CN112330655B - Method and device for testing liquid medicine spraying operation in dark environment and computer equipment - Google Patents
Method and device for testing liquid medicine spraying operation in dark environment and computer equipment Download PDFInfo
- Publication number
- CN112330655B CN112330655B CN202011289514.5A CN202011289514A CN112330655B CN 112330655 B CN112330655 B CN 112330655B CN 202011289514 A CN202011289514 A CN 202011289514A CN 112330655 B CN112330655 B CN 112330655B
- Authority
- CN
- China
- Prior art keywords
- liquid medicine
- spraying
- spray
- aerial vehicle
- unmanned aerial
- 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.)
- Active
Links
- 239000007788 liquid Substances 0.000 title claims abstract description 314
- 239000003814 drug Substances 0.000 title claims abstract description 305
- 238000005507 spraying Methods 0.000 title claims abstract description 282
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000012360 testing method Methods 0.000 title claims abstract description 47
- 239000007921 spray Substances 0.000 claims abstract description 160
- 230000008859 change Effects 0.000 claims abstract description 30
- 238000009792 diffusion process Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 11
- 230000005686 electrostatic field Effects 0.000 claims description 50
- 239000000843 powder Substances 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 24
- 230000008569 process Effects 0.000 claims description 22
- 238000005516 engineering process Methods 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 14
- 238000005498 polishing Methods 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 6
- 238000010998 test method Methods 0.000 claims description 6
- 238000000889 atomisation Methods 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 239000000243 solution Substances 0.000 claims description 4
- 238000012797 qualification Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 18
- 230000000694 effects Effects 0.000 description 18
- 238000006243 chemical reaction Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 7
- 230000001225 therapeutic effect Effects 0.000 description 3
- 240000002853 Nelumbo nucifera Species 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 229920001577 copolymer Polymers 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003760 magnetic stirring Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Insects & Arthropods (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Quality & Reliability (AREA)
- Catching Or Destruction (AREA)
Abstract
The application discloses a method, a device, computer equipment and a storage medium for testing liquid medicine spraying operation in a dark environment, wherein the method comprises the following steps: detecting the intensity of ambient light by using a visible light intensity sensor; if the ambient light intensity is not greater than the preset light intensity threshold value, carrying out liquid medicine mixing treatment so as to change the liquid medicine into mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; controlling the designated unmanned aerial vehicle to fly to a designated position; detecting the liquid medicine spray; if the liquid medicine spray is charged spray, the mixed liquid medicine is atomized into charged liquid medicine spray; generating ultraviolet rays to irradiate the designated area, and performing image acquisition processing for multiple times to obtain multiple visible light images; if the second color exists in the plurality of visible light images, acquiring the variation trend of a second color range; and if the variation trend of the second color range meets the preset charged spray diffusion requirement, judging that the spraying operation test of the specified area is qualified.
Description
Technical Field
The application relates to the field of computers, in particular to a method and a device for testing liquid medicine spraying operation in a dark environment, computer equipment and a storage medium.
Background
Plants suffering from diseases and insect pests are often treated by a method of spraying atomized medicine. Wherein, the charged spraying technology in the medicine atomization spraying method can improve the treatment effect of spraying. However, the therapeutic effect of the conventional charged spray technique is difficult to measure in real time, and the therapeutic effect of a plant requiring a nighttime spraying operation is difficult to measure in real time by using the charged spray technique. Therefore, the prior art lacks a therapeutic effect test scheme for effectively spraying plants at night by adopting a charged spraying technology in real time.
Disclosure of Invention
The application provides a liquid medicine spraying operation test method under dark environment, its characterized in that is applied to the unmanned aerial vehicle terminal, the unmanned aerial vehicle terminal is located predetermined appointed unmanned aerial vehicle, include:
s1, the unmanned aerial vehicle terminal detects the intensity of ambient light by using a visible light intensity sensor on the designated unmanned aerial vehicle, and judges whether the intensity of the ambient light is greater than a preset light intensity threshold value;
s2, if the ambient light intensity is not greater than a preset light intensity threshold value, controlling a designated unmanned aerial vehicle to perform liquid medicine mixing treatment on a spraying liquid medicine cavity preset on the designated unmanned aerial vehicle, so that liquid medicine in the spraying liquid medicine cavity becomes mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays;
s3, controlling the designated unmanned aerial vehicle to fly to a designated position in a designated area; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area;
s4, detecting the liquid medicine spray according to a preset charged spray detection method to judge whether the liquid medicine spray is charged spray;
s5, if the liquid medicine spray is charged spray, performing charged spray treatment on the mixed liquid medicine in the liquid medicine spraying cavity by adopting a preset charged spray technology so as to atomize the mixed liquid medicine into charged liquid medicine spray;
s6, generating ultraviolet rays by using an ultraviolet ray generator preset on the designated unmanned aerial vehicle to irradiate the designated area, and performing image acquisition processing on an ultraviolet ray irradiation range for multiple times by using a visible light image acquisition device preset on the designated unmanned aerial vehicle to obtain multiple visible light images;
s7, judging whether the second color exists in the visible light images or not;
s8, if the second color exists in the plurality of visible light images, acquiring the variation trend of the second color range according to the plurality of visible light images;
s9, judging whether the variation trend of the second color range meets the preset charged spray diffusion requirement or not;
and S10, if the variation trend of the second color range meets the preset charged spray diffusion requirement, judging that the spraying operation test of the specified area is qualified.
Further, a powder containing bin is preset on the designated unmanned aerial vehicle, the powder containing bin contains down-conversion powder, the down-conversion powder can convert ultraviolet rays into visible light of a second color, and an electromagnetic valve is arranged between the powder containing bin and the spraying liquid medicine containing cavity; the unmanned aerial vehicle is appointed in control right the last spraying liquid medicine that predetermines of appointed unmanned aerial vehicle holds the chamber and carries out liquid medicine mixing process, so that the liquid medicine that spraying liquid medicine holds in the chamber becomes the step S2 that presents first colour under visible light and the mixed liquid medicine that presents the second colour under the ultraviolet ray, includes:
s201, detecting the current flight attitude of the designated unmanned aerial vehicle, and judging whether the powder containing bin is above the spraying liquid medicine containing cavity or not under the current flight attitude;
s202, if the powder containing bin is located above the spraying liquid medicine containing cavity, sending an opening instruction to the electromagnetic valve to open the electromagnetic valve, so that the downward-polishing powder in the powder containing bin falls into the spraying liquid medicine containing cavity;
s203, sending a closing instruction to the electromagnetic valve to open and close the electromagnetic valve, and controlling the designated unmanned aerial vehicle to turn over and fly, so that the mixing treatment of the lower polishing powder and the solution in the spraying liquid medicine containing cavity is completed.
Further, the step S4 of performing a detection process on the liquid medicine spray according to a preset charged spray detection method to determine whether the liquid medicine spray is charged spray includes:
s401, spraying operation is carried out in front of the designated unmanned aerial vehicle by adopting gas spraying equipment preset on the designated unmanned aerial vehicle to form a spray-free space, wherein the gas spraying equipment sprays gas in a compressed gas cylinder preset on the designated unmanned aerial vehicle;
s402, acquiring the theoretical polarity of spray generated when the ground spraying machine carries out liquid medicine spraying operation;
s403, when the gas injection equipment stops injecting, generating an electrostatic field through an electrostatic field generator arranged on the designated unmanned aerial vehicle; wherein the generated electrostatic field has a polarity opposite to the theoretical polarity;
s404, acquiring the electric data of the electrostatic field generated by the electrostatic field generator in the process of refilling the non-spraying space with the liquid medicine spray;
s405, judging whether the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is larger than a preset rate threshold value or not;
s406, if the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is greater than a preset rate threshold, determining that the liquid medicine spray is charged spray.
Furthermore, the spraying liquid medicine containing cavity is connected with an atomizing nozzle, the front end of the atomizing nozzle is provided with an annular electrode, and the extension line of the atomizing nozzle passes through the center of the annular electrode; step S5, in which a preset electrically charged spraying technology is adopted to electrically charge and spray the mixed liquid medicine in the spraying liquid medicine cavity, so that the mixed liquid medicine is atomized into electrically charged liquid medicine spray, includes:
s501, acquiring theoretical polarity of spray generated when the ground spraying machine carries out liquid medicine spraying operation;
s502, atomizing by using the atomizing nozzle to atomize the mixed liquid medicine for primary spraying;
and S503, applying a voltage with the polarity opposite to the theoretical polarity to the annular electrode to induce charges in the primary spray passing through the annular electrode, so that the primary spray becomes charged liquid medicine spray.
Further, the step S8 of acquiring the variation trend of the second color range according to the plurality of visible light images includes:
s801, drawing n outlines corresponding to the second color area in the plurality of visible light images respectively; the visible light images are n in total, and n is an integer greater than 2;
s802, respectively calculating n area values corresponding to the n contours;
s803, subtracting the area value corresponding to the previous visible light image from the area value corresponding to the next visible light image to obtain n-1 area difference values;
s804, combining the n-1 area difference values into a difference value sequence, and taking the difference value sequence as the variation trend of the second color range.
The application provides liquid medicine spraying operation testing arrangement under dark ring border is applied to the unmanned aerial vehicle terminal, the unmanned aerial vehicle terminal is located predetermined appointed unmanned aerial vehicle, include:
the unmanned aerial vehicle terminal detects the ambient light intensity by using the visible light intensity sensor on the designated unmanned aerial vehicle and judges whether the ambient light intensity is greater than a preset light intensity threshold value or not;
the liquid medicine mixing unit is used for controlling the designated unmanned aerial vehicle to carry out liquid medicine mixing treatment on a spraying liquid medicine containing cavity preset on the designated unmanned aerial vehicle if the ambient light intensity is not greater than a preset light intensity threshold value, so that liquid medicine in the spraying liquid medicine containing cavity is changed into mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays;
the unmanned aerial vehicle flying unit is used for controlling the designated unmanned aerial vehicle to fly to a designated position in a designated area; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area;
the charged spraying judgment unit is used for detecting and processing the liquid medicine spraying according to a preset charged spraying detection method so as to judge whether the liquid medicine spraying is charged spraying;
the mixed liquid medicine atomization unit is used for carrying out charged spraying treatment on the mixed liquid medicine in the spraying liquid medicine cavity by adopting a preset charged spraying technology if the liquid medicine spraying is charged spraying so as to atomize the mixed liquid medicine into charged liquid medicine spraying;
the visible light image acquisition unit is used for generating ultraviolet rays by utilizing an ultraviolet ray generator preset on the designated unmanned aerial vehicle so as to irradiate the designated area, and carrying out image acquisition processing on an ultraviolet ray irradiation range for multiple times by adopting a visible light image acquisition device preset on the designated unmanned aerial vehicle so as to obtain multiple visible light images;
a second color determination unit, configured to determine whether the second color exists in each of the plurality of visible light images;
the change trend acquiring unit is used for acquiring the change trend of the second color range according to the plurality of visible light images if the second color exists in the plurality of visible light images;
the change trend judging unit is used for judging whether the change trend of the second color range meets the preset charged spray diffusion requirement or not;
and the test qualification judging unit is used for judging that the spraying operation test of the specified area is qualified if the variation trend of the second color range meets the preset charged spray diffusion requirement.
The present application provides a computer device comprising a memory storing a computer program and a processor implementing the steps of any of the above methods when the processor executes the computer program.
The present application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any of the above.
The application discloses a test method, a test device, computer equipment and a storage medium for liquid medicine spraying operation in a dark environment, for example, charged liquid medicine spraying effect detection is carried out in the dark environment at night, an ultraviolet light conversion technology is adopted in the test device, so that spraying still keeps intrinsic color in a non-ultraviolet environment, the intrinsic color is still kept when the spraying is attached to plants, pollution (such as light pollution) to the environment under visible light is avoided, and the test of spraying effect is completed on the premise of protecting the ecological environment.
Drawings
Fig. 1-2 are schematic flow charts illustrating a method for testing a chemical liquid spraying operation in a dark environment according to an embodiment of the present application;
fig. 3 is a block diagram illustrating a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1-2, an embodiment of the present application provides a liquid medicine spraying operation test method in a dark environment, which is applied to an unmanned aerial vehicle terminal, where the unmanned aerial vehicle terminal is located on a preset designated unmanned aerial vehicle, and the method includes:
s1, detecting the intensity of ambient light by the unmanned aerial vehicle terminal by using the visible light intensity sensor on the designated unmanned aerial vehicle, and judging whether the intensity of the ambient light is greater than a preset light intensity threshold value;
s2, if the ambient light intensity is not greater than a preset light intensity threshold value, controlling a designated unmanned aerial vehicle to perform liquid medicine mixing treatment on a spraying liquid medicine cavity preset on the designated unmanned aerial vehicle, so that liquid medicine in the spraying liquid medicine cavity becomes mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays;
s3, controlling the designated unmanned aerial vehicle to fly to a designated position in a designated area; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area;
s4, detecting the liquid medicine spray according to a preset charged spray detection method to judge whether the liquid medicine spray is charged spray;
s5, if the liquid medicine spray is charged spray, performing charged spray treatment on the mixed liquid medicine in the liquid medicine spraying cavity by adopting a preset charged spray technology so as to atomize the mixed liquid medicine into charged liquid medicine spray;
s6, generating ultraviolet rays by using an ultraviolet ray generator preset on the designated unmanned aerial vehicle to irradiate the designated area, and performing image acquisition processing on an ultraviolet ray irradiation range for multiple times by using a visible light image acquisition device preset on the designated unmanned aerial vehicle to obtain multiple visible light images;
s7, judging whether the second color exists in the visible light images or not;
s8, if the second color exists in the plurality of visible light images, acquiring the variation trend of the second color range according to the plurality of visible light images;
s9, judging whether the variation trend of the second color range meets the preset charged spray diffusion requirement or not;
and S10, if the variation trend of the second color range meets the preset charged spray diffusion requirement, judging that the spraying operation test of the specified area is qualified.
As described in the above steps S1-S2, the drone terminal detects the intensity of ambient light by using the visible light intensity sensor on the designated drone, and determines whether the intensity of ambient light is greater than a preset light intensity threshold; if the ambient light intensity is not greater than a preset light intensity threshold value, controlling a designated unmanned aerial vehicle to perform liquid medicine mixing treatment on a spraying liquid medicine containing cavity preset on the designated unmanned aerial vehicle, so that liquid medicine in the spraying liquid medicine containing cavity is changed into mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays. The purpose of utilizing the visible light intensity sensor to detect the ambient light intensity is to judge whether the current environment is at night or a scene similar to the night. The application can only be implemented in dark environments, such as at night, or in other words, is specifically designed for dark environments. Specifically, under the dark surrounds, the visible light in the environment is few, and traditional technique can't observe the effect of electric spray under this circumstances, and this application is right through control appointed unmanned aerial vehicle the spraying liquid medicine appearance chamber of predetermineeing on the appointed unmanned aerial vehicle carries out liquid medicine mixing process, so that the liquid medicine in the spraying liquid medicine appearance chamber becomes the mode that presents first colour under the visible light and presents the mixed liquid medicine of second colour under the ultraviolet ray for it becomes possible to detect electric spray in the dark surrounds, and wherein this kind of special use of mixing liquid medicine of this application will be introduced in detail below with concrete step. The visible light intensity sensor can detect the intensity of light, so that any feasible visible light intensity sensor can be adopted. The liquid medicine mixing process is aimed at mixing an original liquid medicine into a special material to obtain a mixed liquid medicine, and the mixed liquid medicine presents a first color under visible light and a second color under ultraviolet light. Such a special material may be any feasible material, such as a down-converting material, more specifically, for example, a rare earth-based material, a resin material (e.g., maleic anhydride copolymer-based resin), or the like. Since these special materials still maintain the property of converting ultraviolet rays into visible light in the mixed liquid medicine, they can be applied to the present application to enable the detection of the spraying effect in a dark environment. The first color is the intrinsic color of the original liquid medicine; the second color is a visible light color excited by the mixed liquid medicine under ultraviolet rays, and can be any feasible color, such as red, green or blue. The spraying liquid medicine presents a first color under visible light, but is invisible under ultraviolet light, which means that the spraying liquid medicine cannot excite light rays in a visible light wave band under the ultraviolet light condition.
Further, a powder containing bin is preset on the designated unmanned aerial vehicle, the powder containing bin contains down-conversion powder, the down-conversion powder can convert ultraviolet rays into visible light of a second color, and an electromagnetic valve is arranged between the powder containing bin and the spraying liquid medicine containing cavity; the unmanned aerial vehicle is appointed in control right the last spraying liquid medicine that predetermines of appointed unmanned aerial vehicle holds the chamber and carries out liquid medicine mixing process, so that the liquid medicine that spraying liquid medicine holds in the chamber becomes the step S2 that presents first colour under visible light and the mixed liquid medicine that presents the second colour under the ultraviolet ray, includes:
s201, detecting the current flight attitude of the designated unmanned aerial vehicle, and judging whether the powder containing bin is above the spraying liquid medicine containing cavity or not under the current flight attitude;
s202, if the powder containing bin is located above the spraying liquid medicine containing cavity, sending an opening instruction to the electromagnetic valve to open the electromagnetic valve, so that the downward-polishing powder in the powder containing bin falls into the spraying liquid medicine containing cavity;
s203, sending a closing instruction to the electromagnetic valve to open and close the electromagnetic valve, and controlling the designated unmanned aerial vehicle to turn over and fly, so that the mixing treatment of the lower polishing powder and the solution in the spraying liquid medicine containing cavity is completed.
Thereby realizing the mixing treatment of the liquid medicine without magnetic stirring equipment and other modes. Wherein, the appointed unmanned aerial vehicle of this application adopts and holds storehouse structural design, need not to set for very much and holds the relative position relation between the storehouse to can improve unmanned aerial vehicle's space utilization, and then improve holistic spraying detection effect (because relatively speaking, the memory space of downturning light powder and liquid medicine has all obtained the increase, and the spraying process is changeed and is gone on, and image detection is more obvious with the data of analysis). Specifically, because the current flight gesture that has adopted to detect appointed unmanned aerial vehicle to under the current flight gesture, judge whether the powder holds the storehouse and is in the mode that the spraying liquid medicine holds the top in chamber, thereby make before mixing liquid, the powder holds the storehouse and must be in the top that the spraying liquid medicine holds the chamber, consequently through the reason of gravity, can realize the purpose of mixing liquid, and still need not to establish power unit in addition and be used for mixing liquid. The powder holds the storehouse with spraying liquid medicine holds and is provided with the solenoid valve between the chamber to the solenoid valve can control the switching of passageway, opens when needs to realize mixing liquid, reaches the requirement at powder throughput, perhaps closes when need not mixing liquid, in order to prevent that the liquid medicine from flowing into powder and holding the storehouse. The principle of the down-conversion light powder is that the energy band structure of the down-conversion light powder is special, the energy state of electrons of the down-conversion light powder can be excited to a high energy state after the photons of purple light are absorbed, the electrons of the high energy state are transited to release energy, the released energy is presented in the form of photons, and the energy difference of the electrons at the time of the transition is in the visible light wave band, so visible light can be excited. Wherein, control appointed unmanned aerial vehicle flies to overturn, can adopt the upset of arbitrary mode to fly, for example overturns in the home position, also can overturn and fly and get back to the home position after a distance.
Controlling the designated drone to fly to a designated location in a designated area as described in the above steps S3-S5; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area; detecting the liquid medicine spray according to a preset charged spray detection method to judge whether the liquid medicine spray is charged spray or not; and if the liquid medicine spray is charged spray, performing charged spray treatment on the mixed liquid medicine in the liquid medicine spraying cavity by adopting a preset charged spray technology so as to atomize the mixed liquid medicine into charged liquid medicine spray.
The unmanned aerial vehicle control method and device aim to test the spraying effect in the designated area, and therefore the designated unmanned aerial vehicle is controlled to fly to the designated position in the designated area; the designated position is located in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation through a preset ground spraying machine, and plants to be sprayed are planted in the designated area. The plant to be sprayed can be any feasible plant, such as a plant only suitable for spraying in a dark environment. This is because some plants are not effective in spraying in a bright environment such as daytime because of high temperature during daytime and the occurrence of pests in the daytime, and thus are suitable only for spraying in a dark environment. In addition, the main part of carrying out main liquid medicine spraying operation in this application is ground spraying machines and tools, rather than the appointed unmanned aerial vehicle in this application. Appointed unmanned aerial vehicle in this application mainly plays the effect of spraying effect test. The ground spraying machine is, for example, a spraying vehicle provided with a liquid medicine storage tank and a corresponding spraying nozzle. And according to a preset charged spray detection method, carrying out detection treatment on the liquid medicine spray to judge whether the liquid medicine spray is charged spray or not so as to determine whether further testing is necessary or not. In some cases, the spray from the ground spraying machine is an uncharged spray when the spraying parameters are not proper, and in such cases, the spraying operation can be judged to be unqualified without further testing. The charged spray detection method may be any feasible method, such as detecting the amount of charge in the spray. The charged spraying technology adopted by the designated unmanned aerial vehicle can be any feasible charged spraying technology, preferably the charged spraying technology which is the same as that of a ground spraying machine, and more preferably the spraying parameters which are the same as those of the ground spraying machine. If the liquid medicine spraying is charged spraying, the necessity of further testing is shown, so that the mixed liquid medicine in the spraying liquid medicine containing cavity is subjected to charged spraying treatment by adopting a preset charged spraying technology, so that the mixed liquid medicine is atomized into charged liquid medicine spraying.
Further, the step S4 of performing a detection process on the liquid medicine spray according to a preset charged spray detection method to determine whether the liquid medicine spray is charged spray includes:
s401, spraying operation is carried out in front of the designated unmanned aerial vehicle by adopting gas spraying equipment preset on the designated unmanned aerial vehicle to form a spray-free space, wherein the gas spraying equipment sprays gas in a compressed gas cylinder preset on the designated unmanned aerial vehicle;
s402, acquiring the theoretical polarity of spray generated when the ground spraying machine carries out liquid medicine spraying operation;
s403, when the gas injection equipment stops injecting, generating an electrostatic field through an electrostatic field generator arranged on the designated unmanned aerial vehicle; wherein the generated electrostatic field has a polarity opposite to the theoretical polarity;
s404, acquiring the electric data of the electrostatic field generated by the electrostatic field generator in the process of refilling the non-spraying space with the liquid medicine spray;
s405, judging whether the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is larger than a preset rate threshold value or not;
s406, if the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is greater than a preset rate threshold, determining that the liquid medicine spray is charged spray.
Thereby realizing the accurate judgment of whether the liquid medicine spray is charged spray or not. The application adopts a special scheme to judge whether the liquid medicine spray is charged spray. Specifically, adopt earlier appointed unmanned aerial vehicle is last to preset gas jet equipment right appointed unmanned aerial vehicle the place ahead sprays the operation to form no spray space, and generate electrostatic field, under this condition, because the effect relation between the electric charge field, the electric charge spraying is different with the diffusion velocity of non-electric charge spraying in no spray space, and the change rate of the electricity data of electrostatic field is also different (the electric charge spraying can neutralize the electrostatic field, leads to the electric data of electrostatic field to descend fast), thereby can accurately judge whether liquid medicine spraying is electric charge spraying. The electrostatic field generated by the electrostatic field generator is a non-maintaining electrostatic field, and the non-maintaining electrostatic field means that the electrostatic field generator does not maintain the electrostatic field after generating the electrostatic field, so that the electrical data of the electrostatic field is rapidly reduced if the generated electrostatic field is neutralized by charges. The electric data of the electrostatic field is, for example, a voltage value, a charge amount, an electric field strength, or the like.
Furthermore, the spraying liquid medicine containing cavity is connected with an atomizing nozzle, the front end of the atomizing nozzle is provided with an annular electrode, and the extension line of the atomizing nozzle passes through the center of the annular electrode; step S5, in which a preset electrically charged spraying technology is adopted to electrically charge and spray the mixed liquid medicine in the spraying liquid medicine cavity, so that the mixed liquid medicine is atomized into electrically charged liquid medicine spray, includes:
s501, acquiring theoretical polarity of spray generated when the ground spraying machine carries out liquid medicine spraying operation;
s502, atomizing by using the atomizing nozzle to atomize the mixed liquid medicine for primary spraying;
and S503, applying a voltage with the polarity opposite to the theoretical polarity to the annular electrode to induce charges in the primary spray passing through the annular electrode, so that the primary spray becomes charged liquid medicine spray.
Thereby realizing the spraying of the charged spray. Wherein, be provided with atomizer on the appointed unmanned aerial vehicle of this application, the spraying liquid medicine holds the chamber and is connected with atomizer, atomizer's front end is provided with annular electrode, atomizer's extension line passes through annular electrode's center, thereby appointed unmanned aerial vehicle can carry out the lotus electric spray technique, atomizes the liquid medicine for the spraying that has the electric charge. In addition, the polarity of the voltage that the cyclic annular electrode of this application need be applyed is opposite with the theoretical polarity of the spraying that ground spraying machines generated when carrying out the liquid medicine spraying operation to the electric charge that the spraying that generates carried can be the same with the theoretical polarity of the spraying that ground spraying machines generated when carrying out the liquid medicine spraying operation, in order to guarantee the reliability of test.
As described in the above steps S6-S7, the designated unmanned aerial vehicle is used to generate ultraviolet rays to irradiate the designated area, and the visible light image capturing device preset on the designated unmanned aerial vehicle is used to perform multiple image capturing processes on the ultraviolet irradiation range, so as to obtain multiple visible light images; and judging whether the second color exists in the plurality of visible light images. The ultraviolet generator may be any feasible generator, such as an ultraviolet flash lamp, and in the case of the ultraviolet flash lamp, the ultraviolet flash operation is required at each image capturing process. It should be noted that the image capturing device of the present application is a visible light image capturing device, not an ultraviolet image capturing device. That is, different from the common scheme, the common scheme is that the visible light flash lamp is adopted for illumination, and then image acquisition is carried out, but this application adopts ultraviolet illumination, and the charged liquid medicine spraying that mixed liquid medicine produced excites out visible light ray under the ultraviolet ray environment to this application adopts visible light image acquisition device can gather the spraying region that has the colour. In addition, it should be emphasized that the present application is suitable for testing in dark environment, and one reason is to reduce the influence of visible light and ultraviolet light in the environment as much as possible, so as to improve the accuracy of the test result as much as possible. Therefore, the preset visible light image acquisition device on the designated unmanned aerial vehicle is adopted to acquire and process images of the ultraviolet irradiation range for multiple times so as to obtain multiple visible light images. Therefore, by analyzing the visible light images having a temporal relationship, the tendency of the charged chemical liquid spray generated from the mixed chemical liquid can be known. And judging whether the second color exists in the visible light images or not, so that whether the liquid mixing and charged spraying processes carried out on the designated unmanned aerial vehicle are smoothly completed or not can be known.
As described in step S8-10, if the second color exists in all the visible light images, the variation trend of the second color range is obtained according to the visible light images; judging whether the variation trend of the second color range meets the preset charged spray diffusion requirement or not; and if the variation trend of the second color range meets the preset charged spray diffusion requirement, judging that the spraying operation test of the specified area is qualified. If the second color exists in all the visible light images, the charged spray for testing is generated, and therefore the visible light images can be used as the basis for testing. And acquiring the variation trend of the second color range according to the plurality of visible light images. The range of the second color in the plurality of visible light images is different, as determined by the characteristic of the spray spreading around in the air. The obtaining of the variation trend of the second color range may adopt any feasible method, for example, by analyzing the variation trend of the boundary of the second color as the variation trend of the second color range. And judging whether the variation trend of the second color range meets the preset charged spray diffusion requirement or not so as to determine whether the spraying operation is qualified or not. The liquid medicine spray with the intrinsic color is difficult to observe, the charged spray generated by the designated unmanned aerial vehicle can be observed by the observation method, and the charged spray generated by the designated unmanned aerial vehicle is essentially the same as the spray sprayed by the ground spraying machine, so that if the diffusion trend of the charged spray generated by the designated unmanned aerial vehicle (namely the change trend of the second color range) meets the requirement, the spraying operation of the ground spraying machine is qualified. And judging whether the variation trend of the second color range meets the preset charged spray diffusion requirement or not by adopting any feasible mode, for example, calculating the real diffusion coefficient of the spray according to the variation trend of the second color range, comparing the real diffusion coefficient with the preset standard diffusion coefficient, if the real diffusion coefficient is greater than the standard diffusion coefficient, judging that the variation trend of the second color range meets the preset charged spray diffusion requirement, and judging that the spraying operation test of the specified area is qualified.
Further, the step S8 of acquiring the variation trend of the second color range according to the plurality of visible light images includes:
s801, drawing n outlines corresponding to the second color area in the plurality of visible light images respectively; the visible light images are n in total, and n is an integer greater than 2;
s802, respectively calculating n area values corresponding to the n contours;
s803, subtracting the area value corresponding to the previous visible light image from the area value corresponding to the next visible light image to obtain n-1 area difference values;
s804, combining the n-1 area difference values into a difference value sequence, and taking the difference value sequence as the variation trend of the second color range.
Thereby realizing the acquisition of the variation trend of the second color range. The method and the device for analyzing the change trend of the second color range adopt a plurality of visible light images to analyze the change trend of the second color range, and in order to accurately express the real-time change trend, the change trend of the second color range is not measured by a single numerical value, but the change trend on continuous time is reflected in a difference sequence mode, so that the subsequent analysis result is more accurate. The multiple visible light images are shot when the designated unmanned aerial vehicle hovers at the same air position.
The liquid medicine spraying operation testing method under the dark environment realizes the charged liquid medicine spraying effect detection under the dark environment at night, and adopts the ultraviolet light conversion technology, so that the spraying still keeps the intrinsic color under the non-ultraviolet environment, and the intrinsic color is still kept when the spraying is attached to plants, thereby not causing pollution (such as light pollution) to the environment under visible light, and realizing the testing of the spraying effect under the premise of protecting the ecological environment.
The embodiment of the application provides a liquid medicine spraying operation testing arrangement under dark environment, is applied to the unmanned aerial vehicle terminal, the unmanned aerial vehicle terminal is located predetermined appointed unmanned aerial vehicle, include:
the unmanned aerial vehicle terminal detects the ambient light intensity by using the visible light intensity sensor on the designated unmanned aerial vehicle and judges whether the ambient light intensity is greater than a preset light intensity threshold value or not;
the liquid medicine mixing unit is used for controlling the designated unmanned aerial vehicle to carry out liquid medicine mixing treatment on a spraying liquid medicine containing cavity preset on the designated unmanned aerial vehicle if the ambient light intensity is not greater than a preset light intensity threshold value, so that liquid medicine in the spraying liquid medicine containing cavity is changed into mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays;
the unmanned aerial vehicle flying unit is used for controlling the designated unmanned aerial vehicle to fly to a designated position in a designated area; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area;
the charged spraying judgment unit is used for detecting and processing the liquid medicine spraying according to a preset charged spraying detection method so as to judge whether the liquid medicine spraying is charged spraying;
the mixed liquid medicine atomization unit is used for carrying out charged spraying treatment on the mixed liquid medicine in the spraying liquid medicine cavity by adopting a preset charged spraying technology if the liquid medicine spraying is charged spraying so as to atomize the mixed liquid medicine into charged liquid medicine spraying;
the visible light image acquisition unit is used for generating ultraviolet rays by utilizing an ultraviolet ray generator preset on the designated unmanned aerial vehicle so as to irradiate the designated area, and carrying out image acquisition processing on an ultraviolet ray irradiation range for multiple times by adopting a visible light image acquisition device preset on the designated unmanned aerial vehicle so as to obtain multiple visible light images;
a second color determination unit, configured to determine whether the second color exists in each of the plurality of visible light images;
the change trend acquiring unit is used for acquiring the change trend of the second color range according to the plurality of visible light images if the second color exists in the plurality of visible light images;
the change trend judging unit is used for judging whether the change trend of the second color range meets the preset charged spray diffusion requirement or not;
and the test qualification judging unit is used for judging that the spraying operation test of the specified area is qualified if the variation trend of the second color range meets the preset charged spray diffusion requirement.
The operations performed by the units correspond to the steps of the method for testing the liquid medicine spraying operation in the dark environment in the embodiment one by one, and are not described herein again.
The utility model provides a liquid medicine spraying operation testing arrangement under dark surrounds realizes for example carrying out lotus electric liquid medicine spraying effect under the dark surrounds at night and detects to wherein adopt ultraviolet to change light technique, make the spraying still keep intrinsic colour under non-ultraviolet environment, also keep intrinsic colour when treating it attaches on the plant, thereby can not cause the pollution (for example light pollution) to the environment under the visible light, realize accomplishing the test of spraying effect under the prerequisite of protection ecological environment.
Referring to fig. 3, an embodiment of the present invention further provides a computer device, where the computer device may be a server, and an internal structure of the computer device may be as shown in the figure. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer equipment is used for storing data used by the test method of the liquid medicine spraying operation in the dark environment. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a test method of liquid medicine spraying operation in a dark environment.
The processor executes the method for testing the liquid medicine spraying operation in the dark environment, wherein the steps included in the method correspond to the steps of executing the method for testing the liquid medicine spraying operation in the dark environment in the embodiment one to one, and are not described herein again.
It will be understood by those skilled in the art that the structures shown in the drawings are only block diagrams of some of the structures associated with the embodiments of the present application and do not constitute a limitation on the computer apparatus to which the embodiments of the present application may be applied.
The computer equipment realizes the detection of the charged liquid medicine spraying effect in the dark environment at night, and adopts the ultraviolet light conversion technology, so that the spraying still keeps the intrinsic color in the non-ultraviolet environment, and the intrinsic color is still kept when the spraying is attached to plants, thereby not polluting the environment (such as light pollution) under visible light, and realizing the test of the spraying effect under the premise of protecting the ecological environment.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for testing the liquid medicine spraying operation in the dark environment is implemented, where steps included in the method correspond to steps of the method for testing the liquid medicine spraying operation in the dark environment in the foregoing embodiment one to one, and are not described herein again.
The computer-readable storage medium of the application realizes the detection of the spraying effect of the charged liquid medicine in the dark environment at night, and adopts the ultraviolet light conversion technology, so that the spraying still keeps the intrinsic color in the non-ultraviolet environment and also keeps the intrinsic color when the spraying is attached to plants, thereby not causing pollution (such as light pollution) to the environment under visible light, and realizing the test of the spraying effect under the premise of protecting the ecological environment.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware associated with a computer program or instructions, the computer program can be stored in a non-volatile computer-readable storage medium, and the computer program can include the processes of the embodiments of the methods described above when executed. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (6)
1. The utility model provides a liquid medicine spraying operation test method under dark environment, its characterized in that is applied to the unmanned aerial vehicle terminal, the unmanned aerial vehicle terminal is located predetermined appointed unmanned aerial vehicle, includes:
s1, the unmanned aerial vehicle terminal detects the intensity of ambient light by using a visible light intensity sensor on the designated unmanned aerial vehicle, and judges whether the intensity of the ambient light is greater than a preset light intensity threshold value;
s2, if the ambient light intensity is not greater than a preset light intensity threshold value, controlling a designated unmanned aerial vehicle to perform liquid medicine mixing treatment on a spraying liquid medicine cavity preset on the designated unmanned aerial vehicle, so that liquid medicine in the spraying liquid medicine cavity becomes mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays;
s3, controlling the designated unmanned aerial vehicle to fly to a designated position in a designated area; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area;
s4, detecting the liquid medicine spray according to a preset charged spray detection method to judge whether the liquid medicine spray is charged spray;
s5, if the liquid medicine spray is charged spray, performing charged spray treatment on the mixed liquid medicine in the liquid medicine spraying cavity by adopting a preset charged spray technology so as to atomize the mixed liquid medicine into charged liquid medicine spray;
s6, generating ultraviolet rays by using an ultraviolet ray generator preset on the designated unmanned aerial vehicle to irradiate the designated area, and performing image acquisition processing on an ultraviolet ray irradiation range for multiple times by using a visible light image acquisition device preset on the designated unmanned aerial vehicle to obtain multiple visible light images;
s7, judging whether the second color exists in the visible light images or not;
s8, if the second color exists in the plurality of visible light images, acquiring the variation trend of the second color range according to the plurality of visible light images;
s9, judging whether the variation trend of the second color range meets the preset charged spray diffusion requirement or not;
s10, if the variation trend of the second color range meets the preset charged spray diffusion requirement, judging that the spraying operation test of the specified area is qualified;
the step S4 of performing detection processing on the liquid medicine spray according to a preset charged spray detection method to determine whether the liquid medicine spray is charged spray includes:
s401, spraying operation is carried out in front of the designated unmanned aerial vehicle by adopting gas spraying equipment preset on the designated unmanned aerial vehicle to form a spray-free space, wherein the gas spraying equipment sprays gas in a compressed gas cylinder preset on the designated unmanned aerial vehicle;
s402, acquiring the theoretical polarity of spray generated when the ground spraying machine carries out liquid medicine spraying operation;
s403, when the gas injection equipment stops injecting, generating an electrostatic field through an electrostatic field generator arranged on the designated unmanned aerial vehicle; wherein the generated electrostatic field has a polarity opposite to the theoretical polarity;
s404, acquiring the electric data of the electrostatic field generated by the electrostatic field generator in the process of refilling the non-spraying space with the liquid medicine spray;
s405, judging whether the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is larger than a preset rate threshold value or not;
s406, if the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is greater than a preset rate threshold, determining that the liquid medicine spray is charged spray;
the spraying liquid medicine containing cavity is connected with an atomizing nozzle, the front end of the atomizing nozzle is provided with an annular electrode, and the extension line of the atomizing nozzle passes through the center of the annular electrode; step S5, in which a preset electrically charged spraying technology is adopted to electrically charge and spray the mixed liquid medicine in the spraying liquid medicine cavity, so that the mixed liquid medicine is atomized into electrically charged liquid medicine spray, includes:
s501, acquiring theoretical polarity of spray generated when the ground spraying machine carries out liquid medicine spraying operation;
s502, atomizing by using the atomizing nozzle to atomize the mixed liquid medicine for primary spraying;
and S503, applying a voltage with the polarity opposite to the theoretical polarity to the annular electrode to induce charges in the primary spray passing through the annular electrode, so that the primary spray becomes charged liquid medicine spray.
2. The chemical liquid spraying operation testing method in the dark environment according to claim 1, wherein a powder containing bin is preset on the designated unmanned aerial vehicle, the powder containing bin contains under-polish powder, the under-polish powder can convert ultraviolet rays into visible light of a second color, and an electromagnetic valve is arranged between the powder containing bin and the spraying chemical liquid containing cavity; the unmanned aerial vehicle is appointed in control right the last spraying liquid medicine that predetermines of appointed unmanned aerial vehicle holds the chamber and carries out liquid medicine mixing process, so that the liquid medicine that spraying liquid medicine holds in the chamber becomes the step S2 that presents first colour under visible light and the mixed liquid medicine that presents the second colour under the ultraviolet ray, includes:
s201, detecting the current flight attitude of the designated unmanned aerial vehicle, and judging whether the powder containing bin is above the spraying liquid medicine containing cavity or not under the current flight attitude;
s202, if the powder containing bin is located above the spraying liquid medicine containing cavity, sending an opening instruction to the electromagnetic valve to open the electromagnetic valve, so that the downward-polishing powder in the powder containing bin falls into the spraying liquid medicine containing cavity;
s203, sending a closing instruction to the electromagnetic valve to open and close the electromagnetic valve, and controlling the designated unmanned aerial vehicle to turn over and fly, so that the mixing treatment of the lower polishing powder and the solution in the spraying liquid medicine containing cavity is completed.
3. The method for testing chemical spraying operation under dark environment according to claim 1, wherein the step S8 of obtaining the trend of change of the second color range from the plurality of visible light images includes:
s801, drawing n outlines corresponding to the second color area in the plurality of visible light images respectively; the visible light images are n in total, and n is an integer greater than 2;
s802, respectively calculating n area values corresponding to the n contours;
s803, subtracting the area value corresponding to the previous visible light image from the area value corresponding to the next visible light image to obtain n-1 area difference values;
s804, combining the n-1 area difference values into a difference value sequence, and taking the difference value sequence as the variation trend of the second color range.
4. The utility model provides a liquid medicine spraying operation testing arrangement under dark surrounds, its characterized in that is applied to the unmanned aerial vehicle terminal, the unmanned aerial vehicle terminal is located predetermined appointed unmanned aerial vehicle, include:
the unmanned aerial vehicle terminal detects the ambient light intensity by using the visible light intensity sensor on the designated unmanned aerial vehicle and judges whether the ambient light intensity is greater than a preset light intensity threshold value or not;
the liquid medicine mixing unit is used for controlling the designated unmanned aerial vehicle to carry out liquid medicine mixing treatment on a spraying liquid medicine containing cavity preset on the designated unmanned aerial vehicle if the ambient light intensity is not greater than a preset light intensity threshold value, so that liquid medicine in the spraying liquid medicine containing cavity is changed into mixed liquid medicine which presents a first color under visible light and presents a second color under ultraviolet light; the spraying liquid medicine accommodating cavity is filled with spraying liquid medicine before liquid medicine mixing treatment is carried out, and the spraying liquid medicine presents a first color under visible light but is invisible under ultraviolet rays;
the unmanned aerial vehicle flying unit is used for controlling the designated unmanned aerial vehicle to fly to a designated position in a designated area; the designated position is positioned in liquid medicine spray formed by atomizing the spraying liquid medicine, the liquid medicine spray is generated by carrying out liquid medicine spraying operation by a preset ground spraying machine, and plants to be sprayed are planted in the designated area;
the charged spraying judgment unit is used for detecting and processing the liquid medicine spraying according to a preset charged spraying detection method so as to judge whether the liquid medicine spraying is charged spraying;
the mixed liquid medicine atomization unit is used for carrying out charged spraying treatment on the mixed liquid medicine in the spraying liquid medicine cavity by adopting a preset charged spraying technology if the liquid medicine spraying is charged spraying so as to atomize the mixed liquid medicine into charged liquid medicine spraying;
the visible light image acquisition unit is used for generating ultraviolet rays by utilizing an ultraviolet ray generator preset on the designated unmanned aerial vehicle so as to irradiate the designated area, and carrying out image acquisition processing on an ultraviolet ray irradiation range for multiple times by adopting a visible light image acquisition device preset on the designated unmanned aerial vehicle so as to obtain multiple visible light images;
a second color determination unit, configured to determine whether the second color exists in each of the plurality of visible light images;
the change trend acquiring unit is used for acquiring the change trend of the second color range according to the plurality of visible light images if the second color exists in the plurality of visible light images;
the change trend judging unit is used for judging whether the change trend of the second color range meets the preset charged spray diffusion requirement or not;
the test qualification judging unit is used for judging that the spraying operation test of the specified area is qualified if the variation trend of the second color range meets the preset charged spray diffusion requirement;
the method for detecting the liquid medicine spray according to the preset charged spray detection method to judge whether the liquid medicine spray is charged spray comprises the following steps:
spraying operation is carried out in front of the designated unmanned aerial vehicle by adopting gas spraying equipment preset on the designated unmanned aerial vehicle to form a spray-free space, wherein the gas is sprayed by the gas spraying equipment in a compressed gas cylinder preset on the designated unmanned aerial vehicle;
obtaining the theoretical polarity of the spray generated when the ground spraying machine carries out liquid medicine spraying operation;
generating an electrostatic field through an electrostatic field generator arranged on the designated unmanned aerial vehicle when the gas injection equipment stops injecting; wherein the generated electrostatic field has a polarity opposite to the theoretical polarity;
acquiring the electrical data of an electrostatic field generated by the electrostatic field generator in the process of refilling the non-spraying space with the liquid medicine spray;
judging whether the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is greater than a preset rate threshold value or not;
if the change rate of the electrical data of the electrostatic field generated by the electrostatic field generator is greater than a preset rate threshold, determining that the liquid medicine spray is charged spray;
the spraying liquid medicine containing cavity is connected with an atomizing nozzle, the front end of the atomizing nozzle is provided with an annular electrode, and the extension line of the atomizing nozzle passes through the center of the annular electrode; the adoption of the preset electric charge spraying technology, carry out electric charge spraying treatment to the mixed liquid medicine in the spraying liquid medicine holding cavity, so that the mixed liquid medicine is atomized into electric charge liquid medicine spraying, include:
obtaining the theoretical polarity of the spray generated when the ground spraying machine carries out liquid medicine spraying operation;
atomizing by using the atomizing nozzle to atomize the mixed liquid medicine for preliminary spraying;
applying a voltage of opposite polarity to the theoretical polarity to the ring electrode such that the preliminary spray passing through the ring electrode is induced to become electrically charged liquid medicine spray.
5. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 3 when executing the computer program.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289514.5A CN112330655B (en) | 2020-11-18 | 2020-11-18 | Method and device for testing liquid medicine spraying operation in dark environment and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011289514.5A CN112330655B (en) | 2020-11-18 | 2020-11-18 | Method and device for testing liquid medicine spraying operation in dark environment and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112330655A CN112330655A (en) | 2021-02-05 |
| CN112330655B true CN112330655B (en) | 2021-06-25 |
Family
ID=74322477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011289514.5A Active CN112330655B (en) | 2020-11-18 | 2020-11-18 | Method and device for testing liquid medicine spraying operation in dark environment and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112330655B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987793B (en) * | 2021-04-06 | 2023-03-24 | 中国农业科学院都市农业研究所 | Spraying method and device based on unmanned aerial vehicle, electronic equipment and medium |
| CN113244841B (en) * | 2021-07-14 | 2021-09-28 | 北京力耘柯创医学研究院 | Nutrient solution preparation system based on concentration detection regulation and control |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574077A (en) * | 2009-06-15 | 2009-11-11 | 江苏大学 | Spraying medicine application vehicle used for preventing and treating crop diseases and pests |
| WO2014149486A1 (en) * | 2013-03-15 | 2014-09-25 | Isp Investments Inc. | Polymers polymerized from at least four monomers, and compositions and uses thereof |
| CN104908949A (en) * | 2015-06-10 | 2015-09-16 | 浙江空行飞行器技术有限公司 | Automatic medicine liquor spraying unmanned aerial vehicle |
| CN206284202U (en) * | 2016-12-15 | 2017-06-30 | 苏州迪芬德物联网科技有限公司 | Static water-spraying system |
| CN110721547A (en) * | 2019-09-30 | 2020-01-24 | 江苏大学 | Charged spraying device and dust suppression system |
| CN111268872A (en) * | 2020-04-02 | 2020-06-12 | 安徽华骐环保科技股份有限公司 | Pesticide wastewater treatment process and treatment device thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9351487B2 (en) * | 2012-11-09 | 2016-05-31 | Rachel Dove | Polymeric film for agricultural product storage, containers made therefrom and related methods of agricultural product storage |
| US9326457B2 (en) * | 2013-04-09 | 2016-05-03 | Dairy Solutions, Inc | Micro layering pest control solution |
| CN111880558B (en) * | 2020-07-06 | 2021-05-11 | 广东技术师范大学 | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium |
-
2020
- 2020-11-18 CN CN202011289514.5A patent/CN112330655B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574077A (en) * | 2009-06-15 | 2009-11-11 | 江苏大学 | Spraying medicine application vehicle used for preventing and treating crop diseases and pests |
| WO2014149486A1 (en) * | 2013-03-15 | 2014-09-25 | Isp Investments Inc. | Polymers polymerized from at least four monomers, and compositions and uses thereof |
| CN104908949A (en) * | 2015-06-10 | 2015-09-16 | 浙江空行飞行器技术有限公司 | Automatic medicine liquor spraying unmanned aerial vehicle |
| CN206284202U (en) * | 2016-12-15 | 2017-06-30 | 苏州迪芬德物联网科技有限公司 | Static water-spraying system |
| CN110721547A (en) * | 2019-09-30 | 2020-01-24 | 江苏大学 | Charged spraying device and dust suppression system |
| CN111268872A (en) * | 2020-04-02 | 2020-06-12 | 安徽华骐环保科技股份有限公司 | Pesticide wastewater treatment process and treatment device thereof |
Non-Patent Citations (1)
| Title |
|---|
| 感应荷电喷雾荷电性能与喷雾特性试验研究;王军锋等;《高电压技术》;20150228;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112330655A (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112330655B (en) | Method and device for testing liquid medicine spraying operation in dark environment and computer equipment | |
| CA1220099A (en) | Electrostatic high voltage isolation system with internal charge generation | |
| CS235081B2 (en) | Tank for liquid's electrostatic atomization | |
| CN105209899A (en) | MALDI sample preparation method and sample preparation device | |
| CN111880558B (en) | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium | |
| NZ195704A (en) | Electrostatic spraying apparatus:container with nozzle demountably supported on holder with power supply | |
| Mamidi et al. | Electrostatic hand pressure swirl nozzle for small crop growers | |
| CN112407283A (en) | Unmanned aerial vehicle spraying operation method and device based on multi-level cooperation | |
| NZ196431A (en) | Container carrying high voltage generator for electrostatic spraying apparatus | |
| US5567468A (en) | Method and apparatus for applying powder coatings to surfaces | |
| Appah et al. | Investigation of optimum applied voltage, liquid flow pressure, and spraying height for pesticide application by induction charging | |
| Patel et al. | Fundamentals of electrostatic spraying: basic concepts and engineering practices | |
| CN105891616B (en) | It is a kind of to study charged particle and the experimental provision of flame interaction | |
| CA2319628A1 (en) | Painter and method of painting | |
| CN112487895B (en) | Intermittent spraying method and device based on charged spraying technology and computer equipment | |
| Anantheswaran et al. | Electrostatic precipitation of pesticide sprays onto planar targets | |
| CN110174595A (en) | Combustion testing system based on spark | |
| GB1080582A (en) | Improvements in or relating to systems for controlling the electric potentian of aircraft in fillght and applications thereof to the electrostatic spray treatment of vegetation | |
| CN113101579B (en) | Intelligent fire extinguishing equipment based on combination of water mist pump and AR | |
| CN207868163U (en) | The wide mass range time of-flight mass spectrometer of dynamic scan | |
| Wang et al. | Design and experiment of an aerial electrostatic spraying system for unmanned agricultural aircraft systems | |
| CN108693076A (en) | A kind of system for being acquired to the droplet size distribution form of target object | |
| JPS59204775A (en) | Measurement for charging and discharging of dielectric | |
| DE102011088723A1 (en) | Test method for a battery cell housing and associated test arrangement | |
| CN105911216B (en) | A kind of charged particle and the measuring method of flame interaction |
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 |