CN108507645B - Calibration coefficient determination method, calibration method and device for flow meter on unmanned aerial vehicle - Google Patents
Calibration coefficient determination method, calibration method and device for flow meter on unmanned aerial vehicle Download PDFInfo
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- 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
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Abstract
The embodiment of the invention discloses a method for determining a calibration coefficient of a flow meter on an unmanned aerial vehicle, a calibration method and a calibration device. The calibration coefficient determination method comprises the following steps: when the flight controller determines that all the substances to be sprayed carried by the unmanned aerial vehicle are completely sprayed, the flight controller acquires the accumulated measurement flow fed back by the flow meter corresponding to the substances to be sprayed; and the flight controller determines the calibration coefficient of the flowmeter according to the actual carrying capacity and the accumulated measured flow of the substances to be sprayed. The flight controller can calibrate the accumulated measurement flow fed back by the flow meter in real time according to the calibration coefficient of the flow meter during the formal plant protection operation of the unmanned aerial vehicle so as to obtain the actual spraying flow after calibration, thereby realizing the calibration of the flow meter on the unmanned aerial vehicle. Above-mentioned technical scheme has solved the problem that the flowmeter is difficult to the calibration during unmanned aerial vehicle plant protection operation, and the calibration process is convenient simple, has guaranteed the accuracy that sprays flow data that flight controller acquireed, has also guaranteed the effect of unmanned aerial vehicle plant protection operation.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a method for determining a calibration coefficient of a flow meter on an unmanned aerial vehicle, a method for calibrating the flow meter on the unmanned aerial vehicle and a device for calibrating the flow meter on the unmanned aerial vehicle.
Background
With the rapid development of the unmanned aerial vehicle industry, the application of the unmanned aerial vehicle is more and more extensive. Utilize unmanned aerial vehicle to spray the pesticide, not only can use manpower and materials sparingly, can also remote control operation, avoid spraying the danger that the operation personnel exposed in the pesticide, not only improved the security of plant protection operation, still improved the spraying efficiency of pesticide.
When unmanned aerial vehicle carries out the plant protection operation, need be through going into liquid mouth or liquid outlet installation fluidflowmeter at the water pump in order to monitor the pesticide volume of spraying, can adopt hall flowmeter usually. The Hall flowmeter measures magnetic physical quantity by utilizing Hall effect of a Hall element, and the working principle is as follows: the liquid impacts the magnetic rotor to drive the magnetic rotor to rotate, a rotating magnetic field with different magnetic poles is generated, magnetic induction lines are cut, high and low pulse level signals are generated and sent to the controller, and therefore the controller can judge the liquid flow according to the frequency of the pulse signals. Wherein the relationship between the liquid flow rate and the pulse signal frequency is q ═ k0f, q is flow, f is pulse signal frequency, k0The flow coefficient is a fixed value and is calibrated when the Hall flowmeter leaves the factory.
However, when being used for unmanned aerial vehicle to carry out the plant protection operation with this hall flowmeter, unmanned aerial vehicle's sprinkling system (water pump, shower nozzle, water pipe to and the resistance size, length and thickness of water pipe) and the pesticide kind that spouts all can exert an influence to this hall flowmeter's sensitivity and accuracy to lead to measured data inaccurate, influence the effect of plant protection operation. The common calibration method for the Hall flow meter is to send the Hall flow meter back to a laboratory to recalibrate the Hall flow meter, but the method is tedious in process and long in time consumption, and timely and effective calibration cannot be performed due to changes of influence factors such as a spraying system of the unmanned aerial vehicle or the type of sprayed medicament. Therefore, this calibration method is not suitable for calibrating the flow meter on the drone.
Disclosure of Invention
The embodiment of the invention provides a method for determining a calibration coefficient of a flow meter on an unmanned aerial vehicle, a method for calibrating the flow meter on the unmanned aerial vehicle and a device for calibrating the flow meter on the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides a method for determining a calibration coefficient of a flow meter on an unmanned aerial vehicle, including:
when the flight controller determines that all the substances to be sprayed carried by the unmanned aerial vehicle are completely sprayed, acquiring the accumulated measurement flow fed back by the flow meter corresponding to the substances to be sprayed;
and the flight controller determines a calibration coefficient of the flowmeter according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow.
In a second aspect, an embodiment of the present invention further provides a calibration method for a flow meter on an unmanned aerial vehicle, including:
the method comprises the steps that a flight controller obtains a calibration coefficient of a corresponding flowmeter when an unmanned aerial vehicle sprays a substance to be sprayed of a set medicament type, wherein the calibration coefficient of the flowmeter is determined by a calibration coefficient determination method of the flowmeter on the unmanned aerial vehicle provided by any embodiment of the invention;
the flight controller acquires the accumulated measurement flow fed back by the flow meter when the unmanned aerial vehicle sprays the substances to be sprayed of the set medicament type for operation in real time;
and the flight controller calibrates the accumulated measured flow according to the calibration coefficient of the flowmeter, and obtains the actual spraying flow after calibration in real time.
In a third aspect, an embodiment of the present invention further provides a calibration coefficient determination apparatus for a flow meter on an unmanned aerial vehicle, including:
the device comprises an accumulated measured flow obtaining module, a flow control module and a flow control module, wherein the accumulated measured flow obtaining module is used for obtaining the accumulated measured flow fed back by a flow meter corresponding to a substance to be sprayed when a flight controller determines that the substance to be sprayed carried by an unmanned aerial vehicle is completely sprayed;
and the calibration coefficient determining module is used for determining the calibration coefficient of the flowmeter by the flight controller according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow.
In a fourth aspect, an embodiment of the present invention further provides a calibration apparatus for a flow meter on an unmanned aerial vehicle, including:
the calibration coefficient acquisition module is used for acquiring a calibration coefficient of a corresponding flowmeter when the unmanned aerial vehicle sprays a substance to be sprayed of a set medicament type by the flight controller, wherein the calibration coefficient of the flowmeter is determined by the calibration coefficient determination method of the flowmeter on the unmanned aerial vehicle provided by any embodiment of the invention;
the accumulated measured flow receiving module is used for acquiring the accumulated measured flow fed back by the flow meter when the unmanned aerial vehicle sprays the substances to be sprayed of the set medicament type for operation in real time by the flight controller;
and the actual spraying flow calibration module is used for calibrating the accumulated measured flow by the flight controller according to the calibration coefficient of the flowmeter and acquiring the actual spraying flow after calibration in real time.
In a fifth aspect, an embodiment of the present invention further provides an apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for determining the calibration coefficient of the on-board flow meter according to any embodiment of the present invention.
In a sixth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the calibration coefficient determination method for an on-board unmanned aerial vehicle flow meter according to any of the embodiments of the present invention.
In a seventh aspect, an embodiment of the present invention further provides an apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the calibration method for an on-board flow meter according to any embodiment of the present invention.
In an eighth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the calibration method for the flow meter on the drone according to any of the embodiments of the present invention.
According to the calibration coefficient determining method, the calibration method and the calibration device for the flowmeter on the unmanned aerial vehicle, provided by the embodiment of the invention, through carrying out the spraying test before the formal plant protection operation of the unmanned aerial vehicle, the calibration coefficient of the flowmeter is determined by the flight controller in the test process according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow fed back by the flowmeter, so that the flight controller can calibrate the accumulated measurement flow fed back by the flowmeter in real time according to the calibration coefficient of the flowmeter during the formal plant protection operation of the unmanned aerial vehicle, the calibrated actual spraying flow is obtained, and the calibration operation of the flowmeter on the unmanned aerial vehicle is realized. Above-mentioned technical scheme has solved the problem that the flowmeter is difficult to the calibration during unmanned aerial vehicle plant protection operation, and the calibration process is convenient simple, has guaranteed the accuracy that sprays flow data that flight controller acquireed, has also guaranteed the effect of unmanned aerial vehicle plant protection operation.
Drawings
Fig. 1 is a flowchart of a calibration factor determination method for an on-board drone flowmeter according to a first embodiment of the present invention;
fig. 2 is a flowchart of a calibration method for a flow meter on a drone according to a second embodiment of the present invention;
fig. 3 is a flowchart of a calibration method for a flow meter on a drone according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a calibration coefficient determination apparatus of an on-board unmanned aerial vehicle flowmeter according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a calibration apparatus for a flow meter on an unmanned aerial vehicle according to a fifth embodiment of the present invention;
fig. 6 is a schematic hardware configuration diagram of an apparatus in the sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a calibration coefficient determination method for an on-board unmanned aerial vehicle flow meter according to an embodiment of the present invention, which is applicable to perform calibration operations on an on-board unmanned aerial vehicle flow meter, and the method may be performed by a calibration coefficient determination apparatus for an on-board unmanned aerial vehicle flow meter according to an embodiment of the present invention, where the apparatus may be implemented in software and/or hardware, and may be generally integrated in an unmanned aerial vehicle.
As shown in fig. 1, the method of this embodiment specifically includes:
s110, when the fact that all the materials to be sprayed carried by the unmanned aerial vehicle are sprayed is determined to be completed, the flight controller obtains the accumulated measuring flow fed back by the flow meter corresponding to the materials to be sprayed.
Wherein, what unmanned aerial vehicle indicated can be plant protection unmanned aerial vehicle for spray when carrying out the plant protection operation and wait to spray the material, wait to spray that the material specifically can be the required medicament of plant protection operation, can be liquid medicament, also can be solid medicament (for example granular medicament or powdered medicament etc.). Install the flowmeter on plant protection unmanned aerial vehicle and can treat the flow that sprays of spraying the material and measure, it is corresponding, the flowmeter can be liquid flowmeter, also can be solid flow meter to give plant protection unmanned aerial vehicle's flight control ware with its numerical value feedback that measures, flight control ware can be according to spraying subsequent operation of spraying of quantity control.
The values indicate that the calibration coefficient determination method for the flow meter on the unmanned aerial vehicle is performed in the plant protection test process before the plant protection unmanned aerial vehicle formally performs plant protection operation. In the plant protection test process, the staff loads the substances to be sprayed of known type, known volume and/or quality into the spraying box of the plant protection unmanned aerial vehicle, controls the plant protection unmanned aerial vehicle to spray in situ, and the flow meter on the plant protection unmanned aerial vehicle can measure the sprayed flow (the sprayed volume and/or the sprayed quality) in the spraying process in real time and feed back the flow to the flight controller. Meanwhile, the flight controller feeds the received sprayed flow back to the ground station or the user side in real time, so that the display interface of the ground station or the user side synchronously displays the sprayed flow fed back by the flowmeter for the user to check.
And when the flight controller determines that all the substances to be sprayed carried by the unmanned aerial vehicle are completely sprayed, the sprayed flow fed back by the flow meter at the moment is used as the accumulated measured flow.
And S120, determining a calibration coefficient of the flowmeter by the flight controller according to the actual carrying capacity and the accumulated measured flow of the substances to be sprayed.
The actual carrying capacity of the substances to be sprayed specifically refers to the actual volume and/or mass of the substances to be sprayed, which are loaded into the spraying tank of the plant protection unmanned aerial vehicle by the worker. The staff may send this actual capacity to the flight controller before the plant protection test begins, or may send this actual capacity to the flight controller after the plant protection test ends.
Specifically, before the flight controller determines the calibration coefficient of the flow meter according to the actual carrying capacity and the accumulated measured flow of the substance to be sprayed, the method for determining the calibration coefficient of the flow meter on the unmanned aerial vehicle further includes: the method comprises the steps that a flight controller obtains the actual carrying capacity of a substance to be sprayed sent by a ground station or a user side; wherein, the types of the actual carrying capacity comprise: volume and/or mass.
Before the plant protection test begins or after the plant protection test ends, the staff can input the actual carrying capacity of the substances to be sprayed through the ground station or the user side which is in communication connection with the plant protection unmanned aerial vehicle, and the actual carrying capacity is sent to the flight controller on the plant protection unmanned aerial vehicle. Depending on the type of material to be sprayed, the actual payload may be the volume and/or mass of the material to be sprayed.
Because the measuring sensitivity and the accuracy of flowmeter receive plant protection unmanned aerial vehicle's sprinkling system and wait to spray the influence of material type, there can be certain error in its accumulative measurement flow of measurement and the actual carrying capacity of waiting to spray the material when waiting to spray that the material is whole to spray to accomplish.
The flight controller calculates the calibration coefficient of the flowmeter according to the actual carrying capacity and the accumulated measured flow of the substances to be sprayed or the difference value between the actual carrying capacity and the accumulated measured flow, and stores the calculated calibration coefficient for the flight controller to call during the formal plant protection operation of the unmanned aerial vehicle to calibrate the measurement result of the flowmeter.
As an optional implementation manner of this embodiment, the flight controller may determine a calibration coefficient of the flow meter according to the actual carrying capacity and the accumulated measured flow of the substance to be sprayed, specifically:
and the ratio of the actual carrying capacity of the substances to be sprayed to the accumulated measured flow is used as a calibration coefficient of the flowmeter by the flight controller.
Furthermore, when the plant protection unmanned aerial vehicle carries out formal plant protection operation, the flight controller can calibrate the sprayed flow measured by the flowmeter according to the determined calibration coefficient, and obtain the actual sprayed flow after calibration.
The method for determining the calibration coefficient of the flow meter on the unmanned aerial vehicle can be carried out before each formal plant protection operation of the plant protection unmanned aerial vehicle so as to determine the calibration coefficient of the plant protection unmanned aerial vehicle for the flow meter during the secondary plant protection operation; can also go on when plant protection unmanned aerial vehicle is idle to confirm each calibration coefficient of flowmeter when this plant protection unmanned aerial vehicle is to spraying the material to the difference.
As another optional implementation manner of this embodiment, the substance to be sprayed is a set type of medicine, that is, the substance to be sprayed is one of multiple types of medicines, a spraying test needs to be performed for each type of medicine, and then the flight controller determines a calibration coefficient of the flow meter according to the actual carrying capacity and the accumulated measured flow rate of the substance to be sprayed, specifically:
and the flight controller determines a calibration coefficient corresponding to the type of the medicament by the flowmeter according to the actual carrying capacity of the material to be sprayed, the accumulated measurement flow and the type of the medicament of the material to be sprayed.
When adopting same plant protection unmanned aerial vehicle to spray the medicament of common several kinds of different grade types, can calibrate the flowmeter respectively when plant protection unmanned aerial vehicle is idle, obtain behind each calibration coefficient that flowmeter and different medicament types correspond, correspond the storage respectively with medicament type and flowmeter calibration coefficient, for example first medicament corresponds first calibration coefficient, and the second medicament corresponds second calibration coefficient and so on. When adopting this plant protection unmanned aerial vehicle to carry out the plant protection operation, flight controller acquires and sprays the calibration coefficient that the medicament corresponds and calibrates the flow that has sprayed that the flowmeter feedback to acquire the actual flow that has sprayed.
The calibration coefficient determining method for the flowmeter on the unmanned aerial vehicle provided by the embodiment is characterized in that a spraying test is carried out before the formal plant protection operation of the unmanned aerial vehicle, so that the calibration coefficient of the flowmeter is determined by the flight controller according to the actual carrying capacity of a substance to be sprayed and the accumulated measurement flow fed back by the flowmeter in the spraying test process, and further the accumulated measurement flow fed back by the flowmeter in real time can be calibrated by the flight controller according to the calibration coefficient of the flowmeter during the formal plant protection operation of the unmanned aerial vehicle, so that the calibrated actual spraying flow is obtained, and therefore the calibration operation of the flowmeter on the unmanned aerial vehicle can be realized.
Example two
Fig. 2 is a flowchart of a calibration method for a flow meter on a drone according to a second embodiment of the present invention, which is applicable to perform calibration operations on the flow meter on the drone, and the calibration method can be executed by a calibration apparatus for a flow meter on a drone according to the second embodiment of the present invention, and the apparatus can be implemented in software and/or hardware, and can be generally integrated in a drone.
As shown in fig. 2, the method of this embodiment specifically includes:
s210, the flight controller obtains a calibration coefficient of a flow meter corresponding to the unmanned aerial vehicle when the unmanned aerial vehicle sprays the to-be-sprayed substance with the set medicament type, wherein the calibration coefficient of the flow meter is determined by the calibration coefficient determining method of the flow meter on the unmanned aerial vehicle provided by any embodiment of the invention.
When the unmanned aerial vehicle is in formal plant protection operation, the method of the embodiment can be utilized to calibrate the sprayed flow measured by the flow meter. For the type of the chemical to be sprayed in the plant protection operation, the calibration coefficient of the flow meter corresponding to the type of the chemical is obtained, wherein the method for determining the calibration coefficient is described in detail in the foregoing embodiment and is not described herein again.
Specifically, before the flight controller obtains unmanned aerial vehicle and sprays the calibration coefficient of flowmeter when treating the material of spraying of setting for the medicament type, still include: the flight controller acquires the medicament type of the substance to be sprayed sent by the ground station or the user side.
Before the formal plant protection operation of unmanned aerial vehicle, the staff can input the medicament type of the substance to be sprayed through the ground station or the user side which establish communication connection with the plant protection unmanned aerial vehicle, and send the medicament type to the flight controller of unmanned aerial vehicle, so that the flight controller can acquire the calibration coefficient of the flowmeter corresponding to the medicament type.
S220, the flight controller obtains the accumulated measurement flow fed back by the flow meter when the unmanned aerial vehicle sprays the to-be-sprayed substance with the set medicament type for operation in real time.
In the formal plant protection operation process of the unmanned aerial vehicle, the flow meter feeds back the accumulated measurement flow, namely the sprayed flow of the substance to be sprayed measured by the flow meter, to the flight controller in real time, and the accumulated measurement flow, namely the flow to be calibrated, which is required to be calibrated by the flight controller.
And S230, calibrating the accumulated measured flow by the flight controller according to the calibration coefficient of the flowmeter, and acquiring the actual spraying flow after calibration in real time.
The flight controller calibrates the accumulative measurement flow according to the calibration coefficient of the flowmeter corresponding to the type of the medicament, and then can acquire the actual spraying flow after calibration, therefore, the flight controller can acquire the actual spraying flow of the substance to be sprayed by the unmanned aerial vehicle in real time, and then can spray subsequent spraying operation of the flow control according to the actual spraying flow to ensure the effect of plant protection operation.
As a specific implementation manner of this embodiment, the flight controller may calibrate the accumulated measured flow according to a calibration coefficient of the flow meter, and obtain the actual spraying flow after calibration in real time, specifically: and the flight controller takes the product of the calibration coefficient of the flowmeter and the accumulated measured flow as the calibrated actual spraying flow.
The calibration coefficient of the flowmeter corresponding to the set medicament type is determined according to the ratio of the actual carrying capacity of the substances to be sprayed to the accumulated measurement flow measured by the flowmeter, so that the product of the calibration coefficient of the flowmeter and the accumulated measurement flow is the actual spraying flow of the substances to be sprayed.
The embodiment provides a calibration method of flowmeter on unmanned aerial vehicle, when unmanned aerial vehicle formally carries out the plant protection operation task, flight controller automatic transfer with the calibration coefficient of the flowmeter that the medicament type of the material that waits to spray that adopts when inferior plant protection operation corresponds, utilize this calibration coefficient to go the accumulative total measurement flow of correcting the flowmeter measurement to obtain accurate flow of spraying, guaranteed the accuracy of the flow data that sprays that flight controller obtained, also guaranteed the effect of unmanned aerial vehicle plant protection operation.
EXAMPLE III
Fig. 3 is a flowchart of a calibration method for a flow meter on an unmanned aerial vehicle according to a third embodiment of the present invention, which is embodied based on the above embodiment, and is explained by taking calibration of a hall flow meter on a plant protection unmanned aerial vehicle as an example.
Wherein the relation between the liquid flow measured by the Hall flowmeter and the pulse signal frequency is q ═ k0f, q is flow, f is pulse signal frequency, k0The flow coefficient is a fixed value and is calibrated when the Hall flowmeter leaves the factory.
As shown in fig. 3, the method of this embodiment specifically includes:
s310, when the flight controller determines that all spraying of the first to-be-sprayed medicament carried by the unmanned aerial vehicle is finished in a spraying test, the accumulated measuring flow fed back by the Hall flow meter is obtained.
S320, the flight controller obtains the actual carrying capacity of the first medicament to be sprayed, which is sent by the ground station or the user side.
When the first to-be-sprayed medicament carried on the unmanned aerial vehicle is completely sprayed, a display interface or a user side of a ground station in communication connection with the unmanned aerial vehicle pops up a dialog box, a worker manually inputs the actual carrying capacity of the first to-be-sprayed medicament, namely the actual volume value, for example, 5000ML, and the actual carrying capacity is recorded as V1。
If the actual feedback accumulated measured flow of the Hall flowmeter is 4800ML, and the actual volume value of the Hall flowmeter is different from the actual volume value of the first medicament to be sprayed, the accumulated measured flow is recorded as V2。
S330, the flight controller determines and stores a first calibration coefficient of the Hall flowmeter according to the actual carrying capacity and the accumulated measured flow of the first substance to be sprayed.
Recording a first calibration coefficient of the Hall flowmeter as k1First calibration coefficient k calculated by flight controller1Then is k1＝V1/V2. Wherein the first calibration coefficient k1When spraying the first medicament that needs to spray for this unmanned aerial vehicle, hall flowmeter's calibration coefficient.
S340, the flight controller obtains the accumulated measured flow fed back by the Hall flowmeter in real time in the formal plant protection operation (spraying the first medicament to be sprayed).
And S350, the flight controller acquires a first calibration coefficient of the Hall flow meter, calibrates the accumulated measured flow according to the first calibration coefficient, and acquires the actual spraying flow after calibration in real time.
The calibrated actual spraying flow q 'calculated by the flight controller is q' ═ k0f·k1。
After the flight controller acquires the actual spraying flow rate of the first medicament to be sprayed of the unmanned aerial vehicle in real time, the subsequent spraying operation of the flow rate control can be sprayed according to the actual spraying flow rate, so that the effect of plant protection operation is ensured.
Further, when the same unmanned aerial vehicle is adopted to spray common medicaments of different types, the Hall flow meter can be calibrated by utilizing a spray test in advance, so that after the flight controller acquires the calibration coefficients of the Hall flow meters corresponding to different medicament types, the corresponding medicament types and the calibration coefficients are stored.
When utilizing this unmanned aerial vehicle to spray certain type of medicament, can directly select to send to flight controller after corresponding medicament kind through ground satellite station or user to make flight controller can automatic transfer the calibration coefficient that corresponds when carrying out the calibration to hall flowmeter, need not to calibrate hall flowmeter before the formal plant protection operation of every turn, saved the time, efficiency when having improved unmanned aerial vehicle plant protection operation.
Example four
Fig. 4 is a schematic structural diagram of a calibration coefficient determination apparatus for a flow meter on a drone according to a fourth embodiment of the present invention, which is applicable to perform calibration operation on the flow meter on the drone, and the apparatus may be implemented in software and/or hardware, and may be generally integrated in the drone. As shown in fig. 4, the calibration coefficient determining apparatus for a flow meter on a drone specifically includes: an accumulated measured flow acquisition module 410 and a calibration factor determination module 420. Wherein,
an accumulated measured flow obtaining module 410, configured to, when it is determined that all of the substances to be sprayed carried by the unmanned aerial vehicle are completely sprayed, obtain an accumulated measured flow fed back by a flow meter corresponding to the substances to be sprayed;
a calibration coefficient determining module 420, configured to determine, by the flight controller, a calibration coefficient of the flow meter according to the actual carrying capacity of the substance to be sprayed and the accumulated measured flow.
The utility model provides a calibration coefficient determining means of flowmeter on unmanned aerial vehicle, through spraying the experiment before unmanned aerial vehicle formal plant protection operation, make flight controller according to the actual carrying capacity of waiting to spray the material and the accumulative total measurement flow of flowmeter feedback confirm the calibration coefficient of this flowmeter in spraying the experimentation, and then make flight controller can calibrate the accumulative total measurement flow of the real-time feedback of flowmeter according to this flowmeter's calibration coefficient when unmanned aerial vehicle formal plant protection operation, in order to obtain the actual flow of spraying after the calibration, can realize the calibration operation to the flowmeter on the unmanned aerial vehicle from this.
Specifically, above-mentioned calibration coefficient determination device of flowmeter on unmanned aerial vehicle still includes: the actual carrying capacity acquisition module is used for acquiring the actual carrying capacity of the substances to be sprayed sent by a ground station or a user side before the flight controller determines the calibration coefficient of the flowmeter according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow;
wherein the types of actual capacity include: volume, and/or mass.
Further, the substance to be sprayed is a set type of medicament;
correspondingly, the calibration coefficient determining module 420 is specifically configured to determine, by the flight controller, a calibration coefficient corresponding to the flow meter and the type of the medicament according to the actual carrying capacity of the substance to be sprayed, the accumulated measured flow rate, and the type of the medicament of the substance to be sprayed.
The calibration coefficient determining module 420 is further specifically configured to use a ratio of the actual carrying capacity of the substance to be sprayed to the accumulated measured flow as a calibration coefficient of the flow meter by the flight controller.
The calibration coefficient determining device of the flow meter on the unmanned aerial vehicle can execute the calibration coefficient determining method of the flow meter on the unmanned aerial vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the calibration coefficient determining method of the flow meter on the unmanned aerial vehicle.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a calibration apparatus for a flow meter on a drone according to a fifth embodiment of the present invention, which is applicable to perform calibration operation on the flow meter on the drone, and the apparatus may be implemented in software and/or hardware, and may be generally integrated in the drone. As shown in fig. 5, the calibration apparatus for a flow meter on an unmanned aerial vehicle specifically includes: a calibration coefficient acquisition module 510, an accumulated measured flow receiving module 520, and an actual spray flow calibration module 530. Wherein,
a calibration coefficient obtaining module 510, configured to obtain, by a flight controller, a calibration coefficient of a flow meter corresponding to a substance to be sprayed, where the substance is a set type of a medicament, and the calibration coefficient of the flow meter is determined by a calibration coefficient determining method for a flow meter on an unmanned aerial vehicle according to any embodiment of the present invention;
an accumulated measured flow receiving module 520, configured to obtain, by the flight controller, an accumulated measured flow fed back by the flow meter when the unmanned aerial vehicle sprays the substance to be sprayed of the set medicament type for operation in real time;
and an actual spraying flow calibration module 530, configured to calibrate the accumulated measured flow according to the calibration coefficient of the flow meter, and obtain the calibrated actual spraying flow in real time.
The utility model provides a pair of calibrating device of flowmeter on unmanned aerial vehicle, when unmanned aerial vehicle formally carries out the plant protection operation task, flight controller automatic transfer with the calibration coefficient who waits that the medicament type that sprays the material that adopts when inferior plant protection operation corresponds, utilize this calibration coefficient to remove the measured accumulative total measurement flow of correction flowmeter, in order to obtain accurate flow of spraying, guaranteed the accuracy that sprays the flow data that flight controller obtained, the effect of unmanned aerial vehicle plant protection operation has also been guaranteed.
The actual spraying flow calibration module 530 is specifically configured to use a product of the calibration coefficient of the flow meter and the accumulated measured flow as the calibrated actual spraying flow by the flight controller.
Specifically, above-mentioned unmanned aerial vehicle goes up calibrating device of flowmeter still includes: and the medicament type acquisition module is used for acquiring the medicament type of the to-be-sprayed substance sent by the ground station or the user side before the flight controller acquires the calibration coefficient of the flow meter when the unmanned aerial vehicle sprays the to-be-sprayed substance with the set medicament type.
The calibration device for the flow meter on the unmanned aerial vehicle can execute the calibration method for the flow meter on the unmanned aerial vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the calibration method for the flow meter on the unmanned aerial vehicle.
EXAMPLE six
Fig. 6 is a schematic diagram of a hardware structure of an apparatus according to a sixth embodiment of the present invention, and as shown in fig. 6, the apparatus includes:
one or more processors 610, one processor 610 being exemplified in fig. 6;
a memory 620;
the apparatus may further include: an input device 630 and an output device 640.
The processor 610, the memory 620, the input device 630 and the output device 640 of the apparatus may be connected by a bus or other means, and fig. 6 illustrates the example of connection by a bus.
The memory 620 may be used as a non-transitory computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a calibration coefficient determination method for an on-board drone flowmeter according to embodiments of the present invention (e.g., the cumulative measured flow acquisition module 410 and the calibration coefficient determination module 420 shown in fig. 4), and program instructions/modules corresponding to a calibration method for an on-board drone flowmeter according to embodiments of the present invention (e.g., the calibration coefficient acquisition module 510, the cumulative measured flow reception module 520, and the actual spray flow calibration module 530 shown in fig. 5). The processor 610 executes various functional applications and data processing of the computer device by executing the software programs, instructions and modules stored in the memory 620, namely, implementing the calibration coefficient determination method for the on-board flow meter or the calibration method for the on-board flow meter of the above-described method embodiments.
The memory 620 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 620 optionally includes memory located remotely from processor 610, which may be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 630 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 640 may include a display device such as a display screen.
EXAMPLE seven
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for determining calibration coefficients of an on-board unmanned aerial vehicle flow meter, the method including:
when the flight controller determines that all the substances to be sprayed carried by the unmanned aerial vehicle are completely sprayed, acquiring the accumulated measurement flow fed back by the flow meter corresponding to the substances to be sprayed;
and the flight controller determines a calibration coefficient of the flowmeter according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow.
Alternatively, the computer executable instructions, when executed by a computer processor, are for performing a method of calibrating a flow meter on a drone, the method comprising:
the method comprises the steps that a flight controller obtains a calibration coefficient of a corresponding flowmeter when an unmanned aerial vehicle sprays a substance to be sprayed of a set medicament type, wherein the calibration coefficient of the flowmeter is determined by a calibration coefficient determination method of the flowmeter on the unmanned aerial vehicle provided by any embodiment of the invention;
the flight controller acquires the accumulated measurement flow fed back by the flow meter when the unmanned aerial vehicle sprays the substances to be sprayed of the set medicament type for operation in real time;
and the flight controller calibrates the accumulated measured flow according to the calibration coefficient of the flowmeter, and obtains the actual spraying flow after calibration in real time.
Optionally, the computer executable instruction, when executed by the computer processor, may be further configured to execute a method for determining a calibration coefficient of an on-drone flowmeter or a technical solution of a method for calibrating an on-drone flowmeter according to any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiments of the calibration coefficient determining device for a flow meter on an unmanned aerial vehicle and the calibration device for a flow meter on an unmanned aerial vehicle, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A calibration coefficient determination method for a flow meter on an unmanned aerial vehicle is characterized by comprising the following steps:
when the flight controller determines that all the substances to be sprayed carried by the unmanned aerial vehicle are completely sprayed, acquiring the accumulated measurement flow fed back by the flow meter corresponding to the substances to be sprayed;
the flight controller determines a calibration coefficient of the flowmeter according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow;
the calibration coefficient of the flow meter is used for calibrating the accumulated measurement flow fed back by the flow meter in real time by the flight controller when the unmanned aerial vehicle performs plant protection operation, and acquiring the actual spraying flow after calibration in real time.
2. The method of claim 1, further comprising, before the flight controller determines the calibration factor of the flow meter based on the actual volume of material to be sprayed and the cumulative measured flow rate:
the flight controller acquires the actual carrying capacity of the substances to be sprayed, which is sent by a ground station or a user side;
wherein the types of actual capacity include: volume, and/or mass.
3. The method according to claim 1 or 2, wherein when the substance to be sprayed is a set type of medicament, the flight controller determines a calibration coefficient of the flow meter corresponding to the type of medicament according to the actual carrying capacity of the substance to be sprayed, the accumulated measured flow rate and the type of medicament of the substance to be sprayed.
4. The method of claim 1, wherein the flight controller determines calibration coefficients for the flow meter based on the actual payload of the material to be sprayed and the cumulative measured flow rate, comprising:
and the flight controller takes the ratio of the actual carrying capacity of the substances to be sprayed to the accumulated measuring flow as a calibration coefficient of the flowmeter.
5. A calibration method for a flow meter on an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the steps that a flight controller obtains a calibration coefficient of a corresponding flow meter when an unmanned aerial vehicle sprays a substance to be sprayed of a set medicament type, wherein the calibration coefficient of the flow meter is determined by the method according to any one of claims 1 to 4;
the flight controller acquires the accumulated measurement flow fed back by the flow meter when the unmanned aerial vehicle sprays the substances to be sprayed of the set medicament type for operation in real time;
and the flight controller calibrates the accumulated measured flow according to the calibration coefficient of the flowmeter, and obtains the actual spraying flow after calibration in real time.
6. The method of claim 5, wherein the flight controller calibrates the accumulated measured flow according to a calibration factor of the flow meter, and obtains a calibrated actual spraying flow in real time, comprising:
and the flight controller takes the product of the calibration coefficient of the flowmeter and the accumulated measured flow as the calibrated actual spraying flow.
7. An apparatus for determining calibration coefficients for a flow meter on an unmanned aerial vehicle, comprising:
the device comprises an accumulated measured flow obtaining module, a flow control module and a flow control module, wherein the accumulated measured flow obtaining module is used for obtaining the accumulated measured flow fed back by a flow meter corresponding to a substance to be sprayed when a flight controller determines that the substance to be sprayed carried by an unmanned aerial vehicle is completely sprayed;
the calibration coefficient determining module is used for determining the calibration coefficient of the flowmeter by the flight controller according to the actual carrying capacity of the substances to be sprayed and the accumulated measurement flow;
the calibration coefficient of the flow meter is used for calibrating the accumulated measurement flow fed back by the flow meter in real time by the flight controller when the unmanned aerial vehicle performs plant protection operation, and acquiring the actual spraying flow after calibration in real time.
8. The utility model provides a calibrating device of flowmeter on unmanned aerial vehicle which characterized in that includes:
a calibration coefficient acquisition module, configured to acquire, by a flight controller, a calibration coefficient of a flow meter corresponding to a type of a to-be-sprayed substance of a set medicament sprayed by an unmanned aerial vehicle, where the calibration coefficient of the flow meter is determined by the method according to any one of claims 1 to 4;
the accumulated measured flow receiving module is used for acquiring the accumulated measured flow fed back by the flow meter when the unmanned aerial vehicle sprays the substances to be sprayed of the set medicament type for operation in real time by the flight controller;
and the actual spraying flow calibration module is used for calibrating the accumulated measured flow by the flight controller according to the calibration coefficient of the flowmeter and acquiring the actual spraying flow after calibration in real time.
9. An apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1-4 or 5-6 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4 or 5-6.
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| CN109566580A (en) * | 2018-11-27 | 2019-04-05 | 广州极飞科技有限公司 | Plant protection equipment, intelligent container, plant protection device systems and sprinkling control method |
| CN110411526B (en) * | 2019-08-14 | 2021-05-14 | 杭州启飞智能科技有限公司 | Method for calculating cumulative dose of plant protection unmanned aerial vehicle |
| CN111096314B (en) * | 2019-09-03 | 2021-11-02 | 苏州极目机器人科技有限公司 | Flow calibration method, device and system |
| CN110686760A (en) * | 2019-10-22 | 2020-01-14 | 深圳市道通智能航空技术有限公司 | Flow correction method and device and unmanned aerial vehicle |
| CN113795733A (en) * | 2020-06-22 | 2021-12-14 | 深圳市大疆创新科技有限公司 | Flowmeter calibration method, device, equipment and storage medium |
| CN112890696B (en) * | 2021-02-05 | 2022-11-29 | 深圳银星智能集团股份有限公司 | Liquid adding method, maintenance station, cleaning robot and liquid adding system |
| CN114377874B (en) * | 2022-01-11 | 2024-01-12 | 孙文英 | Flow monitoring method and device for spraying equipment and readable storage medium |
| CN114910140A (en) * | 2022-04-15 | 2022-08-16 | 佛山市百斯特电器科技有限公司 | Flowmeter calibration method and device and washing equipment |
| CN117900057B (en) * | 2024-03-20 | 2024-07-30 | 中国农业机械化科学研究院集团有限公司 | Flowmeter online calibration system and calibration method |
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| DE102006036157B4 (en) * | 2006-08-01 | 2016-09-15 | Senvion Gmbh | calibration |
| CN102103005B (en) * | 2010-07-15 | 2013-05-01 | 龙岩烟草工业有限责任公司 | Method and device for calibrating measuring precision of essence/spice adding system |
| JP6063356B2 (en) * | 2013-07-04 | 2017-01-18 | 日立オートモティブシステムズ株式会社 | Calibration device for air flow measurement device and calibration method using the same |
| 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 |
| CN107544541B (en) * | 2017-09-18 | 2020-12-11 | 南方科技大学 | Unmanned aerial vehicle control method and system |
| CN107544548B (en) * | 2017-10-20 | 2021-09-10 | 广州极飞科技股份有限公司 | Method and device for controlling operation of unmanned aerial vehicle and unmanned aerial vehicle |
| CN108008735A (en) * | 2017-11-07 | 2018-05-08 | 深圳常锋信息技术有限公司 | Plant protection operation control method, system and the terminal device of unmanned plane |
| CN108007815A (en) * | 2017-12-06 | 2018-05-08 | 淮阴师范学院 | Unattended runoff silt content detection device and system |
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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 |
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