AU2018402492B2 - Method for testing spray flow of diaphragm pump of plant protection unmanned aerial vehicle based on microphone - Google Patents
Method for testing spray flow of diaphragm pump of plant protection unmanned aerial vehicle based on microphone Download PDFInfo
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- AU2018402492B2 AU2018402492B2 AU2018402492A AU2018402492A AU2018402492B2 AU 2018402492 B2 AU2018402492 B2 AU 2018402492B2 AU 2018402492 A AU2018402492 A AU 2018402492A AU 2018402492 A AU2018402492 A AU 2018402492A AU 2018402492 B2 AU2018402492 B2 AU 2018402492B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/66—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters
- G01F1/662—Constructional details
Abstract
A method for testing a spray flow of a diaphragm pump (1) of a plant protection unmanned aerial vehicle based on a microphone (2), said method comprising: collecting a sound wave signal of the diaphragm pump (1) on the plant protection unmanned aerial vehicle; performing spectrum analysis on the signal; selecting a sound wave spectrogram of a time interval when the diaphragm pump (1) was operating; filtering out from the sound wave spectrogram other amplitudes which do not belong within an amplitude value range of the sound wave signal emitted by the diaphragm pump (1); using a Fourier transform method to determine a sound wave frequency of diaphragm reciprocating motion within the time interval when the diaphragm pump (1) was operating; pre-calibrating diaphragm sound wave frequencies of the diaphragm pump (1) at different flow operating states, and obtaining a relation between the diaphragm sound wave frequency within the diaphragm pump (1) and the diaphragm pump flow; obtaining the flow of the diaphragm pump (1) according to the diaphragm sound wave frequency and the relation. The sound wave measurement method obviates the need to install a traditional flow meter, reads the sound wave signal of the diaphragm reciprocating motion by means of the microphone (2), analyses the diaphragm motion frequency by means of the Fourier transform and low-pass filtering, and thereby calculates the current flow of the diaphragm pump (1).
Description
Field of the Invention
The invention belongs to the technical field of plant-protection UAVs, and particularly relates to a method for testing the spray flow rate of a plant-protection UAV based on a microphone.
Background of the Invention
In recent years, the study and application in the field of aerial plant protection is becoming more and more extensive with the emergency of agricultural unmanned aerial vehicles (UAVs). Nowadays, plant-protection UAVs have rapidly developed especially in East Asian regions such as China, Japan and Korea. In plant protection work of the UAVs, the work effect and efficiency of the UAVs relate to production costs and farmland income increases, thus having a direct influence on farmer's enthusiasm on using the UAVs.
At present, it is difficult to detect the spray flow rate of the plant-protection UAVs in the air for the following reasons: (1) traditional vortex flowmeters are inapplicable to the UAVs due to their large size and weight; (2) traditional flowmeters with a broad measurement range are not suitable for measuring a small flow rate of 0.5-2L/min and cannot be installed on small-diameter pipes; and (3) during aerial application of high-concentration pesticides, the tested high-viscosity pesticides may be hardened and block internal flowmeters.
In order to accurately acquire the spray flow rate and spray area of the plant-protection UAVs, there is an urgent demand to test the spray flow rate of the plant-protection UAVs.
Summary of the Invention
The technical issue to be settled by the invention is to overcome the above-mentioned defects of the prior art by providing a method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone. According to the method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone, a traditional flowmeter is not needed, acoustic signals of the reciprocation of a diaphragm are read through a microphone-based acoustic measurement method, then the reciprocation frequency of the diaphragm is analyzed through Fourier transform method and low-pass filter analysis, and finally, the current flow rate of the diaphragm pump is resolved according to acquired frequency information, so that a result is accurate and reliable.
The technical solution adopted by the invention to settle the above technical issue is as follows:
A method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone comprises the following steps:
Step 1: acquiring an acoustic signal of a diaphragm pump on a plant-protection UAV and sending the acoustic signal to an acoustic control unit, by a microphone;
Step 2: converting the acoustic signal into an analog signal and sending the analog signal to a controller, by the acoustic control unit;
Step 3: receiving the analog signal and conducting spectrogram analysis on the signal to obtain an acoustic spectrogram, by the controller;
Step 4: determining a work time interval of the diaphragm pump according to the acoustic spectrogram, and selecting an acoustic spectrogram corresponding to the work time interval of the diaphragm pump;
Step 5: filtering out amplitudes, not within an amplitude threshold range of acoustic signals emitted by the diaphragm pump, out of the acoustic spectrogram corresponding to the work time interval of the diaphragm pump;
Step 6: analyzing the acoustic spectrogram obtained in Step 5 through a Fourier transform method to obtain the acoustic frequency of the reciprocation of a diaphragm at each time point within the work time interval of the diaphragm pump;
Step 7: calibrating, in advance, acoustic frequencies of the diaphragm in the diaphragm pump working under different flow rates to obtain a relational expression between the acoustic frequencies of the diaphragm in the diaphragm pump and flow rates of the diaphragm pump; and
Step 8: substituting the acoustic frequency of the reciprocation of the diaphragm, obtained in Step 6, at each time point within the work time interval of the diaphragm pump into the relational expression obtained in Step 7 to obtain the flow rate corresponding to each time point within the work time interval of the diaphragm pump.
According to a further improved technical solution of the invention, the acoustic control unit comprises an acoustic analog-digital conversion unit, and the controller is a single-chip microcomputer.
According to a further improved technical solution of the invention, Step 4 specifically comprises the following sub-steps:
(1) Selecting the time point of a positive amplitude step from the acoustic spectrogram to serve as a start time point of the diaphragm pump, selecting the time point of a negative amplitude step from the acoustic spectrogram to serve as a stop time point of the diaphragm pump, and taking a time interval between the start time point of the diaphragm pump and the subsequent adjacent stop point time of the diaphragm pump as the work time interval of the diaphragm pump; and
(2) Selecting the acoustic spectrogram corresponding to the work time interval of the diaphragm pump.
According to a further improved technical solution of the invention, selection of the time point of the positive amplitude step particularly comprises the following steps: presetting a step change threshold, and determining a time point at which the amplitude increases by a value greater than the step change threshold as the time point of the positive amplitude step;
Selection of the time point of the negative amplitude particularly comprises the following steps: presetting a step change threshold, and determining a time point at which the amplitude decreases by a value greater than the step change threshold as the time point of the negative amplitude step.
According to a further improved technical solution of the invention, Step 5 comprises the following sub-steps:
Determining amplitudes in the acoustic spectrogram corresponding to the work time interval of the diaphragm pump, presetting an amplitude threshold range of acoustic signals emitted by the diaphragm pump, and filtering amplitudes, not within the amplitude threshold range of the acoustic signals emitted by the diaphragm pump, out of the acoustic spectrogram corresponding to the work time interval of the diaphragm pump.
According to a further improved technical solution of the invention, Step 6 comprises the following sub-steps:
(1) Analyzing frequency characteristics of the reciprocation of the diaphragm within the work time interval of the diaphragm pump by analyzing the acoustic spectrogram obtained in Step 5 through the Fourier transform method, so as to obtain a spectrogram corresponding to each time point within the work time interval of the diaphragm pump; and
(2) Selecting an acoustic frequency, which is closest to OHz, has a large amplitude variation and is not a double frequency, from the spectrogram, wherein the acoustic frequency is an acoustic frequency of the reciprocation of the diaphragm at the time point, corresponding to the spectrogram, within the work time interval of the diaphragm pump, and the acoustic frequency having the large amplitude variation in the spectrogram refers to an acoustic frequency with an amplitude variation greater than the amplitude change threshold.
The invention has the following beneficial effects: a traditional flowmeter is not needed, so that the defects of large size and difficult installation of the traditional flowmeter are overcome; the acoustic signal of the reciprocation of the diaphragm in the diaphragm pump of the plant-protection UAV is read through a microphone-based acoustic measurement method, and the reciprocation frequency of the diaphragm is analyzed through Fourier transform and low-pass filter analysis, and finally, the current flow rate of the diaphragm pump is resolved according to acquired frequency information, so that a result is accurate and reliable.
Brief Description of the Drawings
FIG. 1 is a structural diagram of the invention. FIG. 2 is a work flow diagram of the invention. FIG. 3 is an acoustic spectrogram of the invention. FIG. 4 is a spectrogram of the invention.
Detailed Description of the Invention
Embodiment
Specific implementations of the invention are further explained below with reference to FIG. 1 to FIG. 4. Over 90% of plant-protection UAVs on the present market adopt a diaphragm pump 1 to spray pesticides. The diaphragm pump 1 works in such a manner that an external motor drives a diaphragm in the pump body to reciprocate to deliver pesticide liquid to a nozzle under pressure. In the reciprocating process of the diaphragm in the pump body, the flow rate of liquid flowing through the pump body is in positive correlation with the reciprocation frequency of the diaphragm. In this embodiment, an acoustic signal of the reciprocation of the diaphragm in the diaphragm pump of the plant-protection UAV is read through a microphone-based acoustic measurement method, and the reciprocation frequency of the diaphragm is analyzed through Fourier transform and low-pass filter analysis, and finally, the current flow rate of the diaphragm pump 1 is resolved according to acquired frequency information, so that a result is accurate and reliable. The specific structure is as follows:
Referring to FIG. 1, a device for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone comprises a plant-protection UAV, and a diaphragm pump 1, a microphone 2, an acoustic control unit 3 and a controller 4 (single-chip microcomputer) which are arranged on the plant-protection UAV, wherein the microphone 2 is installed on the diaphragm pump 1, and the microphone 2 is connected to the acoustic control unit 3 and the controller 4 (single-chip microcomputer).
Referring to FIG. 2, a method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone comprises the following steps:
Step 1: acquisition of an acoustic signal: a microphone 2 acquires an acoustic signal of a diaphragm pump 1 on a plant-protection UAV and sends the acoustic signal to an acoustic control unit 3;
Step 2: acoustic analog-digital conversion: the acoustic control unit 3 converts the acoustic signal into an analog signal and sends the analog signal to a controller 4;
Step 3: spectrogram analysis: the controller 4 receives the analog signal and conducts spectrogram analysis on the analog signal to obtain an acoustic spectrogram, wherein as shown in FIG. 3, a horizontal axis of the acoustic spectrogram represents the time, a vertical axis of the acoustic spectrogram represents the amplitude, and the waveform is characterized by the variation over time;
Step 4: spectrogram analysis: a work time interval of the diaphragm pump is determined according to the acoustic spectrogram, and an acoustic spectrogram corresponding to the work time interval of the diaphragm pump is selected, wherein as shown in FIG. 3, the work time interval of the diaphragm pump ranges from tIto tim, from t 2 to t2m, and from ta ito t3m.
Step 5: low-pass filtering: amplitudes, not within an amplitude threshold range of acoustic signals emitted by the diaphragm pump, are filtered out of the acoustic spectrogram corresponding to the work time interval of the diaphragm pump; because a propeller, a motor or other mechanical vibrations can also generate acoustic signals during operation of the UAV, the microphone will receive clutter signals within various frequency bands when acquiring reciprocation information of the diaphragm of the diaphragm pump; since the microphone is attached to the head of the diaphragm pump, the acoustic signal emitted by the diaphragm pump has the maximum amplitude, other acoustic signals on the plant-protection UAV have small amplitudes, and time frequency signals fluctuate irregularly, so that a valid acoustic intensity can be worked out by spectrogram analysis to perform low-pass filtering;
Step 6: analysis of valid acoustic frequency characteristics: the acoustic spectrogram obtained in Step 5 is analyzed through a Fourier transform method to obtain an acoustic frequency of the reciprocation of the diaphragm at each time point within the work time interval of the diaphragm pump;
Step 7: calculation of the flow rate of the diaphragm pump: acoustic frequencies of the diaphragm in the diaphragm pump working under different flow rates are calibrated in advance to obtain a relational expression between the acoustic frequencies of the diaphragm in the diaphragm pump and the flow rates of the diaphragm pump; and
Step 8: calculation of the flow rate of the diaphragm pump: the acoustic frequency of the reciprocation of the diaphragm, obtained in Step 6, at each time point within the work time interval of the diaphragm is substituted into the relational expression obtain in Step 7 to obtain the flow rate corresponding to each time point within the work time interval of the diaphragm pump.
The acoustic control unit 3 comprises an acoustic analog-digital conversion unit, and the controller 4 is a single-chip microcomputer.
Step 4 specifically comprises the following sub-steps: (1) The time point of a positive amplitude step is selected from the acoustic spectrogram to serve as a start time point of the diaphragm pump, the time point of a negative amplitude step is selected from the acoustic spectrogram to serve as a stop time point of the diaphragm pump, and a time interval between the start time point of the diaphragm pump and the subsequent adjacent stop point time of the diaphragm pump is taken as the work time interval of the diaphragm pump; and
(2) The acoustic spectrogram corresponding to the work time interval of the diaphragm pump is selected.
Selection of the time point of the positive amplitude step particularly comprises the following steps: a step change threshold is preset, and a time point at which the amplitude increases by a value greater than the step change threshold is determined as the time point of the positive amplitude step. Selection of the time point of the negative amplitude step particularly comprises the following steps: a step change threshold is preset, and a time point at which the amplitude decreases by a value greater than the step change threshold is determined as the time point of the negative amplitude step. As shown in FIG. 3, the work time interval of the diaphragm pump ranges from tIto tim, from t2 to t2m, and from
ta ito t3m.
Low-pass filtering in Step 5 specifically comprises the following sub-steps: (a) amplitudes in the acoustic spectrogram corresponding to the work time interval of the diaphragm pump are determined, an amplitude threshold range of acoustic signals emitted by the diaphragm pump is preset, and amplitudes, not within the amplitude threshold range of the acoustic signals emitted by the diaphragm pump, are filtered out of the acoustic spectrogram corresponding to the work time interval of the diaphragm pump to obtain an acoustic spectrogram corresponding to the actual work time interval of the diaphragm pump, wherein the amplitude threshold range is set according to the amplitude range of acoustic signals of the diaphragm pump acquired in the absence of clutter signals. (b) Because the acoustic frequency of the diaphragm pump is related to the rotating speed of the diaphragm pump, the work frequency range of the diaphragm pump can be calculated according to the rotating speed of the diaphragm pump, then frequency signals within the work time interval of the diaphragm pump are determined according to the acoustic spectrogram corresponding to the work time interval of the diaphragm pump, frequency signals within the work frequency range of the diaphragm pump are extracted from the work time interval of the diaphragm pump, and frequency signals not within the work frequency range of the diaphragm pump are filtered out, so that the acoustic spectrogram corresponding to the actual work time of the diaphragm pump is obtained.
After low-pass filtering is completed, the acoustic spectrogram corresponding to the actual work time of the diaphragm pump can be clearly obtained; however, acoustic signals obtained at this moment include clutter signals, so that secondary analysis needs to be conducted. In this embodiment, the frequency characteristics of the reciprocation of the diaphragm within the work time interval of the diaphragm pump are analyzed through the Fourier transform method, that is, Step 6 is executed. Step 6 specifically comprises the following sub-steps:
(1) The acoustic spectrogram obtained in Step 5 is analyzed through the Fourier transform method to obtain the frequency characteristics of the reciprocation of the diaphragm at each time point within the work time interval of the diaphragm pump, so as to obtain a spectrogram corresponding to each time point within the work time interval of the diaphragm pump; and
The time interval is defined as ti, wherein i=0, 1, 2, ... ; complex variables function conversion is conducted within the time interval ti;
F(w)= F[f (t)] =f f(te-wdt -go
Wherein, (t) represents the spectrogram, and a periodic function F(co) corresponding to the spectrogram is obtained; in the spectrogram shown in FIG. 4, t represents the time, and o> represents the frequency;
(2) An acoustic frequency, which is closest to OHz, has a large amplitude variation and is not a double frequency, is selected from the spectrogram, wherein the acoustic frequency is an acoustic frequency of the reciprocation of the diaphragm at the time point, corresponding to the spectrogram, within the work time interval of the diaphragm pump, and the acoustic frequency having the large amplitude variation in the spectrogram refers to an acoustic frequency with an amplitude variation greater than the amplitude change threshold.
In FIG. 4 which is a spectrogram corresponding to one time point, the horizontal axis represents the frequency, and the vertical axis represents the amplitude; as can be seen
from FIG. 4, x=35.39 is the acoustic frequency of the reciprocation of the diaphragm
obtained according to the spectrogram; in the case of x=70.74, although the amplitude
varies drastically, x=70.74 is an integer multiple of x=35.39, that is, the frequency x=
70.74 is a double frequency. The actual frequency tested is f=33.88, and thus, the frequency result measured through the microphone-based method is accurate.
When a 0.15# nozzle is used in Step 7, the acoustic frequencies (namely the acoustic frequencies of the diaphragm) of the diaphragm pump working under different flow rates are calibrated; the relation between the acoustic frequencies of the diaphragm in the pump and the flow rates of the diaphragm pumps is obtained through calibration of the diaphragm pump, and finally, the flow rate of the diaphragm pump is calculated; the flow rate of the diaphragm pump corresponding to the acoustic frequency of the diaphragm pump is as follows:
f(x) =133300x 3 -0.00001X2 +25670x+12950
Wherein, x is the acoustic frequency; f(x) is the flow rate of the diaphragm pump.
During calibration, different voltages can be applied to the diaphragm pump; each rotating speed corresponds to one voltage, and the acoustic frequencies of the diaphragm pump under different flow rates can be calculated according to the rotating speeds, so that the relational expression between acoustic frequencies of the diaphragm in the diaphragm pump and the flow rates of the diaphragm pump is obtained.
The protection scope of the invention is not limited to the above embodiments and is subject to the claims. Any substitutions, transformations and improvements easily achievable for those skilled in the art should also fall within the protection scope of the invention.
Claims (6)
1. A method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone, comprising the following steps:
Step 1: acquiring an acoustic signal of a diaphragm pump on a plant-protection UAV and sending the acoustic signal to an acoustic control unit, by a microphone;
Step 2: converting the acoustic signal into an analog signal and sending the analog signal to a controller, by the acoustic control unit;
Step 3: receiving the analog signal and conducting spectrogram analysis on the signal to obtain an acoustic spectrogram, by the controller;
Step 4: determining a work time interval of the diaphragm pump according to the acoustic spectrogram, and selecting an acoustic spectrogram corresponding to the work time interval of the diaphragm pump;
Step 5: filtering out amplitudes, not within an amplitude threshold range of acoustic signals emitted by the diaphragm pump, out of the acoustic spectrogram corresponding to the work time interval of the diaphragm pump;
Step 6: analyzing the acoustic spectrogram obtained in Step 5 through a Fourier transform method to obtain an acoustic frequency of the reciprocation of a diaphragm at each time point within the work time interval of the diaphragm
pump;
Step 7: calibrating, in advance, acoustic frequencies of the diaphragm of the diaphragm pump working under different flow rates to obtain a relational expression between the acoustic frequencies of the diaphragm in the diaphragm pump and the flow rates of the diaphragm pump; and
Step 8: substituting the acoustic frequency of the reciprocation of the diaphragm, obtained in Step 6, at each time point within the work time interval of the diaphragm pump into the relational expression obtained in Step 7 to obtain the flow rate corresponding to each time point within the work time interval of the diaphragm pump.
2. The method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone according to Claim 1, wherein the acoustic control unit comprises an acoustic analog-digital conversion unit, and the controller is a single-chip microcomputer.
3. The method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone according to Claim 1, wherein Step 4 specifically comprises the following sub-steps:
(1) Selecting a time point of a positive amplitude step from the acoustic spectrogram to serve as a start time point of the diaphragm pump, selecting a time point of a negative amplitude step from the acoustic spectrogram to serve as a stop time point of the diaphragm pump, and taking a time interval between the start time point of the diaphragm pump and the subsequent adjacent stop point time of the diaphragm pump as the work time interval of the diaphragm pump; and (2) Selecting the acoustic spectrogram corresponding to the work time interval of the diaphragm pump.
4. The method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone according to Claim 3, wherein:
selection of the time point of the positive amplitude step particularly comprises the following steps: presetting a step change threshold, and determining a time point at which the amplitude increases by a value greater than the step change threshold as the time point of the positive amplitude step;
selection of the time point of the negative amplitude step particularly comprises the following steps: presetting a step change threshold, and determining a time point at which the amplitude decreases by a value greater than the step change threshold as the time point of the negative amplitude step.
5. The method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone according to Claim 3, wherein Step 5 comprises the following sub-steps:
determining amplitudes in the acoustic spectrogram corresponding to the work time interval of the diaphragm pump, presetting an amplitude threshold range of acoustic signals emitted by the diaphragm pump, and filtering amplitudes, not within the amplitude threshold range of the acoustic signals emitted by the diaphragm pump, out of the acoustic spectrogram corresponding to the work time interval of the diaphragm pump.
6. The method for testing the spray flow rate of a diaphragm pump of a plant-protection UAV based on a microphone according to Claim 5, wherein Step 6 comprises the following sub-steps:
(1) analyzing the acoustic spectrogram obtained in Step 5 through the Fourier transform method to obtain frequency characteristics of the reciprocation of the diaphragm at each time point within the work time interval of the diaphragm pump, so as to obtain a spectrogram corresponding to each time point within the work time interval of the diaphragm pump; and (2) selecting an acoustic frequency, which is closest to OHz, has a large amplitude variation and is not a double frequency, from the spectrogram, wherein the acoustic frequency is an acoustic frequency of the reciprocation of the diaphragm at the time point, corresponding to the spectrogram, within the work time interval of the diaphragm pump, and the acoustic frequency having the large amplitude variation in the spectrogram refers to an acoustic frequency with an amplitude variation greater than the amplitude change threshold.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696286.X | 2018-06-29 | ||
| CN201810696286.XA CN109084851B (en) | 2018-06-29 | 2018-06-29 | Diaphragm pump spraying flow testing method of plant protection unmanned aerial vehicle based on microphone |
| PCT/CN2018/120305 WO2019137134A1 (en) | 2018-06-29 | 2018-12-11 | Method for testing spray flow of diaphragm pump of plant protection unmanned aerial vehicle based on microphone |
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| Publication Number | Publication Date |
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| AU2018402492A1 AU2018402492A1 (en) | 2020-06-25 |
| AU2018402492B2 true AU2018402492B2 (en) | 2020-07-09 |
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| AU2018402492A Active AU2018402492B2 (en) | 2018-06-29 | 2018-12-11 | Method for testing spray flow of diaphragm pump of plant protection unmanned aerial vehicle based on microphone |
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| Country | Link |
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| JP (1) | JP6837730B2 (en) |
| CN (1) | CN109084851B (en) |
| AU (1) | AU2018402492B2 (en) |
| WO (1) | WO2019137134A1 (en) |
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| CN109084851B (en) * | 2018-06-29 | 2020-05-19 | 农业部南京农业机械化研究所 | Diaphragm pump spraying flow testing method of plant protection unmanned aerial vehicle based on microphone |
| CN111264497A (en) * | 2020-02-10 | 2020-06-12 | 江苏大学 | Device and method for monitoring blockage of nozzle of rice spraying machine in real time based on sound information |
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| US7311004B2 (en) * | 2003-03-10 | 2007-12-25 | Capstan Ag Systems, Inc. | Flow control and operation monitoring system for individual spray nozzles |
| CN205485466U (en) * | 2016-02-04 | 2016-08-17 | 广州极飞电子科技有限公司 | Spread control device, sprinkling system and plant protection unmanned aerial vehicle |
| CN205499375U (en) * | 2016-01-20 | 2016-08-24 | 南昌中航天信航空科技有限公司 | Plant protection unmanned vehicles spread control device |
| CN107264804A (en) * | 2017-05-12 | 2017-10-20 | 华南农业大学 | A kind of unmanned vehicle variable rate spray control device and method based on GPS |
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| DE19702393A1 (en) * | 1997-01-24 | 1998-07-30 | Audi Ag | Method for determining the fuel consumption of a vehicle |
| DE19751591B4 (en) * | 1997-11-21 | 2004-09-23 | Albin Dobersek | Method and device for determining the mass density of a volume flow of a suspension in a processing plant for ores or minerals |
| US6726120B2 (en) * | 2001-12-19 | 2004-04-27 | Deere & Company | Automatic wind-drift compensation system for agricultural sprayers |
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| DE102008001182A1 (en) * | 2008-04-15 | 2009-10-22 | Robert Bosch Gmbh | Method and device for determining the delivery volume of an injection pump |
| US9678511B2 (en) * | 2012-04-12 | 2017-06-13 | Itt Manufacturing Enterprises Llc. | Method of determining pump flow in rotary positive displacement pumps |
| CN207395811U (en) * | 2017-09-22 | 2018-05-22 | 赵耀 | Directly measure the device of small flow pulsation stream |
| CN109084851B (en) * | 2018-06-29 | 2020-05-19 | 农业部南京农业机械化研究所 | Diaphragm pump spraying flow testing method of plant protection unmanned aerial vehicle based on microphone |
-
2018
- 2018-06-29 CN CN201810696286.XA patent/CN109084851B/en active Active
- 2018-12-11 WO PCT/CN2018/120305 patent/WO2019137134A1/en active Application Filing
- 2018-12-11 AU AU2018402492A patent/AU2018402492B2/en active Active
- 2018-12-11 JP JP2020534543A patent/JP6837730B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7311004B2 (en) * | 2003-03-10 | 2007-12-25 | Capstan Ag Systems, Inc. | Flow control and operation monitoring system for individual spray nozzles |
| CN205499375U (en) * | 2016-01-20 | 2016-08-24 | 南昌中航天信航空科技有限公司 | Plant protection unmanned vehicles spread control device |
| CN205485466U (en) * | 2016-02-04 | 2016-08-17 | 广州极飞电子科技有限公司 | Spread control device, sprinkling system and plant protection unmanned aerial vehicle |
| CN206772357U (en) * | 2017-04-25 | 2017-12-19 | 一飞智控(天津)科技有限公司 | High-precision degree type flowmeter and the plant protection unmanned plane with the flowmeter |
| CN107264804A (en) * | 2017-05-12 | 2017-10-20 | 华南农业大学 | A kind of unmanned vehicle variable rate spray control device and method based on GPS |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6837730B2 (en) | 2021-03-03 |
| WO2019137134A1 (en) | 2019-07-18 |
| AU2018402492A1 (en) | 2020-06-25 |
| CN109084851B (en) | 2020-05-19 |
| JP2021504716A (en) | 2021-02-15 |
| CN109084851A (en) | 2018-12-25 |
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