CN109071020A - Detection method and device, unmanned plane, readable storage medium storing program for executing - Google Patents
Detection method and device, unmanned plane, readable storage medium storing program for executing Download PDFInfo
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- CN109071020A CN109071020A CN201780023545.6A CN201780023545A CN109071020A CN 109071020 A CN109071020 A CN 109071020A CN 201780023545 A CN201780023545 A CN 201780023545A CN 109071020 A CN109071020 A CN 109071020A
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- speed regulator
- electron speed
- water pump
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- 238000001514 detection method Methods 0.000 title claims abstract description 108
- 238000003860 storage Methods 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 198
- 239000007788 liquid Substances 0.000 claims abstract description 94
- 239000007921 spray Substances 0.000 claims abstract description 35
- 238000005507 spraying Methods 0.000 claims abstract description 19
- 238000005070 sampling Methods 0.000 claims description 67
- 238000000034 method Methods 0.000 claims description 65
- 230000008859 change Effects 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 17
- 230000002596 correlated effect Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000033228 biological regulation Effects 0.000 claims description 6
- 230000008030 elimination Effects 0.000 claims description 4
- 238000003379 elimination reaction Methods 0.000 claims description 4
- 230000007257 malfunction Effects 0.000 claims description 4
- 239000000575 pesticide Substances 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 33
- 230000008569 process Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 9
- 230000007423 decrease Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000010808 liquid waste Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
Abstract
A kind of detection method and device, unmanned plane, readable storage medium storing program for executing, pass through the working condition of the water pump on detection mobile platform, it can more stable, more effective, more accurately judge whether to be filled in the inlet tube of water pump so that the air capacity that can not be sprayed, be conducive to be filled in the inlet tube of water pump so that can not spray air capacity when, realize relevant operation to mobile platform.Detection method can be applied to mobile platform in the embodiment of the present application, and mobile platform includes the water pump for spraying liquid and the electron speed regulator for controlling water pump, which includes: to obtain the load of electron speed regulator；Whether detection load meets preset condition；If so, determining that water pump is in default operating condition.
Description
Technical field
The invention relates to sprinkling field more particularly to a kind of detection method and device, unmanned plane, readable storage mediums
Matter.
Background technique
During the sprinkling of agriculture unmanned plane, due to the difference in height between the liquid reserve tank and pipeline of spray, when nobody
When input duct in machine sprinkling system has damaged or whole sprays to be sprayed, it will lead to the pipeline in sprinkling system
(especially input duct) is filled with so that the air capacity that can not be sprayed, and while to spray next time need first to exclude it is enough
Air can just continue to spray.Judge whether to be filled in inlet tube as a result, so that the air capacity that can not be sprayed to agricultural nobody
The normal sprinkling of machine is particularly important.
Currently, whether due to being generally fitted with pressure gauge on agriculture unmanned plane being then directed to be filled in above-mentioned inlet tube makes
Obtain the conventional judgment method for the air capacity that can not be sprayed are as follows: under the premise of water pump normally sprays, directly judge the pressure of pressure gauge
Whether force value is in the range of agreement.However, pressure gauge belongs to easily loss, product easy to damage, it is easy to cause to contain in pipeline
So that the wrong report for the air capacity that can not be sprayed, and pressure gauge is coupled with the situation of pressure gauge exception itself, is unfavorable in inlet tube
Whether accurate detection so that the air capacity that can not spray is filled with.
Summary of the invention
The embodiment of the present application provides a kind of detection method and device, unmanned plane, readable storage medium storing program for executing, passes through detection movement
The working condition of water pump on platform can more stable, more effective, more accurately judge whether be full of in the inlet tube of water pump
Make the air capacity that can not be sprayed, be conducive to be filled in the inlet tube of water pump so that can not spray air capacity when, it is real
Now to the relevant operation of mobile platform.
In view of this, the application first aspect provides a kind of detection method, it is applied to mobile platform, mobile platform includes
Electron speed regulator for spraying the water pump of liquid and for controlling water pump, this method can include:
Obtain the load of electron speed regulator；
Whether detection load meets preset condition；
If so, determining that water pump is in default operating condition.
The application second aspect provides a kind of detection device, is applied to mobile platform, mobile platform includes for spraying
The water pump of liquid and electron speed regulator for controlling water pump, the device can include:
Acquisition device, processor, acquisition device are connect with processor communication；
Acquisition device is used for:
Obtain the load of electron speed regulator；
Processor is used for:
Whether detection load meets preset condition；
If so, determining that water pump is in default operating condition.
The application third aspect provides a kind of unmanned plane, which includes water pump for spraying liquid and for controlling
The electron speed regulator of water pump, unmanned plane further include the detection device that above-mentioned first aspect provides, detection device and electron speed regulator
Communication connection.
The application fourth aspect provides a kind of computer readable storage medium, is stored thereon with computer program, computer
When program is executed by processor, following steps are realized:
Obtain the load of electron speed regulator；
Whether detection load meets preset condition；
If so, determining that water pump is in default operating condition.
As can be seen from the above technical solutions, the embodiment of the present application has the advantage that
The embodiment of the present application provides a kind of detection method, can by the load of the electron speed regulator of detection control water pump
When the load of electron speed regulator is unsatisfactory for preset condition, to determine that water pump is in default operating condition, the default work shape
State, which can serve to indicate that, to be filled with so that the air capacity that can not be sprayed, resistance of the water pump in the air capacity in the inlet tube of water pump
Under, sprinkling liquid can not be delivered in water pump cavity and complete to spray.As a result, in the structure for not changing original sprinkling system
Under, can use electron speed regulator substitute the air detection of pressure gauge effect, so as to avoid pressure gauge due to being easily lost, easily
It damages and bring erroneous detection, simultaneously as other sensors in electron speed regulator and sprinkling system decouple, and its service life
Whether longer more preferable for other sensors with stability, then in contrast improving to be filled in detection inlet tube makes
Obtain the accuracy for the air capacity that can not be sprayed.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is detection method one embodiment schematic diagram in the embodiment of the present application；
Fig. 2 is another embodiment schematic diagram of detection method in the embodiment of the present application；
Fig. 3 is another embodiment schematic diagram of detection method in the embodiment of the present application；
Fig. 4 is another embodiment schematic diagram of detection method in the embodiment of the present application；
Fig. 5 is another embodiment schematic diagram of detection method in the embodiment of the present application；
Fig. 6 is another embodiment schematic diagram of detection method in the embodiment of the present application；
Fig. 7 is another embodiment schematic diagram of detection method in the embodiment of the present application；
Fig. 8 is the communications framework schematic diagram of detection method in the embodiment of the present application；
Fig. 9 is detection device one embodiment schematic diagram in the embodiment of the present application；
Figure 10 is another embodiment schematic diagram of detection device in the embodiment of the present application；
Figure 11 is another embodiment schematic diagram of detection device in the embodiment of the present application；
Figure 12 is the structural schematic diagram of unmanned plane in the embodiment of the present application.
Specific embodiment
The embodiment of the present application provides a kind of detection method and device, unmanned plane, readable storage medium storing program for executing, passes through detection movement
The working condition of water pump on platform can more stable, more effective, more accurately judge whether be full of in the inlet tube of water pump
Make the air capacity that can not be sprayed, be conducive to be filled in the inlet tube of water pump so that can not spray air capacity when, it is real
Now to the relevant operation of mobile platform.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
The description and claims of this application and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
For ease of understanding, the detailed process in the embodiment of the present application is described below, referring to Fig. 1, the application is real
Applying detection method one embodiment in example includes:
101, the load of electron speed regulator is obtained；
In the present embodiment, mobile platform may include the water pump for spraying liquid and the electronic speed regulation for controlling water pump
Device, electron speed regulator can feed back such as revolving speed and operating current, and the load of electric appliance governor can be used for reflecting the work of water pump
Make state, the working condition of water pump then can reflect whether be filled in the inlet tube of water pump so that the air capacity that can not be sprayed.
As a result, on a mobile platform after electricity, when starting water pump and electron speed regulator, the load of available electron speed regulator.
Specifically, the load of electron speed regulator is the quality for embodying the sprinkling liquid for spraying liquid accommodating chamber in water pump
Change, when sprinkling liquid accommodating chamber is fully loaded with sprinkling liquid, undercapacity sprinkling liquid with unloaded sprinkling liquid respectively in water pump, electronics
The load of governor is different, sprays liquid from fully loaded sprinkling liquid to zero load, the load of electron speed regulator will occur acutely
Variation, such as sharply decline, and when in water pump spray the zero load of liquid accommodating chamber sprinkling liquid when, then mean the inlet tube of water pump
It is inside filled with so that the air capacity that can not be sprayed.
It is understood that water pump can be there are many working condition, which may include that liquid is sprayed in water pump
Liquid, undercapacity sprinkling liquid and unloaded sprinkling this kind of state of liquid are sprayed in accommodating chamber zero load, also may include other work shapes
State, but different working conditions can be fully loaded with sprinkling liquid with liquid accommodating chamber is sprayed in water pump, non-semi-load spray liquid and empty
It is not corresponding to carry the sprinkling liquid time-division.
102, whether detection load meets preset condition, if so, 103 are thened follow the steps, if it is not, thening follow the steps 104；
In the present embodiment, after the load for obtaining electron speed regulator, it can detecte whether load meets preset condition.
Specifically, preset condition can be preset, which can be used for judging that the load of electron speed regulator is
No instruction water pump is in default operating condition, which can then indicate to be filled in the inlet tube of water pump so that nothing
The air capacity of method sprinkling.
It is understood that as the liquid reserve tank and water pump of the mobile platform where electric appliance governor, water pump, sprinkling liquid
Pipeline between the influence factors such as difference in height difference, preset condition can be adjusted accordingly.
103, determine that water pump is in default operating condition；
In the present embodiment, if the load of electron speed regulator meets preset condition, it can determine that water pump is in default work
State.
Illustratively, when water pump is in default operating condition, it may be said that bright following several situations, but it is unable to complete spray
Spill movement:
One, it is fully filled with air in the inlet tube of water pump, spray in mobile platform does not have in the storage box of liquid at this time
Sprinkling liquid can supply feed pump, and water pump is unable to complete sprinkling work.
Two, it is filled in the inlet tube of water pump so that the air capacity that can not be sprayed, it at this time can in storage box in mobile platform
There can be sprinkling liquid that can supply feed pump, but during last time carrying out pressure release for the air in pipeline, it may be due to
Pressure release is not thorough and partial air remains, or due to other, the partial air sprayed in the storage box of liquid enters pipe
In road, so that water pump can not conveying spray liquid due to the influence of the partial air amount.
Three, it is filled in the inlet tube of water pump so that the air capacity that can not be sprayed, it at this time can in storage box in mobile platform
There can be sprinkling liquid that can supply feed pump, but the inlet tube of water pump may have occurred such as breakage, and part is caused to spray liquid
It is discharged from breakage, and air enters in inlet tube from the breakage, so that due to the influence of the partial air amount, water pump can not
Conveying spray liquid.
104, terminate process.
In the present embodiment, if the load of electron speed regulator is unsatisfactory for preset condition, other processes can not be executed, that is, are tied
Line journey.
It is understood that, when the load of electron speed regulator is unsatisfactory for preset condition, can also be executed in the present embodiment
Other processes such as persistently sample the load of electron speed regulator, and detect to the load of electron speed regulator, in water
When pump becomes default operating condition from non-default working condition, it can be adjusted correspondingly, be not specifically limited herein in time.
It should be noted that the detection of the load of electron speed regulator, can also other than duration detection in the present embodiment
Think and be periodically detected, more can be the detection for triggering electron speed regulator again when detection method water pump can not spray, is with verifying
Whether no be to be filled in the inlet tube of verifying water pump so that the sky that can not be sprayed as caused by the default operating condition of water pump
Tolerance is not specifically limited herein.
It, can be in bearing when electron speed regulator by the load of the electron speed regulator of detection control water pump in the present embodiment
When load is unsatisfactory for preset condition, determine that water pump is in default operating condition, which can serve to indicate that water pump
It is filled in inlet tube so that spray can not be delivered to by the air capacity that can not be sprayed, water pump under the resistance of the air capacity
In water pump cavity and complete to spray.As a result, under the structure for not changing original sprinkling system, electron speed regulator can use to replace
For the air detection effect of pressure gauge, so as to avoid pressure gauge due to being easily lost, easy to damage and bring erroneous detection, meanwhile, by
Other sensors in electron speed regulator and sprinkling system decouple, and its service life and stability are relative to other sensors
For it is longer more preferable, then in contrast improve whether be filled in detection inlet tube so that the air capacity that can not be sprayed it is accurate
Property.
It, can be with it is understood that the load of electron speed regulator can have different acquisition modes in the embodiment of the present application
To use different methods to be determined after single acquisition, it can also be loaded and be carried out according to the multiple samplings acquired in a period of time
It determines, is illustrated separately below:
Referring to Fig. 2, another embodiment of detection method includes: in the embodiment of the present application
201, the operating parameter information of electron speed regulator is obtained；
In the present embodiment, the running parameter of electron speed regulator can correspondingly reflect the load of electron speed regulator, in order to true
The load for determining electron speed regulator, after electron speed regulator starting, the operating parameter information of available electron speed regulator.
In the present embodiment, operating parameter information can include but is not limited to the revolving speed of electron speed regulator, operating current and
Power.
202, the load of electron speed regulator is determined according to operating parameter information；
In the present embodiment, after the operating parameter information for obtaining electron speed regulator, it can be determined according to the operating parameter information
The load of electron speed regulator.
Specifically, the difference based on operating parameter information, the method for determination of the load of electron speed regulator is as follows:
The load of electron speed regulator is determined according to revolving speed and operating current, load and speed is negatively correlated, load and work
Electric current is positively correlated；Or,
Determine that the load of electron speed regulator, load are positively correlated with power according to power.
Specifically, the operating current of electron speed regulator can reflect the load of electron speed regulator, the work of electron speed regulator
Electric current is positively correlated with load, and load is smaller, and operating current is smaller, conversely, load is bigger, operating current is bigger, and in reality
In, the operating current of electron speed regulator is smaller, and amplitude of variation is difficult to embody the changing rule of load.As a result, on the one hand
The load of electron speed regulator can be determined according to the revolving speed and operating current of electron speed regulator, such as by calculating square removing for revolving speed
Reflect the situation of change of the load of electron speed regulator with the value of operating current, i.e., revolving speed square divided by operating current value with
The load of electron speed regulator is negatively correlated, on the other hand can calculate electron speed regulator according to the operating current of electron speed regulator
Power, the situation of change of the load of electron speed regulator is reflected further according to the power of electron speed regulator.
It is understood that the present embodiment illustrates the determination side of the load of electron speed regulator only with above-mentioned two example
Formula can also use other way in practical applications, as long as the load of the idea governor determined and the working condition of water pump
It is corresponding, it is not specifically limited herein.
203, whether detection load meets preset condition, if so, 204 are thened follow the steps, if it is not, thening follow the steps 205；
204, determine that water pump is in default operating condition.
205, terminate process.
Step 203 in the present embodiment is identical to step 104 as step 102 in embodiment illustrated in fig. 1 to step 205, this
Place repeats no more.
Referring to Fig. 3, another embodiment of detection method includes: in the embodiment of the present application
301, multiple samplings load of electron speed regulator in preset duration is obtained；
In the present embodiment, after electron speed regulator starting, multiple samplings of electron speed regulator in available preset duration
Load.
Specifically, the load of the electron speed regulator reflected in a period of time has more stability, can also preferably reflect
The situation of change of electron speed regulator being supported in this time.Thus, it is possible to preset duration be preset, in electronic speed regulation
After device starting, multiple samplings that electron speed regulator can obtain in preset duration according to the default sampling interval are loaded, and can be anti-
Present multiple sampling load.Wherein, preset duration can be configured according to actual needs, such as can be corresponding pre- according to loading
If condition is adjusted correspondingly, when can be long or in short-term, it be not specifically limited herein.
Further, in order to improve in a period of time it is multiple sampling load reflection water pumps working conditions accuracys with
Timeliness can use multiple samplings load that sliding window algorithm obtains electron speed regulator in preset duration.
Wherein, method of determination of each sampling load is referred in embodiment illustrated in fig. 2 step 201 to step 202
It is negative to calculate the sampling to load the operating parameter information of corresponding electron speed regulator according to each sampling for the content of middle explanation
It carries, details are not described herein again.
302, the load for determining electron speed regulator is loaded according to multiple samplings；
In the present embodiment, after the multiple samplings load for obtaining electron speed regulator in preset duration, it can be adopted according to multiple
Sample loads the load for determining electron speed regulator.
It, can be with according to the concrete mode that multiple samplings load the loads for determining electron speed regulators in the present embodiment are as follows:
Multiple samplings load is weighted, the load of electron speed regulator is obtained；Or,
Determine that the smallest sampling load is the load of electron speed regulator from multiple sampling loads.
Specifically, after obtaining multiple sampling loads, it can be using the weighted average of multiple sampling loads as electronics tune
Load of the fast device in preset duration, to improve the stationarity loaded to judge the working condition of water pump using electron speed regulator
With accuracy；Multiple samplings can also be loaded and be ranked up according to principle such as from high to low, and loaded from multiple samplings
Load of the middle the smallest sampling load of determination as electron speed regulator, to improve the timely of the judgement to the working condition of water pump
Property, such as other samplings load in multiple sampling loads does not indicate that water pump is in default operating condition, but minimum sampling load
When instruction water pump is in default operating condition, default operating condition can be in water pump in time and make corresponding operation, to prevent
Sealing pump is in the delay judgement for being practically in default operating condition.
It is understood that the present embodiment only illustrates to be loaded according to multiple samplings with above-mentioned two example determines electronics tune
The concrete mode of the load of fast device can also use other way in practical applications, can carry out according to actual needs corresponding
Adjustment do not make herein specifically as long as the load of electron speed regulator determined can be corresponding with the working condition of water pump
It limits.
303, whether detection load meets preset condition, if so, 304 are thened follow the steps, if it is not, thening follow the steps 305；
304, determine that water pump is in default operating condition；
305, terminate process.
Step 303 in the present embodiment is identical to step 104 as step 102 in embodiment illustrated in fig. 1 to step 305, this
Place repeats no more.
On the basis of the present embodiment embodiment shown in Fig. 1, Fig. 2 and embodiment illustrated in fig. 3 each provide electronic speed regulation
The method of determination of the load of device, the real-time of the load detecting of electron speed regulator can be embodied for embodiment illustrated in fig. 2, and is schemed
Stationarity, accuracy or the timeliness of the load detecting of electron speed regulator can be then embodied for 3 illustrated embodiments.
It is understood that in the embodiment of the present application, detection load whether meet preset condition can be corresponding with it is different
Mode is illustrated separately below:
Referring to Fig. 4, another embodiment of detection method includes: in the embodiment of the present application
401, the load of electron speed regulator is obtained；
Step 401 in the present embodiment is referred in the step 101 in embodiment illustrated in fig. 1 or embodiment illustrated in fig. 2
The content that illustrates in step 301 to step 302 into step 202 or embodiment illustrated in fig. 3 of step 201, it is no longer superfluous herein
It states, is also not specifically limited.
402, whether detection load is greater than preset threshold, if it is not, 403 are thened follow the steps, if so, thening follow the steps 404；
In the present embodiment, after the load for obtaining electron speed regulator, it can detecte whether load is greater than preset threshold.
Specifically, preset threshold can be preset, it, should as judging whether water pump is in the standard of default operating condition
Preset threshold can be the critical value of water pump load of electron speed regulator when in running order, i.e. load is not more than preset threshold
When, illustrate that the working condition of water pump is default operating condition, conversely, then illustrating the work of water pump when load is greater than preset threshold
State is non-default working condition.
Wherein, when the load of water pump be according to revolving speed square divided by the value of operating current to reflect when, due to revolving speed
It is square negatively correlated divided by the value of operating current and the load of electron speed regulator, then being also based on square of load and speed
Divided by the corresponding relationship of the value of operating current, using revolving speed square divided by operating current value critical value as judgment criteria,
I.e. when revolving speed square divided by operating current value be greater than the critical value when, it is believed that at this time electron speed regulator load instruction
The working condition of water pump is default operating condition, on the contrary, then it is assumed that the load of electron speed regulator does not indicate the work of water pump at this time
State is non-default working condition.
Further, since water pump can have different structures, structure type can influence the working condition of water pump, then
Correspondingly, its structure type can influence the setting of above-mentioned preset threshold, then by the load of electron speed regulator and default threshold
Before value comparison, the structure type for the water pump being being currently used can be determined in advance, and type can determine according to this structure
Corresponding preset threshold, to carry out applicability detection.
It is understood that being directed to the water pump of different types of structure, which statistical value can be set according to
It is fixed, multiple loads of electron speed regulator when water pump is in default operating condition are such as counted, and carry out accordingly according to multiple load
Be calculated.Wherein, the available continuous amendment of preset threshold and update.
403, determine that water pump is in default operating condition；
In the present embodiment, if the load of electron speed regulator is not more than preset threshold, it can determine that water pump is in default work
Make state.
Further, the default operating condition of water pump can be embodied directly in preset capacity state.Wherein, the preset capacity
State can in the capacity status or water pump to spray liquid in water pump air capacity status, in the present embodiment, in water pump
In inlet tube under the influence of air capacity, when water pump can not carry out spraying operation, sky will be filled in the sprinkling liquid accommodating chamber of water pump
Gas, then preset capacity state can be embodied directly in preset air capacity status, i.e., fully loaded air condition.
404, terminate process.
In the present embodiment, if the load of electron speed regulator is greater than preset threshold, other processes can not be executed, that is, are terminated
Process.
The partial content of step 403 to step 404 in the present embodiment is referred to step 103 in embodiment illustrated in fig. 1
The content illustrated to step 104, details are not described herein again.
The present embodiment on the basis of the above embodiments, has carried out accordingly the detection method of the load of electron speed regulator
It illustrates, provides corresponding preset threshold by the water pump of each structure type, can realize relatively simplely to load
Detection, applicability is high and convenient, quick.
Fig. 5 please be participate in, another embodiment of detection method includes: in the embodiment of the present application
501, the load of electron speed regulator is obtained；
Step 501 in the present embodiment is referred in the step 101 in embodiment illustrated in fig. 1 or embodiment illustrated in fig. 2
The content that illustrates in step 301 to step 302 into step 202 or embodiment illustrated in fig. 3 of step 201, it is no longer superfluous herein
It states, is also not specifically limited.
502, whether the deviation of detection load and baseline load is located in default allowed band, if it is not, thening follow the steps
503, if so, thening follow the steps 504；
In the present embodiment, after the load for determining electric appliance governor, load and the baseline load of electron speed regulator can be determined
Deviation whether be located in default allowed band.Wherein, baseline load is to obtain when water pump is in fully loaded sprinkling liquid.
Specifically, illustrating to be completely filled with sprinkling liquid in the pipeline of water pump, in other words when the fully loaded sprinkling liquid of water pump
There are a small amount of air in the pipeline of bright water pump, but little on the sprinkling of water pump influence, and water pump can still continue to spray at this time
Operation is spilt, then can recorde the load of electron speed regulator at this time and the baseline load as electron speed regulator.
In practical applications, it may be allowed for centainly due to the influence of the other factors such as a small amount of air, baseline load
Fluctuation, then default allowed band can be set according to the fluctuation of the permission, i.e., baseline load can have it is certain up and down partially
Residual quantity.After the load for determining electron speed regulator, the load of electron speed regulator and the deviation of baseline load may further determine that, if
The deviation is located in default allowed band, then defaults the still fully loaded sprinkling liquid of water pump, on the contrary, then it is assumed that water pump is likely to be at default
Working condition, i.e., fully loaded air condition.
It is understood that the baseline load in the present embodiment statistical value can be set according to, water pump is such as counted
Multiple loads of electron speed regulator when in fully loaded sprinkling liquid, and be calculated accordingly according to multiple load,
It can be before carrying out practical sprinkling using water pump every time, measured in the fully loaded sprinkling liquid of water pump.Wherein, baseline load and
The default available continuous amendment of allowed band and update.
503, determine that water pump is in default operating condition；
In the present embodiment, if the load of electron speed regulator and the deviation of baseline load are not located in default allowed band,
It can determine that water pump is in default operating condition.
504, terminate process.
It, can be with if the load of electron speed regulator and the deviation of baseline load are located in default allowed band in the present embodiment
Other processes are not executed, that is, terminate process.
The partial content of step 403 to step 404 in the present embodiment is referred to step 103 in embodiment illustrated in fig. 1
The content that step 403 illustrates into step 104, embodiment illustrated in fig. 4, details are not described herein again.
Compared with embodiment illustrated in fig. 4, the detection method of the load of another electron speed regulator, phase are present embodiments provided
For, this kind of method has specific aim to each water pump, i.e. the electron speed regulator of each control water pump can be corresponding with
Corresponding baseline load, and only need to compare with baseline load, be conducive to the accuracy for improving load detecting.
Referring to Fig. 6, another embodiment of detection method includes: in the embodiment of the present application
601, multiple samplings load of electron speed regulator in preset duration is obtained；
Step 601 in the present embodiment is identical as the step 301 in embodiment illustrated in fig. 3, and details are not described herein again.
602, the load variation tendency for determining electron speed regulator is loaded according to multiple samplings；
In the present embodiment, after obtaining multiple samplings load of the electron speed regulator in preset duration, it can be adopted according to multiple
Sample loads the load variation tendency for determining electron speed regulator.
It illustratively, can be according to the seat established with sampling time size and payload size after determining multiple sampling loads
Mark system loads multiple samplings and draws sampling load versus time curve, electronics tune can be determined from the change curve
The load variation tendency of fast device.
603, whether detection load variation tendency meets default trend, if so, 604 are thened follow the steps, if it is not, then executing step
Rapid 605；
In the present embodiment, after the load variation tendency for determining electron speed regulator, it can detecte whether load variation tendency accords with
Close default trend.
Specifically, when water pump is from non-default active state to default operating condition, the load meeting of electron speed regulator
Sharply downward trend, but the difference of the detection site of the load based on electron speed regulator is presented, it is bent to preset the corresponding variation of trend
Line can show themselves in that 1, when water pump is default operating condition and is continuously default operating condition at the beginning, sampling load with
The change curve of time can be rendered as about horizontal line in preset duration；Two, when water pump turns from non-default working condition
When fading to default operating condition, sampling load versus time curve can be rendered as about horizontal line in preset duration
After decline.
Based on the above two presentation mode of the corresponding change curve of default trend, in the present embodiment, detection load variation
The concrete mode whether trend meets default trend can be with are as follows:
The loading rate of electron speed regulator is determined according to load variation tendency；
Whether detection loading rate is greater than default change rate threshold value, if so, it is default to determine that load variation tendency meets
Trend；Or,
The loading rate of electron speed regulator is determined according to load variation tendency；
When loading rate is located at default change rate range, is loaded according to multiple samplings and determine the negative of electron speed regulator
It carries；
Whether the deviation of detection load and baseline load is located in default allowed band, if not, it is determined that load variation becomes
Gesture meets default trend, and baseline load is to obtain in the fully loaded sprinkling liquid of water pump.
Specifically, no matter the default corresponding change curve of trend is presented in which way, default trend be can have accordingly
Loading rate, i.e. the slope of curve of change curve.Wherein, when water pump is default operating condition at the beginning and is continuously pre-
If when working condition, the slope of curve of sampling load versus time curve is about zero, then can be according to the slope of curve
Change rate range is preset in setting accordingly, so that when the loading rate of electron speed regulator is located at the default change rate range,
It is considered that the load variation tendency of electron speed regulator tentatively meets default trend.Further, since water pump is fully loaded with flushing liquor
Body load corresponding with electron speed regulator when fully loaded air is inconsistent, then electron speed regulator when water pump can be fully loaded with to sprinkling liquid
Load as baseline load, and can determine the load of electron speed regulator and the deviation of baseline load, if the deviation be located at it is pre-
If in allowed band, then the load variation tendency of faulty electronic governor meets default trend, on the contrary, then it is assumed that electron speed regulator
Load variation tendency do not meet default trend；And when water pump is from non-default active state to default operating condition, adopt
The slope of curve that sample loads versus time curve will be greater than zero, and the slope of curve is bigger, then means electron speed regulator
Load decrease speed it is faster, can be according to the critical value of the decrease speed of the load of electron speed regulator as default change rate
Threshold value can be with the load of faulty electronic governor with when the loading rate of electron speed regulator is greater than default change rate threshold value
Variation tendency meets default trend, on the contrary, then it is assumed that the load variation tendency of electron speed regulator does not meet default trend.
It is understood that the present embodiment only with above-mentioned two example illustrate detection load variation tendency whether meet it is pre-
If the concrete mode of trend, in practical applications, other way can also be used, directly by electronics such as in the same coordinate system
The curve graph of the current corresponding curve graph of load variation tendency and standard of governor compares that (curve graph of the standard can
To include two kinds: to be at the beginning default operating condition in water pump and being continuously default operating condition measurement；For water pump from
Measured when non-default active state to default operating condition), as long as it is default to can determine whether load variation tendency meets
Trend is not specifically limited herein.
It should be noted that in the present embodiment, when water pump is in default operating condition, due to may be the feed liquor of water pump
Pipe breakage causes or sprays liquid is sprayed to cause, then based between both reasons to the otherness shadow of default trend
It rings, it, can also be to trend default under both of these case when whether the load variation for detecting electron speed regulator meets default trend
Consider respectively.
604, determine that water pump is in default operating condition；
In the present embodiment, if the load variation tendency of electron speed regulator meets default trend, it can determine that water pump is in
Default operating condition.
605, terminate process.
In the present embodiment, if the load variation tendency of electron speed regulator does not meet default trend.It can not then execute other
Process terminates process.
The partial content of step 604 to step 605 in the present embodiment is referred to step 103 in embodiment illustrated in fig. 1
The content that step 403 illustrates into step 104, embodiment illustrated in fig. 4, details are not described herein again.
Compared with Fig. 4, embodiment illustrated in fig. 5, the detection of another load to electron speed regulator is present embodiments provided
Mode, this kind of method are compared the load variation tendency of the electron speed regulator of a period of time is corresponding with the progress of default trend,
The load variation that more can intuitively embody electron speed regulator, especially when water pump is from non-default active state to default work
When state, electron speed regulator load will sharply decline variation, can be obtained by the load variation tendency of electron speed regulator
It is presented to corresponding.
It is understood that in the embodiment of the present application, it, can also be to mobile flat after determining that water pump is in default operating condition
Being prompted accordingly using user for platform, is based on Fig. 1, carries out exemplary illustrate below:
Referring to Fig. 7, another embodiment of detection method includes: in the embodiment of the present application
701, the load of electron speed regulator is obtained；
702, whether detection load meets preset condition, if so, 703 are thened follow the steps, if it is not, thening follow the steps 705；
703, determine that water pump is in default operating condition；
Step 701 in the present embodiment is identical to step 103 as the step 101 in embodiment illustrated in fig. 1 to step 703,
Details are not described herein again.
704, the status information of water pump is sent to the control equipment of mobile platform, so that control equipment is according to status information
It prompts in the inlet tube of water pump containing so that the air capacity that flusher can not spray；
In the present embodiment, after determining that water pump is in default operating condition, water can be sent to the control equipment of mobile platform
The status information of pump, so that control equipment can be prompted in the inlet tube of water pump according to status information containing so that flusher
The air capacity that can not be sprayed.
Specifically, illustrating in the inlet tube of water pump when water pump is in default operating condition containing so that flusher can not
The air capacity of sprinkling, it may be possible to which the inlet tube breakage of water pump causes or spray liquid is sprayed to cause, then can be to movement
The control equipment of platform sends the status information, after control equipment receives status information, can according to the state to user into
The corresponding prompt of row, so that user is determined the reason of being in default operating condition to water pump, and further provides
Corresponding operation is instructed or is safeguarded accordingly.
It further, the reason of being in default operating condition for clear water pump, can be according to mobile flat in the present embodiment
The surplus of the sprinkling liquid of liquid reserve tank carries out auxiliary judgment in platform, in practical applications, due to liquid reserve tank in mobile platform
Capacity is limited, and water pump may need to carry out repeatedly sprinkling behaviour to the sprinkling liquid of more times of capacity of liquid reserve tank in a period of time
Make, then before the last time sprinkling in the period, in order to avoid sprinkling liquid it is all sprayed caused by water pump
In in default operating condition, liquid reserve tank can there are default surpluses, to reduce the number of air pressure relief, and only at last
When secondary sprinkling, the sprinkling liquid in liquid reserve tank will be sprayed.It follows that when the surplus of sprinkling liquid is surplus not less than default
When surplus, illustrate that not last time is sprayed, practical charging pump do not should be default operating condition, it is more likely that be water pump into
Liquid pipe breakage causes, then the first prompt information can be sent to the control equipment of mobile platform, control equipment receive this
After one prompt information, malfunction elimination prompt can be carried out to user according to the first prompt information, with detect whether by water pump into
Liquid piping failure causes；And when the surplus for spraying liquid is less than default surplus, can default currently is that last time is sprayed
It spills, then can send the second prompt information to control equipment, it, can be according to the after control equipment receives second prompt information
Two prompt informations carry out the sprayed prompt of sprinkling liquid to user can choose after user learns second prompt information
Corresponding operation, such as stop spraying operation or close mobile platform.
705, terminate process.
Step 705 in the present embodiment is identical as the step 104 in embodiment illustrated in fig. 1, and details are not described herein again.
In the present embodiment, after determining that water pump is in default operating condition, the status information of water pump can be notified to shifting
The control equipment of moving platform, is conducive to control equipment and is prompted accordingly according to status information user, so that user can be with
Corresponding operation is executed in time according to the current working status of water pump, to prevent the unnecessary wasting of resources of mobile platform, such as
Spray liquid it is sprayed after, mobile platform as close not in time and caused by electricity expend, can also avoid by water pump
Piping failure and caused by spray liquid waste.
It is understood that flusher can have different based on the type of sprinkling liquid in the embodiment of the present application
Usage, when such as sprinkling liquid is water, flusher can use to irrigate, when for another example sprinkling liquid is pesticide, sprinkling dress
Setting can use for prevention and treatment harmful organism.Optionally, the flusher in the embodiment of the present application can be pesticide spraying device.
It should be noted that in the embodiment of the present application, mobile platform be can include but is not limited in land, waterborne or empty
The object of middle movement.Optionally, mobile platform can be unmanned plane in the embodiment of the present application, to reinforce unmanned plane in agricultural industry
Application.
Below using mobile platform as unmanned plane, above-described embodiment is illustrated from different executing subjects:
As shown in figure 8, unmanned plane may include flight control system, agricultural machinery central plate, the water pump for spraying liquid and control
The electron speed regulator of water pump, unmanned plane can be communicated by flight control system with the control equipment of unmanned plane.Wherein, fly control system
System can communicate to connect with agricultural machinery central plate, agricultural machinery central plate and electron speed regulator communication connection, electron speed regulator then with water pump
Communication connection.
One, executing subject is the agricultural machinery central plate of unmanned plane
Illustratively, after electron speed regulator obtains itself operating parameter information, which can be fed back
It can be according to the job information parameter after agricultural machinery central plate obtains the operating parameter information of electron speed regulator to agricultural machinery central plate
Determine the load of electron speed regulator.Further, agricultural machinery central plate judges the load of electron speed regulator accordingly, determines
After water pump is in default operating condition, the status information of water pump can be sent to the flight control system of unmanned plane, then by flying control system
The status information is pass-through to the control equipment of unmanned plane by system, so by the control equipment of unmanned plane to the status information of water pump into
The corresponding prompt of row.
Two, executing subject is the flight control system of unmanned plane
Illustratively, after electron speed regulator obtains itself operating parameter information, which can be fed back
To agricultural machinery central plate, the operating parameter information of the electron speed regulator can be then sent to the winged control system of unmanned plane by agricultural machinery central plate
System, after flight control system obtains the operating parameter information, can determine the load of electron speed regulator according to the job information parameter.Into
One step, flight control system judges the load of electron speed regulator accordingly, can after determining that water pump is in default operating condition
The status information to be directly sent to the control equipment of unmanned plane, and then believed by state of the control equipment of unmanned plane to water pump
Breath is prompted accordingly.
Further, in some embodiments of the present application, the control equipment of unmanned plane can also be used as executing subject:
Illustratively, after electron speed regulator obtains itself operating parameter information, which can be fed back
To agricultural machinery central plate, the operating parameter information of the electron speed regulator can be then sent to the winged control system of unmanned plane by agricultural machinery central plate
System, which then further can be pass-through to control equipment by flight control system, and controlling equipment then can be according to this
Job information parameter determines the load of electron speed regulator.Further, control equipment carries out the load of electron speed regulator corresponding
Judgement then can directly be prompted accordingly after determining that water pump is in default operating condition.
It is understood that in practical applications, in addition to the flight control system of unmanned plane is automatically by the work of electron speed regulator
Parameter information is sent to outside the control equipment of unmanned plane, and the control equipment of unmanned plane can also be actively to the flight control system of unmanned plane
Corresponding instruction is sent, to obtain the operating parameter information of electron speed regulator, is not specifically limited herein.
The detection method in the embodiment of the present application is illustrated above, the detection in the embodiment of the present application is filled below
It sets and is illustrated:
Referring to Fig. 9, the detection device be applied to mobile platform, the mobile platform include for spray the water pump of liquid and
For controlling the electron speed regulator of water pump, detection device one embodiment in the embodiment of the present application includes:
Acquisition device 901, processor 902, acquisition device 901 and processor 902 communicate to connect；
Acquisition device 901, is used for:
Obtain the load of electron speed regulator；
Processor 902, is used for:
Whether detection load meets preset condition；
If so, determining that water pump is in default operating condition.
It, can be by processor after acquisition device 901 obtains the load of the electron speed regulator of control water pump in the present embodiment
The load of 902 pairs of electron speed regulators is detected accordingly, when the load of electron speed regulator is unsatisfactory for preset condition, processor
902 can determine that water pump is in default operating condition, which, which can serve to indicate that in the inlet tube of water pump, is full of
Make the air capacity that can not be sprayed, spray can not be delivered in cavity and complete under the resistance of the air capacity by water pump
Sprinkling.As a result, under the structure for not changing original sprinkling system, electron speed regulator can use to substitute the inspection of the air of pressure gauge
Survey effect, so as to avoid pressure gauge due to being easily lost, easy to damage and bring erroneous detection, simultaneously as electron speed regulator and spray
Other sensors decoupling in system is spilt, and its service life and stability are longer more preferable for other sensors, then
In contrast it improves in detection inlet tube and whether is filled with the accuracy so that the air capacity that can not be sprayed.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Obtain the operating parameter information of electron speed regulator；
The load of electron speed regulator is determined according to operating parameter information.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Obtain the revolving speed and operating current of electron speed regulator；
The load of electron speed regulator is determined according to revolving speed and operating current, load and speed is negatively correlated, load and work
Electric current is positively correlated.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Obtain the power of electron speed regulator；
Determine that the load of electron speed regulator, load are positively correlated with power according to power.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Obtain multiple samplings load of electron speed regulator in preset duration；
The load for determining electron speed regulator is loaded according to multiple samplings.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Multiple samplings load is weighted, the load of electron speed regulator is obtained.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Determine that the smallest sampling load is the load of electron speed regulator from multiple sampling loads.
Optionally, in some embodiments of the present application, processor 902 can further be specifically used for:
Whether detection load is greater than preset threshold, if so, determining that load is unsatisfactory for preset condition.
Optionally, in some embodiments of the present application, processor 902 can further be specifically used for:
Determine the structure type of water pump；
Preset threshold is determined according to structure type.
Optionally, in some embodiments of the present application, processor 902 can further be specifically used for:
Whether the deviation of detection load and baseline load is located in default allowed band, if not, it is determined that load meets pre-
If condition, baseline load is to obtain when water pump is in fully loaded sprinkling liquid.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
Obtain multiple samplings load of electron speed regulator in preset duration；
Processor 902, is specifically used for:
The load variation tendency for determining electron speed regulator is loaded according to multiple samplings；
Whether detection load variation tendency meets default trend, if so, determining that load is unsatisfactory for preset condition.
Optionally, in some embodiments of the present application, processor 902 can further be specifically used for:
The loading rate of electron speed regulator is determined according to load variation tendency；
Whether detection loading rate is greater than default change rate threshold value, if so, it is default to determine that load variation tendency meets
Trend.
Optionally, in some embodiments of the present application, processor 902 can further be specifically used for:
The loading rate of electron speed regulator is determined according to load variation tendency；
When loading rate is located at default change rate range, is loaded according to multiple samplings and determine the negative of electron speed regulator
It carries；
Whether the deviation of detection load and baseline load is located in default allowed band, if not, it is determined that load variation becomes
Gesture meets default trend, and baseline load is to obtain in the fully loaded sprinkling liquid of water pump.
Optionally, in some embodiments of the present application, acquisition device 901 can further be specifically used for:
It is loaded using multiple samplings that sliding window algorithm obtains electron speed regulator in preset duration.
Optionally, in some embodiments of the present application, it is based on Fig. 9, as shown in Figure 10, device can also be wrapped further
It includes:
Sending device 903, sending device 903 and processor 902 communicate to connect；
Sending device 903, is used for:
The status information of water pump is sent to the control equipment of mobile platform, so that control equipment is prompted according to status information
Containing so that the air capacity that flusher can not spray in the inlet tube of water pump.
Optionally, in some embodiments of the present application, sending device 903 can further be specifically used for:
If the surplus for spraying liquid is not less than default surplus, the first prompt information is sent to control equipment, so that
Equipment must be controlled, malfunction elimination prompt is carried out according to the first prompt information.
Optionally, in some embodiments of the present application, sending device 903 can further be specifically used for:
If the surplus for spraying liquid is less than default surplus, the second prompt information is sent to control equipment, so that
Control equipment carries out the sprayed prompt of sprinkling liquid according to the second prompt information.
Further, in the embodiment of the present application, when detection device is set on mobile platform, based on being said for Figure 10
Bright, as shown in figure 11, detection device is also used as a part of mobile platform, then the acquisition device 901 in detection device can
To be communicated to connect with the electron speed regulator of mobile platform, to obtain the relevant operating parameter information etc. of electron speed regulator feedback.
It should be noted that, for different executing subjects, detection device, which can not also be located at, moves in the embodiment of the present application
On moving platform, it is not specifically limited herein.
It is understood that the detection device may include, but it is not limited only to, acquisition device, processor, sending device.
It will be understood by those skilled in the art that schematic diagram shown in Fig. 9, Figure 10, Figure 11 is only the example of detection device, do not constitute pair
The restriction of detection device may include perhaps combining certain components or different portions than illustrating more or fewer components
Part, such as the detection device can also include input-output equipment, network access equipment etc., for another example, detection device can be with
Including memory.
Illustratively, computer program has been can store in the memory, the computer program can be by the processing
Device executes, to complete the application.The computer program may include that can to complete the one of specific function be instruction segment, the instruction
Section is for describing the implementation procedure of the computer program each component in the detection device, to realize such as above-mentioned corresponding detection
The concrete function of device description.
The processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the detection device, utilizes each of various interfaces and the entire detection device of connection
A part.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of detection device.The memory can mainly include storing program area and storage data area, wherein storing program area
It can application program (such as sound-playing function, image player function etc.) needed for storage program area, at least one function etc.；
Storage data area, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to terminal.In addition, storage
Device may include high-speed random access memory, can also be hard including nonvolatile memory, such as hard disk, memory, plug-in type
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Further, the embodiment of the present application also provides a kind of unmanned plane, which may include for spraying liquid
Water pump and electron speed regulator for controlling water pump, can also include above explained detection device, which can be with
It is communicated to connect with electron speed regulator, to receive the relevant work parameter information of electron speed regulator feedback, reaches and utilize electronic speed regulation
The purpose of the working condition of the load judgment water pump of device, and then realize and whether contain so that can not spray in the pipeline of water pump
The detection of air capacity.
Illustratively, as shown in figure 12, the liquid reserve tank for storing sprinkling liquid can be equipped with below the fuselage of unmanned plane
1, the water pump 2 on unmanned plane can provide power transmission effect, and the sprinkling liquid in effect decline liquid reserve tank 1 is delivered to
Nozzle 3 allows sprinkling liquid to be sprayed to target sprinkling region from nozzle 3.During the sprinkling, detection device passes through benefit
With the feedback of the corresponding information of the electron speed regulator of control water pump 2, the working condition of water pump 2 can be monitored in real time, in water pump 2
Pipeline in when containing so that nozzle 3 can not continue the air capacity of sprinkling, can further analyze is sprinkling by liquid reserve tank 1
As a result, still being occurred by the inlet tube of water pump (pipeline i.e. between liquid reserve tank 1 and water pump 2) damaged caused by liquid is sprayed
Caused result.In contrast, due to the decoupling and its long service life of the electron speed regulator of control water pump 1 in unmanned plane
The good feature with stability, improves the accuracy of detection.
Further, the embodiment of the present application also provides a kind of computer readable storage medium, this is computer-readable to be deposited
It is stored with computer program on storage media, when computer program is executed by processor, may be implemented to say in above method embodiment
Bright each steps flow chart.
It is understood that if the integrated unit is realized in the form of SFU software functional unit and as independent production
Product when selling or using, can store in a corresponding computer-readable storage medium.Based on this understanding, this Shen
It please realize all or part of the process in above-mentioned corresponding embodiment method, can also be instructed by computer program relevant
Hardware is completed, and the computer program can be stored in a computer readable storage medium, which is being located
It manages when device executes, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program generation
Code, the computer program code can be source code form, object identification code form, executable file or certain intermediate forms
Deng.The computer-readable medium may include: any entity or device, record that can carry the computer program code
Medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..
It should be noted that the content that the computer-readable medium includes can be according to legislation and patent practice in jurisdiction
It is required that carrying out increase and decrease appropriate, such as in certain jurisdictions, do not wrapped according to legislation and patent practice, computer-readable medium
Include electric carrier signal and telecommunication signal.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (46)
1. a kind of detection method, it is applied to mobile platform, the mobile platform includes water pump for spraying liquid and is used for
Control the electron speed regulator of the water pump, which is characterized in that the detection method includes:
Obtain the load of the electron speed regulator；
Detect whether the load meets preset condition；
If so, determining that the water pump is in default operating condition.
2. the method according to claim 1, wherein the load for obtaining the electron speed regulator includes:
Obtain the operating parameter information of the electron speed regulator；
The load of the electron speed regulator is determined according to the operating parameter information.
3. according to the method described in claim 2, it is characterized in that, the operating parameter information for obtaining the electron speed regulator
Include:
Obtain the revolving speed and operating current of the electron speed regulator；
The load that the electron speed regulator is determined according to the operating parameter information includes:
The load of the electron speed regulator is determined according to the revolving speed and the operating current, the load is with the revolving speed in negative
Correlation, the load are positively correlated with the operating current.
4. according to the method described in claim 2, it is characterized in that, the operating parameter information for obtaining the electron speed regulator
Include:
Obtain the power of the electron speed regulator；
The load that the electron speed regulator is determined according to the operating parameter information includes:
Determine that the load of the electron speed regulator, the load are positively correlated with the power according to the power.
5. method according to claim 1 to 4, which is characterized in that the acquisition electron speed regulator
Load includes:
Obtain multiple samplings load of the electron speed regulator in preset duration；
The load of the electron speed regulator is determined according to multiple sampling loads.
6. according to the method described in claim 5, it is characterized in that, described determine the electronics according to multiple sampling loads
The load of governor includes:
Multiple sampling loads are weighted, the load of the electron speed regulator is obtained.
7. according to the method described in claim 5, it is characterized in that, described determine the electronics according to multiple sampling loads
The load of governor includes:
Determine that the smallest sampling load is the load of the electron speed regulator from multiple sampling loads.
8. method according to any one of claim 1 to 7, which is characterized in that whether the detection load meets
Preset condition includes:
Detect whether the load is greater than preset threshold, if so, determining that the load is unsatisfactory for the preset condition.
9. according to the method described in claim 8, it is characterized in that, it is described detection it is described load whether be greater than preset threshold it
Before, the method also includes:
Determine the structure type of the water pump；
The preset threshold is determined according to the structure type.
10. method according to any one of claim 1 to 7, which is characterized in that whether the detection load meets
Preset condition includes:
Whether the deviation for detecting the load and baseline load is located in default allowed band, if not, it is determined that the load is full
The foot preset condition, the baseline load are the acquisition when the water pump is in and is fully loaded with the sprinkling liquid.
11. method according to claim 1 to 4, which is characterized in that the acquisition electron speed regulator
Load includes:
Obtain multiple samplings load of the electron speed regulator in preset duration；
Whether the detection load, which meets preset condition, includes:
The load variation tendency of the electron speed regulator is determined according to multiple sampling loads；
Detect whether the load variation tendency meets default trend, if so, determining that the load meets the preset condition.
12. according to the method for claim 11, which is characterized in that it is pre- whether the detection load variation tendency meets
If trend includes:
The loading rate of the electron speed regulator is determined according to the load variation tendency；
Detect whether the loading rate is greater than default change rate threshold value, if so, determining that the load variation tendency meets
The default trend.
13. according to the method for claim 11, which is characterized in that it is pre- whether the detection load variation tendency meets
If trend includes:
The loading rate of the electron speed regulator is determined according to the load variation tendency；
When the loading rate is located at default change rate range, the electronic speed regulation is determined according to multiple sampling loads
The load of device；
Whether the deviation for detecting the load and baseline load is located in default allowed band, if not, it is determined that the load becomes
Change trend meets the default trend, and the baseline load is the acquisition when the water pump is fully loaded with the sprinkling liquid.
14. the method according to any one of claim 5 to 13, which is characterized in that described in the acquisition preset duration
Multiple samplings of electron speed regulator load
It is loaded using multiple samplings that sliding window algorithm obtains the electron speed regulator in preset duration.
15. according to claim 1 to method described in any one of 14, which is characterized in that be in the determination water pump
After default operating condition, the method also includes:
The status information of the water pump is sent to the control equipment of the mobile platform, so that the control equipment is according to
Status information prompts in the inlet tube of the water pump containing so that the air capacity that flusher can not spray.
16. according to claim 1 to method described in any one of 15, which is characterized in that be in the determination water pump
After default operating condition, the method also includes:
If the surplus of the sprinkling liquid is not less than default surplus, the first prompt information is sent to the control equipment,
So that control equipment carries out malfunction elimination prompt according to first prompt information.
17. according to claim 1 to method described in any one of 15, which is characterized in that be in the determination water pump
After default operating condition, the method also includes:
If the surplus of the sprinkling liquid is less than default surplus, the second prompt information is sent to the control equipment, with
So that the control equipment carries out the sprayed prompt of the sprinkling liquid according to second prompt information.
18. according to claim 1 to method described in any one of 17, which is characterized in that the default operating condition is default
Capacity status.
19. according to the method for claim 18, which is characterized in that the preset capacity state is preset air capacity shape
State.
20. according to the method for claim 19, which is characterized in that the preset air capacity status is fully loaded air shape
State.
21. according to claim 1 to method described in any one of 20, which is characterized in that the flusher is pesticide spraying
Device.
22. according to claim 1 to method described in any one of 21, which is characterized in that the mobile platform is unmanned plane.
23. a kind of detection device, it is applied to mobile platform, the mobile platform includes water pump for spraying liquid and is used for
Control the electron speed regulator of the water pump, which is characterized in that described device includes:
Acquisition device, processor, the acquisition device are connect with the processor communication；
The acquisition device, is used for:
Obtain the load of the electron speed regulator；
The processor, is used for:
Detect whether the load meets preset condition；
If so, determining that the water pump is in default operating condition.
24. device according to claim 23, which is characterized in that the acquisition device is specifically used for:
Obtain the operating parameter information of the electron speed regulator；
The load of the electron speed regulator is determined according to the operating parameter information.
25. device according to claim 24, which is characterized in that the acquisition device is specifically used for:
Obtain the revolving speed and operating current of the electron speed regulator；
The load of the electron speed regulator is determined according to the revolving speed and the operating current, the load is with the revolving speed in negative
Correlation, the load are positively correlated with the operating current.
26. device according to claim 24, which is characterized in that the acquisition device is specifically used for:
Obtain the power of the electron speed regulator；
Determine that the load of the electron speed regulator, the load are positively correlated with the power according to the power.
27. the device according to any one of claim 23 to 26, which is characterized in that the acquisition device is specifically used for:
Obtain multiple samplings load of the electron speed regulator in preset duration；
The load of the electron speed regulator is determined according to multiple sampling loads.
28. device according to claim 27, which is characterized in that the acquisition device is specifically used for:
Multiple sampling loads are weighted, the load of the electron speed regulator is obtained.
29. device according to claim 27, which is characterized in that the acquisition device is specifically used for:
Determine that the smallest sampling load is the load of the electron speed regulator from multiple sampling loads.
30. the device according to any one of claim 23 to 29, which is characterized in that the processor is specifically used for:
Detect whether the load is greater than preset threshold, if so, determining that the load is unsatisfactory for the preset condition.
31. device according to claim 30, which is characterized in that the processor is also used to:
Determine the structure type of the water pump；
The preset threshold is determined according to the structure type.
32. the device according to any one of claim 23 to 29, which is characterized in that the processor is specifically used for:
Whether the deviation for detecting the load and baseline load is located in default allowed band, if not, it is determined that the load is full
The foot preset condition, the baseline load are the acquisition when the water pump is in and is fully loaded with the sprinkling liquid.
33. the device according to any one of claim 23 to 26, which is characterized in that the acquisition device is specifically used for:
Obtain multiple samplings load of the electron speed regulator in preset duration；
The processor, is specifically used for:
The load variation tendency of the electron speed regulator is determined according to multiple sampling loads；
Detect whether the load variation tendency meets default trend, if so, determining that the load meets the preset condition.
34. device according to claim 33, which is characterized in that the processor is specifically used for:
The loading rate of the electron speed regulator is determined according to the load variation tendency；
Detect whether the loading rate is greater than default change rate threshold value, if so, determining that the load variation tendency meets
The default trend.
35. device according to claim 33, which is characterized in that the processor is specifically used for:
The loading rate of the electron speed regulator is determined according to the load variation tendency；
When the loading rate is located at default change rate range, the electronic speed regulation is determined according to multiple sampling loads
The load of device；
Whether the deviation for detecting the load and baseline load is located in default allowed band, if not, it is determined that the load becomes
Change trend meets the default trend, and the baseline load is the acquisition when the water pump is fully loaded with the sprinkling liquid.
36. the device according to any one of claim 27 to 35, which is characterized in that the acquisition device is specifically used for:
It is loaded using multiple samplings that sliding window algorithm obtains the electron speed regulator in preset duration.
37. the device according to any one of claim 23 to 36, which is characterized in that described device further include:
Sending device, the sending device are connect with the processor communication；
The sending device, is used for:
The status information of the water pump is sent to the control equipment of the mobile platform, so that the control equipment is according to
Status information prompts in the inlet tube of the water pump containing so that the air capacity that flusher can not spray.
38. the device according to any one of claim 23 to 37, which is characterized in that the sending device is also used to:
If the surplus of the sprinkling liquid is not less than default surplus, the first prompt information is sent to the control equipment,
So that control equipment carries out malfunction elimination prompt according to first prompt information.
39. the device according to any one of claim 23 to 37, which is characterized in that the sending device is also used to:
If the surplus of the sprinkling liquid is less than default surplus, the second prompt information is sent to the control equipment, with
So that the control equipment carries out the sprayed prompt of the sprinkling liquid according to second prompt information.
40. the device according to any one of claim 23 to 39, which is characterized in that the default operating condition is default
Capacity status.
41. device according to claim 40, which is characterized in that the preset capacity state is preset air capacity shape
State.
42. device according to claim 41, which is characterized in that the preset air capacity status is fully loaded air shape
State.
43. the device according to any one of claim 23 to 42, which is characterized in that the flusher is pesticide spraying
Device.
44. the device according to any one of claim 23 to 43, which is characterized in that the mobile platform is unmanned plane.
45. a kind of unmanned plane, the unmanned plane includes the water pump for spraying liquid and the electronics tune for controlling the water pump
Fast device, which is characterized in that the unmanned plane further includes the detection device as described in any one of claim 23 to 44, the inspection
It surveys device and the electron speed regulator communicates to connect.
46. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program
It is realized when being executed by processor such as the step of any one of claim 1 to 22 the method.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/117026 WO2019119234A1 (en) | 2017-12-18 | 2017-12-18 | Detection method and device, unmanned aerial vehicle and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109071020A true CN109071020A (en) | 2018-12-21 |
Family
ID=64831281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780023545.6A Pending CN109071020A (en) | 2017-12-18 | 2017-12-18 | Detection method and device, unmanned plane, readable storage medium storing program for executing |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109071020A (en) |
| WO (1) | WO2019119234A1 (en) |
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| CN111213367A (en) * | 2019-01-30 | 2020-05-29 | 深圳市大疆创新科技有限公司 | Load control method and device |
| CN112153894A (en) * | 2019-09-27 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Pump assembly, spraying system, moving device and spraying method |
| CN112166252A (en) * | 2019-11-05 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Exhaust control method of water pump, movable equipment, spraying device and storage medium |
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| CN116107793B (en) * | 2023-04-03 | 2023-07-14 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle power system fault storage method and device |
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Application publication date: 20181221 |