CN112292530A - Control method and control system for water pump flow and agricultural unmanned aerial vehicle - Google Patents
Control method and control system for water pump flow and agricultural unmanned aerial vehicle Download PDFInfo
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- CN112292530A CN112292530A CN201980041392.7A CN201980041392A CN112292530A CN 112292530 A CN112292530 A CN 112292530A CN 201980041392 A CN201980041392 A CN 201980041392A CN 112292530 A CN112292530 A CN 112292530A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
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- 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
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
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- 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
Abstract
A control method of water pump flow, a water pump control system and an agricultural unmanned aerial vehicle are provided, and the method comprises the following steps: acquiring a flow control instruction of the water pump, wherein the flow control instruction is generated based on the expected flow of the water pump; generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the motor of the water pump to work; when a water pump motor works, acquiring a first actual flow of the water pump measured by a flow meter in real time; and adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value. The method can accurately control the flow of the water pump under various pesticide application scenes.
Description
Technical Field
The application relates to an agricultural unmanned aerial vehicle technology, in particular to a control method of water pump flow, a water pump control system and an agricultural unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle technology, agricultural unmanned aerial vehicles are more and more accepted for use in plant protection and crop operation. In the scenes of fruit tree maintenance, crop prevention and control and the like, the agricultural unmanned aerial vehicle can realize spraying through a medicine box and a water pump which are carried on the aircraft, and the spraying flow of the water pump is controlled through a flight controller. Generally, a water pump on the agricultural unmanned aerial vehicle is driven by a water pump motor, and when a specific flow needs to be obtained, the flight controller determines the rotating speed of the water pump motor through a pre-calibrated curve between the rotating speed of the water pump motor and the flow of the water pump, so that the control of the flow of the water pump can be realized.
However, the water pump used in this method includes a metering pump and a peristaltic pump, and the water pump has a complicated structure, a heavy weight and a large volume. The relation between the flow and the rotating speed of the water pump can be changed when different media exist; this relationship also changes as the water pump components age. Long-term stability and medium adaptability are poor; cannot meet the complex pesticide application scene.
Disclosure of Invention
The embodiment of the application provides a control method of water pump flow, a water pump control system and an agricultural unmanned aerial vehicle, which can accurately control the flow of a water pump under various pesticide application scenes.
In a first aspect, an embodiment of the present application provides a method for controlling a flow rate of a water pump, where the method is applied to an agricultural unmanned aerial vehicle equipped with the water pump, and the method includes: acquiring a flow control instruction of a water pump, wherein the flow control instruction is generated based on the expected flow of the water pump; generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the motor of the water pump to work; when the water pump motor works, acquiring a first actual flow of the water pump measured by a flow meter in real time; and adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so as to enable the flow of the water pump to reach a second actual flow, wherein the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
In one embodiment, the obtaining a flow control command of the water pump includes: receiving a terminal control instruction sent by terminal equipment, and generating the flow control instruction based on the terminal control instruction, wherein the terminal equipment is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instruction is generated based on input of a user on the terminal equipment.
In one embodiment, the obtaining a flow control command of the water pump includes: generating the flow control command based on flight information, wherein the flight information at least comprises one of the following: flight trajectory position, ambient targets.
In one embodiment, the generating a rotation speed control command of a water pump motor according to the flow control command includes: acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump; and generating a rotating speed control instruction of the water pump motor according to the expected rotating speed.
In one embodiment, the adjusting the rotation speed of the water pump according to the first actual flow rate and the desired flow rate includes: acquiring a flow adjustment parameter according to the first actual flow and the expected flow; and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump, wherein the flow adjusting instruction is generated based on the flow adjusting parameter.
In one embodiment, the method further comprises: when the water pump motor works, the working state of the flowmeter is obtained in real time; and when the flow meter is determined to be in fault, directly generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and adjusting the rotating speed of the water pump.
In one embodiment, the failure of the flow meter comprises: the output of the flowmeter within a preset time length is the maximum flow rate which can be measured by the flowmeter; or the output of the flowmeter within a preset time length is the minimum flow rate which can be measured by the flowmeter; or, the flowmeter has at least a first flow and a second flow in each flow output within a preset time period, and an absolute value of a difference value between the first flow and the second flow is greater than or equal to a preset value.
In one embodiment, the flow meter is an electromagnetic flow meter.
In a second aspect, an embodiment of the present application provides a water pump control system for an agricultural unmanned aerial vehicle, the water pump control system includes: the system comprises a water pump, a flowmeter, a controller, a first control unit and a second control unit; the controller is used for acquiring a flow control instruction of the water pump, and the flow control instruction is generated based on the expected flow of the water pump; the controller is further used for generating a rotating speed control instruction of the motor of the water pump according to the flow control instruction and controlling the motor of the water pump to work; when the water pump motor works, the first control unit is used for acquiring a first actual flow of the water pump measured by the flowmeter in real time; the first control unit and the second control unit are used for adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
In one embodiment, the agricultural unmanned aerial vehicle comprises a processor, and the controller, when configured to obtain the flow control command of the water pump, is specifically configured to: receiving the flow control instruction from the processor.
In one embodiment, the flow control instructions are generated by the processor based on terminal control instructions received from a terminal device, the terminal device being in communication with the agricultural unmanned aerial vehicle, the terminal control instructions being generated based on user input on the terminal device; or, the flow control instruction is generated by the processor based on flight information, and the flight information at least includes one of the following: flight trajectory position, ambient targets.
In one embodiment, when the controller is configured to generate a rotation speed control command of the water pump motor according to the flow control command, the controller is specifically configured to: acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump; and generating a rotating speed control instruction of the water pump motor according to the expected rotating speed.
In one embodiment, the agricultural unmanned aerial vehicle comprises a processor, and the first control unit and the second control unit, when configured to adjust the rotation speed of the water pump according to the first actual flow rate and the desired flow rate, are specifically configured to: receiving the flow control instruction from the processor; acquiring the expected flow according to the flow control instruction; and acquiring a flow adjustment parameter according to the first actual flow and the expected flow.
In one embodiment, the agricultural unmanned aerial vehicle comprises a processor, and the first control unit and the second control unit, when configured to adjust the rotation speed of the water pump according to the first actual flow rate and the desired flow rate, are specifically configured to: receiving the flow control instruction from the processor; receiving a flow adjustment instruction from the controller, the flow adjustment instruction being generated by the controller based on the flow adjustment parameter; and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump.
In one embodiment, after the first control unit and the second control unit adjust the rotation speed of the water pump according to the first actual flow rate and the desired flow rate, the controller is further configured to: acquiring the working state of the flowmeter; and when the flow meter is determined to be in fault, generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the water pump motor to work.
In one embodiment, the failure of the flow meter comprises: the output of the flowmeter within a preset time length is the maximum flow rate which can be measured by the flowmeter; or the output of the flowmeter within a preset time length is the minimum flow rate which can be measured by the flowmeter; or, the flowmeter has at least a first flow and a second flow in each flow output within a preset time period, and an absolute value of a difference value between the first flow and the second flow is greater than or equal to a preset value.
In one embodiment, the flow meter is an electromagnetic flow meter.
In one embodiment, the system further comprises a pipeline connected with the water pump, and the flow meter is arranged on the pipeline; the water pump is respectively connected with the controller and the second control unit, two ends of the controller are respectively connected with the second control unit and the first control unit, and the first control unit is also connected with the flowmeter.
In a third aspect, an embodiment of the present application provides an agricultural unmanned aerial vehicle with a water pump control system, including: the water pump control system is in communication connection with the processor; the water pump control system includes: the system comprises a water pump, a flowmeter, a controller, a first control unit and a second control unit; the processor is used for generating a flow control instruction of the water pump; the controller is used for receiving the flow control instruction from the processor; the controller is further used for generating a rotating speed control instruction of the motor of the water pump according to the flow control instruction and controlling the motor of the water pump to work; when the water pump motor works, the first control unit is used for acquiring a first actual flow of the water pump measured by the flowmeter in real time; the first control unit and the second control unit are used for adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
In an embodiment, the processor, when being configured to generate the flow control instruction of the water pump, is specifically configured to: the processor obtains the expected flow rate of the water pump; and generating the flow control instruction according to the expected flow.
In one embodiment, the processor, when being configured to obtain the desired flow rate, is specifically configured to: the processor receives a terminal control instruction sent by terminal equipment; wherein the terminal device is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instruction is generated based on input of a user on the terminal device; and acquiring the expected flow according to the terminal control instruction.
In one embodiment, the processor, when being configured to obtain the desired flow rate, is specifically configured to: determining a desired flow rate based on the flight information; wherein the flight information includes at least one of: flight trajectory position or ambient targets.
In one embodiment, when the controller is configured to generate a rotation speed control command of the water pump motor according to the flow control command, the controller is specifically configured to: acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump; and generating a rotating speed control instruction of the water pump motor according to the expected rotating speed.
In an embodiment, when the first control unit and the second control unit are configured to adjust the rotation speed of the water pump according to the first actual flow rate and the desired flow rate, the first control unit is specifically configured to: receiving the flow control instruction from the processor; acquiring the expected flow according to the flow control instruction; and acquiring a flow adjustment parameter according to the first actual flow and the expected flow.
In an embodiment, when the first control unit and the second control unit are configured to adjust the rotation speed of the water pump according to the first actual flow rate and the desired flow rate, the second control unit is specifically configured to: receiving the flow control instruction from the processor; receiving a flow adjustment instruction from the controller, the flow adjustment instruction being generated by the controller based on the flow adjustment parameter; and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump.
In one embodiment, after the first control unit and the second control unit adjust the rotation speed of the water pump according to the first actual flow rate and the desired flow rate, the controller is further configured to: acquiring the working state of the flowmeter; and when the flow meter is determined to be in fault, generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the water pump motor to work.
In one embodiment, the failure of the flow meter comprises: the output of the flowmeter within a preset time length is the maximum flow rate which can be measured by the flowmeter; or the output of the flowmeter within a preset time length is the minimum flow rate which can be measured by the flowmeter; or, the flowmeter has at least a first flow and a second flow in each flow output within a preset time period, and an absolute value of a difference value between the first flow and the second flow is greater than or equal to a preset value.
In one embodiment, the flow meter is an electromagnetic flow meter.
In one embodiment, the water pump control system further comprises a pipeline connected with the water pump, and the flow meter is arranged on the pipeline; the water pump is respectively connected with the controller and the second control unit, two ends of the controller are respectively connected with the second control unit and the first control unit, and the first control unit is also connected with the flowmeter.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, where the computer program includes at least one piece of code, and the at least one piece of code is executable by a computer to control the computer to perform the method described in the first aspect and/or the embodiments.
The actual flow of the water pump is obtained in real time through the flowmeter in the application, the actual flow of the water pump is stabilized near the expected flow according to the obtained actual flow of the water pump and the rotating speed of the expected flow adjusting water pump, and under the conditions of aging of the water pump or medium change in the water pump and the like, the flow of the water pump can still be accurately controlled, namely the method can accurately control the flow of the water pump under various pesticide application scenes.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
fig. 2 is a flowchart of a method for controlling a flow rate of a water pump according to an embodiment of the present disclosure;
FIG. 3 is a diagram of a system architecture according to an embodiment of the present application;
fig. 4 is a schematic interface diagram of a terminal device according to an embodiment of the present application;
fig. 5 is a schematic interface diagram of another terminal device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a water pump control system according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an agricultural unmanned aerial vehicle provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The following describes embodiments of the present application with reference to the drawings.
Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present application, and referring to fig. 1, the agricultural unmanned aerial vehicle includes an airframe and a water pump control system, where the water pump control system includes at least one or more water pumps (for example, 4 water pumps), and the water pumps may be carried on the airframe.
When in operation, a medium corresponding to the current operation, such as pesticide with a certain concentration, is loaded in the water pump; the agricultural unmanned aerial vehicle moves under the control of the terminal or according to a preset flight track, and the water pump control system is controlled to work, so that operations such as pesticide spraying and the like are completed.
First, a method for controlling the flow rate of the water pump according to the present application will be described with reference to specific embodiments. Fig. 2 is a flowchart of a method for controlling a flow rate of a water pump according to an embodiment of the present application. Referring to fig. 2, the method of the present embodiment includes:
step S201 is to acquire a flow control command for the water pump, the flow control command being generated based on a desired flow rate of the water pump.
In a first scenario: obtaining a flow control instruction of the water pump, comprising: receiving a terminal control instruction sent by a terminal device, and generating a flow control instruction based on the terminal control instruction, wherein the terminal device is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instruction is generated based on input of a user on the terminal device.
In a specific implementation of the scheme, after the terminal device generates the terminal control instruction, the terminal control instruction is sent to the agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle receives the terminal control instruction, obtains the expected flow of the water pump according to the terminal control instruction, and generates the flow control instruction based on the expected flow. Wherein, the terminal equipment can be a remote controller of the agricultural unmanned aerial vehicle. A system architecture diagram to which this scheme relates may be seen in fig. 3.
The generation of the terminal control instruction includes, but is not limited to, the following modes:
the first mode is as follows: and the terminal equipment generates a terminal control instruction according to the operation of the user on the flow setting button on the terminal equipment. Wherein, the operation of the flow setting button by the user can be to press or slide the flow setting button.
The second mode is as follows: and the terminal equipment generates a terminal control instruction according to the operation of the user on the flow setting icon or the flow setting module on the terminal equipment. The operation of the user on the flow setting icon may be clicking or sliding the flow setting icon or the module. The corresponding interface diagram in this way can be seen in fig. 4.
The third mode is as follows: and the terminal equipment generates a terminal control instruction according to the expected flow input by the user. Wherein the user can input the desired flow rate by voice or on an interface of the terminal device.
The fourth mode is that: and the terminal equipment generates a terminal control instruction according to the current surrounding environment target input by the user. In this mode, the agricultural unmanned aerial vehicle obtains the expected flow of the water pump according to the terminal control instruction, and the method comprises the following steps: and the agricultural unmanned aerial vehicle acquires a current surrounding environment target according to the terminal control instruction, and determines that the preset flow corresponding to the current surrounding environment target is the expected flow. Correspondingly, the agricultural unmanned aerial vehicle can store the identifications of a plurality of targets and the preset flow corresponding to each target, wherein the preset flow corresponding to each target is the expected flow of the water pump expected by a user when the surrounding environment is the target. The ambient environment target may be, for example: soybean crops, corn crops or other crops or fruit trees and the like. The interface diagram corresponding to this method can be shown in fig. 5.
In a second scenario: obtaining a flow control instruction of the water pump, comprising: generating a flow control command based on flight information, wherein the flight information at least comprises one of the following: flight trajectory position, ambient targets.
In one specific implementation of the scheme, the agricultural unmanned aerial vehicle acquires flight information, determines an expected flow rate of the water pump based on the flight information, and generates a flow control command based on the expected flow rate.
In one way: the flight information comprises a flight track position, the agricultural unmanned aerial vehicle acquires the flight track position, the flow corresponding to the flight track position is determined to be expected flow, and a flow control instruction is generated based on the expected flow.
In this way, the agricultural unmanned aerial vehicle can store a preset flight trajectory of the agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle flies according to the preset flight trajectory. The preset flight trajectory is divided into a plurality of flight sections, each flight section corresponds to a preset flow, and the agricultural unmanned aerial vehicle also stores the preset flow corresponding to each flight section, wherein the preset flow corresponding to each flight section is the expected flow of the water pump expected by a user when the agricultural unmanned aerial vehicle is in the flight section; after the agricultural unmanned aerial vehicle determines the current flight track position, the preset flow corresponding to the flight segment where the current flight track position is located can be determined to be the expected flow.
In another mode: the flight information comprises a surrounding environment target, the agricultural unmanned aerial vehicle acquires the surrounding environment target, the flow corresponding to the surrounding environment target is determined to be expected flow, and a flow control command is generated based on the expected flow.
In this way, the agricultural unmanned aerial vehicle may store therein identifiers of a plurality of targets, and a preset flow rate corresponding to each target, where the preset flow rate corresponding to each target is an expected flow rate of the water pump expected by the user when the surrounding environment is the target. After the agricultural unmanned aerial vehicle determines the current surrounding environment target, the preset flow corresponding to the current surrounding environment target can be determined to be the expected flow. Sensors such as radars, vision sensors, multispectral imagers, and the like can be mounted on the agricultural unmanned aerial vehicle to detect and identify surrounding targets.
In one possible implementation, the flow control command of the water pump may be generated by a processor of the agricultural unmanned aerial vehicle.
And step S202, generating a rotating speed control instruction of the water pump motor according to the flow control instruction, and controlling the water pump motor to work.
After the agricultural unmanned aerial vehicle obtains the flow control instruction, a rotating speed control instruction of a water pump motor is generated based on the flow control instruction so as to control the motor of the water pump to work. The rotation speed control command of the water pump motor may be a command directly used for controlling the rotation speed of the water pump, for example, the rotation speed control command of the water pump motor is used for controlling an electronic speed regulator to control the rotation speed of the water pump, and the electronic speed regulator is connected with an impeller of the water pump and is part of a water pump control system. The rotating speed control instruction of the water pump motor can also be an instruction indirectly used for controlling the rotating speed of the water pump, for example, the rotating speed control instruction of the water pump motor is used for controlling the voltages at two ends of the water pump motor, namely, the rotating speed of the water pump is controlled by controlling the voltage at two ends of the water pump motor indirectly.
In order to improve the control efficiency of the rotating speed control command of the water pump motor, namely, the control can be faster before the water pump reaches a stable flow, in one scheme: according to the flow control instruction, a rotating speed control instruction of the water pump motor is generated, and the method comprises the following steps: acquiring an expected rotating speed corresponding to the expected flow of the water pump according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump; and generating a rotating speed control command of the water pump motor according to the expected rotating speed.
The corresponding relation between the rotating speed and the flow of the water pump can be stored in the agricultural unmanned aerial vehicle after being calibrated. In the calibration process of the corresponding relation, a plurality of rotating speeds can be uniformly selected in the rotating speed range of the working of the water pump, the flow of the water pump at each rotating speed of the plurality of rotating speeds is calibrated by using clear water (such as tap water) to obtain a plurality of pairs of rotating speed-flow numerical values, and the corresponding relation between the rotating speed and the flow of the water pump is obtained according to the plurality of pairs of rotating speed-flow numerical values.
In a possible implementation manner, the rotation speed control instruction of the water pump motor is generated by a controller of a water pump control system; specifically, after a processor of the agricultural unmanned aerial vehicle generates a flow control instruction of the water pump, the flow control instruction is sent to a controller of a water pump control system, and the controller of the water pump control system generates a rotating speed control instruction of a water pump motor based on the flow control instruction.
And S203, acquiring a first actual flow of the water pump measured by the flowmeter in real time when the water pump motor works.
When the water pump motor works according to a rotating speed control instruction of the water pump motor, the agricultural unmanned aerial vehicle obtains a first actual flow of the water pump measured by the flow meter in real time. Wherein, the flowmeter can be arranged on a pipeline connected with the water pump and is a part of the water pump control system. Alternatively, the flow meter may be an electromagnetic flow meter. It should be noted that, in the embodiment of the present invention, acquiring the flow rate measured by the flow meter in real time means that a time delay from when the liquid passes through the flow meter to when the measured flow rate is acquired is less than a predetermined time, which can meet a demand for realizing flow rate control on the agricultural unmanned aerial vehicle, and does not mean that the liquid passes through the flow meter and the measured flow rate is obtained at the same time. Usually, the flow meter carried on the agricultural unmanned aerial vehicle is limited by a volume structure, and the delay of measuring a feedback flow result is usually greater than 2s, so that the flow control requirement on the agricultural unmanned aerial vehicle cannot be met. In the embodiment of the present invention, the measurement delay of the electromagnetic flowmeter is less than 0.5S, so that the current actual flow of the water pump can be fed back quickly, and the precise control of the flow of the water pump in step S204 is realized, that is, the absolute value of the difference between the actual flow and the expected flow of the water pump is controlled to be less than the preset value.
In one possible implementation, the water pump control system further includes a PID controller, and the PID controller includes a first control unit. The first control unit obtains a first actual flow of the water pump measured by the flowmeter in real time. That is, after the first actual flow of the water pump is measured by the flow meter, the first actual flow is fed back to the first control unit.
And step S204, adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
The agricultural unmanned aerial vehicle obtains a first actual flow of the water pump measured by the flow meter in real time, and adjusts the rotating speed of the water pump according to the first actual flow and the expected flow in real time, so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value. Namely, the actual flow of the water pump is stabilized near the expected flow, and the purpose of accurately controlling the flow of the water pump is achieved. The rotating speed of the water pump can be adjusted through a PID control algorithm according to the first actual flow and the expected flow, so that the flow of the water pump reaches the second actual flow.
In one particular implementation: according to first actual flow and expectation flow, adjust the rotational speed of water pump to make the flow of water pump reach second actual flow, include: acquiring a flow adjustment parameter according to the first actual flow and the expected flow; and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump, wherein the flow adjusting instruction is generated based on the flow adjusting parameters. The flow rate adjustment parameter can be obtained through a PID control algorithm, and details are not repeated at this time.
In a possible implementation manner, the water pump control system comprises a PID controller further comprising a second control unit. The first control unit obtains a first actual flow of the water pump measured by the flow meter in real time, and a flow control instruction generated by a processor of the agricultural unmanned aerial vehicle is also input into the first control unit, and the first control unit obtains an expected flow according to the flow control instruction of the water pump and obtains a flow adjustment parameter according to the first actual flow and the expected flow. The flow adjustment parameters are input to the controller, and the controller generates a flow adjustment instruction based on the flow adjustment parameters. The flow adjusting instruction is input into the second control unit, the flow control instruction generated by the processor of the agricultural unmanned aerial vehicle is also input into the second control unit, and the second control unit generates a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump.
Optionally, the method for controlling the flow rate of the water pump in this embodiment may further include the following steps a1 to a 2:
a1, when the water pump motor works, acquiring the working state of the flowmeter in real time.
a2, when the flow meter is determined to be in fault, directly generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and adjusting the rotating speed of the water pump.
When the flow meter has a fault, a rotation speed control command of the water pump motor is directly generated according to the flow control command acquired in step S201, and the rotation speed of the water pump is adjusted. When the actual flow of the water pump fed back by the flowmeter is inaccurate, the actual flow of the water pump is not acquired in real time any more, and the rotating speed of the water pump is adjusted according to the acquired actual flow and the expected flow of the water pump so that the actual flow of the water pump is stabilized near the expected flow, and the agricultural unmanned aerial vehicle can normally work.
The failure of the flow meter includes, but is not limited to, the following: the output of the flowmeter within the preset time length is the maximum flow which can be measured by the flowmeter; or the output of the flowmeter within the preset time length is the minimum flow rate which can be measured by the flowmeter; or, at least a first flow rate and a second flow rate exist in the flow rates output by the flow meter within a preset time period, and the absolute value of the difference value between the first flow rate and the second flow rate is greater than or equal to a preset value (namely, the flow rate of the water pump measured by the flow meter has large fluctuation).
In this embodiment, the actual flow of the water pump is obtained in real time through the flowmeter, and the rotating speed of the water pump is adjusted according to the actual flow of the water pump and the expected flow, so that the actual flow of the water pump is stabilized near the expected flow, and the flow of the water pump can still be accurately controlled under the conditions of aging of the water pump or medium change in the water pump and the like. Namely, the method of the embodiment can accurately control the flow rate of the water pump under various pesticide application scenes.
Meanwhile, the method of the embodiment is not influenced by the structure of the water pump when the flow of the water pump is accurately controlled, so that the method of the embodiment can reduce the complexity of the structure of the water pump, the size of the water pump is small, the weight is light, and the complexity of the structure and the performance of the agricultural unmanned aerial vehicle is further reduced.
The method of controlling the flow rate of the water pump according to the present application is explained above, and the apparatus according to the present application is explained below.
Fig. 6 is a schematic structural diagram of a water pump control system provided in an embodiment of the present application, where the water pump control system is used for an agricultural unmanned aerial vehicle. As shown in fig. 6, the water pump control system includes: a water pump 51, a flow meter 52, a controller 53, a first control unit 54, a second control unit 55 and a conduit 56 connected to the water pump 51. The flow meter 52 is arranged on a pipeline 56, the water pump 51 is respectively connected with the controller 53 and the second control unit 55, two ends of the controller 53 are respectively connected with the second control unit 55 and the first control unit 54, and the first control unit 54 is also connected with the flow meter 52. In addition, the processor of the agricultural unmanned aerial vehicle is also in communication connection with the water pump control system, and the connection of the processor with the first control unit 54, the controller 53 and the second control unit 55 of the water pump control system can be realized through a communication bus.
The controller 53 is configured to obtain a flow control command of the water pump 51, where the flow control command is generated based on a desired flow rate of the water pump 51; the controller 53 is further configured to generate a rotation speed control instruction of the motor of the water pump 51 according to the flow control instruction, and control the motor of the water pump 51 to work; when the motor of the water pump 51 works, the first control unit 54 is configured to obtain a first actual flow of the water pump 51 measured by the flow meter 52 in real time; the first control unit 54 and the second control unit 55 are configured to adjust the rotation speed of the water pump 51 according to the first actual flow and the expected flow, so that the flow of the water pump 51 reaches a second actual flow, and an absolute value of a difference between the second actual flow and the expected flow is smaller than a preset value.
In one embodiment, the agricultural unmanned aerial vehicle comprises a processor, and the controller 53, when configured to obtain the flow control command of the water pump 51, is specifically configured to: receiving the flow control instruction from the processor.
In one embodiment, the flow control instructions are generated by the processor based on terminal control instructions received from a terminal device, the terminal device being in communication with the agricultural unmanned aerial vehicle, the terminal control instructions being generated based on user input on the terminal device; or, the flow control instruction is generated by the processor based on flight information, and the flight information at least includes one of the following: flight trajectory position, ambient targets.
In one embodiment, when the controller 53 is configured to generate a rotation speed control command of the motor of the water pump 51 according to the flow control command, the controller is specifically configured to: acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the correspondence is the correspondence between the rotation speed and the flow rate of the water pump 51; and generating a rotating speed control command of the motor of the water pump 51 according to the expected rotating speed.
In an embodiment, the agricultural unmanned aerial vehicle comprises a processor, and the first control unit 54 and the second control unit 55, when being configured to adjust the rotation speed of the water pump 51 according to the first actual flow rate and the desired flow rate, the first control unit 54 is specifically configured to: receiving the flow control instruction from the processor; acquiring the expected flow according to the flow control instruction; and acquiring a flow adjustment parameter according to the first actual flow and the expected flow.
In an embodiment, the agricultural unmanned aerial vehicle comprises a processor, and the first control unit 54 and the second control unit 55, when being configured to adjust the rotation speed of the water pump 51 according to the first actual flow rate and the desired flow rate, the second control unit 55 is specifically configured to: receiving the flow control instruction from the processor; receiving a flow rate adjustment instruction from the controller 53, the flow rate adjustment instruction being generated by the controller 53 based on the flow rate adjustment parameter; and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump 51.
In one embodiment, after the first control unit 54 and the second control unit 55 adjust the rotation speed of the water pump 51 according to the first actual flow rate and the desired flow rate, the controller 53 is further configured to: acquiring the operating state of the flow meter 52; and when the flow meter 52 is determined to be in fault, generating a rotating speed control instruction of the motor of the water pump 51 according to the flow control instruction, and controlling the motor of the water pump 51 to work.
In one embodiment, the failure of the flow meter 52 includes: the output of the flow meter 52 within a preset time period is the maximum flow rate that can be measured by the flow meter 52; alternatively, the outputs of the flow meter 52 within a preset time period are all the minimum flow rates that can be measured by the flow meter 52; or, the flow meter 52 has at least a first flow rate and a second flow rate in the flow rates output within the preset time period, and an absolute value of a difference between the first flow rate and the second flow rate is greater than or equal to a preset value.
In one embodiment, the flow meter 52 is an electromagnetic flow meter 52.
The water pump control system of this embodiment may be configured to execute the technical solutions corresponding to the water pump control systems in the above method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
Fig. 7 is a schematic structural diagram of an agricultural unmanned aerial vehicle provided in an embodiment of the present application, referring to fig. 7, where the agricultural unmanned aerial vehicle includes a water pump control system 61 and a processor 62, and the water pump control system 61 is connected to the processor 62 in communication; the water pump control system 61 includes: a water pump 51, a flow meter 52, a controller 53, a first control unit 54, a second control unit 55 and a conduit 56 connected to the water pump 51. The flow meter 52 is arranged on a pipeline 56, the water pump 51 is respectively connected with the controller 53 and the second control unit 55, two ends of the controller 53 are respectively connected with the second control unit 55 and the first control unit 54, and the first control unit 54 is also connected with the flow meter 52. The processor 62 may enable connection of the processor to the first control unit 54, the controller 53 and the second control unit 55 of the water pump control system via the communication bus 63.
The processor 62 is configured to generate a flow control instruction of the water pump 51; the controller 53 is configured to receive the flow control instruction from the processor 62; the controller 53 is further configured to generate a rotation speed control instruction of the motor of the water pump 51 according to the flow control instruction, and control the motor of the water pump 51 to work; when the motor of the water pump 51 works, the first control unit 54 is configured to obtain a first actual flow of the water pump 51 measured by the flow meter 52 in real time; the first control unit 54 and the second control unit 55 are configured to adjust the rotation speed of the water pump 51 according to the first actual flow and the expected flow, so that the flow of the water pump 51 reaches a second actual flow, and an absolute value of a difference between the second actual flow and the expected flow is smaller than a preset value.
In one embodiment, the processor 62, when being configured to generate the flow control command of the water pump 51, is specifically configured to: the processor 62 obtains the desired flow rate of the water pump 51; and generating the flow control instruction according to the expected flow.
In one embodiment, the processor 62, when configured to obtain the desired flow rate, is specifically configured to: the processor 62 receives a terminal control instruction sent by the terminal equipment; wherein the terminal device is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instruction is generated based on input of a user on the terminal device; and acquiring the expected flow according to the terminal control instruction.
In one embodiment, the processor 62, when configured to obtain the desired flow rate, is specifically configured to: determining a desired flow rate based on the flight information; wherein the flight information includes at least one of: flight trajectory position or ambient targets.
In one embodiment, when the controller 53 is configured to generate a rotation speed control command of the motor of the water pump 51 according to the flow control command, the controller is specifically configured to: acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the correspondence is the correspondence between the rotation speed and the flow rate of the water pump 51; and generating a rotating speed control command of the motor of the water pump 51 according to the expected rotating speed.
In one embodiment, when the first control unit 54 and the second control unit 55 are configured to adjust the rotation speed of the water pump 51 according to the first actual flow rate and the desired flow rate, the first control unit 54 is specifically configured to: receive the flow control instructions from the processor 62; acquiring the expected flow according to the flow control instruction; and acquiring a flow adjustment parameter according to the first actual flow and the expected flow.
In one embodiment, when the first control unit 54 and the second control unit 55 are configured to adjust the rotation speed of the water pump 51 according to the first actual flow rate and the desired flow rate, the second control unit 55 is specifically configured to: receive the flow control instructions from the processor 62; receiving a flow rate adjustment instruction from the controller 53, the flow rate adjustment instruction being generated by the controller 53 based on the flow rate adjustment parameter; and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump 51.
In one embodiment, after the first control unit 54 and the second control unit 55 adjust the rotation speed of the water pump 51 according to the first actual flow rate and the desired flow rate, the controller 53 is further configured to: acquiring the operating state of the flow meter 52; and when the flow meter 52 is determined to be in fault, generating a rotating speed control instruction of the motor of the water pump 51 according to the flow control instruction, and controlling the motor of the water pump 51 to work.
In one embodiment, the failure of the flow meter 52 includes: the output of the flow meter 52 within a preset time period is the maximum flow rate that can be measured by the flow meter 52; alternatively, the outputs of the flow meter 52 within a preset time period are all the minimum flow rates that can be measured by the flow meter 52; or, the flow meter 52 has at least a first flow rate and a second flow rate in the flow rates output within the preset time period, and an absolute value of a difference between the first flow rate and the second flow rate is greater than or equal to a preset value.
In one embodiment, the flow meter 52 is an electromagnetic flow meter.
The water pump control system of this embodiment may be configured to execute the technical solutions corresponding to the water pump control systems in the above method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (30)
1. A method for controlling a flow rate of a water pump is applied to an agricultural unmanned aerial vehicle on which the water pump is mounted, and is characterized by comprising the following steps:
acquiring a flow control instruction of a water pump, wherein the flow control instruction is generated based on the expected flow of the water pump;
generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the motor of the water pump to work;
when the water pump motor works, acquiring a first actual flow of the water pump measured by a flow meter in real time;
and adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so as to enable the flow of the water pump to reach a second actual flow, wherein the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
2. The method of claim 1, wherein the obtaining a flow control command for a water pump comprises:
receiving a terminal control instruction sent by terminal equipment, and generating the flow control instruction based on the terminal control instruction, wherein the terminal equipment is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instruction is generated based on input of a user on the terminal equipment.
3. The method of claim 1, wherein the obtaining a flow control command for a water pump comprises:
generating the flow control command based on flight information, wherein the flight information at least comprises one of the following: flight trajectory position, ambient targets.
4. The method of claim 1, wherein generating a rotational speed control command for a water pump motor based on the flow control command comprises:
acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump;
and generating a rotating speed control instruction of the water pump motor according to the expected rotating speed.
5. The method of claim 1, wherein said adjusting the rotational speed of the water pump based on the first actual flow rate and the desired flow rate comprises:
acquiring a flow adjustment parameter according to the first actual flow and the expected flow;
and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump, wherein the flow adjusting instruction is generated based on the flow adjusting parameter.
6. The method of claim 1, further comprising:
when the water pump motor works, the working state of the flowmeter is obtained in real time;
and when the flow meter is determined to be in fault, directly generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and adjusting the rotating speed of the water pump.
7. The method of claim 6, wherein the failure of the flow meter comprises:
the output of the flowmeter within a preset time length is the maximum flow rate which can be measured by the flowmeter; alternatively, the first and second electrodes may be,
the output of the flowmeter within a preset time length is the minimum flow which can be measured by the flowmeter; alternatively, the first and second electrodes may be,
the flow meter at least has a first flow and a second flow in each flow output within a preset time, and the absolute value of the difference value of the first flow and the second flow is greater than or equal to a preset value.
8. The method of any one of claims 1-7, wherein the flow meter is an electromagnetic flow meter.
9. A water pump control system for an agricultural unmanned aerial vehicle, the water pump control system comprising: the system comprises a water pump, a flowmeter, a controller, a first control unit and a second control unit;
the controller is used for acquiring a flow control instruction of the water pump, and the flow control instruction is generated based on the expected flow of the water pump;
the controller is further used for generating a rotating speed control instruction of the motor of the water pump according to the flow control instruction and controlling the motor of the water pump to work;
when the water pump motor works, the first control unit is used for acquiring a first actual flow of the water pump measured by the flowmeter in real time;
the first control unit and the second control unit are used for adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
10. The water pump control system of claim 9, wherein the agricultural UAV comprises a processor, and the controller, when configured to obtain the flow control command for the water pump, is configured to:
receiving the flow control instruction from the processor.
11. The water pump control system of claim 10,
the flow control instructions are generated by the processor based on terminal control instructions received from a terminal device, the terminal device is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instructions are generated based on input of a user on the terminal device; alternatively, the first and second electrodes may be,
the flow control instruction is generated by the processor based on flight information, and the flight information at least comprises one of the following: flight trajectory position, ambient targets.
12. The water pump control system of claim 9, wherein the controller, when configured to generate a rotational speed control command for the water pump motor based on the flow control command, is specifically configured to:
acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump;
and generating a rotating speed control instruction of the water pump motor according to the expected rotating speed.
13. The water pump control system of claim 9, wherein the agricultural UAV comprises a processor, and the first control unit and the second control unit, when configured to adjust the speed of the water pump based on the first actual flow rate and the desired flow rate, are specifically configured to:
receiving the flow control instruction from the processor;
acquiring the expected flow according to the flow control instruction;
and acquiring a flow adjustment parameter according to the first actual flow and the expected flow.
14. The water pump control system of claim 13, wherein the agricultural UAV comprises a processor, and the first and second control units, when configured to adjust the speed of the water pump based on the first actual flow rate and the desired flow rate, are specifically configured to:
receiving the flow control instruction from the processor;
receiving a flow adjustment instruction from the controller, the flow adjustment instruction being generated by the controller based on the flow adjustment parameter;
and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump.
15. The water pump control system of claim 9, wherein after the first and second control units adjust the rotational speed of the water pump based on the first actual flow rate and the desired flow rate, the controller is further configured to:
acquiring the working state of the flowmeter;
and when the flow meter is determined to be in fault, generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the water pump motor to work.
16. The water pump control system of claim 15, wherein the failure of the flow meter comprises:
the output of the flowmeter within a preset time length is the maximum flow rate which can be measured by the flowmeter; alternatively, the first and second electrodes may be,
the output of the flowmeter within a preset time length is the minimum flow which can be measured by the flowmeter; alternatively, the first and second electrodes may be,
the flow meter at least has a first flow and a second flow in each flow output within a preset time, and the absolute value of the difference value of the first flow and the second flow is greater than or equal to a preset value.
17. A water pump control system according to any one of claims 9 to 16, wherein the flow meter is an electromagnetic flow meter.
18. The water pump control system according to any one of claims 9-16, further comprising a conduit connected to the water pump, the flow meter being disposed on the conduit;
the water pump is respectively connected with the controller and the second control unit, two ends of the controller are respectively connected with the second control unit and the first control unit, and the first control unit is also connected with the flowmeter.
19. An agricultural unmanned aerial vehicle with a water pump control system is characterized by comprising: the water pump control system is in communication connection with the processor; the water pump control system includes: the system comprises a water pump, a flowmeter, a controller, a first control unit and a second control unit;
the processor is used for generating a flow control instruction of the water pump;
the controller is used for receiving the flow control instruction from the processor;
the controller is further used for generating a rotating speed control instruction of the motor of the water pump according to the flow control instruction and controlling the motor of the water pump to work;
when the water pump motor works, the first control unit is used for acquiring a first actual flow of the water pump measured by the flowmeter in real time;
the first control unit and the second control unit are used for adjusting the rotating speed of the water pump according to the first actual flow and the expected flow so that the flow of the water pump reaches a second actual flow, and the absolute value of the difference value between the second actual flow and the expected flow is smaller than a preset value.
20. The agricultural UAV of claim 19, wherein the processor, when configured to generate the flow control command for the water pump, is further configured to:
the processor obtains the expected flow rate of the water pump;
and generating the flow control instruction according to the expected flow.
21. An agricultural unmanned aerial vehicle according to claim 20, wherein the processor, when configured to obtain the desired flow rate, is configured to:
the processor receives a terminal control instruction sent by terminal equipment; wherein the terminal device is in communication connection with the agricultural unmanned aerial vehicle, and the terminal control instruction is generated based on input of a user on the terminal device;
and acquiring the expected flow according to the terminal control instruction.
22. An agricultural unmanned aerial vehicle according to claim 20, wherein the processor, when configured to obtain the desired flow rate, is configured to:
determining a desired flow rate based on the flight information; wherein the flight information includes at least one of: flight trajectory position or ambient targets.
23. The agricultural unmanned aerial vehicle of claim 19, wherein the controller, when configured to generate a rotational speed control command for a water pump motor based on the flow control command, is specifically configured to:
acquiring an expected rotating speed corresponding to the expected flow according to the flow control instruction and the corresponding relation; the corresponding relation is the corresponding relation between the rotating speed and the flow of the water pump;
and generating a rotating speed control instruction of the water pump motor according to the expected rotating speed.
24. The agricultural unmanned aerial vehicle of claim 19, wherein the first control unit and the second control unit, when configured to adjust the rotational speed of the water pump based on the first actual flow rate and the desired flow rate, are specifically configured to:
receiving the flow control instruction from the processor;
acquiring the expected flow according to the flow control instruction;
and acquiring a flow adjustment parameter according to the first actual flow and the expected flow.
25. The agricultural unmanned aerial vehicle of claim 24, wherein the first and second control units, when configured to adjust the rotational speed of the water pump based on the first actual flow rate and the desired flow rate, are specifically configured to:
receiving the flow control instruction from the processor;
receiving a flow adjustment instruction from the controller, the flow adjustment instruction being generated by the controller based on the flow adjustment parameter;
and generating a rotating speed adjusting instruction according to the flow adjusting instruction and the flow control instruction so as to adjust the rotating speed of the water pump.
26. The agricultural unmanned aerial vehicle of claim 19, wherein after the first and second control units adjust the rotational speed of the water pump based on the first actual flow rate and the desired flow rate, the controller is further configured to:
acquiring the working state of the flowmeter;
and when the flow meter is determined to be in fault, generating a rotating speed control instruction of a water pump motor according to the flow control instruction, and controlling the water pump motor to work.
27. The agricultural UAV of claim 26, wherein the failure of the flow meter comprises:
the output of the flowmeter within a preset time length is the maximum flow rate which can be measured by the flowmeter; alternatively, the first and second electrodes may be,
the output of the flowmeter within a preset time length is the minimum flow which can be measured by the flowmeter; alternatively, the first and second electrodes may be,
the flow meter at least has a first flow and a second flow in each flow output within a preset time, and the absolute value of the difference value of the first flow and the second flow is greater than or equal to a preset value.
28. An agricultural UAV according to any one of claims 19 to 27 wherein the flow meter is an electromagnetic flow meter.
29. An agricultural UAV according to any one of claims 19 to 27 wherein the pump control system further comprises a conduit connected to the pump, the flow meter being provided on the conduit;
the water pump is respectively connected with the controller and the second control unit, two ends of the controller are respectively connected with the second control unit and the first control unit, and the first control unit is also connected with the flowmeter.
30. A computer readable storage medium comprising a program or instructions for performing the method of any of claims 1 to 8 when the program or instructions are run on a computer.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/115669 WO2021087736A1 (en) | 2019-11-05 | 2019-11-05 | Water pump flow rate control method, water pump control system, and agricultural unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN112292530A true CN112292530A (en) | 2021-01-29 |
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| CN201980041392.7A Pending CN112292530A (en) | 2019-11-05 | 2019-11-05 | Control method and control system for water pump flow and agricultural unmanned aerial vehicle |
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| CN (1) | CN112292530A (en) |
| WO (1) | WO2021087736A1 (en) |
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