtains the liquid flow rate in the pipeline in the spraying system through the micro-mechanical thermal type flow meter, the processor is configured to:

acquiring branch liquid flow in the branch pipeline through a micro mechanical thermal flowmeter;

acquiring the characteristic proportion of the main pipeline and the branch pipeline;

and determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow.
The apparatus of claim 21, when the processor determines the total liquid flow rate of the conduit from the characteristic ratio and the branch liquid flow rate, configured to:

determining a main path liquid flow of the main path pipeline according to the branch path liquid flow and the characteristic proportion;

and determining the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.
A sprinkler system, comprising:

the micro-mechanical thermal flowmeter is communicated with the pipeline and is used for collecting the liquid flow in the pipeline and sending the liquid flow to the control device; the micromechanical thermal flow meter comprises: the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks out of the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline;

the control apparatus, comprising one or more processors, operating individually or in concert, to: and the micro mechanical thermal flow meter is in communication connection with the spraying system and is used for receiving the liquid flow in the pipeline acquired by the micro mechanical thermal flow meter and controlling the spraying system according to the liquid flow.
The spraying system of claim 23, wherein the conduit comprises a first conduit disposed between the water tank and at least one water pump, the other end of the water pump having a spray load connected thereto.
The sprinkler system according to claim 23, wherein the conduit comprises a second conduit disposed between the liquid filler and at least one water pump having a water tank connected to the other end of the water pump.
The sprinkler system according to claim 23, wherein the conduit comprises a main conduit and a branch conduit connected to the main conduit, the micromechanical thermal flow meter being disposed within the branch conduit.
The sprinkler system according to claim 26, wherein the main branch conduit is in a fixed characteristic ratio with the branch conduit.
The sprinkler system of claim 24, wherein when the processor obtains the flow rate of the liquid in the pipe in the sprinkler system through the micro-machined thermal flow meter, it is configured to:

and acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal type flowmeter.
The sprinkler system of claim 28, when the processor obtains the first flow of liquid in the first conduit via the micromachined thermal flow meter, configured to:

acquiring pressure information in the first pipeline;

and when the pressure information is in a stable state, acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal flowmeter.
The sprinkler system of claim 28, when the processor obtains the first flow of liquid in the first conduit via the micromachined thermal flow meter, configured to:

acquiring a first sub liquid flow in the first pipeline when a single water pump works through the micro-mechanical thermal type flow meter;

acquiring a first rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

determining a first liquid flow rate of the first pipeline according to the first rotating speed relation and the first sub liquid flow rate.
The spraying system of claim 28, when the processor controls the spraying system in accordance with the liquid flow rate, configured to:

controlling a spraying liquid operation of the spraying system according to the first liquid flow.
The sprinkler system of claim 25, wherein when the processor obtains the flow rate of the liquid in the pipe in the sprinkler system through the micro-machined thermal flow meter, it is configured to:

and acquiring a second liquid flow in the second pipeline through the micro-mechanical thermal type flow meter.
The spray system of claim 32, wherein when the processor obtains the second liquid flow rate in the second conduit via the micromachined thermal flow meter, it is configured to:

acquiring pressure information in the second pipeline;

and when the pressure information is in a stable state, acquiring a second liquid flow in the second pipeline through the micro mechanical thermal flowmeter.
The spray system of claim 32, when the processor obtains the second liquid flow rate in the second conduit via the micromachined thermal flow meter, configured to:

acquiring a second sub liquid flow in the second pipeline when a single water pump works through the micro mechanical thermal type flowmeter;

acquiring a second rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

and determining the second liquid flow of the second pipeline according to the second rotating speed relation and the second liquid flow.
The spraying system of claim 32, when the processor controls the spraying system according to the liquid flow rate, configured to:

and controlling the liquid filling operation of the spraying system according to the second liquid flow.
The sprinkler system according to any one of claims 23-35, wherein the conduit comprises a main conduit and a branch conduit connected to the main conduit; when the processor obtains the liquid flow rate in the pipeline in the spraying system through the micro-mechanical thermal type flow meter, the processor is configured to:

acquiring branch liquid flow in the branch pipeline through a micro mechanical thermal flowmeter;

acquiring the characteristic proportion of the main pipeline and the branch pipeline;

and determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow.
The sprinkler system of claim 36, when the processor determines the total liquid flow rate of the conduit from the characteristic ratio and the branch liquid flow rate, configured to:

determining a main path liquid flow of the main path pipeline according to the branch path liquid flow and the characteristic proportion;

and determining the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.
A storage medium, characterized in that the storage medium is a computer storage medium having stored therein program instructions for implementing a control method of a sprinkler system according to any one of claims 1-11.
An agricultural drone, comprising:

a frame;

the sprinkler system set up in the frame, include: the device comprises a micro-mechanical thermal flow meter and a control device in communication connection with the micro-mechanical thermal flow meter;

the micromechanical thermal flowmeter is arranged in a pipeline and used for collecting the liquid flow in the pipeline and sending the liquid flow to a control device, and comprises: the micro-electromechanical system comprises a thermosensitive element for measuring the temperature of liquid, and the thermosensitive element at least partially leaks out of the measuring pipeline so as to enable the thermosensitive element to be in contact with the liquid in the measuring pipeline;

the control device comprises one or more processors, acting alone or in conjunction, to: and receiving the liquid flow in the pipeline acquired by the micro-mechanical thermal flowmeter, and controlling the spraying system according to the liquid flow.
The agricultural drone of claim 39, wherein the conduit includes a first conduit disposed between the water tank and at least one water pump, the other end of the water pump being connected to a spray load.
The agricultural drone of claim 39, wherein the conduit includes a second conduit disposed between the liquid charger and at least one water pump, the other end of the water pump being connected to a water tank.
The agricultural drone of claim 39, wherein the conduit includes a main conduit and a branch conduit connected to the main conduit, the micromechanical thermal flow meter being disposed within the branch conduit.
The agricultural drone of claim 42, wherein the main branch conduit is fixed in characteristic ratio to the branch conduit.
The agricultural drone of claim 40, wherein when the processor obtains the flow of liquid in the pipe in the sprinkler system through the micro-machined thermal flow meter, it is configured to:

and acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal type flowmeter.
The agricultural drone of claim 44, wherein when the processor obtains the first liquid flow rate within the first conduit through the micromachined thermal flow meter, it is configured to:

acquiring pressure information in the first pipeline;

and when the pressure information is in a stable state, acquiring a first liquid flow in the first pipeline through the micro-mechanical thermal flowmeter.
The agricultural drone of claim 44, wherein when the processor obtains the first liquid flow rate within the first conduit through the micromachined thermal flow meter, it is configured to:

acquiring a first sub liquid flow in the first pipeline when a single water pump works through the micro-mechanical thermal type flow meter;

acquiring a first rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

determining a first liquid flow rate of the first pipeline according to the first rotating speed relation and the first sub liquid flow rate.
The agricultural drone of claim 44, wherein when the processor controls the spray system according to the liquid flow rate, it is configured to:

controlling a spraying liquid operation of the spraying system according to the first liquid flow.
The agricultural drone of claim 41, wherein when the processor obtains the flow of liquid in the pipe in the sprinkler system through the micro-machined thermal flow meter, it is configured to:

and acquiring a second liquid flow in the second pipeline through the micro-mechanical thermal type flow meter.
The agricultural drone of claim 48, wherein when the processor obtains a second flow of liquid within a second conduit through the micromachined thermal flow meter, it is configured to:

acquiring pressure information in the second pipeline;

and when the pressure information is in a stable state, acquiring a second liquid flow in the second pipeline through the micro mechanical thermal flowmeter.
The agricultural drone of claim 48, wherein when the processor obtains the second flow of liquid within the second conduit through the micromachined thermal flow meter, it is configured to:

acquiring a second sub liquid flow in the second pipeline when a single water pump works through the micro mechanical thermal type flowmeter;

acquiring a second rotating speed relation between other water pumps connected with the water tank in the spraying system and the water pump;

and determining the second liquid flow of the second pipeline according to the second rotating speed relation and the second liquid flow.
The agricultural drone of claim 48, wherein when the processor controls the spray system according to the liquid flow rate, it is configured to:

and controlling the liquid filling operation of the spraying system according to the second liquid flow.
An agricultural drone according to any one of claims 39 to 51, wherein the conduits include a main conduit and a branch conduit connected to the main conduit; when the processor obtains the liquid flow rate in the pipeline in the spraying system through the micro-mechanical thermal type flow meter, the processor is configured to:

acquiring branch liquid flow in the branch pipeline through a micro mechanical thermal flowmeter;

acquiring the characteristic proportion of the main pipeline and the branch pipeline;

and determining the total liquid flow of the pipeline according to the characteristic proportion and the branch liquid flow.
The agricultural drone of claim 52, wherein when the processor determines the total liquid flow of the conduit from the characteristic ratio and the branch liquid flow, it is configured to:

determining a main path liquid flow of the main path pipeline according to the branch path liquid flow and the characteristic proportion;

and determining the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.