CN108507645A - The calibration factor of unmanned plane flow meter determines method, calibration method and device - Google Patents
The calibration factor of unmanned plane flow meter determines method, calibration method and device Download PDFInfo
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- CN108507645A CN108507645A CN201810523988.8A CN201810523988A CN108507645A CN 108507645 A CN108507645 A CN 108507645A CN 201810523988 A CN201810523988 A CN 201810523988A CN 108507645 A CN108507645 A CN 108507645A
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- Prior art keywords
- flowmeter
- unmanned plane
- flow
- sprayed
- calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F25/00—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume
- G01F25/10—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume of flowmeters
Abstract
The embodiment of the invention discloses a kind of calibration factors of unmanned plane flow meter to determine method, calibration method and device.The calibration factor determines that method includes：Flight controller obtains the accumulative measurement flow of flowmeter feedback corresponding with substance to be sprayed when the substance to be sprayed delivered on determining unmanned plane all complete by sprinkling；Actual capacity and accumulative measurement flow of the flight controller according to substance to be sprayed, determine the calibration factor of flowmeter.Flight controller can calibrate the accumulative measurement flow of flowmeter Real-time Feedback according to the calibration factor of the flowmeter in the formal plant protection operation of unmanned plane, to obtain the practical sprinkling flow after calibrating, be achieved in the calibration to unmanned plane flow meter.Above-mentioned technical proposal solves the problems, such as that flowmeter is difficult to calibrate when unmanned plane plant protection operation, and calibration process is convenient and simple, ensure that the accuracy for the sprinkling data on flows that flight controller obtains, also ensures the effect of unmanned plane plant protection operation.
Description
Technical field
The present embodiments relate to air vehicle technique field more particularly to a kind of calibration factor of unmanned plane flow meter are true
Determine method, calibration method and device.
Background technology
With the rapid development of unmanned plane industry, the application of unmanned plane is also more and more extensive.It is sprayed insecticide using unmanned plane,
It can not only use manpower and material resources sparingly, can be operated with long-distance remote control, spraying operation personnel is avoided to be exposed to the danger in pesticide,
The safety for not only increasing plant protection operation also improves the spraying efficiency of pesticide.
Needs in water pump liquid inlet or liquid outlet by installing fluid flowmeter to monitor when unmanned plane progress plant protection operation
Pesticide spraying amount, it will usually use Hall flow meter.Hall flow meter is to measure magnetism using the Hall effect of Hall element
Physical quantity, its working principle is that：Hydraulic shock magnet rotor drives magnet rotor rotation, generates the rotating excitation field of different magnetic poles,
Cutting magnetic induction line generates height impulse level signal and is sent to controller, so that controller can be according to pulse signal
Frequency judges fluid flow.Wherein, the relationship between fluid flow and pulse signal frequency is q=k0F, q are flow, and f is
Pulse signal frequency, k0For discharge coefficient, it is a definite value, completion has been demarcated when Hall flow meter dispatches from the factory.
But when the Hall flow meter is carried out plant protection operation for unmanned plane, sprinkling system (water pump, the spray of unmanned plane
Head, water pipe and water pipe drag size, length and thickness) and institute's pesticide type all can be to the Hall flow meter
Sensitivity and accuracy have an impact, inaccurate so as to cause measurement data, influence the effect of plant protection operation.Commonly it is directed to such
The calibration method of Hall flow meter re-scales it to send laboratory back to, but the method process is cumbersome, it is longer to take, and
And it cannot make because of the variation of the influence factors such as the sprinkling system of unmanned plane or sprinkling medicament kind and timely and effectively calibrate.Cause
This, which is not particularly suited for calibrating the flowmeter on unmanned plane.
Invention content
The embodiment of the present invention provides a kind of calibration factor of unmanned plane flow meter and determines method, calibration method and device,
The flowmeter on unmanned plane is calibrated with realizing.
In a first aspect, an embodiment of the present invention provides a kind of calibration factors of unmanned plane flow meter to determine method, including：
Flight controller when all sprinkling is completed for the substance to be sprayed that is delivered on determining unmanned plane, obtain with it is described to be painted
Spill the accumulative measurement flow of the corresponding flowmeter feedback of substance；
Actual capacity and the accumulative measurement flow of the flight controller according to the substance to be sprayed determine
The calibration factor of the flowmeter.
Second aspect, the embodiment of the present invention additionally provide a kind of calibration method of unmanned plane flow meter, including：
The school of corresponding flowmeter when flight controller obtains the substance to be sprayed of unmanned plane sprinkling setting pharmacy type
Quasi- coefficient, wherein the unmanned plane flow meter that the calibration factor of the flowmeter is provided for any embodiment through the invention
Calibration factor determine method determine；
The flight controller obtains the substance to be sprayed progress that the unmanned plane sprays the setting pharmacy type in real time
The accumulative measurement flow of flowmeter feedback when operation；
The flight controller calibrates the accumulative measurement flow according to the calibration factor of the flowmeter, in real time
Obtain the practical sprinkling flow after calibration.
The third aspect, the embodiment of the present invention additionally provide a kind of calibration factor determining device of unmanned plane flow meter, packet
It includes：
Accumulative to measure flow acquisition module, the substance to be sprayed delivered on determining unmanned plane for flight controller is whole
When sprinkling is completed, the accumulative measurement flow that flowmeter corresponding with the substance to be sprayed is fed back is obtained；
Calibration factor determining module, for the flight controller according to the actual capacity of the substance to be sprayed and
The accumulative measurement flow, determines the calibration factor of the flowmeter.
Fourth aspect, the embodiment of the present invention additionally provide a kind of calibrating installation of unmanned plane flow meter, including：
Calibration factor acquisition module obtains the substance to be sprayed of unmanned plane sprinkling setting pharmacy type for flight controller
When corresponding flowmeter calibration factor, wherein the calibration factor of the flowmeter is the institute of any embodiment through the invention
The calibration factor of the unmanned plane flow meter of offer determines that method determines；
It is accumulative to measure flow receiving module, the unmanned plane is obtained in real time for the flight controller sprays the setting
The substance to be sprayed of pharmacy type carries out the accumulative measurement flow of flowmeter feedback when operation；
Practical sprinkling flow calibration module, for the flight controller according to the calibration factor of the flowmeter to described
The accumulative flow that measures is calibrated, and obtains the practical sprinkling flow after calibration in real time.
5th aspect, the embodiment of the present invention additionally provide a kind of equipment, including memory, processor and are stored in memory
Computer program that is upper and can running on a processor, the processor is realized when executing described program to be implemented as the present invention is arbitrary
The calibration factor for the unmanned plane flow meter that example is provided determines method.
6th aspect, the embodiment of the present invention additionally provide a kind of computer readable storage medium, are stored thereon with computer
Program realizes the calibration system of the unmanned plane flow meter provided such as any embodiment of the present invention when the program is executed by processor
Number determines method.
7th aspect, the embodiment of the present invention additionally provide a kind of equipment, including memory, processor and are stored in memory
Computer program that is upper and can running on a processor, the processor is realized when executing described program to be implemented as the present invention is arbitrary
The calibration method for the unmanned plane flow meter that example is provided.
Eighth aspect, the embodiment of the present invention additionally provide a kind of computer readable storage medium, are stored thereon with computer
Program realizes the calibration side of the unmanned plane flow meter provided such as any embodiment of the present invention when the program is executed by processor
Method.
A kind of calibration factor of unmanned plane flow meter provided in an embodiment of the present invention determines method, calibration method and dress
It sets, by carrying out spray test before the formal plant protection operation of unmanned plane, makes flight controller during the test according to be sprayed
The accumulative measurement flow of actual capacity and the flowmeter feedback of substance determines the calibration factor of the flowmeter, and then makes flight
Controller can add up flowmeter Real-time Feedback according to the calibration factor of the flowmeter in the formal plant protection operation of unmanned plane
It measures flow to be calibrated, to obtain the practical sprinkling flow after calibrating, is achieved in the behaviour of the calibration to unmanned plane flow meter
Make.Above-mentioned technical proposal solves the problems, such as that flowmeter is difficult to calibrate when unmanned plane plant protection operation, and calibration process is convenient and simple,
The accuracy that ensure that the sprinkling data on flows that flight controller obtains, also ensures the effect of unmanned plane plant protection operation.
Description of the drawings
Fig. 1 is that a kind of calibration factor of unmanned plane flow meter in the embodiment of the present invention one determines the flow chart of method；
Fig. 2 is a kind of flow chart of the calibration method of unmanned plane flow meter in the embodiment of the present invention two；
Fig. 3 is a kind of flow chart of the calibration method of unmanned plane flow meter in the embodiment of the present invention three；
Fig. 4 is a kind of structural representation of the calibration factor determining device of unmanned plane flow meter in the embodiment of the present invention four
Figure；
Fig. 5 is a kind of structural schematic diagram of the calibrating installation of unmanned plane flow meter in the embodiment of the present invention five；
Fig. 6 is a kind of hardware architecture diagram of equipment in the embodiment of the present invention six.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.
It also should be noted that only the parts related to the present invention are shown for ease of description, in attached drawing rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
It is that many of which operation can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be by again
It arranges.The processing can be terminated when its operations are completed, it is also possible to the additional step being not included in attached drawing.
The processing can correspond to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 is that a kind of calibration factor for unmanned plane flow meter that the embodiment of the present invention one provides determines the flow of method
Figure, be applicable to on unmanned plane flowmeter carry out calibration operation, this method can by it is provided in an embodiment of the present invention nobody
The calibration factor determining device of machine flow meter executes, which can be used software and/or the mode of hardware is realized, and general
It can be integrated in unmanned plane.
As shown in Figure 1, the method for the present embodiment specifically includes：
S110, flight controller are when the substance to be sprayed delivered on determining unmanned plane all complete by sprinkling, acquisition and institute
State the accumulative measurement flow of the corresponding flowmeter feedback of substance to be sprayed.
Wherein, what unmanned plane referred to can be plant protection drone, for spraying substance to be sprayed when carrying out plant protection operation, wait for
Sprinkling substance can be specifically medicament needed for plant protection operation, can be liquid preparation, can also be solid chemicals (such as particle
Shape medicament or powdered medicament etc.).The flowmeter being installed in plant protection drone can treat the sprinkling flow of sprinkling substance
It measures, correspondingly, flowmeter can be fluid flowmeter, or solid flowmeter, and the numerical value measured
The flight controller of plant protection drone is fed back to, flight controller can control subsequent spraying operation according to fountain height.
Value, it is noted that the calibration factor of the unmanned plane flow meter determines that method is in the formal plant protection of plant protection drone
What the plant protection experiment before operation carried out in the process.During plant protection is tested, staff is by known type, known volume
And/or the substance to be sprayed of quality is packed into the sprinkling case of plant protection drone, control plant protection drone original place is sprayed, plant protection
Unmanned plane flow meter can measure the flow of sprinkling (sprayed volume and/or sprayed quality) during sprinkling in real time, and
Feed back to flight controller.Meanwhile flight controller can be by the flow of the sprinkling Real-time Feedback received to earth station or user
End, so that the flow of sprinkling that the display interface simultaneous display flow meter of earth station or user terminal is fed back is checked for user.
Flight controller when all sprinkling is completed for the substance to be sprayed that is delivered on determining unmanned plane, will at this time flowmeter it is anti-
The flow of sprinkling of feedback measures flow as accumulative.
The actual capacity and accumulative measurement flow of S120, flight controller according to substance to be sprayed, determine the stream
The calibration factor of gauge.
The actual capacity of substance to be sprayed refers specifically to wait in the sprinkling case of staff's loading plant protection drone
Spray the actual volume and/or quality of substance.Staff can send the actual capacity before plant protection on-test
To flight controller, the actual capacity can also be sent to flight controller after plant protection off-test.
Specifically, the calibration factor of above-mentioned unmanned plane flow meter determines method, in flight controller according to object to be sprayed
The actual capacity of matter and it is accumulative measure flow, before the calibration factor for determining the flowmeter, further include：Flight controller
Obtain the actual capacity of the substance to be sprayed of earth station or user terminal transmission；Wherein, the type of actual capacity includes：Volume
And/or quality.
Before plant protection on-test or after terminating, staff can be communicated to connect by being established with plant protection drone
Earth station or user terminal input the actual capacity of substance to be sprayed, and the actual capacity is sent in plant protection drone
Flight controller.It is different according to the type of substance to be sprayed, actual capacity can be substance to be sprayed volume and/or
Quality.
Due to the sprinkling system and material class to be sprayed by plant protection drone of measurement sensitivity and accuracy of flowmeter
The influence of type, the practical delivery of its accumulative measurement flow and substance to be sprayed that measure when substance to be sprayed all complete by sprinkling
Amount can have certain error.
Actual capacity and accumulative measurement flow of the flight controller according to substance to be sprayed, or between the two
The calibration factor of mathematic interpolation flow meter, and the calibration factor being calculated is preserved, for the formal plant protection operation of unmanned plane
When flight controller call, the measurement result of flowmeter is calibrated.
It, can be by flight controller according to the practical fortune of substance to be sprayed as a kind of optional embodiment of the present embodiment
Carrying capacity and accumulative measurement flow, determine the calibration factor of flowmeter, specially：
Flight controller is using the actual capacity of substance to be sprayed with the accumulative ratio for measuring flow as the school of flowmeter
Quasi- coefficient.
In turn, when plant protection drone carries out formal plant protection operation, flight controller can be according to the calibration system of the determination
The flow of sprinkling of number convection current flowmeter measurement is calibrated, and is obtained the reality after calibration and has been sprayed flow.
The calibration factor of above-mentioned unmanned plane flow meter determines method, can be in plant protection drone formal plant protection operation every time
Preceding progress, to determine that the plant protection drone is directed to the calibration factor of the flowmeter when secondary plant protection operation；Can also plant protection nobody
It is carried out when the machine free time, each calibration factor of flowmeter when determining that the plant protection drone is directed to different substances to be sprayed.
As another optional embodiment of the present embodiment, substance to be sprayed is the medicament for setting type, i.e., to be sprayed
Substance is one of a plurality of types of medicaments, and the medicament for each type is needed to carry out a spray test respectively, in turn, will
Actual capacity and accumulative measurement flow of the flight controller according to substance to be sprayed, determine the calibration factor of flowmeter, have
Body is：
Flight controller is according to the actual capacity of substance to be sprayed, the medicament of accumulative measurement flow and substance to be sprayed
Type determines flowmeter calibration factor corresponding with pharmacy type.
It, can be in the plant protection drone free time when spraying common several different types of medicaments using same plant protection drone
When respectively convection current gauge calibrated, after obtaining corresponding with the different agents type each calibration factor of flowmeter, by medicament class
Type and the corresponding storage respectively of flowmeter calibration factor, such as the first medicament correspond to the first calibration factor, and second medicament corresponds to second
Calibration factor etc..When carrying out plant protection operation using the plant protection drone, flight controller obtains corresponding with sprinkling medicament
Calibration factor calibrates the flow of sprinkling that flowmeter is fed back, and actual has sprayed flow to obtain.
A kind of calibration factor of unmanned plane flow meter provided in this embodiment determines method, by formally being planted in unmanned plane
Protect operation before carry out spray test, make flight controller during spray test according to the actual capacity of substance to be sprayed with
And the accumulative measurement flow of flowmeter feedback determines the calibration factor of the flowmeter, and then keep flight controller formal in unmanned plane
The accumulative measurement flow of flowmeter Real-time Feedback can be calibrated according to the calibration factor of the flowmeter when plant protection operation, with
The practical sprinkling flow after calibration is obtained, the calibration operation to unmanned plane flow meter thus can be realized.
Embodiment two
Fig. 2 is a kind of flow chart of the calibration method of unmanned plane flow meter provided by Embodiment 2 of the present invention, applicable
In carrying out calibration operation to the flowmeter on unmanned plane, this method can be by unmanned plane flow meter provided in an embodiment of the present invention
Calibrating installation execute, which can be used software and/or the mode of hardware is realized, and can generally be integrated in unmanned plane.
As shown in Fig. 2, the method for the present embodiment specifically includes：
S210, flight controller obtain flowmeter corresponding when the substance to be sprayed of unmanned plane sprinkling setting pharmacy type
Calibration factor, wherein the unmanned plane that the calibration factor of the flowmeter is provided for any embodiment through the invention is upper
The calibration factor of gauge determines that method determines.
Unmanned plane can utilize the sprinkling flow of the method convection current flowmeter measurement of the present embodiment in formal plant protection operation
It is calibrated.For the pharmacy type of the secondary plant protection operation substance to be sprayed, flowmeter corresponding with pharmacy type school is obtained
Quasi- coefficient, wherein the determination method of the calibration factor refers to previous embodiment, and details are not described herein.
Specifically, obtaining the school of flowmeter when unmanned plane sprinkling sets the substance to be sprayed of pharmacy type in flight controller
Before quasi- coefficient, further include：Flight controller obtains the pharmacy type of the substance to be sprayed of earth station or user terminal transmission.
Before the formal plant protection operation of unmanned plane, staff can be by establishing the ground communicated to connect with plant protection drone
It stands or user terminal inputs the pharmacy type of substance to be sprayed, and the pharmacy type is sent to the flight controller of unmanned plane, with
Flight controller is set to obtain the calibration factor of flowmeter corresponding with the pharmacy type.
S220, flight controller obtain the substance to be sprayed progress operation that unmanned plane sprays the setting pharmacy type in real time
When flowmeter feedback accumulative measurement flow.
During unmanned plane formal plant protection operation, flowmeter feeds back accumulative measurement flow to flight controller in real time,
The sprinkling flow for the substance to be sprayed that i.e. flowmeter measures, the accumulative measurement flow namely flight controller need to carry out it
The flow to be calibrated of calibration.
S230, flight controller calibrate the accumulative flow that measures according to the calibration factor of flowmeter, obtain school in real time
Practical sprinkling flow after standard.
Flight controller calibrates the accumulative flow that measures according to the calibration factor of flowmeter corresponding with pharmacy type,
And then the practical sprinkling flow after calibration can be got, therefore, flight controller can get unmanned plane sprinkling and wait in real time
The practical sprinkling flow of substance is sprayed, and then can be according to the subsequent spraying operation of practical sprinkling flow control, to ensure to plant
Protect the effect of operation.
It, can be by flight controller according to the calibration factor pair of flowmeter as a kind of specific embodiment of the present embodiment
The accumulative flow that measures is calibrated, and obtains the practical sprinkling flow after calibration in real time, specially：Flight controller is by flowmeter
Calibration factor is with the accumulative product for measuring flow as the practical sprinkling flow after calibration.
Since the calibration factor of flowmeter corresponding with setting pharmacy type is the actual capacity according to substance to be sprayed
What the ratio of the accumulative measurement flow measured with flowmeter determined, therefore, the calibration factor of flowmeter and accumulative measurement flow
Product is the practical sprinkling flow of substance to be sprayed.
A kind of calibration method of unmanned plane flow meter provided in this embodiment is appointed when unmanned plane formally executes plant protection operation
When business, flight controller transfers flowmeter corresponding with the pharmacy type of substance to be sprayed used by time plant protection operation automatically
Calibration factor, using the calibration factor go calibrated flow meter measure accumulative measurement flow, with obtain accurately spray flow,
The accuracy that ensure that the sprinkling data on flows that flight controller obtains, also ensures the effect of unmanned plane plant protection operation.
Embodiment three
Fig. 3 is a kind of flow chart of the calibration method for unmanned plane flow meter that the embodiment of the present invention three provides, this implementation
Example is embodied based on above-described embodiment, is solved for being calibrated to the Hall flow meter in plant protection drone
Release explanation.
Wherein, the relationship between Hall flow meter measures fluid flow and pulse signal frequency is q=k0F, q are stream
Amount, f is pulse signal frequency, k0For discharge coefficient, it is a definite value, completion has been demarcated when Hall flow meter dispatches from the factory.
As shown in figure 3, the method for the present embodiment specifically includes：
S310, flight controller determine that the delivered on unmanned plane first medicament to be sprayed has all sprayed in spray test
Cheng Shi obtains the accumulative measurement flow of Hall flow meter feedback.
S320, flight controller obtain the actual capacity of the first medicament to be sprayed of earth station or user terminal transmission.
When the first medicament to be sprayed delivered on unmanned plane all sprays completion, the ground of communication connection is established with unmanned plane
Display interface or user terminal the pop-up dialog box stood, staff are manually entered the actual capacity of the first medicament to be sprayed, i.e.,
Actual capacity is denoted as V by actual volume value, e.g. 5000ML1。
If the accumulative measurement flow of Hall flow meter actual feedback is 4800ML, the actual volume with the first medicament to be sprayed
Value has differences, which is denoted as V2。
The actual capacity and accumulative measurement flow of S330, flight controller according to the first substance to be sprayed, determine suddenly
First calibration factor of your flowmeter simultaneously preserves.
Remember that the first calibration factor of Hall flow meter is k1, the first calibration factor k that flight controller is calculated1It is then
k1=V1/V2.Wherein, the first calibration factor k1When spraying the first medicament to be sprayed for the unmanned plane, the calibration system of Hall flow meter
Number.
S340, flight controller obtain Hall stream in real time during formal plant protection operation (the first medicament to be sprayed of sprinkling)
The accumulative measurement flow of gauge feedback.
S350, flight controller obtain the first calibration factor of Hall flow meter, and according to the first calibration factor to accumulative
It measures flow to be calibrated, obtains the practical sprinkling flow after calibration in real time.
Practical sprinkling flow q ' after the calibration that flight controller is calculated is then q '=k0f·k1。
After flight controller obtains the practical sprinkling flow that unmanned plane sprays the first medicament to be sprayed in real time, you can according to this
The practical sprinkling subsequent spraying operation of flow control, to ensure the effect of plant protection operation.
Further, when spraying common several different types of medicaments using same unmanned plane, spray can be utilized in advance
It spills experiment to calibrate Hall flow meter, to make flight controller obtain the Hall flow meter corresponding to different agents type
Each calibration factor after, corresponding pharmacy type and calibration factor are stored.
When spraying certain type of medicament using the unmanned plane, correspondence can be directly chosen by earth station or user terminal
Flight controller is sent to after medicament kind, so that flight controller can be transferred automatically when being calibrated to Hall flow meter
Corresponding calibration factor saves the time, improves without being calibrated to Hall flow meter before each formal plant protection operation
Efficiency when unmanned plane plant protection operation.
Example IV
Fig. 4 is that a kind of structure of the calibration factor determining device for unmanned plane flow meter that the embodiment of the present invention four provides is shown
It is intended to, is applicable to carry out calibration operation to the flowmeter on unmanned plane, which can be used software and/or the mode of hardware is real
It is existing, and can generally be integrated in unmanned plane.As shown in figure 4, the calibration factor determining device of the unmanned plane flow meter is specifically wrapped
It includes：It is accumulative to measure flow acquisition module 410 and calibration factor determining module 420.Wherein,
It is accumulative to measure flow acquisition module 410, the substance to be sprayed delivered on determining unmanned plane for flight controller
When all sprinkling is completed, the accumulative measurement flow that flowmeter corresponding with the substance to be sprayed is fed back is obtained；
Calibration factor determining module 420, for the flight controller according to the actual capacity of the substance to be sprayed
And the accumulative measurement flow, determine the calibration factor of the flowmeter.
The calibration factor determining device of a kind of unmanned plane flow meter provided in this embodiment, by formally being planted in unmanned plane
Protect operation before carry out spray test, make flight controller during spray test according to the actual capacity of substance to be sprayed with
And the accumulative measurement flow of flowmeter feedback determines the calibration factor of the flowmeter, and then keep flight controller formal in unmanned plane
The accumulative measurement flow of flowmeter Real-time Feedback can be calibrated according to the calibration factor of the flowmeter when plant protection operation, with
The practical sprinkling flow after calibration is obtained, the calibration operation to unmanned plane flow meter thus can be realized.
Specifically, the calibration factor determining device of above-mentioned unmanned plane flow meter further includes：Actual capacity acquisition module,
For in actual capacity of the flight controller according to the substance to be sprayed and the accumulative measurement flow, determining institute
Before the calibration factor for stating flowmeter, the actual capacity of the substance to be sprayed of earth station or user terminal transmission is obtained；
Wherein, the type of the actual capacity includes：Volume and/or quality.
Further, the substance to be sprayed is the medicament for setting type；
Corresponding, calibration factor determining module 420 is specifically used for the flight controller according to the substance to be sprayed
Actual capacity, the accumulative pharmacy type for measuring flow and the substance to be sprayed, determine the flowmeter with it is described
The corresponding calibration factor of pharmacy type.
Calibration factor determining module 420, also particularly useful for the flight controller by the practical fortune of the substance to be sprayed
Calibration factor of the carrying capacity with the accumulative ratio for measuring flow as the flowmeter.
The calibration factor determining device of above-mentioned unmanned plane flow meter can perform the nothing that any embodiment of the present invention is provided
The calibration factor of man-machine flow meter determines method, and the calibration factor for having execution unmanned plane flow meter determines that method is corresponding
Function module and advantageous effect.
Embodiment five
Fig. 5 is a kind of structural schematic diagram of the calibrating installation for unmanned plane flow meter that the embodiment of the present invention five provides, can
Suitable for carrying out calibration operation to the flowmeter on unmanned plane, which can be used software and/or the mode of hardware is realized, and one
As can be integrated in unmanned plane.As shown in figure 5, the calibrating installation of the unmanned plane flow meter specifically includes：Calibration factor obtains
Module 510, accumulative measurement flow receiving module 520 and practical sprinkling flow calibration module 530.Wherein,
Calibration factor acquisition module 510 obtains the to be sprayed of unmanned plane sprinkling setting pharmacy type for flight controller
The calibration factor of corresponding flowmeter when substance, wherein the calibration factor of the flowmeter is arbitrary through the invention implements
The calibration factor for the unmanned plane flow meter that example is provided determines that method determines；
It is accumulative to measure flow receiving module 520, it is obtained in real time described in the unmanned plane sprinkling for the flight controller
The substance to be sprayed for setting pharmacy type carries out the accumulative measurement flow of flowmeter feedback when operation；
Practical sprinkling flow calibration module 530, for the flight controller according to the calibration factor pair of the flowmeter
The accumulative measurement flow is calibrated, and obtains the practical sprinkling flow after calibration in real time.
A kind of calibrating installation of unmanned plane flow meter provided in this embodiment is appointed when unmanned plane formally executes plant protection operation
When business, flight controller transfers flowmeter corresponding with the pharmacy type of substance to be sprayed used by time plant protection operation automatically
Calibration factor, using the calibration factor go calibrated flow meter measure accumulative measurement flow, with obtain accurately spray flow,
The accuracy that ensure that the sprinkling data on flows that flight controller obtains, also ensures the effect of unmanned plane plant protection operation.
Wherein, practical sprinkling flow calibration module 530, is specifically used for the flight controller by the calibration of the flowmeter
Coefficient is with the accumulative product for measuring flow as the practical sprinkling flow after the calibration.
Specifically, the calibrating installation of above-mentioned unmanned plane flow meter, further includes：Pharmacy type acquisition module, in institute
It states when flight controller obtains the substance to be sprayed of unmanned plane sprinkling setting pharmacy type before the calibration factor of flowmeter, acquisition
The pharmacy type for the substance to be sprayed that earth station or user terminal are sent.
It is upper that the calibrating installation of above-mentioned unmanned plane flow meter can perform the unmanned plane that any embodiment of the present invention is provided
The calibration method of gauge has the corresponding function module of calibration method and advantageous effect for executing unmanned plane flow meter.
Embodiment six
Fig. 6 is a kind of hardware architecture diagram for equipment that the embodiment of the present invention six provides, as shown in fig. 6, the equipment packet
It includes：
One or more processors 610, in Fig. 6 by taking a processor 610 as an example；
Memory 620；
The equipment can also include：Input unit 630 and output device 640.
Processor 610, memory 620, input unit 630 and output device 640 in the equipment can pass through bus
Or other modes connect, in Fig. 6 for being connected by bus.
Memory 620 is used as a kind of non-transient computer readable storage medium, and can be used for storing software program, computer can
Program and module are executed, as a kind of calibration factor of unmanned plane flow meter in the embodiment of the present invention determines that method is corresponding
Program instruction/module (for example, attached accumulative measurement flow acquisition module 410 shown in Fig. 4 and calibration factor determining module 420),
For another example a kind of corresponding program instruction/module of calibration method of unmanned plane flow meter in the embodiment of the present invention is (for example, attached drawing
Calibration factor acquisition module 510 shown in 5, accumulative measurement flow receiving module 520 and practical sprinkling flow calibration module 530).
Processor 610 is stored in software program, instruction and module in memory 620 by operation, to execute computer equipment
Various function application and data processing, that is, realize above method embodiment a kind of unmanned plane flow meter calibration factor
Determine the calibration method of method or unmanned plane flow meter.
Memory 620 may include storing program area and storage data field, wherein storing program area can store operation system
System, the required application program of at least one function；Storage data field can be stored to be created according to using for computer equipment
Data etc..In addition, memory 620 may include high-speed random access memory, can also include non-transitory memory, such as
At least one disk memory, flush memory device or other non-transitory solid-state memories.In some embodiments, it stores
It includes the memory remotely located relative to processor 610 that device 620 is optional, these remote memories can be by network connection extremely
Terminal device.The example of above-mentioned network includes but not limited to internet, intranet, LAN, mobile radio communication and its group
It closes.
Input unit 630 can be used for receiving the number or character information of input, and generate the user with computer equipment
Setting and the related key signals input of function control.Output device 640 may include that display screen etc. shows equipment.
Embodiment seven
The embodiment of the present invention seven also provides a kind of storage medium including computer executable instructions, and the computer can be held
Row instruction determines method, the party when being executed by computer processor for executing a kind of calibration factor of unmanned plane flow meter
Method includes：
Flight controller when all sprinkling is completed for the substance to be sprayed that is delivered on determining unmanned plane, obtain with it is described to be painted
Spill the accumulative measurement flow of the corresponding flowmeter feedback of substance；
Actual capacity and the accumulative measurement flow of the flight controller according to the substance to be sprayed determine
The calibration factor of the flowmeter.
Alternatively, the computer executable instructions are flowed for executing on a kind of unmanned plane when being executed by computer processor
The calibration method of gauge, this method include：
The school of corresponding flowmeter when flight controller obtains the substance to be sprayed of unmanned plane sprinkling setting pharmacy type
Quasi- coefficient, wherein the unmanned plane flow meter that the calibration factor of the flowmeter is provided for any embodiment through the invention
Calibration factor determine method determine；
The flight controller obtains the substance to be sprayed progress that the unmanned plane sprays the setting pharmacy type in real time
The accumulative measurement flow of flowmeter feedback when operation；
The flight controller calibrates the accumulative measurement flow according to the calibration factor of the flowmeter, in real time
Obtain the practical sprinkling flow after calibration.
Optionally, which can be also used for executing the present invention times when being executed by computer processor
A kind of calibration factor for unmanned plane flow meter that meaning embodiment is provided determines method or a kind of school of unmanned plane flow meter
The technical solution of quasi- method.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but the former is more in many cases
Good embodiment.Based on this understanding, technical scheme of the present invention substantially in other words contributes to the prior art
Part can be expressed in the form of software products, which can be stored in computer readable storage medium
In, such as the floppy disk of computer, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes the method described in each embodiment of the present invention.
It is worth noting that, the calibration factor determining device and unmanned plane flow meter of above-mentioned unmanned plane flow meter
In the embodiment of calibrating installation, included each unit and module are only divided according to function logic, but not office
It is limited to above-mentioned division, as long as corresponding function can be realized；In addition, the specific name of each functional unit is also intended merely to
Convenient for mutually distinguishing, the protection domain being not intended to restrict the invention.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of calibration factor of unmanned plane flow meter determines method, which is characterized in that including：
Flight controller obtains and the object to be sprayed when the substance to be sprayed delivered on determining unmanned plane all complete by sprinkling
The accumulative measurement flow of the corresponding flowmeter feedback of matter；
Actual capacity and the accumulative measurement flow of the flight controller according to the substance to be sprayed, determine described in
The calibration factor of flowmeter.
2. according to the method described in claim 1, it is characterized in that, in the flight controller according to the substance to be sprayed
Actual capacity and the accumulative measurement flow before the calibration factor for determining the flowmeter, further include：
The flight controller obtains the actual capacity of the substance to be sprayed of earth station or user terminal transmission；
Wherein, the type of the actual capacity includes：Volume and/or quality.
3. method according to claim 1 or 2, which is characterized in that the substance to be sprayed is the medicament for setting type；
Actual capacity and the accumulative measurement flow of the flight controller according to the substance to be sprayed, determine described in
The calibration factor of flowmeter, specifically includes：
The flight controller is according to the actual capacity of the substance to be sprayed, the accumulative measurement flow and described to be painted
The pharmacy type for spilling substance determines flowmeter calibration factor corresponding with the pharmacy type.
4. according to the method described in claim 1, it is characterized in that, the flight controller is according to the reality of the substance to be sprayed
Border carrying capacity and the accumulative measurement flow, determine the calibration factor of the flowmeter, including：
The flight controller is using the actual capacity of the substance to be sprayed with the accumulative ratio for measuring flow as institute
State the calibration factor of flowmeter.
5. a kind of calibration method of unmanned plane flow meter, which is characterized in that including：
The calibration system of corresponding flowmeter when flight controller obtains the substance to be sprayed of unmanned plane sprinkling setting pharmacy type
Number, wherein the calibration factor of the flowmeter is to be determined by method according to any one of claims 1-4；
The flight controller obtains the substance to be sprayed progress operation that the unmanned plane sprays the setting pharmacy type in real time
The accumulative measurement flow of Shi Suoshu flowmeters feedback；
The flight controller calibrates the accumulative measurement flow according to the calibration factor of the flowmeter, obtains in real time
Practical sprinkling flow after calibration.
6. according to the method described in claim 5, it is characterized in that, the flight controller is according to the calibration system of the flowmeter
It is several that the accumulative measurement flow is calibrated, the practical sprinkling flow after calibration is obtained in real time, including：
The flight controller is using the calibration factor of the flowmeter with the accumulative product for measuring flow as the calibration
Practical sprinkling flow afterwards.
7. a kind of calibration factor determining device of unmanned plane flow meter, which is characterized in that including：
Accumulative to measure flow acquisition module, the substance to be sprayed delivered on determining unmanned plane for flight controller all sprays
When completion, the accumulative measurement flow that flowmeter corresponding with the substance to be sprayed is fed back is obtained；
Calibration factor determining module, for the flight controller according to the actual capacity of the substance to be sprayed and described
It is accumulative to measure flow, determine the calibration factor of the flowmeter.
8. a kind of calibrating installation of unmanned plane flow meter, which is characterized in that including：
Calibration factor acquisition module obtains the substance to be sprayed when institute of unmanned plane sprinkling setting pharmacy type for flight controller
The calibration factor of corresponding flowmeter, wherein the calibration factor of the flowmeter is by as described in claim any one of 1-4
Method determine；
It is accumulative to measure flow receiving module, the unmanned plane is obtained in real time for the flight controller sprays the setting medicament
The substance to be sprayed of type carries out the accumulative measurement flow of flowmeter feedback when operation；
Practical sprinkling flow calibration module, for the flight controller according to the calibration factor of the flowmeter to described accumulative
It measures flow to be calibrated, obtains the practical sprinkling flow after calibration in real time.
9. a kind of equipment, including memory, processor and storage are on a memory and the computer journey that can run on a processor
Sequence, which is characterized in that the processor realizes the method as described in any in claim 1-4 or 5-6 when executing described program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The method as described in any in claim 1-4 or 5-6 is realized when execution.
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Denomination of invention: Determination method, calibration method and device of flowmeter calibration coefficient on UAV Effective date of registration: 20201020 Granted publication date: 20200121 Pledgee: Bank of China Limited by Share Ltd. Jiangsu branch Pledgor: TUOGONG (NANJING) ROBOT Co.,Ltd. Registration number: Y2020980006956 |