CN109933079A - A kind of unmanned plane pesticide spraying flow monitoring method - Google Patents
A kind of unmanned plane pesticide spraying flow monitoring method Download PDFInfo
- Publication number
- CN109933079A CN109933079A CN201910304167.XA CN201910304167A CN109933079A CN 109933079 A CN109933079 A CN 109933079A CN 201910304167 A CN201910304167 A CN 201910304167A CN 109933079 A CN109933079 A CN 109933079A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- flow
- current
- outlet
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000575 pesticide Substances 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005507 spraying Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 title claims abstract description 14
- 239000007921 spray Substances 0.000 claims abstract description 91
- 239000007788 liquid Substances 0.000 claims abstract description 75
- 238000003860 storage Methods 0.000 claims abstract description 19
- 230000002159 abnormal effect Effects 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims 1
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 208000035473 Communicable disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 206010000210 abortion Diseases 0.000 description 1
- 231100000176 abortion Toxicity 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229930014626 natural product Natural products 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000027272 reproductive process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Landscapes
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of unmanned plane pesticide spraying flow monitoring methods, including storing unmanned plane previous stage state of flight, unmanned plane current generation state of flight is received, relatively determines whether current unmanned plane during flying state adjusts by unmanned plane previous stage state of flight and current generation state of flight；Flow status before storage unmanned plane previous stage liquid outlet, receives flow status before unmanned plane current generation liquid outlet；Relatively determine whether flow adjusts when current outlet by flow status when flow status when unmanned plane previous stage liquid outlet and current generation liquid outlet；Whether flow adjusts the flow value for determining current unmanned plane pesticide spraying when whether before being adjusted by current unmanned plane during flying state, currently being exported whether flow adjusts and currently export；It can determine whether the relationship between unmanned plane during flying state and present flow rate；The flow value of current unmanned plane sprinkling can be determined according to the actual conditions inside spray line with spray line nozzle.
Description
Technical field
The present invention relates to unmanned plane pesticide spraying technical fields, specially a kind of unmanned plane pesticide spraying flow monitoring side
Method.
Background technique
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+industrial application is that unmanned plane has really just needed；At present take photo by plane, agricultural, plant protection, miniature self-timer, express delivery
Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, system
The application in romance etc. field is made, the purposes of unmanned plane itself has greatly been expanded, developed country also answers in actively extension industry
With with develop unmanned air vehicle technique.
The definition of pesticide broad sense refer to for prevent, eliminate or control harm agricultural, the disease of forestry, worm, grass and other
Harmful organism and purposefully adjusting control, influence plant and harmful organism metabolism, growth, develop, the chemistry of reproductive process
Synthesis or the mixing of a kind of substance or several substances that are generated from biology, other natural products and Applied Biotechnology
Object and its preparation.Refer in the narrow sense in agricultural production, for the growth for ensureing, promoting plant and crops, the desinsection applied,
Sterilization, a kind of drug for killing harmful animal (or weeds) are referred to as.It refers in particular to agriculturally for preventing and treating disease pest and adjusting plant
The medicaments such as growth, weeding.
It inevitably will cause injury to human body since pesticide is directly contacted, and the appearance of unmanned plane avoids this well and shows
As therefore, the benefit for carrying out pesticide spraying using unmanned plane is self-evident, sprays agriculture to unmanned plane during pesticide spraying
The real-time monitoring poor effect of medical abortion amount, such as application No. is N201610242942.X, " unmanned plane sprays flow rate testing methods and dress
Set " in, the acquisition methods for carrying out flow using non-contacting speed probe are described, are often had the disadvantage in that
First, it can not judge the relationship between unmanned plane during flying state and present flow rate；Second, it can not be according in spray line
The actual conditions of portion and spray line nozzle determine the flow value of current unmanned plane sprinkling；Third, can not be according to current unmanned plane
The environmental factor faced judges whether that spraying nozzle breaks down.
Summary of the invention
In view of the above problems, can determine whether unmanned plane the present invention provides a kind of unmanned plane pesticide spraying flow monitoring method
Relationship between state of flight and present flow rate；It can be determined currently according to inside spray line with the actual conditions of spray line nozzle
The flow value of unmanned plane sprinkling；It can judge whether that spraying nozzle breaks down according to the environmental factor that current unmanned plane faces, it can
Effectively to solve the problems in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of unmanned plane pesticide spraying flow monitoring method,
Including
Unmanned plane previous stage state of flight is stored, unmanned plane current generation state of flight is received, it is previous by unmanned plane
Stage state of flight and current generation state of flight relatively determine whether current unmanned plane during flying state adjusts；
Flow status before storage unmanned plane previous stage liquid outlet, receives flow before unmanned plane current generation liquid outlet
State is relatively determined by flow status before flow status before unmanned plane previous stage liquid outlet and current generation liquid outlet
It is current to export whether preceding flow adjusts；
Flow status when storing unmanned plane previous stage liquid outlet, flow when receiving unmanned plane current generation liquid outlet
State is relatively determined by flow status when flow status when unmanned plane previous stage liquid outlet and current generation liquid outlet
Whether flow adjusts when current outlet；
Stream when whether before being adjusted by current unmanned plane during flying state, currently being exported whether flow adjusts and currently export
Whether amount adjusts the flow value for determining current unmanned plane pesticide spraying.
As a preferred technical solution of the present invention, the method whether current unmanned plane during flying state adjusts is determined are as follows:
The A first step sets a time interval；Record unmanned plane during flying state in the time interval, and by the state of flight
Determine whether the unmanned plane during flying state recorded in the time interval normal compared with the state of flight of setting, if abnormal into
Row alarm, if normal stores unmanned plane during flying state in the time interval, as unmanned plane previous stage state of flight；
A second step directly records unmanned plane during flying state in next same time interval, is denoted as the current rank of unmanned plane
Section state of flight；
A third step, the unmanned plane previous stage state of flight and unmanned plane that will be stored in two neighboring same time interval
Current generation state of flight is compared, and state of flight includes the flying speed and flight gradient of unmanned plane；Before unmanned plane
The flying speed and flight gradient of one stage and current generation carry out making one by one difference relatively, if the two flying speed and flight are inclined
Any one of gradient is greater than corresponding given threshold after making difference, then shows current unmanned plane during flying state adjustment, be otherwise considered as and do not adjust；
The 4th step of A, if unmanned plane current generation state of flight compared with the state of flight currently set, occur it is abnormal into
Row alarm, then unmanned plane current generation state of flight is stored as unmanned plane previous stage state of flight if normal, and back to A the
Two steps；
Determine the current method for exporting preceding flow and whether adjusting are as follows:
The B first step sets a time interval；Record pesticide of the unmanned plane spray line before spray outlet in the time interval
Flow value, and the pesticide flow value is determined that the unmanned plane recorded in the time interval sprays compared with the sprinkling flow value of setting
Whether pesticide flow value of the pipe before spray outlet be normal, alarms if abnormal, if normal by nothing in the time interval
Pesticide flow value storage of the man-machine spray line before spray outlet, as flow status before unmanned plane previous stage liquid outlet；
B second step directly records pesticide of the unmanned plane spray line before spray outlet in next same time interval
Flow state of value is denoted as unmanned plane current generation liquid outlet flow status；
B third step, by the unmanned plane previous stage stored in two neighboring same time interval export before flow status with
Flow status is compared before the unmanned plane current generation exports, and flow status includes flow value in the spray line of unmanned plane before exporting
Storage box liquid weight value is sprayed with unmanned plane；By flow value in the spray line of unmanned plane previous stage and current generation and nobody
Machine sprinkling storage box liquid weight value carries out making one by one difference relatively, if flow value and unmanned plane spray storage box in the two spray line
Any one of liquid weight value is greater than corresponding given threshold after making difference, then shows flow adjustment before currently exporting, be otherwise considered as and do not adjust
It is whole；
The 4th step of B, if flow status and flow before the liquid outlet currently set before unmanned plane current generation liquid outlet
There is exception and then alarms in epidemic situation comparison, and then flow status is stored as nothing before unmanned plane current generation liquid outlet if normal
Flow status before man-machine previous stage liquid outlet, and return to B second step；
The method that whether flow adjusts when determining current outlet are as follows:
The C first step sets a time interval；Record pesticide of the unmanned plane spray line in spray outlet in the time interval
Flow value, and the pesticide flow value is determined that the unmanned plane recorded in the time interval sprays compared with the sprinkling flow value of setting
Whether pesticide flow value of the pipe in spray outlet be normal, alarms if abnormal, if normal by nothing in the time interval
Pesticide flow value storage of the man-machine spray line in spray outlet, flow status when as unmanned plane previous stage liquid outlet；
C second step directly records pesticide of the unmanned plane spray line in spray outlet when in next same time interval
Flow state of value is denoted as unmanned plane current generation liquid outlet flow status；
C third step, by the unmanned plane previous stage stored in two neighboring same time interval export when flow status with
Flow status is compared when the unmanned plane current generation exports, and flow status includes the spray line exit pressure of unmanned plane when outlet
Power poor (the wind speed pressure born outside internal liquid pressure-exit) and flow value；By unmanned plane previous stage and current rank
The spray line outlet pressure difference and spray line exit flow value of section carry out making one by one difference relatively, if the two spray line exit
Any one of pressure difference and spray line exit flow value are greater than corresponding given threshold, then flow tune when showing currently to export after making difference
It is whole, otherwise it is considered as and does not adjust；
The 4th step of C, if when unmanned plane current generation liquid outlet flow status with currently set liquid outlet when flow
There is exception and then alarms in epidemic situation comparison, and then unmanned plane current generation state of flight is stored as single order before unmanned plane if normal
Flow status when section liquid outlet, and return to C second step.
As a preferred technical solution of the present invention, flow status includes the spray line exit pressure of unmanned plane when outlet
Power difference calculation is the wind speed pressure absolute value of the difference born outside internal liquid pressure and exit.
As a preferred technical solution of the present invention, the flow value of the current unmanned plane pesticide spraying of determination it is specific
Step includes
The first step, whether flow adjusts when determining current outlet, if not adjusting, it is determined that flow is for nobody when current outlet
Machine flow；If adjustment, into second step；
Second step, whether flow adjusts before determining current export, if adjustment, into third step, if not adjusting, into the 4th
Step；
Third step, by flow when currently outlet compared with flow before current export, whether the absolute value of the difference of calculating the two
Greater than given threshold, if the difference of the two is not more than given threshold, it is determined that flow is unmanned plane flow when current outlet, if the two
Difference be greater than given threshold, then enter the 4th step；
4th step, determines whether current unmanned plane during flying state adjusts, if adjustment, real-time according to current unmanned plane during flying
State determines current unmanned plane flow；If not adjusting, flow is unmanned plane flow before determining current export, and according to current outlet
When flow status judgement current whether flowexit breaks down.
As a preferred technical solution of the present invention, current unmanned plane is determined according to current unmanned plane during flying real-time status
The method of flow is
It calculates current unmanned plane during flying speed and gradient and sprays the wind speed pressure that outside is born at nozzle, unmanned plane
The wind speed pressure that outside is born at flying speed and gradient and sprinkling nozzle is more than the threshold value of setting, it is determined that is currently gone out
Flow is current unmanned plane flow when mouth, otherwise determines that the preceding flow in current outlet is current unmanned plane flow；
According to flow status judgement when current outlet, currently whether the flowexit method of breaking down is
The wind speed pressure that outside is born at sprinkling nozzle when calculating outlet, if the wind speed pressure that outside is born at sprinkling nozzle
It is less than the wind speed threshold value of setting, then judges that present flow rate exit is broken down, otherwise judges that present flow rate exit is not sent out
Raw failure.
Compared with prior art, the beneficial effects of the present invention are: can determine whether between unmanned plane during flying state and present flow rate
Relationship；The flow value of current unmanned plane sprinkling can be determined according to the actual conditions inside spray line with spray line nozzle；It can
Judge whether that spraying nozzle breaks down according to the environmental factor that current unmanned plane faces.
Detailed description of the invention
Fig. 1 is data receiver block diagram of the present invention；
Fig. 2 is workflow block diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment:
Fig. 1 and Fig. 2 are please referred to, the present invention provides a kind of technical solution: a kind of unmanned plane pesticide spraying flow monitoring method,
Including
Unmanned plane previous stage state of flight is stored, unmanned plane current generation state of flight is received, it is previous by unmanned plane
Stage state of flight and current generation state of flight relatively determine whether current unmanned plane during flying state adjusts；
Flow status before storage unmanned plane previous stage liquid outlet, receives flow before unmanned plane current generation liquid outlet
State is relatively determined by flow status before flow status before unmanned plane previous stage liquid outlet and current generation liquid outlet
It is current to export whether preceding flow adjusts；
Flow status when storing unmanned plane previous stage liquid outlet, flow when receiving unmanned plane current generation liquid outlet
State is relatively determined by flow status when flow status when unmanned plane previous stage liquid outlet and current generation liquid outlet
Whether flow adjusts when current outlet；
Stream when whether before being adjusted by current unmanned plane during flying state, currently being exported whether flow adjusts and currently export
Whether amount adjusts the flow value for determining current unmanned plane pesticide spraying.
As a preferred technical solution of the present invention, the method whether current unmanned plane during flying state adjusts is determined are as follows:
The A first step sets a time interval；Record unmanned plane during flying state in the time interval, and by the state of flight
Determine whether the unmanned plane during flying state recorded in the time interval normal compared with the state of flight of setting, if abnormal into
Row alarm, if normal stores unmanned plane during flying state in the time interval, as unmanned plane previous stage state of flight；
A second step directly records unmanned plane during flying state in next same time interval, is denoted as the current rank of unmanned plane
Section state of flight；
A third step, the unmanned plane previous stage state of flight and unmanned plane that will be stored in two neighboring same time interval
Current generation state of flight is compared, and state of flight includes the flying speed and flight gradient of unmanned plane；Before unmanned plane
The flying speed and flight gradient of one stage and current generation carry out making one by one difference relatively, if the two flying speed and flight are inclined
Any one of gradient is greater than corresponding given threshold after making difference, then shows current unmanned plane during flying state adjustment, be otherwise considered as and do not adjust；
The 4th step of A, if unmanned plane current generation state of flight compared with the state of flight currently set, occur it is abnormal into
Row alarm, then unmanned plane current generation state of flight is stored as unmanned plane previous stage state of flight if normal, and back to A the
Two steps；
Determine the current method for exporting preceding flow and whether adjusting are as follows:
The B first step sets a time interval；Record pesticide of the unmanned plane spray line before spray outlet in the time interval
Flow value, and the pesticide flow value is determined that the unmanned plane recorded in the time interval sprays compared with the sprinkling flow value of setting
Whether pesticide flow value of the pipe before spray outlet be normal, alarms if abnormal, if normal by nothing in the time interval
Pesticide flow value storage of the man-machine spray line before spray outlet, as flow status before unmanned plane previous stage liquid outlet；
B second step directly records pesticide of the unmanned plane spray line before spray outlet in next same time interval
Flow state of value is denoted as unmanned plane current generation liquid outlet flow status；
B third step, by the unmanned plane previous stage stored in two neighboring same time interval export before flow status with
Flow status is compared before the unmanned plane current generation exports, and flow status includes flow value in the spray line of unmanned plane before exporting
Storage box liquid weight value is sprayed with unmanned plane；By flow value in the spray line of unmanned plane previous stage and current generation and nobody
Machine sprinkling storage box liquid weight value carries out making one by one difference relatively, if flow value and unmanned plane spray storage box in the two spray line
Any one of liquid weight value is greater than corresponding given threshold after making difference, then shows flow adjustment before currently exporting, be otherwise considered as and do not adjust
It is whole；
The 4th step of B, if flow status and flow before the liquid outlet currently set before unmanned plane current generation liquid outlet
There is exception and then alarms in epidemic situation comparison, and then flow status is stored as nothing before unmanned plane current generation liquid outlet if normal
Flow status before man-machine previous stage liquid outlet, and return to B second step；
The method that whether flow adjusts when determining current outlet are as follows:
The C first step sets a time interval；Record pesticide of the unmanned plane spray line in spray outlet in the time interval
Flow value, and the pesticide flow value is determined that the unmanned plane recorded in the time interval sprays compared with the sprinkling flow value of setting
Whether pesticide flow value of the pipe in spray outlet be normal, alarms if abnormal, if normal by nothing in the time interval
Pesticide flow value storage of the man-machine spray line in spray outlet, flow status when as unmanned plane previous stage liquid outlet；
C second step directly records pesticide of the unmanned plane spray line in spray outlet when in next same time interval
Flow state of value is denoted as unmanned plane current generation liquid outlet flow status；
C third step, by the unmanned plane previous stage stored in two neighboring same time interval export when flow status with
Flow status is compared when the unmanned plane current generation exports, and flow status includes the spray line exit pressure of unmanned plane when outlet
Power poor (the wind speed pressure born outside internal liquid pressure-exit) and flow value；By unmanned plane previous stage and current rank
The spray line outlet pressure difference and spray line exit flow value of section carry out making one by one difference relatively, if the two spray line exit
Any one of pressure difference and spray line exit flow value are greater than corresponding given threshold, then flow tune when showing currently to export after making difference
It is whole, otherwise it is considered as and does not adjust；
The 4th step of C, if when unmanned plane current generation liquid outlet flow status with currently set liquid outlet when flow
There is exception and then alarms in epidemic situation comparison, and then unmanned plane current generation state of flight is stored as single order before unmanned plane if normal
Flow status when section liquid outlet, and return to C second step.
As a preferred technical solution of the present invention, flow status includes the spray line exit pressure of unmanned plane when outlet
Power difference calculation is the wind speed pressure absolute value of the difference born outside internal liquid pressure and exit.
As a preferred technical solution of the present invention, the flow value of the current unmanned plane pesticide spraying of determination it is specific
Step includes
The first step, whether flow adjusts when determining current outlet, if not adjusting, it is determined that flow is for nobody when current outlet
Machine flow；If adjustment, into second step；
Second step, whether flow adjusts before determining current export, if adjustment, into third step, if not adjusting, into the 4th
Step；
Third step, by flow when currently outlet compared with flow before current export, whether the absolute value of the difference of calculating the two
Greater than given threshold, if the difference of the two is not more than given threshold, it is determined that flow is unmanned plane flow when current outlet, if the two
Difference be greater than given threshold, then enter the 4th step；
4th step, determines whether current unmanned plane during flying state adjusts, if adjustment, real-time according to current unmanned plane during flying
State determines current unmanned plane flow；If not adjusting, flow is unmanned plane flow before determining current export, and according to current outlet
When flow status judgement current whether flowexit breaks down.
As a preferred technical solution of the present invention, current unmanned plane is determined according to current unmanned plane during flying real-time status
The method of flow is
It calculates current unmanned plane during flying speed and gradient and sprays the wind speed pressure that outside is born at nozzle, unmanned plane
The wind speed pressure that outside is born at flying speed and gradient and sprinkling nozzle is more than the threshold value of setting, it is determined that is currently gone out
Flow is current unmanned plane flow when mouth, otherwise determines that the preceding flow in current outlet is current unmanned plane flow；
According to flow status judgement when current outlet, currently whether the flowexit method of breaking down is
The wind speed pressure that outside is born at sprinkling nozzle when calculating outlet, if the wind speed pressure that outside is born at sprinkling nozzle
It is less than the wind speed threshold value of setting, then judges that present flow rate exit is broken down, otherwise judges that present flow rate exit is not sent out
Raw failure.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (5)
1. a kind of unmanned plane pesticide spraying flow monitoring method, which is characterized in that including
Unmanned plane previous stage state of flight is stored, unmanned plane current generation state of flight is received, passes through unmanned plane previous stage
State of flight and current generation state of flight relatively determine whether current unmanned plane during flying state adjusts；
Flow status before storage unmanned plane previous stage liquid outlet, receives flow shape before unmanned plane current generation liquid outlet
State is worked as by the relatively determination of flow status before flow status before unmanned plane previous stage liquid outlet and current generation liquid outlet
Whether flow adjusts before preceding outlet；
Flow status when storing unmanned plane previous stage liquid outlet, flow shape when receiving unmanned plane current generation liquid outlet
State is worked as by the relatively determination of flow status when flow status when unmanned plane previous stage liquid outlet and current generation liquid outlet
Whether flow adjusts when preceding outlet；
Flow is when whether before being adjusted by current unmanned plane during flying state, currently being exported whether flow adjusts and currently export
No adjustment determines the flow value of current unmanned plane pesticide spraying.
2. a kind of unmanned plane pesticide spraying flow monitoring method according to claim 1, it is characterised in that:
Determine the method whether current unmanned plane during flying state adjusts are as follows:
The A first step sets a time interval；Record unmanned plane during flying state in the time interval, and by the state of flight with set
Fixed state of flight relatively determines whether the unmanned plane during flying state recorded in the time interval is normal, is reported if abnormal
It is alert, unmanned plane during flying state in the time interval is stored if normal, as unmanned plane previous stage state of flight；
A second step directly records unmanned plane during flying state in next same time interval, and it is winged to be denoted as the unmanned plane current generation
Row state；
A third step, the unmanned plane previous stage state of flight and unmanned plane that store in two neighboring same time interval is current
Stage state of flight is compared, and state of flight includes the flying speed and flight gradient of unmanned plane；By single order before unmanned plane
The flying speed and flight gradient of section and current generation carry out making one by one difference relatively, if the two flying speed and flight gradient
Any one is greater than corresponding given threshold after making difference, then shows current unmanned plane during flying state adjustment, be otherwise considered as and do not adjust；
The 4th step of A, if abnormal reported compared with the state of flight currently set, occurs in unmanned plane current generation state of flight
Alert, then unmanned plane current generation state of flight is stored as unmanned plane previous stage state of flight if normal, and returns to A second
Step；
Determine the current method for exporting preceding flow and whether adjusting are as follows:
The B first step sets a time interval；Record pesticide flow of the unmanned plane spray line before spray outlet in the time interval
Value, and the pesticide flow value is determined that the unmanned plane spray line recorded in the time interval exists compared with the sprinkling flow value of setting
Whether the pesticide flow value before spray outlet is normal, alarms if abnormal, if normal by unmanned plane in the time interval
Pesticide flow value storage of the spray line before spray outlet, as flow status before unmanned plane previous stage liquid outlet；
B second step directly records pesticide flow of the unmanned plane spray line before spray outlet in next same time interval
State of value is denoted as unmanned plane current generation liquid outlet flow status；
The unmanned plane previous stage stored in two neighboring same time interval is exported preceding flow status and nobody by B third step
Flow status is compared before the machine current generation exports, and flow status includes flow value and nothing in the spray line of unmanned plane before exporting
Man-machine sprinkling storage box liquid weight value；Flow value in the spray line of unmanned plane previous stage and current generation and unmanned plane are sprayed
It spills storage box liquid weight value and carries out making difference one by one relatively, if flow value and unmanned plane spray storage box liquid in the two spray line
Any one of weight value is greater than corresponding given threshold after making difference, then shows flow adjustment before currently exporting, be otherwise considered as and do not adjust；
The 4th step of B, if flow status and flow status before the liquid outlet currently set before unmanned plane current generation liquid outlet
Compare, exception occurs and then alarm, then flow status is stored as unmanned plane before unmanned plane current generation liquid outlet if normal
Flow status before previous stage liquid outlet, and return to B second step；
The method that whether flow adjusts when determining current outlet are as follows:
The C first step sets a time interval；Record pesticide flow of the unmanned plane spray line in spray outlet in the time interval
Value, and the pesticide flow value is determined that the unmanned plane spray line recorded in the time interval exists compared with the sprinkling flow value of setting
Whether pesticide flow value when spray outlet is normal, alarms if abnormal, if normal by unmanned plane in the time interval
Pesticide flow value storage of the spray line in spray outlet, flow status when as unmanned plane previous stage liquid outlet；
C second step directly records pesticide flow of the unmanned plane spray line in spray outlet when in next same time interval
State of value is denoted as unmanned plane current generation liquid outlet flow status；
C third step, by flow status when the unmanned plane previous stage stored in two neighboring same time interval outlet and nobody
Flow status is compared when the machine current generation exports, and flow status includes that the spray line outlet pressure of unmanned plane is poor when outlet
And flow value；By the spray line outlet pressure difference and spray line exit flow value one of unmanned plane previous stage and current generation
One make difference relatively, if any one of the two spray line outlet pressure difference and spray line exit flow value are greater than phase after making difference
Given threshold is answered, then flow adjusts when showing currently to export, and is otherwise considered as and does not adjust；
The 4th step of C, if when unmanned plane current generation liquid outlet flow status with currently set liquid outlet when flow status
Compare, exception occurs and then alarm, then unmanned plane current generation state of flight is stored as unmanned plane previous stage liquid if normal
Flow status when body exports, and return to C second step.
3. a kind of unmanned plane pesticide spraying flow monitoring method according to claim 2, it is characterised in that: flow when outlet
State includes that the spray line outlet pressure difference calculation of unmanned plane is the wind born outside internal liquid pressure and exit
Ram compression power absolute value of the difference.
4. a kind of unmanned plane pesticide spraying flow monitoring method according to claim 1 or 2, it is characterised in that: described true
The specific steps of the flow value of settled preceding unmanned plane pesticide spraying include
The first step, whether flow adjusts when determining current outlet, if not adjusting, it is determined that flow is unmanned plane stream when current outlet
Amount；If adjustment, into second step；
Second step, whether flow adjusts before determining current export, if adjustment, into third step, if not adjusting, into the 4th step；
Third step, by flow when current outlet compared with flow before current export, whether the absolute value of the difference for calculating the two is greater than
Given threshold, if the difference of the two is not more than given threshold, it is determined that flow is unmanned plane flow when current outlet, if the difference of the two
Greater than given threshold, then enter the 4th step；
4th step, determines whether current unmanned plane during flying state adjusts, if adjustment, according to current unmanned plane during flying real-time status
Determine current unmanned plane flow；If not adjusting, flow is unmanned plane flow before determining currently outlet, and is flowed according to when currently exporting
The judgement of amount state is current, and whether flowexit breaks down.
5. a kind of unmanned plane pesticide spraying flow monitoring method according to claim 4, it is characterised in that:
It is according to the method that current unmanned plane during flying real-time status determines current unmanned plane flow
It calculates current unmanned plane during flying speed and gradient and sprays the wind speed pressure that outside is born at nozzle, unmanned plane during flying
The wind speed pressure that outside is born at speed and gradient and sprinkling nozzle is more than the threshold value of setting, it is determined that when current outlet
Flow is current unmanned plane flow, and flow is current unmanned plane flow before otherwise determining current export；
According to flow status judgement when current outlet, currently whether the flowexit method of breaking down is
The wind speed pressure that outside is born at sprinkling nozzle when calculating outlet, if the wind speed pressure that outside is born at sprinkling nozzle does not surpass
The wind speed threshold value for crossing setting, then judge that present flow rate exit is broken down, and otherwise judges that event does not occur for present flow rate exit
Barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910304167.XA CN109933079B (en) | 2019-04-16 | 2019-04-16 | Unmanned aerial vehicle pesticide spraying flow monitoring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910304167.XA CN109933079B (en) | 2019-04-16 | 2019-04-16 | Unmanned aerial vehicle pesticide spraying flow monitoring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109933079A true CN109933079A (en) | 2019-06-25 |
| CN109933079B CN109933079B (en) | 2021-08-27 |
Family
ID=66990132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910304167.XA Active CN109933079B (en) | 2019-04-16 | 2019-04-16 | Unmanned aerial vehicle pesticide spraying flow monitoring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109933079B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516877A (en) * | 2020-05-25 | 2020-08-11 | 湖北同诚通用航空有限公司 | System and method for controlling and adjusting spraying amount of pesticide spraying unit area of helicopter |
| WO2022095052A1 (en) * | 2020-11-09 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Operation planning method for movable platform, and device and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105928569A (en) * | 2016-04-18 | 2016-09-07 | 广州极飞电子科技有限公司 | Method and device for detecting unmanned aerial vehicle sprinkling flow |
| CN106681400A (en) * | 2016-10-28 | 2017-05-17 | 华南农业大学 | Quantity-varying spraying system applicable to unmanned aerial vehicle |
| US20170192031A1 (en) * | 2016-01-04 | 2017-07-06 | Bradley Charles Ashmore | Methods and systems for measuring the speed and direction of a gas flow |
| WO2017181929A1 (en) * | 2016-04-18 | 2017-10-26 | Guangzhou Xaircraft Technology Co., Ltd. | Liquid volume transfer system, liquid infusion device, unmanned aerial vehicle and liquid container |
| CN107711798A (en) * | 2017-11-28 | 2018-02-23 | 安阳全丰航空植保科技股份有限公司 | Unmanned plane plant protection intelligence vector sprinkling system and method |
| CN108464295A (en) * | 2018-06-07 | 2018-08-31 | 河南农贝得农业科技有限公司 | Plant protection drone pesticide variable spray control system |
| CN108534844A (en) * | 2018-03-12 | 2018-09-14 | 广东翔龙航空技术有限公司 | Plant protection unmanned aerial vehicle spraying flow detection system and detection method |
| CN109152353A (en) * | 2017-11-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Medicine-chest flow rate testing methods, device and agricultural unmanned plane |
-
2019
- 2019-04-16 CN CN201910304167.XA patent/CN109933079B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170192031A1 (en) * | 2016-01-04 | 2017-07-06 | Bradley Charles Ashmore | Methods and systems for measuring the speed and direction of a gas flow |
| CN105928569A (en) * | 2016-04-18 | 2016-09-07 | 广州极飞电子科技有限公司 | Method and device for detecting unmanned aerial vehicle sprinkling flow |
| WO2017181929A1 (en) * | 2016-04-18 | 2017-10-26 | Guangzhou Xaircraft Technology Co., Ltd. | Liquid volume transfer system, liquid infusion device, unmanned aerial vehicle and liquid container |
| CN106681400A (en) * | 2016-10-28 | 2017-05-17 | 华南农业大学 | Quantity-varying spraying system applicable to unmanned aerial vehicle |
| CN107711798A (en) * | 2017-11-28 | 2018-02-23 | 安阳全丰航空植保科技股份有限公司 | Unmanned plane plant protection intelligence vector sprinkling system and method |
| CN109152353A (en) * | 2017-11-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Medicine-chest flow rate testing methods, device and agricultural unmanned plane |
| CN108534844A (en) * | 2018-03-12 | 2018-09-14 | 广东翔龙航空技术有限公司 | Plant protection unmanned aerial vehicle spraying flow detection system and detection method |
| CN108464295A (en) * | 2018-06-07 | 2018-08-31 | 河南农贝得农业科技有限公司 | Plant protection drone pesticide variable spray control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111516877A (en) * | 2020-05-25 | 2020-08-11 | 湖北同诚通用航空有限公司 | System and method for controlling and adjusting spraying amount of pesticide spraying unit area of helicopter |
| WO2022095052A1 (en) * | 2020-11-09 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Operation planning method for movable platform, and device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109933079B (en) | 2021-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200060056A1 (en) | Crop stand optimization systems, methods and apparatus | |
| CN109409275B (en) | Target object identification method and device, and drug delivery information determination method | |
| CN107094595B (en) | Intelligent irrigation system with partitioned frame rails and control method thereof | |
| CN108605923A (en) | Pesticide dispenser monitors and accurate volume control device and method | |
| CN109933079A (en) | A kind of unmanned plane pesticide spraying flow monitoring method | |
| CA3191052A1 (en) | Nozzle specific spray application monitoring | |
| Tewari et al. | Sonar sensing predicated automatic spraying technology for orchards | |
| CN106614481A (en) | Drone-based controllable pesticide spraying system | |
| Bonds et al. | A literature review of downwind drift from airblast sprayers: development of standard methodologies and a drift database | |
| Wall et al. | The efficacy of sex‐attractant monitoring for the pea moth, Cydia nigricana, in England, 1980–1985 | |
| WO2025060331A1 (en) | Plant cultivation method, apparatus and system | |
| CN206365395U (en) | A kind of unmanned aerial vehicle (UAV) control structure suitable for various crop | |
| CN114275161B (en) | A plant protection drone spraying and anti-drift intelligent control system and its control method | |
| Wicks et al. | Control of apple diseases and pests with low spray volumes and reduced chemical rates | |
| CN116806799B (en) | Intelligent agricultural field weeding method and system | |
| Campos et al. | Nozzle flowrate modulation capability of PWM valves operated at high frequencies and pressures | |
| Campos et al. | Droplet Size Distributions from PWM-Controlled Hollow-Cone Nozzles Operated at High Modulation Frequencies and Pressures | |
| CN115413550B (en) | Beet plant protection method and beet plant protection equipment | |
| US20200205418A1 (en) | Aqueous Extract of Orange Peels for Selectively Killing Fire Ants | |
| CN110115257A (en) | Pesticide spraying system based on unmanned aerial vehicle remote sensing | |
| Lee et al. | The effects of unmanned control systems for optimum pest control in protected paprika cultivation facilities | |
| Lim et al. | Development of online drone control management information platform | |
| CN119414903A (en) | Silage machine spraying control method, control module, device, equipment and medium | |
| CN207639544U (en) | A kind of atomizing sprayer device being set in plant protection drone | |
| Balsbaugh Jr et al. | Aerial application of ULV organic phosphate insecticides for controlling livestock insect pests |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231102 Address after: Room 3114-A08, Office Room 01, 31st Floor, No. 600 Chuangxin Third Road, High tech Industrial Development Zone, Harbin City, Heilongjiang Province, 150000 Patentee after: Heilongjiang Shenghe Agricultural Biotechnology Co.,Ltd. Address before: 325200 4th and 5th floors of urban and rural distribution service center, Jiangnan New District, Ruian City, Wenzhou City, Zhejiang Province Patentee before: RUIAN ZHEJIANG UNIVERSITY OF TECHNOLOGY INNOVATION AND ENTREPRENEURSHIP Research Institute |