CN109152353A - Medicine-chest flow rate testing methods, device and agricultural unmanned plane - Google Patents
Medicine-chest flow rate testing methods, device and agricultural unmanned plane Download PDFInfo
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- CN109152353A CN109152353A CN201780027939.9A CN201780027939A CN109152353A CN 109152353 A CN109152353 A CN 109152353A CN 201780027939 A CN201780027939 A CN 201780027939A CN 109152353 A CN109152353 A CN 109152353A
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- 238000012360 testing method Methods 0.000 title claims abstract description 15
- 239000012530 fluid Substances 0.000 claims abstract description 102
- 239000007788 liquid Substances 0.000 claims abstract description 100
- 239000003814 drug Substances 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims description 24
- 230000005484 gravity Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 23
- 206010008469 Chest discomfort Diseases 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 14
- 230000000694 effects Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 239000000575 pesticide Substances 0.000 description 4
- 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 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000012263 liquid product Substances 0.000 description 3
- 230000002572 peristaltic effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000002917 insecticide Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910044991 metal oxide Inorganic materials 0.000 description 2
- 150000004706 metal oxides Chemical class 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F11/00—Apparatus requiring external operation adapted at each repeated and identical operation to measure and separate a predetermined volume of fluid or fluent solid material from a supply or container, without regard to weight, and to deliver it
- G01F11/28—Apparatus requiring external operation adapted at each repeated and identical operation to measure and separate a predetermined volume of fluid or fluent solid material from a supply or container, without regard to weight, and to deliver it with stationary measuring chambers having constant volume during measurement
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Measuring Volume Flow (AREA)
Abstract
A kind of medicine-chest flow rate testing methods, the present level of current fluid level in medicine-chest is obtained including step S201, step S202 obtains the corresponding current medicine liquid volume of present level, step S203 determines the flow of medicine-chest herb liquid outflow according to current medicine liquid volume, current time, the last medicine liquid volume obtained and the last time for obtaining medicine liquid volume.It further include a kind of medicine-chest flow monitoring device, including memory (501) and processor (502), memory (501) is for storing program instruction, and processor (502) is for calling the described program stored in the memory instruction to realize medicine-chest flow rate testing methods.It further include a kind of agricultural unmanned plane (1000), including body (600), medicine-chest (700) and medicine-chest flow detector (500), medicine-chest (700) is connect with medicine-chest flow detector (500) with body (600).What flow was determined according to the present level of current fluid level, it is not influenced by the density of pipeline and medical fluid, therefore can real-time, accurate detection flow.
Description
Technical field
The present embodiments relate to unmanned plane pesticide spraying technical field more particularly to a kind of medicine-chest flow rate testing methods,
Device and agricultural unmanned plane.
Background technique
Currently, agricultural unmanned plane has appeared on the market, it can plough, spray insecticide and harvest crops, be brought to agriculture field
Great benefit, such as save user time, improve operating efficiency, increase operation income and improve the utilization of agricultural machinery
Efficiency etc..By taking agricultural unmanned plane is sprayed insecticide as an example, for precision agriculture, the sprinkling precision of pesticide is very important, wherein
The sprinkling precision of pesticide can be controlled by the variation of detection flows (liquid level i.e. in the medicine-chest of splendid attire pesticide), therefore, flow
It detects particularly important.Wherein, the prior art can calculate flow by peristaltic pump, because of the liquid that peristaltic pump squeezes out every time
Volume be fixed, therefore can learn flow according to extrusion passes.But the pipeline of peristaltic pump holds after repeatedly squeezing
Easily deformation occurs, and the liquid volume squeezed every time after deformation can be reduced, not so as to cause the flow and actual flow being calculated
It is consistent, causes flow detection inaccurate.
Summary of the invention
The embodiment of the present invention provides a kind of medicine-chest flow rate testing methods, device and agricultural unmanned plane, for improving flow inspection
The accuracy of survey.
In a first aspect, the embodiment of the present invention provides a kind of medicine-chest flow rate testing methods, comprising:
The present level of current fluid level in medicine-chest is obtained, wherein the present level is the current fluid level to the medicine-chest
Bottom between difference in height；
According to the present level, the current medicine liquid volume of the corresponding medicine-chest of the present level is obtained；
According to the current medicine liquid volume, current time, the last medicine liquid volume obtained and last acquisition medical fluid
The time of volume determines the present flow rate of the medicine-chest herb liquid outflow.
Second aspect, the embodiment of the present invention provide a kind of medicine-chest flow detector, comprising: memory and processor；
Memory, for storing program instruction；
The processor, for calling the described program stored in the memory instruction to realize:
The present level of current fluid level in medicine-chest is obtained, wherein the present level is the current fluid level to the medicine-chest
Bottom between difference in height；
According to the present level, the current medicine liquid volume of the corresponding medicine-chest of the present level is obtained；
According to the current medicine liquid volume, current time, the last medicine liquid volume obtained and last acquisition medical fluid
The time of volume determines the present flow rate of the medicine-chest herb liquid outflow.
The third aspect, the embodiment of the present invention provide a kind of agricultural unmanned plane, comprising: body, medicine-chest and such as first aspect sheet
Medicine-chest flow detector described in inventive embodiments；The medicine-chest and the medicine-chest flow detector and the body connect
It connects；
Wherein, the medicine-chest flow detector is used to detect the flow of the medicine-chest herb liquid outflow.
Fourth aspect, the embodiment of the present invention provide a kind of chip, comprising: memory and processor；
The memory, for storing program instruction；
The processor, for calling the described program stored in the memory instruction to realize such as this hair of first aspect
Medicine-chest flow rate testing methods described in bright embodiment.
5th aspect, the present invention provide a kind of storage medium, comprising: readable storage medium storing program for executing and computer program, the meter
Calculation machine program is for realizing the medicine-chest flow rate testing methods as described in the first aspect embodiment of the present invention.
Medicine-chest flow rate testing methods, device and agricultural unmanned plane provided in an embodiment of the present invention, by obtain medicine-chest in when
Then the present level of preceding liquid level obtains the corresponding current medicine liquid volume of present level, further according to current medicine liquid volume, it is current when
Between, the last medicine liquid volume obtained and the last time for obtaining medicine liquid volume, determine the flow of medicine-chest herb liquid outflow.
What the flow in the present embodiment was determined according to the present level of current stream interface, it is not influenced by pipeline, also not by the close of medical fluid
The influence of degree, therefore improve the accuracy rate of flow detection, moreover it is possible to real-time detection flow.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 of embodiment according to the present invention；
Fig. 2 is the flow chart for the medicine-chest flow rate testing methods that one embodiment of the invention provides；
Fig. 3 is first pressure sensor, second pressure sensor, one kind between medicine-chest that one embodiment of the invention provides
Position view；
Fig. 4 is the first pressure sensor, second pressure sensor, another between medicine-chest that one embodiment of the invention provides
Kind position view；
Fig. 5 is the structural schematic diagram for the medicine-chest flow detector that one embodiment of the invention provides；
Fig. 6 be another embodiment of the present invention provides medicine-chest flow detector structural schematic diagram；
Fig. 7 be another embodiment of the present invention provides medicine-chest flow detector structural schematic diagram；
Fig. 8 be another embodiment of the present invention provides medicine-chest flow detector structural schematic diagram；
Fig. 9 is the structural schematic diagram for the agricultural unmanned plane that one embodiment of the invention provides；
Figure 10 be another embodiment of the present invention provides agricultural unmanned plane structural schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The embodiment provides medicine-chest flow rate testing methods, device and agricultural unmanned planes.Agricultural unmanned plane can be with
It is rotor craft (rotorcraft), for example, passing through air-driven multi-rotor aerocraft, the present invention by multiple pushing meanss
Embodiment is not limited to this.
Fig. 1 is the schematic architectural diagram of unmanned flight's system 100 of embodiment according to the present invention.The present embodiment is with rotor
It is illustrated for unmanned vehicle.
Unmanned flight's system 100 may include unmanned vehicle 110, holder 120, display equipment 130 and control device
140.Wherein, unmanned vehicle 110 may include dynamical system 150, flight control system 160 and rack.Unmanned vehicle 110
It can be carried out wireless communication with control device 140 and display equipment 130.
Rack may include fuselage and foot prop (also referred to as undercarriage).Fuselage may include centre frame and connect with centre frame
The one or more horns connect, one or more horns radially extend from centre frame.Foot prop is connect with fuselage, is used for
Unmanned vehicle 110 plays a supportive role when landing.
Dynamical system 150 may include one or more electron speed regulators (referred to as electricity is adjusted) 151, one or more spirals
Paddle 153 and one or more motors 152 corresponding with one or more propellers 153, wherein motor 152 is connected to electronics
Between governor 151 and propeller 153, motor 152 and propeller 153 are arranged on the horn of unmanned vehicle 110；Electronics tune
Fast device 151 is used to receive the driving signal of the generation of flight control system 160, and provides driving current to motor according to driving signal
152, to control the revolving speed of motor 152.Motor 152 is for driving propeller to rotate, so that the flight for unmanned vehicle 110 mentions
For power, which makes unmanned vehicle 110 can be realized the movements of one or more freedom degrees.In certain embodiments,
Unmanned vehicle 110 can be around one or more rotary shaft rotations.For example, above-mentioned rotary shaft may include roll axis, yaw
Axis and pitch axis.It should be understood that motor 152 can be direct current generator, it can also be with alternating current generator.In addition, motor 152 can be it is brushless
Motor is also possible to brush motor.
Flight control system 160 may include flight controller 161 and sensor-based system 162.Sensor-based system 162 is for measuring
The posture information of unmanned vehicle, i.e. unmanned vehicle 110 space location information and status information, for example, three-dimensional position,
Three-dimensional perspective, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity etc..Sensor-based system 162 for example may include gyroscope, ultrasound
Sensor, electronic compass, Inertial Measurement Unit (English: Inertial Measurement Unit, abbreviation: IMU), vision pass
At least one of sensors such as sensor, Global Navigation Satellite System and barometer.For example, Global Navigation Satellite System can be
Global positioning system (English: Global Positioning System, referred to as: GPS) or.Flight controller 161 is for controlling
The flight of unmanned vehicle 110 processed, for example, the posture information that can be measured according to sensor-based system 162 controls unmanned vehicle 110
Flight.It should be understood that flight controller 161 can control unmanned vehicle 110 according to the program instruction finished in advance,
Unmanned vehicle 110 can also be controlled by the one or more control instructions for responding come self-control device 140.
Holder 120 may include motor 122.Holder is for carrying imaging device 123.Flight controller 161 can pass through
The movement of the control holder 120 of motor 122.Optionally, as another embodiment, holder 120 can also include controller, for leading to
Control motor 122 is crossed to control the movement of holder 120.It should be understood that holder 120 can be independently of unmanned vehicle 110, it can also be with
For a part of unmanned vehicle 110.It should be understood that motor 122 can be direct current generator, it is also possible to alternating current generator.In addition, electric
Machine 122 can be brushless motor, be also possible to brush motor.It should also be understood that holder can be located at the top of unmanned vehicle,
The bottom of unmanned vehicle can be located at.
Equipment of the imaging device 123 such as can be camera or video camera for capturing image, imaging device 123 can
To be communicated with flight controller, and shot under the control of flight controller.The imaging device 123 of the present embodiment at least wraps
Photosensitive element is included, which is, for example, complementary metal oxide semiconductor (Complementary Metal Oxide
Semiconductor, CMOS) sensor or charge coupled cell (Charge-coupled Device, CCD) sensor.
Display equipment 130 is located at the ground surface end of unmanned flight's system 100, can wirelessly with unmanned vehicle
110 are communicated, and are displayed for the posture information of unmanned vehicle 110.Furthermore it is also possible in display equipment 130
The image of upper display imaging device shooting.It should be understood that display equipment 130 can be independent equipment, it also can integrate and controlling
In device 140.
Control device 140 is located at the ground surface end of unmanned flight's system 100, can wirelessly with unmanned vehicle
110 are communicated, for carrying out remote control to unmanned vehicle 110.
It should be understood that the above-mentioned name for unmanned flight's system components is only the purpose for mark, do not answer
It is interpreted as the limitation to the embodiment of the present invention.
Fig. 2 is the flow chart for the medicine-chest flow rate testing methods that one embodiment of the invention provides, as shown in Fig. 2, the present embodiment
Method may include:
S201, the present level for obtaining current fluid level in medicine-chest, wherein the present level is the current fluid level to institute
State the difference in height between the bottom of medicine-chest.
S202, according to the present level, obtain the current medicine liquid volume of the corresponding medicine-chest of the present level.
S203, it is obtained according to the current medicine liquid volume, current time, the last medicine liquid volume obtained and last time
The time of medicine liquid volume determines the present flow rate of the medicine-chest herb liquid outflow.
In the present embodiment, the present level of current fluid level in medicine-chest is obtained, which refers to current fluid level to medicine-chest
Bottom between difference in height.Wherein, which can be obtained by liquid level detector, alternatively, being obtained by eye recognition
It takes, alternatively, obtaining (specifically may refer to following) etc. otherwise.After obtaining present level, due to present level
It can reflect out the current medicine liquid volume of medicine-chest, therefore, the present embodiment can determine that the current height is corresponding according to present level
The current medicine liquid volume of medicine-chest.Such as: present level is bigger, then corresponding current medicine liquid volume is bigger, and present level is smaller, then
Corresponding current medicine liquid volume is smaller.Since the variation of the medicine liquid volume of medicine-chest can reflect out the stream of medicine-chest herb liquid outflow
Amount, therefore, the present embodiment is according to current medicine liquid volume, current time, the last medical fluid body obtained and last acquisition medicine
The time of liquid product, determine the present flow rate of medicine-chest herb liquid outflow.
Wherein, the present flow rate that medicine liquid volume variable quantity can be confirmed as the outflow of medicine-chest herb liquid in the unit time.For example,
Present flow rate, formula one: ν=︱ V2-V1 ︱/︱ T2-T1 ︱ can be determined using following formula one；Wherein, ν indicates present flow rate,
V2 indicates that current medicine liquid volume, V1 indicate that the last medicine liquid volume obtained, T2 indicate current time, and T1 indicates last and obtains
The time of medicine liquid volume.If the time interval of T2 and T1 is sufficiently small, instantaneous flow can be obtained.
In the present embodiment, by obtaining the present level of current fluid level in medicine-chest, then obtain that present level is corresponding works as
Preceding medicine liquid volume, further according to current medicine liquid volume, current time, the last medicine liquid volume obtained and last acquisition medical fluid
The time of volume determines the flow of medicine-chest herb liquid outflow.Flow in the present embodiment according to the present level of current stream interface come
Determining, it is not influenced by pipeline, is not also influenced by the density of medical fluid, therefore improve the accuracy rate of flow detection, moreover it is possible to
Real-time detection flow.
In some embodiments, a kind of implementation of S201 includes: S2011 and S2012.
S2011, the current fluid level is obtained to the current pressure between the bottom by first pressure sensor.
S2012, according to the current pressure, determine the present level.
In the present embodiment, available current fluid level is to the current pressure between the bottom of medicine-chest in the present embodiment, wherein
First pressure sensor is equipped in the present embodiment, first pressure sensor can detecte current fluid level between the bottom of medicine-chest
Pressure, then obtain the pressure that first pressure sensor detects.Due to the current pressure between the bottom of current fluid level to medicine-chest
The height of current fluid level is reflected, therefore, the present embodiment determines the corresponding current height of the current pressure according to the current pressure
Degree.Such as: the current pressure is bigger, and the present level of current fluid level is higher；The current pressure is smaller, the current height of current fluid level
It spends smaller.
Wherein, first pressure sensor can be located inside medicine-chest, and first pressure sensor is mounted on the medicine-chest
Bottom, therefore the pressure of first pressure sensor detection is the pressure of the bottom of medicine-chest, i.e., current fluid level is between the bottom
Pressure.
Wherein, first pressure sensor can be located at outside medicine-chest, and the bottom phase of first pressure sensor and medicine-chest
Connection.In the present embodiment, although first pressure sensor is located at outside medicine-chest, the bottom phase of first pressure sensor and medicine-chest
Connection, therefore the pressure of first pressure sensor detection is the pressure of the bottom of medicine-chest, i.e., current fluid level is between the bottom
Pressure.
Wherein, first pressure sensor can be the pressure sensor of contact, alternatively, can be contactless difference
Barometer.
In some embodiments, a kind of implementation of above-mentioned S2012 are as follows: according in the current pressure and the medicine-chest
Medical fluid density and current geographic position acceleration of gravity relationship, determine the present level.In the present embodiment, root
According in the current pressure, the medicine-chest the density of medical fluid, the acceleration of gravity of current geographic position and current pressure,
The density of medical fluid in medical fluid, the acceleration of gravity of current geographic position, the corresponding relationship between present level, determination are worked as
Preceding height.
Such as: present level can be determined according to formula two, wherein formula two: h=P/ ρ g, P indicate current pressure, h table
Show that present level, g indicate that the acceleration of gravity of current geographic position, ρ indicate the density of medical fluid in the medicine-chest.
Wherein, the density of the medical fluid in medicine-chest and the acceleration of gravity of current geographic position obtain in real time, alternatively,
It is to be stored in advance in memory.
In some embodiments, the one of the density of the medical fluid in medicine-chest and the acceleration of gravity of current geographic position is obtained
Kind mode are as follows: obtain the pressure difference value of the different depth of the medical fluid in the medicine-chest；According to the pressure difference value, the medicine is obtained
The density of medical fluid in case and the acceleration of gravity of current geographic position.
In the present embodiment, the pressure of the pressure P1 and the second depth h2 of the first depth h1 of the medical fluid in medicine-chest are obtained
P2, wherein P1=ρ gh1, P2=ρ gh2, and the first depth h1 is different from the second depth h2, and the first depth h1 and second
Depth difference between depth h2 is also to know in advance, i.e. △ h.In addition, according to P1=ρ gh1 and P2=ρ gh2, it can be true
︱ P2-P1 ︱=ρ g ︱ h2-h1 ︱=ρ g △ h is determined, since △ h is previously known, ρ g=︱ P2-P1 ︱/△ h, the present embodiment
ρ g can be calculated as a value, so as to according to aforesaid way, obtain the medical fluid in the medicine-chest density and
The product of the acceleration of gravity of current geographic position, and the accuracy rate of the product of density and acceleration of gravity that this mode obtains is more
It is high.
In some embodiments, a kind of implementation of above-mentioned S2012 are as follows: according in the current pressure and the medicine-chest
The default corresponding relationship of the liquid level of medical fluid, determines the present level.Medical fluid in medicine-chest is preset in the present embodiment
Liquid level to the pressure between bottom, with corresponding relationship between liquid level, according to current pressure and current pressure and liquid
Corresponding relationship between the height of face determines the corresponding liquid level of current pressure, and the corresponding liquid level of the current pressure is true
It is set to the present level of current fluid level.Such as: liquid level is pre-established to the pressure between bottom, with the correspondence of liquid level
Table, which, which can be, artificially obtains, and in the correspondence table indicates liquid level corresponding to different pressure,
Preset corresponding table is searched according to current pressure, can determine the corresponding liquid level of current pressure.
In some embodiments, the pressure of the different depth of the medical fluid in the medicine-chest is also obtained before executing above-mentioned S201
Difference, wherein the pressure difference for how obtaining different depth may refer to described above, and details are not described herein again, wherein ︱ P2-P1 ︱
=ρ g ︱ h2-h1 ︱=ρ g △ h.︱ P2-P1 ︱ is the pressure difference value of the different depth obtained, and △ h is previously known.
Correspondingly, another implementation of S201 includes: S2011 '.
S2011 ', according to the pressure difference value and the current fluid level to the current pressure between the bottom, determine
The present level.
In the present embodiment, the relationship between current pressure and present level can be indicated are as follows: P=ρ gh, therefore, h=P/ ρ
G, and because of pressure difference value ︱ P2-P1 ︱=ρ g ︱ h2-h1 ︱=ρ g △ h, ρ g=︱ P2-P1 ︱/△ h, it is hereby achieved that h
=P △ h/ ︱ P2-P1 ︱.
In some embodiments, the pressure difference value of the different depth of medical fluid in the medicine-chest is obtained in the various embodiments described above
A kind of implementation are as follows: what the first pressure and second pressure sensor that acquisition first pressure sensor detects detected
Second pressure；Then obtaining the difference between the first pressure and the second pressure is the pressure difference value, wherein described
First pressure sensor and the second pressure sensor detect the pressure of different depth respectively.
In the present embodiment, first pressure that first pressure sensor detects can for current fluid level to the bottom of medicine-chest it
Between current pressure.Second pressure sensor can detecte the pressure of a depth of the bottom higher than medicine-chest, alternatively, can
To detect the pressure of a depth of the bottom lower than medicine-chest.
In some embodiments, second pressure sensor and first pressure sensor detect the pressure of different depth respectively,
Therefore, second pressure sensor and first pressure sensor can be located at the different depth of medical fluid.Wherein, second pressure senses
Device can be located inside medicine-chest, such as: second pressure sensor can be located at the position of △ h above first pressure sensor in medicine-chest
Place is set, such as shown in Figure 3, wherein first pressure sensor is shown in Fig. 3 and also is located inside medicine-chest, but it is not limited to this.Or
Person, second pressure sensor can be located at outside medicine-chest, and second pressure sensor is connected with the bottom of the medicine-chest, example
Such as: second pressure sensor can be located at below the outer first pressure sensor of medicine-chest at the position of △ h, for example, as shown in figure 4,
In, first pressure sensor is shown in Fig. 4 and also is located at outside medicine-chest, but it is not limited to this.
Wherein, second pressure sensor can be the pressure sensor of contact, alternatively, can be contactless difference
Barometer.
In some embodiments, the pressure difference value of the different depth of medical fluid in the medicine-chest is obtained in the various embodiments described above
A kind of implementation are as follows: what the second pressure and third pressure sensor that acquisition second pressure sensor detects detected
Third pressure；Then obtaining the difference between the second pressure and the third pressure is the pressure difference value, wherein described
Second pressure sensor and the third pressure sensor detect the pressure of different depth respectively.
In some embodiments, second pressure sensor and third pressure sensor detect the pressure of different depth respectively,
Therefore, second pressure sensor and third pressure sensor can be located at the different depth of medical fluid.Wherein, second pressure senses
Device can be located at medicine-chest inside, alternatively, second pressure sensor can be located at medicine-chest outside, and second pressure sensor with it is described
The bottom of medicine-chest is connected.Wherein, third pressure sensor can be located inside the medicine-chest；Alternatively, the third pressure passes
Sensor is located at outside the medicine-chest, and the third pressure sensor is connected with the bottom of the medicine-chest.Wherein, the second pressure
Position between force snesor, third pressure sensor and medicine-chest may refer to Fig. 3 or example shown in Fig. 4.
Wherein, second pressure sensor can be the pressure sensor of contact, alternatively, can be contactless difference
Barometer.Third pressure sensor can be the pressure sensor of contact, alternatively, can be contactless difference air pressure
Meter.
It should be noted that if contactless difference barometer has been used in the present embodiment, by medicine-chest and sprinkling system
The diameter of the pipeline of connection needs sufficiently small, wherein diameter is smaller, the tension of water can prevent medical fluid because the reasons such as vibration into
Enter pipeline, enter the differential manometer along pipeline, the difference barometer is caused to damage, it is also ensured that does not have gas entrance
Pipeline improves measuring accuracy.Such as: the internal diameter of pipeline can be less than 4mm.
In some embodiments, in a kind of possible implementation of above-mentioned S203, according to the present level with it is described
The default corresponding relationship of the medicine liquid volume of medicine-chest obtains the current medicine liquid volume.
There is default corresponding relationship, the present embodiment is obtaining in the present embodiment, between the liquid level and medicine liquid volume of medical fluid
After getting present level, corresponding relationship is preset according to this, determines the corresponding medicine liquid volume of present level, and by determining medical fluid
Volume is as current medicine liquid volume.
Wherein, which can be preset function, if medicine-chest is the rectangle of rule, liquid level and medicine
Preset function between liquid product is for example are as follows: V=Sh, wherein V indicates that medicine liquid volume, S indicate the floor space of medicine-chest, and h indicates liquid
Face height, the floor space of medicine-chest be it is previously known and be it is constant, according to the present level of the current fluid level of acquisition, can obtain
Corresponding current medicine liquid volume.
Wherein, which can be the correspondence table between different liquid levels and different medicine liquid volumes, example
As such as table one, which, which can be, is artificially obtained ahead of time.In the present embodiment, according to the present level of the current fluid level of acquisition,
By searching for the table, corresponding current medicine liquid volume can be obtained.
Table one
| Liquid level | Medicine liquid volume |
| h1 | V1 |
| h2 | V2 |
| h3 | V3 |
| h4 | V4 |
| … | … |
A kind of computer storage medium is additionally provided in the embodiment of the present invention, is stored with program in the computer storage medium
Instruction, described program may include such as some or all of the medicine-chest flow rate testing methods in Fig. 2 and its corresponding embodiment when executing
Step.
Fig. 5 is the structural schematic diagram for the medicine-chest flow detector that one embodiment of the invention provides, as shown in figure 5, this reality
The medicine-chest flow detector 500 for applying example may include: memory 501 and processor 502.
Memory 501, for storing program instruction；
The processor 502, for calling the described program stored in the memory 501 instruction to realize:
The present level of current fluid level in medicine-chest is obtained, wherein the present level is the current fluid level to the medicine-chest
Bottom between difference in height；
According to the present level, the current medicine liquid volume of the corresponding medicine-chest of the present level is obtained；
According to the current medicine liquid volume, current time, the last medicine liquid volume obtained and last acquisition medical fluid
The time of volume determines the present flow rate of the medicine-chest herb liquid outflow.
In some embodiments, the processor 502, is specifically used for: according to the medicine of the present level and the medicine-chest
The default corresponding relationship of liquid product, obtains the current medicine liquid volume.
Above-mentioned processor 502 can be central processing unit (Central Processing Unit, CPU), the processor
502 can also be other general processors, digital signal processor (Digital Signal Processor, DSP), dedicated collection
At 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 device of the present embodiment can be used for executing the technical solution of the above-mentioned each method embodiment of the present invention, realize former
Reason is similar with technical effect, and details are not described herein again.
Fig. 6 be another embodiment of the present invention provides medicine-chest flow detector structural schematic diagram, as shown in fig. 6, this
It can also include first pressure sensor on the basis of the embodiment shown in Fig. 5 of medicine-chest flow detector 500 of embodiment
503。
The first pressure sensor 503, for detecting the current fluid level to the current pressure between the bottom；
The processor 502, is specifically used for: obtaining the current fluid level to institute by the first pressure sensor 503
State the current pressure between bottom；According to the current pressure, the present level is determined.
In some embodiments, the first pressure sensor 503 is located inside the medicine-chest, and the first pressure
Sensor 503 is mounted on the bottom of the medicine-chest.
Alternatively, the first pressure sensor 503 is located at outside the medicine-chest, and the first pressure sensor 503
It is connected with the bottom of the medicine-chest.
In some embodiments, the processor 502, is specifically used for: according in the current pressure and the medicine-chest
The relationship of the acceleration of gravity of the density and current geographic position of medical fluid, determines the present level.
In some embodiments, the processor 502 is also used to the density and current geographic of the medical fluid in the medicine-chest
The acceleration of gravity of position obtains in real time.
In some embodiments, the processor 502, is specifically used for: obtaining the different depth of the medical fluid in the medicine-chest
Pressure difference value；And according to the pressure difference value, the density and current geographic position of the medical fluid in the medicine-chest are obtained
Acceleration of gravity.
In some embodiments, memory 501 are also used to be stored in advance the density of the medical fluid in the medicine-chest and current
The acceleration of gravity in geographical location；
The processor 502 is also used to obtain the density of the medical fluid in the medicine-chest from the memory 501 and works as
The acceleration of gravity in preceding geographical location.
In some embodiments, the processor 502, is specifically used for: according to medicine in the current pressure and the medicine-chest
The default corresponding relationship of the liquid level of liquid, determines the present level.
In some embodiments, the processor 502 is also used to determine the current height according to the current pressure
Before degree, the pressure difference value of the different depth of the medical fluid in the medicine-chest is obtained；
The processor 502 when the present level of current fluid level, is specifically used for: according to the pressure difference in obtaining medicine-chest
Value and the current fluid level determine the present level to the current pressure between the bottom.
The device of the present embodiment can be used for executing the technical solution of the above-mentioned each method embodiment of the present invention, realize former
Reason is similar with technical effect, and details are not described herein again.
Fig. 7 be another embodiment of the present invention provides medicine-chest flow detector structural schematic diagram, as shown in fig. 7, this
It can also include: second pressure sensor on the basis of the embodiment shown in Fig. 6 of medicine-chest flow detector 500 of embodiment
504。
The first pressure sensor 503 is respectively used to the pressure of detection different depth with the second pressure sensor 504
Power；
The processor 502, is specifically used for: obtaining the first pressure and second that first pressure sensor 503 detects
The second pressure that pressure sensor 504 detects；And the difference obtained between the first pressure and the second pressure is
The pressure difference value.
In some embodiments, the second pressure sensor 504 is located at the medicine with the first pressure sensor 503
At the different depth of liquid.
The device of the present embodiment can be used for executing the technical solution of the above-mentioned each method embodiment of the present invention, realize former
Reason is similar with technical effect, and details are not described herein again.
Fig. 8 be another embodiment of the present invention provides medicine-chest flow detector structural schematic diagram, as shown in figure 8, this
It can also include: second pressure sensor on the basis of the embodiment shown in Fig. 6 of medicine-chest flow detector 500 of embodiment
504 and third pressure sensor 505；
The second pressure sensor 504 is respectively used to the pressure of detection different depth with the third pressure sensor 505
Power；
The processor 502, is specifically used for: obtaining second pressure and third that second pressure sensor 504 detects
The third pressure that pressure sensor 505 detects；And the difference obtained between the second pressure and the third pressure is
The pressure difference value.
In some embodiments, the second pressure sensor 504 is located at the medicine with the third pressure sensor 505
At the different depth of liquid.
In some embodiments, the second pressure sensor 504 is located inside the medicine-chest；
Alternatively, the second pressure sensor 504 is located at outside the medicine-chest, and the second pressure sensor 504
It is connected with the bottom of the medicine-chest.
In some embodiments, the third pressure sensor 505 is located inside the medicine-chest；
Alternatively, the third pressure sensor 505 is located at outside the medicine-chest, and the third pressure sensor 505
It is connected with the bottom of the medicine-chest.
The device of the present embodiment can be used for executing the technical solution of the above-mentioned each method embodiment of the present invention, realize former
Reason is similar with technical effect, and details are not described herein again.
Fig. 9 is the structural schematic diagram for the agricultural unmanned plane that one embodiment of the invention provides, as shown in figure 9, the present embodiment
Agricultural unmanned plane 1000 includes: medicine-chest flow detector 500, body 600 and medicine-chest 700.Wherein, the medicine-chest 700 and institute
It states medicine-chest flow detector 500 and the body 600 connects.Wherein, the medicine-chest flow detector 500 is for detecting institute
State the flow of 700 herb liquid of medicine-chest outflow.The medicine-chest flow detector 500 can be using any shown implementation of figure 5-8
The structure of example accordingly can execute the technical solution of the above-mentioned each method embodiment of the present invention, realization principle and technology effect
Seemingly, details are not described herein again for fruit.
Figure 10 be another embodiment of the present invention provides agricultural unmanned plane structural schematic diagram, as shown in Figure 10, this implementation
The agricultural unmanned plane 1000 of example further include: display device 800.
The display device 800, the flow detected for showing the medicine-chest flow detector 500.Therefore,
User can observe the flow of 700 herb liquid of medicine-chest outflow in real time by display device 800, to precisely control medical fluid
Sprinkling precision.
It should be noted that the medical fluid contained in above-mentioned medicine-chest may be water.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (33)
1. a kind of medicine-chest flow rate testing methods characterized by comprising
The present level of current fluid level in medicine-chest is obtained, wherein the present level is the current fluid level to the bottom of the medicine-chest
Difference in height between portion；
According to the present level, the current medicine liquid volume of the corresponding medicine-chest of the present level is obtained；
According to the current medicine liquid volume, current time, the last medicine liquid volume obtained and last acquisition medicine liquid volume
Time, determine the present flow rate of medicine-chest herb liquid outflow.
2. the method according to claim 1, wherein the present level for obtaining current fluid level in medicine-chest, packet
It includes:
The current fluid level is obtained to the current pressure between the bottom by first pressure sensor；
According to the current pressure, the present level is determined.
3. according to the method described in claim 2, it is characterized in that, the first pressure sensor is located inside the medicine-chest,
And the first pressure sensor is mounted on the bottom of the medicine-chest；
Alternatively, the first pressure sensor is located at outside the medicine-chest, and the first pressure sensor and the medicine-chest
Bottom be connected.
4. according to the method in claim 2 or 3, which is characterized in that it is described according to the current pressure, it determines described current
Highly include:
According to the density of the medical fluid in the current pressure and the medicine-chest and the pass of the acceleration of gravity of current geographic position
System, determines the present level.
5. according to the method described in claim 4, it is characterized in that, density and the current geographic position of the medical fluid in the medicine-chest
The acceleration of gravity set is obtained in real time or is had previously been stored in memory.
6. according to the method in claim 2 or 3, which is characterized in that it is described according to the current pressure, it determines described current
Highly include:
According to the default corresponding relationship of the liquid level of medical fluid in the current pressure and the medicine-chest, the current height is determined
Degree.
7. according to the method described in claim 5, it is characterized in that, obtaining density and the current position of the medical fluid in the medicine-chest
Manage the acceleration of gravity of position, comprising:
Obtain the pressure difference value of the different depth of the medical fluid in the medicine-chest；
According to the pressure difference value, the density of the medical fluid in the medicine-chest and the acceleration of gravity of current geographic position are obtained.
8. according to the method described in claim 2, determining the current height it is characterized in that, described according to the current pressure
Before degree, further includes:
Obtain the pressure difference value of the different depth of the medical fluid in the medicine-chest；
The present level of current fluid level in the acquisition medicine-chest, comprising: arrived according to the pressure difference value and the current fluid level
Current pressure between the bottom determines the present level.
9. method according to claim 7 or 8, which is characterized in that the different depth for obtaining medical fluid in the medicine-chest
Pressure difference value, comprising:
Obtain the first pressure that first pressure sensor detects and the second pressure that second pressure sensor detects；
Obtaining the difference between the first pressure and the second pressure is the pressure difference value；
Wherein, the first pressure sensor and the second pressure sensor detect the pressure of different depth respectively.
10. according to the method described in claim 9, it is characterized in that, the second pressure sensor and the first pressure pass
Sensor is located at the different depth of the medical fluid.
11. method according to claim 7 or 8, which is characterized in that the different depth for obtaining medical fluid in the medicine-chest
Pressure difference value, comprising:
Obtain the second pressure that second pressure sensor detects and the third pressure that third pressure sensor detects；
Obtaining the difference between the second pressure and the third pressure is the pressure difference value；
Wherein, the second pressure sensor and the third pressure sensor detect the pressure of different depth respectively.
12. according to the method for claim 11, which is characterized in that the second pressure sensor and the third pressure pass
Sensor is located at the different depth of the medical fluid.
13. according to method described in claim 9-12 any one, which is characterized in that the second pressure sensor is located at institute
It states inside medicine-chest；
Alternatively, the second pressure sensor is located at outside the medicine-chest, and the second pressure sensor and the medicine-chest
Bottom be connected.
14. method according to claim 11 or 12, which is characterized in that the third pressure sensor is located at the medicine-chest
It is internal；
Alternatively, the third pressure sensor is located at outside the medicine-chest, and the third pressure sensor and the medicine-chest
Bottom be connected.
15. method described in -14 any one according to claim 1, which is characterized in that it is described according to the present level, it obtains
Take the current medicine liquid volume of the corresponding medicine-chest of the present level, comprising:
According to the default corresponding relationship of the present level and the medicine liquid volume of the medicine-chest, the current medicine liquid volume is obtained.
16. a kind of medicine-chest flow detector characterized by comprising memory and processor；
Memory, for storing program instruction；
The processor, for calling the described program stored in the memory instruction to realize:
The present level of current fluid level in medicine-chest is obtained, wherein the present level is the current fluid level to the bottom of the medicine-chest
Difference in height between portion；
According to the present level, the current medicine liquid volume of the corresponding medicine-chest of the present level is obtained；
According to the current medicine liquid volume, current time, the last medicine liquid volume obtained and last acquisition medicine liquid volume
Time, determine the present flow rate of medicine-chest herb liquid outflow.
17. device according to claim 16, which is characterized in that further include: first pressure sensor；
The first pressure sensor, for detecting the current fluid level to the current pressure between the bottom；
The processor, is specifically used for: obtaining the current fluid level between the bottom by the first pressure sensor
Current pressure；According to the current pressure, the present level is determined.
18. device according to claim 17, which is characterized in that the first pressure sensor is located in the medicine-chest
Portion, and the first pressure sensor is mounted on the bottom of the medicine-chest；
Alternatively, the first pressure sensor is located at outside the medicine-chest, and the first pressure sensor and the medicine-chest
Bottom be connected.
19. device described in 7 or 18 according to claim 1, which is characterized in that the processor is specifically used for: being worked as according to described
The relationship of the acceleration of gravity of the density and current geographic position of medical fluid in preceding pressure and the medicine-chest determines described current
Highly.
20. device according to claim 19, which is characterized in that the processor, the medical fluid being also used in the medicine-chest
Density and the acceleration of gravity of current geographic position obtain in real time.
21. device according to claim 19, which is characterized in that the memory is also used to be stored in advance the medicine-chest
The density of interior medical fluid and the acceleration of gravity of current geographic position；
The processor is also used to density and current geographic position from the medical fluid obtained in the medicine-chest in the memory
Acceleration of gravity.
22. device described in 9-21 any one according to claim 1, which is characterized in that the processor is specifically used for: root
According to the default corresponding relationship of the liquid level of medical fluid in the current pressure and the medicine-chest, the present level is determined.
23. device according to claim 20, which is characterized in that the processor is specifically used for: obtaining in the medicine-chest
Medical fluid different depth pressure difference value；And according to the pressure difference value, obtain the density of the medical fluid in the medicine-chest with
And the acceleration of gravity of current geographic position.
24. device according to claim 17, which is characterized in that the processor is also used to according to the current pressure
Power before determining the present level, obtains the pressure difference value of the different depth of the medical fluid in the medicine-chest；
The processor when present level of current fluid level, is specifically used in obtaining medicine-chest: according to the pressure difference value and
The current fluid level determines the present level to the current pressure between the bottom.
25. the device according to claim 23 or 24, which is characterized in that further include: second pressure sensor；
The first pressure sensor and the second pressure sensor are respectively used to the pressure of detection different depth；
The processor, is specifically used for: obtaining the first pressure and second pressure sensor that first pressure sensor detects
The second pressure detected；And the difference obtained between the first pressure and the second pressure is the pressure difference value.
26. device according to claim 25, which is characterized in that the second pressure sensor and the first pressure pass
Sensor is located at the different depth of the medical fluid.
27. the device according to claim 25 or 26, which is characterized in that further include: second pressure sensor and third pressure
Force snesor；
The second pressure sensor and the third pressure sensor are respectively used to the pressure of detection different depth；
The processor, is specifically used for: obtaining the second pressure and third pressure sensor that second pressure sensor detects
The third pressure detected；And the difference obtained between the second pressure and the third pressure is the pressure difference value.
28. device according to claim 27, which is characterized in that the second pressure sensor and the third pressure pass
Sensor is located at the different depth of the medical fluid.
29. according to device described in claim 25-28 any one, which is characterized in that the second pressure sensor is located at
Inside the medicine-chest；
Alternatively, the second pressure sensor is located at outside the medicine-chest, and the second pressure sensor and the medicine-chest
Bottom be connected.
30. the device according to claim 28 or 29, which is characterized in that the third pressure sensor is located at the medicine-chest
It is internal；
Alternatively, the third pressure sensor is located at outside the medicine-chest, and the third pressure sensor and the medicine-chest
Bottom be connected.
31. device described in 6-30 any one according to claim 1, which is characterized in that the processor is specifically used for: root
According to the default corresponding relationship of the present level and the medicine liquid volume of the medicine-chest, the current medicine liquid volume is obtained.
32. a kind of agricultural unmanned plane characterized by comprising body, medicine-chest and as described in claim 16-31 any one
Medicine-chest flow detector；The medicine-chest is connect with the medicine-chest flow detector and the body；
Wherein, the medicine-chest flow detector is used to detect the flow of the medicine-chest herb liquid outflow.
33. agricultural unmanned plane according to claim 32, which is characterized in that further include: display device；
The display device, the flow detected for showing the medicine-chest flow detector.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/113246 WO2019104454A1 (en) | 2017-11-28 | 2017-11-28 | Pesticide tank flow rate detection method, device and agricultural unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109152353A true CN109152353A (en) | 2019-01-04 |
| CN109152353B CN109152353B (en) | 2021-12-21 |
Family
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| CN201780027939.9A Expired - Fee Related CN109152353B (en) | 2017-11-28 | 2017-11-28 | Pesticide box flow detection method and device and agricultural unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109152353B (en) |
| WO (1) | WO2019104454A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109933079A (en) * | 2019-04-16 | 2019-06-25 | 瑞安市浙工大创新创业研究院 | A kind of unmanned plane pesticide spraying flow monitoring method |
| 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 |
| WO2021043186A1 (en) * | 2019-09-03 | 2021-03-11 | 苏州极目机器人科技有限公司 | Flow measurement device and method, and automatic plant protection apparatus |
| WO2021083282A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Calibration method, mobile platform, and computer-readable storage medium |
| CN115792337A (en) * | 2022-11-23 | 2023-03-14 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle spraying box pesticide-free detection method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| WO2023044905A1 (en) * | 2021-09-27 | 2023-03-30 | 深圳市大疆创新科技有限公司 | Spraying assembly and agricultural plant protection equipment |
| CN114532314B (en) * | 2021-12-28 | 2023-05-09 | 河北北直通用航空股份有限公司 | Accurate flow obtaining method in plant protection spraying system |
| CN116602286B (en) * | 2023-07-20 | 2023-09-29 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle spraying operation control system and method |
| CN116642562B (en) * | 2023-07-27 | 2023-10-20 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle liquid medicine quality measurement system and method and unmanned aerial vehicle |
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| CN109933079A (en) * | 2019-04-16 | 2019-06-25 | 瑞安市浙工大创新创业研究院 | A kind of unmanned plane pesticide spraying flow monitoring method |
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| CN115792337A (en) * | 2022-11-23 | 2023-03-14 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle spraying box pesticide-free detection method and device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109152353B (en) | 2021-12-21 |
| WO2019104454A1 (en) | 2019-06-06 |
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