WO2021087783A1

WO2021087783A1 - Air discharge control method for water pump, movable device, spraying apparatus, and storage medium

Info

Publication number: WO2021087783A1
Application number: PCT/CN2019/115825
Authority: WO
Inventors: 常子敬; 胡德琪; 谭玥明
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2021-05-14
Also published as: CN112166252B; CN112166252A

Abstract

An air discharge control method for a water pump, a movable platform, a spraying apparatus, and a storage medium. The method comprises: (S201) obtaining the current state parameters when a water pump works; (S202) determining the current working state of the water pump according to the current state parameters, wherein the current working state comprises at least one of the following states: a water-carrying state and an air-carrying state; and (S203) according to the current working state, determining whether the water pump completes air discharge. In the process of performing air discharge by the water pump, the present invention automatically controls the operation of the water pump according to the actual operation parameter of the water pump, thereby reducing the waste of a pesticide solution.

Description

Exhaust control method of water pump, movable equipment, spraying device and storage medium

Technical field

This application relates to the technical field related to movable equipment, and in particular to a method for controlling the exhaust of a water pump, a movable equipment, a spraying device, and a storage medium.

Background technique

Movable devices are currently widely used in various fields. For example, in the field of agricultural drones, the plant protection regulations for agricultural drones require that the liquid dripping after the pesticide spraying stops working should be less than a certain standard to prevent the liquid from leaking and harm the environment. Therefore, some drones will use a leak-proof drip nozzle with a pressure pump system. When the pump is working, the larger water pressure of the pump is used to open the spring valve. When the pump stops working, the pressure in the pipeline drops, and the spring quickly blocks the valve. Can not leak, to achieve the role of anti-leakage.

However, this type of spray head will not be able to smoothly discharge the air when the pump and pipeline are filled with air, so that when the liquid is sprayed, if the amount of air in the pump is too much, the liquid will not be sprayed or the spray will be intermittent. In order to affect the overall spraying efficiency of the liquid medicine and cause the waste of liquid medicine.

In addition, when the water pump is turned on, because it is impossible to accurately know whether there is air in the pipeline, even if the air in the water pump has been discharged clean, the water pump cannot be stopped in time. It is necessary to check manually to manually turn off the water pump. To a certain extent, it will also cause waste of liquid medicine.

Summary of the invention

Based on this, the present application provides a method for controlling the exhaust of a water pump, a movable platform, a spraying device, and a storage medium, so as to improve the spraying efficiency and reduce the waste of liquid medicine.

In a first aspect, the present application provides a method for controlling the exhaust of a water pump, the method including:

Acquiring the current state parameters of the water pump when it is working;

Determine the current working state of the water pump according to the current state parameter, and the current working state includes at least one of the following: a loaded state and an unloaded state;

According to the current working state, it is determined whether the water pump is exhausted.

In the second aspect, this application also provides a movable platform, which includes a water pump, a memory, and a processor;

The water pump is used for spraying liquid medicine;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Controlling the rotation of the water pump;

Detecting the working condition parameters corresponding to the water pump;

Judging whether the water pump is exhausted according to the parameter threshold and the working condition parameter;

If it is determined that the water pump is exhausted, stop controlling the rotation of the water pump;

Wherein, the parameter threshold includes a working condition parameter corresponding to the water pump under load and/or a working condition parameter corresponding to no load.

In the third aspect, the present application also provides a spraying device, the spraying device includes a water pump, a memory, and a processor;

The water pump is used for spraying liquid medicine;

The memory is used to store a computer program;

The processor is configured to execute the computer program and implement the above-mentioned exhaust control method of the water pump when the computer program is executed.

In a fourth aspect, the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the exhaust of the water pump described above. Control Method.

The embodiment of the application provides a water pump exhaust control, a movable platform, a spraying device, and a storage medium. When the water pump is exhausted, the water pump is first controlled to start to rotate, and the water pump information is obtained in real time during the operation of the water pump. The operating condition parameters are further used to determine whether the water pump has completed exhausting according to the preset parameter thresholds and the obtained operating condition parameters, and stop controlling the rotation of the water pump when it is determined that the pump has completed exhausting. In the process of exhausting the water pump, the operation of the water pump is automatically controlled according to the actual operating parameters of the water pump, and the waste of liquid medicine is reduced.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic block diagram of an exhaust control system provided by an embodiment of the present application;

2 is a schematic flowchart of steps of a method for controlling exhaust of a water pump according to an embodiment of the present application;

FIG. 3 is a flowchart of the steps of a method for controlling exhaust gas of a water pump according to another embodiment of the application;

FIG. 4 is a schematic diagram of an interface of a display interface of a remote control provided by an embodiment of the present application;

FIG. 5 is a schematic flowchart of the steps of determining the current working state of the water pump according to an embodiment of the present application;

FIG. 6 is a schematic diagram of the current change of the water pump in actual operation according to an embodiment of the present application;

FIG. 7 is a graph of the relationship between the rotational speed and the current of the water pump in a loaded state according to an embodiment of the present application;

FIG. 8 is a schematic flowchart of the steps of determining the current working state of the water pump according to another embodiment of the present application;

FIG. 9 is a schematic block diagram of a movable platform provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present invention provides an exhaust control method of a water pump, including:

Acquiring the current state parameters of the water pump when it is working;

The embodiment of the present invention provides a movable platform, the movable platform includes a water pump, a memory, and a processor; the water pump is used for spraying liquid medicine; the memory is used for storing a computer program; the processor is used for When the computer program is executed and the computer program is executed, the following steps are implemented: acquiring the current state parameters of the water pump during operation; determining the current working state of the water pump according to the current state parameters, and the current working state The state includes at least one of the following: a loaded state and an unloaded state; and, according to the current working state, it is determined whether the water pump is exhausted.

Exemplarily, the movable platform includes an aircraft, a robot, or an autonomous vehicle, etc. The movable platform is equipped with a detection device, and the detection device includes a radar, a ranging sensor, etc. For ease of description, this application takes a drone as an example for details Introduction.

Please refer to FIG. 1. FIG. 1 is a schematic block diagram of an exhaust control system according to an embodiment of the present application. The exhaust gas control system in the embodiment of the present application will be described below in conjunction with FIG. 1.

As shown in FIG. 1, the exhaust control system 10 includes a remote controller 11 and a water pump 12, and the remote controller 11 is communicatively connected with the water pump 12 for sending an exhaust command to the water pump 12.

The remote controller 11 includes a mobile communication device, and the mobile communication device may be, for example, a mobile phone, a portable computer, or a watch. The water pump 12 can be installed on the drone.

The remote control 12 may include a processor, a display, and a display controller. The display controller is electrically connected to the processor and connected to a display, and is used to control the display to display corresponding content, such as displaying a video screen.

The processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), and application specific integrated circuits (application specific integrated circuits). ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The processor may communicate with the display controller, for example, to generate a timing signal for triggering the display controller to control the display to display relevant content.

It can be understood that the display controller may be a part of the display, or may be separate from the display. The displays include LCD displays, LED displays, OLED displays, and the like.

It is understandable that the display may be a part of the remote control 12, for example, the remote control 12 is a mobile phone, and the display is a display screen of the mobile phone; of course, it may also be an external display of the remote control 12. Correspondingly, the display controller can also be a part of the remote control 2 or a separate part from the remote control 12.

In addition, according to an embodiment of the present invention, the remote controller 12 may also be replaced by another device (for example, a controller) that can send an exhaust command.

In the exhaust system of the water pump, when the water pump 12 needs to be exhausted, the user sends a corresponding control instruction through the remote control 11, where the control instruction is used to control the water pump 12 to exhaust. After the water pump 12 receives the control instruction, It will respond to control commands, which is embodied in controlling the rotation of the water pump itself to achieve exhaust. During the operation of the water pump 12, the operating condition parameters of the water pump are detected in real time, and then it is determined whether the water pump 12 has completed exhausting according to the detected operating condition parameters, and the pump is controlled to stop rotating when exhausting is completed.

In some embodiments, the number of water pumps 12 is not limited, it can be one or more, but each water pump operates independently, and the water pump 12 will stop working as long as it finishes exhausting. It will not stop working because other water pumps have not finished exhausting. Using the working condition parameters of the water pump 12 to determine whether the exhaust is completed, the water pump 12 can be stopped in time when the exhaust is completed, so as to avoid the waste of the liquid medicine caused by the untimely shutdown.

Please refer to FIG. 2, which is a schematic flowchart of the steps of a method for controlling the exhaust of a water pump according to an embodiment of the present application. The exhaust control method of the water pump can be applied to unmanned aerial vehicles, so as to stop the operation of the water pump in time when the exhaust of the water pump is completed, so as to avoid the waste of liquid medicine.

As shown in FIG. 2, the exhaust control method of the water pump includes steps S201 to S203.

S201: Acquire current state parameters of the water pump when it is working;

S202. Determine the current working state of the water pump according to the current state parameter, where the current working state includes at least one of the following: a loaded state and an unloaded state;

S203: Determine whether the water pump has completed exhausting according to the current working state.

During the operation of the water pump, the current state parameters of the water pump are acquired in real time, and then the current working state of the water pump is determined according to the acquired current state parameters. The current working state of the water pump includes one of the loaded state and the no-load state. Finally, according to the determined current working state of the water pump, it is determined whether the water pump is exhausted.

In the process of exhausting the water pump, the air in the pump needs to be exhausted, so that the liquid will not be sprayed or the liquid will be wasted when the liquid is sprayed. Therefore, it is necessary to exhaust the water pump. Real-time determination of the current working status of the water pump can not only ensure that the water pump can drain the air in time, but also can stop the work of the water pump in time when the exhaust is completed, so as to avoid the pump still in the exhaust state after the exhaust is completed.

The current state parameter of the pump working mainly refers to the working condition parameter corresponding to the current moment when the pump is working. Because the state parameters of the water pump are different in different states, after obtaining the state parameters of the water pump, the current working state of the water pump can be effectively determined according to the state parameters, that is, whether the pump is in a loaded state or an unloaded state when the pump is determined. The state corresponds to different exhaust states, which can accurately determine whether the water pump has completed exhaust.

In one embodiment, as shown in FIG. 3, FIG. 3 is a flowchart of the steps of a water pump exhaust control method provided by another embodiment of the application. The exhaust control method of the water pump further includes:

S301: Judging the current working state of the water pump according to the parameter threshold and the working condition parameter at the current moment;

S302: Determine whether the water pump has completed exhausting according to the judgment result related to the current working state;

When the water pump needs to be exhausted, it will receive the corresponding instruction information for exhausting, and then control the rotation of the water pump to remove the air from the water pump. During the rotation of the water pump, the working condition parameters of the water pump during operation will be continuously obtained to determine whether the water pump has completed the exhaust according to the obtained working condition parameters and parameter thresholds, and when it is determined that the exhaust has been completed Stop the rotation of the water pump.

In some embodiments, the exhaust instruction received by the water pump may be issued by the remote control. When exhausting is required, the user performs corresponding operations through the remote control so that the remote control sends out corresponding instruction information, thereby causing The water pump is exhausted. In addition, the exhaust command can be issued by a remote control, but also in other ways, such as by pressing a physical button on the drone body that represents the exhaust function.

When the water pump is rotating, it will obtain the relevant working condition parameters of the water pump in the working state in real time to determine whether the water pump is exhausted. The working condition parameters of the water pump in different states are different, which is specifically reflected in the fact that the working condition parameters obtained are different when the pump is in two different states, loaded and unloaded. Among them, the loaded state refers to the state where there is water in the water pump, and the unloaded state refers to the full air in the water pump. Therefore, it can be accurately determined whether the air in the water pump has been completely discharged according to the obtained operating conditions.

It should be noted that the working condition parameters include the current value or voltage value actually detected when the water pump is working, and can also be other data, such as the flow value of the water pump and the vibration frequency of the water pump.

Judging whether the water pump is exhausted is obtained by judging based on the obtained working condition parameters and parameter thresholds. Therefore, the method further includes: determining the rotation speed of the water pump; and determining the parameter threshold value according to the rotation speed. Since the working condition parameters can be obtained in real time during the operation of the pump, when making a judgment, it is first necessary to accurately obtain the parameter threshold for judgment.

In practical applications, the parameter threshold is related to the actual rotation speed of the water pump. Therefore, when obtaining the parameter threshold, the rotation speed of the water pump is first obtained, so as to determine the parameter threshold for determination according to the obtained rotation speed of the water pump. Different parameter thresholds use different judgment conditions when making judgments, mainly because if the state of the water pump is different when the parameter thresholds are obtained, the corresponding judgment conditions are different when making judgments.

For example, if the parameter threshold is obtained when the pump is under load, it can be determined that the pump is exhausted when the working condition parameter of the pump is within the allowable range of the parameter threshold; if the parameter threshold is the pump in the no-load state If there is a certain difference between the detected working condition parameters of the water pump and the obtained parameter threshold, it can be determined that the water pump has completed the exhaust.

In some embodiments, since there is a certain correspondence between the parameter threshold and the rotational speed, when determining the parameter threshold, it includes: obtaining a rotational speed parameter correspondence table, and querying the rotational speed parameter correspondence table according to the rotational speed, Obtain the parameter threshold.

Among them, the rotation speed parameter correspondence table records the corresponding relationship between the rotation speed and the parameter threshold, and different rotation speeds correspond to different parameter thresholds. Therefore, when it is necessary to obtain the current parameter threshold for comparison, the current speed of the water pump is first obtained, and then the speed parameter correspondence table is inquired according to the obtained speed to determine the corresponding parameter at this speed, that is, the current use The parameter threshold for judging whether the pump has completed exhausting.

It should be noted that the actual operating state of the water pump is not subject to any restrictions, specifically there is no restriction on the speed of the water pump. In the process of exhausting the water pump, the rotation speed of the water pump can be a fixed rotation speed or a variable rotation speed.

The parameter threshold corresponding to the fixed speed of the water pump is also fixed, which makes it easier to judge whether the water pump has completed the exhaust. However, in practical applications, in order to speed up the discharge of air from the water pump, the rotation of the water pump is usually controlled at a variable speed. When the water pump rotates at a variable speed, because the parameter threshold is related to the speed of the water pump, it is necessary to obtain the parameter threshold for determination in real time and accurately, and determine the corresponding parameter threshold by obtaining the speed of the water pump in real time.

In some embodiments, in order to accurately know the status information of the water pump, it is necessary to feed back the status information of the water pump in real time, so that the user can know the status of the water pump in a timely and effective manner. The status information includes the state to be exhausted, the exhaust state, and Exhaust completed state.

Therefore, the method further includes: acquiring state information of the water pump, and feeding back the state information. Specifically, the status information of the water pump is acquired to provide light prompts according to the status information; or, the status information of the water pump is acquired, and the status information is sent to the remote control to be displayed on the remote control. On the display interface of the monitor.

There are many ways to display the status information of the water pump. In some embodiments, the way to obtain the exhaust command is different. There can be two ways. One is to display the status information of the water pump on the drone, and the other is Display the feedback information on the remote control that issued the exhaust command.

If you use lights on the drone to display status information, you can use different lights to represent different states, such as yellow for exhausting status, red for exhausting status, and green for exhausting completed status. If the status information is fed back to the remote control issuing the exhaust command for prompting, the status information of the water pump can be displayed directly on the display interface in words or numbers.

It should be noted that the feedback of the state information of the water pump may also be performed in other ways, such as voice prompts.

In some embodiments, the number of water pumps carried on the unmanned aerial vehicle is not limited, so multiple water pumps can be used for exhausting at the same time when exhausting. When multiple water pumps are exhausting at the same time, an exhaust command can be sent to multiple pumps at the same time. After receiving the exhaust command, the multiple pumps respond to the exhaust command to control the rotation of the water pump to complete the exhaust operation.

When multiple water pumps are exhausted at the same time, when one of the pumps completes exhausting, the pump that has exhausted will be controlled to stop rotating, instead of waiting for all pumps to complete exhausting and then stop all pumps. For example, there are currently 4 water pumps (A, B, C and D) that need to be exhausted. Each pump has an independent control system. When receiving an exhaust command, it will control the rotation of the pump to achieve exhaust, that is Each water pump can be rotated at a different speed, and because the actual state of each water pump is different, such as the size, the time for each water pump to complete the exhaust will be different. If the pump A is exhausting, but the pumps B, C, and D are not exhausted, the pump A will also stop rotating at this time, and the actual operation of the pumps B, C, and D will not be affected, that is, when the pump is exhausted. After the air is released, the water pump will be controlled to stop rotating.

Similarly, taking the four water pumps described above as an example, if the pump A completes the exhaust and the pumps B, C and D complete the exhaust, then four indicators can be set on the drone when the status information is fed back. The lights are used to display the status information of the 4 water pumps, that is, the indicator light representing the water pump A is green, and the indicator light representing the water pumps B, C, and D are all red.

In addition, it is also possible to directly display the status information of the 4 water pumps on the display interface of the remote control in real time, as shown in FIG. 4, and the specific display form in FIG. 4 is not limited.

In the exhaust control method of the water pump described above, when the water pump is exhausted, the water pump is first controlled to start to rotate, and the working condition parameters of the water pump are obtained in real time during the operation of the water pump, and then according to the preset parameters The threshold value and the obtained working condition parameters determine whether the water pump has completed exhausting, and stop controlling the rotation of the water pump when it is determined that the pump has completed exhausting. In the process of exhausting the water pump, the operation of the water pump is automatically controlled according to the actual operating parameters of the water pump, and the waste of liquid medicine is reduced.

Further, referring to FIG. 5, FIG. 5 is a schematic flowchart of the steps of determining the current working state of the water pump according to an embodiment of the present application.

Specifically, step S301, judging the current working state of the water pump according to the parameter threshold value and the working condition parameter at the current moment, includes:

Step S501: Calculate the first difference between the working condition parameter corresponding to the water pump when the pump is under load and the working condition parameter at the current moment;

Step S502: Determine the current working state of the water pump according to the first difference.

When the water pump is exhausting, it can be determined whether the water pump is exhausted according to the real-time status of the water pump. Specifically, when the water pump is in a loaded state, it is determined that the water pump has completed exhausting; when the water pump is in an idling state, it is determined that the water pump has not completed exhausting.

It can be seen from the above embodiment that the parameter threshold for determination can be the parameter threshold of the water pump under load, or the parameter threshold of the water pump under no load, and the obtained working condition parameters of the water pump are used to determine this When the water pump is in a loaded state or an unloaded state, the result of the judgment will be different when the condition state obtained by the parameter threshold is different.

If the parameter threshold is the corresponding working condition parameter of the pump under load, the difference between the parameter threshold and the obtained working condition parameter of the pump will be calculated to obtain the corresponding first difference, and then the first difference will be determined according to the first difference. Current working status.

In actual applications, even if the pumps are in the same state, the detected working condition parameters will be different, but the difference is relatively small. As long as the difference value is within a certain range, it can be determined that the state of the water pump at this time is the same. If the parameter threshold described above is the corresponding parameter threshold when the pump is under load, then as long as the obtained first difference is within the allowable range, it means that the pump is in the loaded state at this time, that is, the exhaust has been completed, and vice versa. It indicates that the exhaust has not been completed.

Specifically, when the judgment is made based on the first difference value, the first difference value is compared with the first standard error range. If the first difference value is within the first standard error range, it is determined that the current working state of the water pump is with Load status; if the first difference is outside the first standard range, it is determined that the current working status of the water pump is no-load status, and the boundary value of the first standard error range is the real-time detection of the working condition parameters and the water pump when it is loaded The maximum difference and minimum difference of working condition parameters.

Taking the obtained working condition parameter as the current value for example, if the speed of the water pump at this time is X (rpm), the corresponding current value is Y (mA), that is, the parameter threshold is Y (mA). A standard error range is (-a, a). At this time, the detected working condition parameter of the water pump is Z (mA), and the first difference obtained at this time is ZY. If -a<=(Z-Y)<=a, the current working state of the water pump is loaded state, that is, exhaust has been completed; otherwise, it is no-load state and exhaust has not been completed.

In some embodiments, when determining the current working state of the water pump, the corresponding first standard parameter range may be obtained according to the corresponding working condition parameters and the first allowable error value of the water pump when the water pump is under load; The working condition parameters at the moment and the first standard parameter range determine the current working state of the water pump.

That is, when the working condition parameters of the water pump are detected, the corresponding parameter threshold value of the water pump at this speed will be obtained first, and the parameter threshold value at this time is the corresponding working condition parameter of the water pump under load, and the corresponding parameter will also be obtained at the same time. The first allowable error value of, and then the corresponding first standard parameter range is obtained according to the parameter threshold and the first allowable error value, and finally the obtained working condition parameter is compared with the first standard parameter range to determine the current working state of the water pump. For example, the parameter threshold is N (mA) and the first allowable error value is b (mA). At this time, the detected working condition parameter is M (mA), then when Nb<=M<=N+b, it is stated The current working state of the water pump is loaded.

For the allowable error value, it can generally be set to a fixed value. In some embodiments, the allowable error value can also be set to a variable value, specifically, an allowable error value is relative to a rotation speed or a rotation speed interval. Correspondingly, this can make the judgment result more accurate.

For example, the rotational speed is linearly related to the corresponding parameter threshold, that is, the greater the rotational speed, the greater the parameter threshold. If during the exhaust process, the water pump is exhausted at a variable speed, then the corresponding parameter thresholds need to be determined according to the changing trend or law of the preset speed of the water pump, so as to determine the state of the water pump more accurately. It should be noted that in the variable speed exhaust process of the water pump, the corresponding parameter threshold changes with the change of the preset speed.

In one embodiment, the parameter threshold is obtained in advance and can be obtained through actual experiments. That is to say, in the actual test process of the water pump, the rotation of the water pump is not stopped when the water pump exhaust is completed, but the working condition parameters under different conditions are determined by the circulating control of the water pump in the loaded and no-load state. , The working condition parameter of the water pump in the loaded state is the parameter threshold value at a specific speed, and the working condition parameter of the water pump in the no-load state is also the parameter threshold value at a specific speed.

Specifically, taking the working condition parameter as the current value of the water pump during operation, and the rotation speed of the water pump is fixed as an example, the current value detected when the pump does not stop rotating and is periodically in the load and no-load state is shown in Figure 6. As shown, the dashed line represents the speed curve, and the solid line represents the current curve.

In the area A shown in Fig. 6, the state of the water pump is loaded at this time, and in the area B shown in Fig. 6, the state of the water pump is no-load state at this time. When the water pump is in a loaded state (that is, the water pump drains or other liquids), the detected current value may fluctuate to a certain extent due to the influence of the outside or other factors during the operation of the water pump. Similarly, when the water pump is in an idling state (that is, the water pump is exhausted), the detected current value may also fluctuate to a certain extent due to the influence of the outside or other factors during the operation of the water pump. Therefore, for the parameter threshold, a relatively suitable value needs to be selected as the parameter threshold corresponding to different states at this speed. Alternatively, a parameter range is further set according to the parameter threshold, and whether the current water pump is exhausted or drained or other liquid is determined according to whether the detected current value is within the parameter range.

In addition, because the speed of the water pump is variable, in practical applications, it is necessary to determine the parameter threshold corresponding to the water pump at any speed. However, because there are many speed values, it is not possible to use an exhaustive method to complete the corresponding parameter thresholds for each speed. Therefore, the correlation between the speed and the parameter threshold can be determined by detecting the parameter threshold corresponding to a certain number of speeds of the water pump, and then the corresponding parameter threshold at each speed can be obtained, and the specific correlation The performance can be shown in Figure 7, which is a graph of the relationship between the speed of the pump and the current under load. In the same way, the relationship between the speed and current of the pump in the no-load state can be obtained.

In addition to getting the correlation between the pump speed and the parameter threshold, the speed can also be divided into intervals. Different intervals correspond to a parameter threshold. For example, when the speed is in the interval (0,500), the corresponding parameter threshold is G (loaded state) and g (No-load state), when the speed is in the interval (500, 1000), the corresponding parameter thresholds are K (loaded state) and k (no-load state), when the speed is in the interval (1000, 1500), the corresponding parameter threshold is T( Loaded state) and t (no-load state), etc.

It should be noted that, in some embodiments, the working condition parameters include several types, such as working current value or voltage value, or the flow value of the water pump during the exhaust process or the vibration frequency of the water pump. Therefore, when other types of working condition parameters are used to determine the exhaust state of the water pump, the pre-acquisition of the parameter threshold can be obtained by the above-mentioned method of obtaining the working condition parameter as the current value and the working condition parameter.

Further, referring to FIG. 8, FIG. 8 is a schematic flowchart of the steps of determining the current working state of the water pump according to another embodiment of the present application.

In some embodiments, the parameter threshold may be a working condition parameter corresponding to the water pump in an idling state. Then step S301 at this time also includes:

Step S801: Calculate the second difference between the working condition parameter and the working condition parameter corresponding to the water pump when it is no-load;

Step S802: Determine the current working state of the water pump according to the second difference.

If the parameter threshold value is the working condition parameter corresponding to the pump in the no-load state at this time, then when the detected working condition parameter is obtained, the difference between the parameter threshold and the working condition parameter is calculated to obtain the corresponding second difference, and then according to The obtained second difference value determines the current working state of the water pump, and further, it can be determined whether the water pump has completed exhausting according to the determined current working state.

Specifically, if the second difference is within the second standard error range, it is determined that the current working state of the water pump is the no-load state; if the second difference is outside the second standard error range, it is determined that the current working state of the water pump is with Load status.

The second standard error range has the same definition as the first standard error range. Since the parameter threshold is the corresponding working condition parameter when the pump is at no load, when the second difference is within the second standard error range, it means that the pump is in No-load state, that is, exhaust has not been completed, so it is necessary to continue exhausting.

When the parameter threshold is the corresponding working condition parameter of the pump at no load, the actual detected working condition parameter of the water pump can only be exhausted when the pump is far away from this parameter threshold. The detected working condition parameters are relatively compared When it is close to the parameter threshold, it means that the water pump has not finished exhausting. In practical applications, in order to ensure the accuracy of the judgment, the second standard error range can be set to a larger range. Take the current value as an example. For example, the parameter threshold is 1000 (mA), and the second standard error can be set The range is +/-1000 (mA). At this time, the range of the corresponding detected working condition parameter can be (0, 2000). Since the detected current value will not be a negative number, that is, only when the detected When the working condition parameter is greater than or equal to 2000 (mA), it is determined that the water pump has completed the exhaust. When the detected operating condition parameter is less than 2000 (mA), it is determined that the exhaust has not been completed.

It should be noted that when the parameter threshold is the corresponding working condition parameter of the pump in the no-load state, the setting of the second standard error range can be set to a larger range, then the parameter threshold is the pump in the When the corresponding working condition parameters are in the load state, a smaller range can be set for the first standard error range, and the state of the water pump can be judged more accurately.

In some embodiments, in addition to the above determination method, the following determination method may also be used: according to the corresponding working condition parameters and the second allowable error value when the water pump has no load, the corresponding second standard parameter range is obtained; The operating condition parameters and the second standard parameter range determine whether the water pump has completed exhausting.

The second allowable error value can be set in the same manner as the first error allowable value described above. A fixed value or a variable value can be set. Specifically, the second allowable error value is set It is related to the speed of the water pump.

Please refer to FIG. 9, which is a schematic block diagram of a movable platform provided by an embodiment of the present application. The mobile platform 21 includes a water pump 211, a processor 212, and a memory 213. The processor 212 and the memory 213 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 212 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 213 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 212 is configured to run a computer program stored in the memory, and implement the following steps when the computer program is executed:

Acquiring the current state parameters of the water pump when it is working;

Determine the current working state of the water pump according to the current state parameter, and the current working state includes at least one of the following: a loaded state and an unloaded state; and

In some embodiments, the current state parameter includes the current working condition parameter corresponding to the water pump. When the processor 212 implements the method, it specifically implements:

Judging the current working state of the water pump according to the parameter threshold and the working condition parameter at the current moment; and

Determine whether the water pump has completed exhausting according to the judgment result related to the current working state;

In some embodiments, when the processor 212 implements the method, it specifically implements:

Controlling the rotation of the water pump;

Wherein, after receiving the exhaust command sent by the remote controller, the rotor of the motor of the water pump is controlled to rotate in response to the exhaust command.

Determine the speed of the motor;

According to the rotational speed, the parameter threshold is determined.

In some embodiments, when the processor 212 realizes the determination of the parameter threshold value according to the rotation speed, it specifically realizes:

Obtain a rotation speed parameter correspondence table, and query the rotation speed parameter correspondence table according to the rotation speed to obtain the parameter threshold.

In some embodiments, when the processor 212 realizes the judgment of the current working state of the water pump according to the parameter threshold and the working condition parameter at the current moment, it specifically realizes:

Calculating the first difference between the working condition parameter corresponding to the water pump under load and the working condition parameter at the current moment;

The current working state of the water pump is determined according to the first difference.

In some embodiments, when the processor 212 realizes the determination of the current working state of the water pump according to the first difference value, it specifically realizes:

If the first difference is within a first standard error range, determining that the current working state is the loading state; and

If the first difference is outside the first standard error range, it is determined that the current working state is the no-load state.

In some embodiments, when the processor 212 realizes the judgment of the current working state of the water pump according to the parameter threshold and the working condition parameter, it specifically realizes:

Obtaining the corresponding first standard parameter range according to the corresponding working condition parameters and the first allowable error value when the water pump is under load;

The current working state of the water pump is determined according to the working condition parameter at the current moment and the first standard parameter range.

In some embodiments, when the processor 212 realizes the determination of the current working state of the water pump according to the working condition parameter at the current moment and the first standard parameter range, it specifically realizes:

If the working condition parameter at the current moment is within the range of the first standard parameter, determining that the current working state is the loaded state;

If the working condition parameter at the current moment is outside the range of the first standard parameter, it is determined that the current working state of the water pump is the no-load state.

In some embodiments, when the processor 212 realizes judging the current working state of the water pump according to the parameter threshold and the working condition parameter at the current moment, it specifically realizes:

Calculating the second difference between the working condition parameter corresponding to the water pump at no load and the working condition parameter at the current moment;

The current working state of the water pump is determined according to the second difference.

In some embodiments, when the processor 212 realizes the determination of the current working state of the water pump according to the second difference value, it specifically realizes:

If the second difference is within a second standard error range, it is determined that the current working state is the no-load state; and

If the second difference is outside the second standard error range, it is determined that the current working state is the loaded state.

Obtain the corresponding second standard parameter range according to the corresponding working condition parameters and the second allowable error value when the water pump has no load;

The current working state of the water pump is determined according to the working condition parameter at the current moment and the second standard parameter range.

In some embodiments, when the processor 212 realizes the determination of the current working state of the water pump according to the working condition parameter at the current moment and the second standard parameter range, it specifically realizes:

If the working condition parameter at the current moment is within the range of the second standard parameter, determining that the current working state is the no-load state;

If the working condition parameter at the current moment is outside the range of the second standard parameter, it is determined that the current working state is the loaded state.

In some embodiments, when the processor 212 determines whether the water pump is exhausted according to the current working state, it specifically implements:

If the current working state is the on-load state, the water pump completes exhausting; and

If the current working state is an idling state, the water pump has not completed exhausting.

The water pump is controlled to work at a fixed speed or a variable speed.

The state information of the water pump is acquired, and the state information is fed back, wherein the state information includes an exhaust state, a waiting schedule state, and an exhaust completion state.

In some embodiments, when the processor 212 implements the acquisition of the state information of the water pump and feedbacks the state information, the specific implementation is as follows:

Acquire the status information of the water pump to provide light prompts based on the status information; or, acquire the status information of the water pump, and send the status information to the remote control to display the display on the remote control Interface.

In some embodiments, the operating condition parameters include at least one of current value, voltage value, flow value, and vibration frequency.

In some embodiments, the operating condition parameters corresponding to the load condition include operating condition parameters corresponding to the water pump when draining; and the operating condition parameter corresponding to the empty load condition includes the operating condition parameters when the water pump is exhausting. Corresponding working condition parameters.

The embodiment of the present application provides a spraying device. The spraying device includes a water pump, a memory, and a processor. The memory is used to store a computer program; the processor is used to execute the computer program and execute all of the computer programs. When the computer program is described, the above-mentioned exhaust control method of the water pump is realized.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation Example provides the steps of the exhaust control method of the water pump.

Wherein, the computer-readable storage medium may be the internal storage unit of the removable platform described in any of the foregoing embodiments, for example, the hard disk or memory of the removable platform. The computer-readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk equipped on the removable platform, a smart memory card (Smart Media Card, SMC), and Secure Digital (Secure Digital). , SD) card, flash card (Flash Card), etc.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A method for controlling the exhaust of a water pump, which is characterized in that it comprises:

Acquiring the current state parameters of the water pump when it is working;

Determine the current working state of the water pump according to the current state parameter, and the current working state includes at least one of the following: a loaded state and an unloaded state; and

According to the current working state, it is determined whether the water pump is exhausted.
The method according to claim 1, wherein the current state parameter comprises a current working condition parameter corresponding to the water pump;

The method further includes:

Judging the current working state of the water pump according to the parameter threshold and the working condition parameter at the current moment; and

Determine whether the water pump has completed exhausting according to the judgment result related to the current working state;

Wherein, the parameter threshold includes a working condition parameter corresponding to the water pump under load and/or a working condition parameter corresponding to no load.
The method according to claim 1, wherein the method further comprises:

Controlling the rotation of the water pump;

Wherein, after receiving the exhaust command sent by the remote controller, the rotor of the motor of the water pump is controlled to rotate in response to the exhaust command.
The method according to claim 3, wherein the method further comprises:

Determine the speed of the motor;

According to the rotational speed, the parameter threshold is determined.
The method according to claim 4, wherein the determining the parameter threshold value according to the rotation speed comprises:

Obtain a rotation speed parameter correspondence table, and query the rotation speed parameter correspondence table according to the rotation speed to obtain the parameter threshold.
The method according to any one of claims 2 to 5, wherein the judging the current working state of the water pump according to the parameter threshold value and the working condition parameter at the current moment comprises:

Calculating the first difference between the working condition parameter corresponding to the water pump under load and the working condition parameter at the current moment;

The current working state of the water pump is determined according to the first difference.
The method according to claim 6, wherein the determining the current working state of the water pump according to the first difference value comprises:

If the first difference is within a first standard error range, determining that the current working state is the loading state; and

If the first difference is outside the first standard error range, it is determined that the current working state is the no-load state.
The method according to any one of claims 2 to 5, wherein the judging the current working state of the water pump according to the parameter threshold and the working condition parameter comprises:

Obtain the corresponding first standard parameter range according to the corresponding working condition parameters and the first allowable error value when the water pump is under load;

The current working state of the water pump is determined according to the working condition parameter at the current moment and the first standard parameter range.
The method according to claim 8, wherein the determining the current working state of the water pump according to the working condition parameter at the current moment and the first standard parameter range comprises:

If the working condition parameter at the current moment is within the range of the first standard parameter, determining that the current working state is the loaded state;

If the working condition parameter at the current moment is outside the range of the first standard parameter, it is determined that the current working state of the water pump is the no-load state.
The method according to any one of claims 2 to 5, wherein the judging the current working state of the water pump according to the parameter threshold value and the working condition parameter at the current moment comprises:

Calculating the second difference between the working condition parameter corresponding to the water pump at no load and the working condition parameter at the current moment;

The current working state of the water pump is determined according to the second difference.
The method according to claim 10, wherein the determining the current working state of the water pump according to the second difference value comprises:

If the second difference is within a second standard error range, it is determined that the current working state is the no-load state; and,

If the second difference is outside the second standard error range, it is determined that the current working state is the loaded state.
The method according to any one of claims 2 to 5, wherein the judging the current working state of the water pump according to the parameter threshold value and the working condition parameter at the current moment comprises:

Obtain the corresponding second standard parameter range according to the corresponding working condition parameters and the second allowable error value when the water pump has no load;

The current working state of the water pump is determined according to the working condition parameter at the current moment and the second standard parameter range.
The method according to claim 12, wherein the determining the current working state of the water pump according to the working condition parameter at the current moment and the second standard parameter range comprises:

If the working condition parameter at the current moment is within the range of the second standard parameter, determining that the current working state is the no-load state;

If the working condition parameter at the current moment is outside the range of the second standard parameter, it is determined that the current working state is the loaded state.
The method according to claim 1, wherein the determining whether the water pump is exhausted according to the current working state comprises:

If the current working state is the on-load state, the water pump completes exhausting; and

If the current working state is an idling state, the water pump has not completed exhausting.
The method according to claim 1, wherein the method further comprises:

The water pump is controlled to work at a fixed speed or a variable speed.
The method according to claim 1, wherein the method further comprises:

The state information of the water pump is acquired, and the state information is fed back, wherein the state information includes an exhaust state, a state to be exhausted, and an exhaust completion state.
The method according to claim 16, wherein said acquiring state information of said water pump and feeding back said state information comprises:

Obtain the status information of the water pump to provide light prompts according to the status information; or,

The status information of the water pump is acquired, and the status information is sent to the remote control to be displayed on the display interface of the remote control.
The method according to claim 1, wherein the operating condition parameters include at least one of current value, voltage value, flow value, and vibration frequency.
The method according to claim 1, wherein the working condition parameters corresponding to the load condition include the working condition parameters corresponding to the water pump when draining; and the working condition parameter corresponding to the no-load condition includes The corresponding working condition parameters of the water pump when exhausting.
A movable platform, characterized in that the movable platform includes a water pump, a memory and a processor;

The water pump is used for spraying liquid medicine;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Acquiring the current state parameters of the water pump when it is working;

Determine the current working state of the water pump according to the current state parameter, and the current working state includes at least one of the following: a loaded state and an unloaded state; and

According to the current working state, it is determined whether the water pump is exhausted.
The mobile platform according to claim 20, wherein the current state parameter includes a current working condition parameter corresponding to the water pump, and the processor is further configured to implement:

Judging the current working state of the water pump according to the parameter threshold and the working condition parameter at the current moment; and

Determine whether the water pump has completed exhausting according to the judgment result related to the current working state;

Wherein, the parameter threshold includes a working condition parameter corresponding to the water pump under load and/or a working condition parameter corresponding to no load.
The movable platform according to claim 20, wherein the processor is further configured to implement:

Controlling the rotation of the water pump;

Wherein, after receiving the exhaust command sent by the remote controller, the rotor of the motor of the water pump is controlled to rotate in response to the exhaust command.
The mobile platform according to claim 22, wherein the processor is further configured to implement:

Determine the speed of the motor;

According to the rotational speed, the parameter threshold is determined.
The movable platform according to claim 23, wherein the processor is further configured to implement: when determining the parameter threshold value according to the rotational speed:

Obtain a rotation speed parameter correspondence table, and query the rotation speed parameter correspondence table according to the rotation speed to obtain the parameter threshold.
The mobile platform according to claim 20, wherein the processor is further configured to realize the following when the current working state of the water pump is judged according to the parameter threshold and the working condition parameter at the current moment:

Calculating the first difference between the working condition parameter corresponding to the water pump under load and the working condition parameter at the current moment;

The current working state of the water pump is determined according to the first difference.
The movable platform according to claim 25, wherein when the processor realizes the determination of the current working state of the water pump according to the first difference value, it is further configured to realize:

If the first difference is within a first standard error range, determining that the current working state is the loading state; and

If the first difference is outside the first standard error range, it is determined that the current working state is the no-load state.
The movable platform according to claim 20, wherein when the current working state of the water pump is judged according to the parameter threshold and the working condition parameter, it is further used to realize:

Obtain the corresponding first standard parameter range according to the corresponding parameter threshold and allowable error value of the water pump when it is loaded;

The current working state of the water pump is determined according to the working condition parameter at the current moment and the first standard parameter range.
The movable platform according to claim 27, wherein the processor realizes the determination of the current working state of the water pump according to the working condition parameter at the current moment and the first standard parameter range, Also used to achieve:

If the working condition parameter at the current moment is within the range of the first standard parameter, determining that the current working state is the loaded state;

If the working condition parameter at the current moment is outside the range of the first standard parameter, it is determined that the current working state of the water pump is the no-load state.
The movable platform according to any one of claims 21 to 24, wherein the processor realizes the judgment of the current working state of the water pump based on the parameter threshold and the working condition parameter at the current moment. , Also used to achieve:

Calculating the second difference between the working condition parameter corresponding to the water pump at no load and the working condition parameter at the current moment;

The current working state of the water pump is determined according to the second difference.
The movable platform according to claim 29, wherein, when the processor is used to determine whether the water pump is exhausted according to the second difference value, it is further configured to:

If the second difference is within a second standard error range, it is determined that the current working state is the no-load state; and

If the second difference is outside the second standard error range, it is determined that the current working state is the loaded state.
The movable platform according to any one of claims 21 to 24, wherein the processor realizes the judgment of the current working state of the water pump based on the parameter threshold and the working condition parameter at the current moment. , Also used to achieve:

Obtaining the corresponding second standard parameter range according to the corresponding parameter threshold value and the allowable error value when the water pump has no load;

The current working state of the water pump is determined according to the working condition parameter at the current moment and the second standard parameter range.
The movable platform according to claim 31, wherein the processor is further configured to determine the current working state of the water pump according to the working condition parameter and the second standard parameter range. achieve:

If the working condition parameter at the current moment is within the range of the second standard parameter, determining that the current working state is the no-load state;

If the working condition parameter at the current moment is outside the range of the second standard parameter, it is determined that the current working state is the loaded state.
The movable platform according to claim 20, wherein the processor is further configured to implement the following when determining whether the water pump is exhausted according to the current working state:

If the current working state is the on-load state, the water pump completes exhausting; and

If the current working state is an idling state, the water pump has not completed exhausting.
The movable platform according to claim 20, wherein the processor is further configured to implement:

The water pump is controlled to work at a fixed speed or a variable speed.
The movable platform according to claim 20, wherein the processor is further configured to implement:

The state information of the water pump is acquired, and the state information is fed back, wherein the state information includes an exhaust state, a state to be exhausted, and an exhaust completion state.
The mobile platform according to claim 35, wherein the processor is further configured to implement: when implementing the acquiring state information of the water pump and feeding back the state information:

Obtain the status information of the water pump to provide light prompts according to the status information; or,

The status information of the water pump is acquired, and the status information is sent to the remote control to be displayed on the display interface of the remote control.
The movable platform according to claim 20, wherein the operating condition parameters include at least one of current value, voltage value, flow value, and vibration frequency.
The movable platform according to claim 20, wherein the working condition parameters corresponding to the load include working condition parameters corresponding to the water pump when draining; and the working condition parameters corresponding to the no-load condition The parameters include working condition parameters corresponding to the water pump when exhausting.
A spraying device, characterized in that the spraying device includes a water pump, a memory and a processor;

The water pump is used for spraying liquid medicine;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when the computer program is executed, realize the exhaust gas control method of the water pump according to any one of claims 1 to 19.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes as described in any one of claims 1 to 19. The exhaust control method of the water pump described.