CN115792337A - Unmanned aerial vehicle spraying box pesticide-free detection method and device - Google Patents
Unmanned aerial vehicle spraying box pesticide-free detection method and device Download PDFInfo
- Publication number
- CN115792337A CN115792337A CN202211474097.0A CN202211474097A CN115792337A CN 115792337 A CN115792337 A CN 115792337A CN 202211474097 A CN202211474097 A CN 202211474097A CN 115792337 A CN115792337 A CN 115792337A
- Authority
- CN
- China
- Prior art keywords
- value
- rotating speed
- current
- current value
- speed value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Catching Or Destruction (AREA)
Abstract
The invention provides a pesticide-free detection method and device for a spraying box of an unmanned aerial vehicle. Acquiring an accelerator value input by flight control of the unmanned aerial vehicle; if the throttle value is smaller than a first preset threshold value, determining that the current spraying tank is in a default state; the default state comprises a drug-in state; if the throttle value is larger than or equal to a first preset threshold value, acquiring current information and rotating speed information of a motor of the spraying box; and determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box. Compared with the prior art, whether the detection of liquid medicine still exists in the spraying box is executed through an intelligent algorithm, the problems that a flow sensor in the traditional technology occupies space and detection failure exists are avoided, and therefore the stability and the reliability of the spraying box in medicine and medicine-free state monitoring are greatly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a pesticide-free detection method and device for a spraying box of an unmanned aerial vehicle.
Background
The unmanned aerial vehicle carries out spraying that the pesticide sprays fast, and the efficiency of spraying of aircraft is the hundreds of times that artifical sprays.
But this prior art medicine sprays unmanned aerial vehicle when carrying out the during operation, generally carry out sensing unmanned aerial vehicle through flow sensor and spray incasement portion state (have medicine/no medicine) to control back to navigate under no medicine state. Such a detection scheme relying on a flow sensor has the following technical drawbacks: (1) the flow sensor occupies space; (2) The flow sensor has the problem of instability such as failure in long-time work. Therefore, a technical means for solving the above technical problems of the unmanned aerial vehicle spraying box without drug detection is needed.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a method for intelligently determining the status of a spraying cabinet with or without a chemical by using parameter information of the spraying cabinet, so as to ensure the stability and reliability of monitoring the status of the spraying cabinet with or without a chemical.
The invention provides a pesticide-free detection method for a spraying box of an unmanned aerial vehicle, which comprises the following steps:
acquiring an accelerator value input by flight control of the unmanned aerial vehicle;
if the throttle value is smaller than a first preset threshold value, determining that the current spraying tank is in a default state; the default state comprises a drug-in state;
if the throttle value is larger than or equal to a first preset threshold value, acquiring current information and rotating speed information of a motor of the spraying box;
and determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box.
Further, the method further comprises: acquiring and updating current information and rotating speed information of a motor of a spraying tank while acquiring an accelerator value input by flight control of the unmanned aerial vehicle;
wherein, acquire and update current information, the rotational speed information of spraying case motor, include:
acquiring a first current value and a first rotating speed value of a motor of the spraying box according to the first updating period; the first update period comprises a plurality of second update periods; the first current value, the first speed value comprise first time stamp information;
according to a second updating period, obtaining a second current value and a second rotating speed value of the motor of the spraying box, and forming a second current value sequence and a second rotating speed value sequence; the second update period comprises a plurality of third update periods; the second current value and the second rotating speed value comprise second time stamp information;
according to a third updating period, obtaining a third current value and a third rotating speed value of the motor of the spraying box, and forming a third current value sequence and a third rotating speed value sequence; the third current value and the third rotation speed value comprise third time stamp information.
Further, obtain and update current information, the rotational speed information of spraying case motor, still include:
generating a second current value and a second rotating speed value in a corresponding second updating period according to the third current value sequence and the third rotating speed value sequence;
and respectively generating a first current value and a first rotating speed value in a corresponding first updating period according to the second current value sequence and the second rotating speed value sequence.
Further, the plurality of second update periods are distributed in the first update period at equal time intervals; the plurality of third updating periods are distributed in the second updating period at equal time intervals;
the method further comprises the following steps: establishing a first mapping relation including a first current value, a second current value and a third current value according to the first time stamp information, the second time stamp information and the third time stamp information;
establishing a second mapping relation including the first rotating speed value, the second rotating speed value and the third rotating speed value according to the first time stamp information, the second time stamp information and the third time stamp information;
and respectively drawing a current analysis chart and a rotating speed analysis chart corresponding to the spraying box according to the first mapping relation and the second mapping relation.
Further, if the throttle value is greater than or equal to a first predetermined threshold value, then current information and rotational speed information of the motor of the spraying tank are obtained, including:
acquiring a first current value and a first rotating speed value corresponding to a first updating period which is most recent in history according to the current time, and respectively determining the first current value and the first rotating speed value as a first reference current value and a first reference rotating speed value;
and obtaining a second current value and a second rotating speed value corresponding to a second updating period in the current first updating period according to the current time.
Further, the determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box comprises:
according to the first reference current value, the first reference rotating speed value and a second updating period, executing comparison of a second current value and the first reference current value and comparison of a second rotating speed value and the first reference rotating speed value;
if the first reference current value minus the second current value is greater than a second preset threshold value, and the second rotating speed value minus the first reference rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a no-medicine state currently;
and if the second current value minus the first reference current value is greater than a second preset threshold value, and the first reference rotating speed value minus the second rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a pesticide-containing state currently.
In addition, the invention also provides a pesticide-free detection device for the spraying box of the unmanned aerial vehicle, which comprises an acquisition module, a judgment module and a determination module; wherein:
the acquisition module is used for acquiring the throttle value input by the unmanned aerial vehicle flight control;
the judging module is used for determining that the current spraying tank is in a default state if the throttle value is smaller than a first preset threshold value; the default state comprises a drug-in state; if the throttle value is larger than or equal to a first preset threshold value, sending an acquisition message to an acquisition module so that the acquisition module acquires current information and rotating speed information of a motor of the spraying tank;
and the determining module is used for determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box.
Further, the acquisition module is also used for acquiring and updating current information and rotating speed information of a motor of the spraying tank while acquiring an accelerator value input by flight control of the unmanned aerial vehicle;
the acquisition module further comprises a first acquisition updating submodule, a second acquisition updating submodule and a third acquisition updating submodule;
the first obtaining and updating submodule is used for obtaining a first current value and a first rotating speed value of the motor of the spraying box according to a first updating period; the first update period comprises a plurality of second update periods; the first current value, the first speed value comprise first time stamp information;
the second obtaining and updating submodule is used for obtaining a second current value and a second rotating speed value of the motor of the spraying box according to a second updating period and forming a second current value sequence and a second rotating speed value sequence; the second update period comprises a plurality of third update periods; the second current value and the second rotating speed value comprise second time stamp information;
the third obtaining and updating submodule is used for obtaining a third current value and a third rotating speed value of the motor of the spraying box according to a third updating period and forming a third current value sequence and a third rotating speed value sequence; the third current value and the third rotation speed value comprise third time stamp information.
Further, the obtaining module is further configured to obtain a first current value and a first rotation speed value corresponding to a first update period that is most recent in history according to the current time, and respectively determine the first current value and the first rotation speed value as a first reference current value and a first reference rotation speed value; acquiring a second current value and a second rotating speed value corresponding to a second updating period in the current first updating period according to the current time;
the determining module is further configured to perform comparison between a second current value and the first reference current value and comparison between the second rotation speed value and the first reference rotation speed value according to the first reference current value, the first reference rotation speed value and a second updating period; if the first reference current value minus the second current value is greater than a second preset threshold value, and the second rotating speed value minus the first reference rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a no-medicine state currently; and if the second current value minus the first reference current value is greater than a second preset threshold value, and the first reference rotating speed value minus the second rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a pesticide-containing state currently.
Furthermore, a third aspect of the present invention provides an electronic device, including: one or more processors, memory for storing one or more computer programs; the computer program is configured to be executed by the one or more processors, the program comprising instructions for performing the unmanned aerial vehicle spray box no drug detection method steps as described above.
Furthermore, a fourth aspect of the present invention provides a storage medium storing a computer program; the program is loaded and executed by a processor to implement the unmanned aerial vehicle spray box no-drug detection method steps as described above.
According to the scheme, the throttle value input by the unmanned aerial vehicle flight control is obtained; if the throttle value is smaller than a first preset threshold value, determining that the current spraying tank is in a default state; the default state comprises a drug-in state; if the throttle value is larger than or equal to a first preset threshold value, acquiring current information and rotating speed information of a motor of the spraying box; and determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box. Compared with the prior art that the flow sensor detects the state of the medicine box, the intelligent algorithm is used for detecting whether the liquid medicine is still in the spraying box, so that the problems that a flowmeter in the traditional technology occupies space and the flow sensor fails in detection are solved, and the stability and the reliability of the monitoring of the medicine-containing/medicine-free state of the spraying box are greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for detecting no pesticide in a spraying tank of an unmanned aerial vehicle, disclosed in embodiment 1 of the present invention;
FIG. 2 is a flow chart for acquiring and updating current information and rotation speed information of a motor of a spraying tank, which is disclosed in embodiment 1 of the invention;
FIG. 3 is a flow chart of determining the status of the spraying chamber according to the current information and the rotation speed information of the motor of the spraying chamber according to the embodiment of the invention 1;
fig. 4 is a schematic structural view of a pesticide-free detection device of a spraying box of an unmanned aerial vehicle disclosed in embodiment 2 of the invention;
fig. 5 is a schematic structural diagram of an electronic device disclosed in embodiment 2 of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the embodiments of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flowcharts shown in the figures are illustrative only and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It should be noted that: reference herein to "a plurality" means two or more.
The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:
this embodiment, the unmanned aerial vehicle that generally carries out the pesticide and sprays has the medical kit that sprays, and prior art generally is provided with flow sensor (flowmeter) in the exit of spraying the medical kit, through the liquid medicine flow in flow sensor sensing exit to send corresponding signal to unmanned aerial vehicle's well accuse module, for example MCU (Microcontroller Unit) Unit. And then, the central control module judges whether the current spraying medicine box is in a medicine-containing state or a medicine-free state according to the flow rate of the medicine water.
Above-mentioned well accuse module judges according to liquid medicine flow whether having the medicine state or not of spraying the medical kit at present, specifically can set up corresponding flow threshold, generally compare through current liquid medicine flow and flow threshold, is less than the flow threshold that corresponds and then judges no medicine state to further control the well accuse module control based on unmanned aerial vehicle and stop spraying, and decide control unmanned aerial vehicle's return journey.
It should be noted that the detection scheme relying on the flow sensor has the following technical drawbacks: (1) the flow sensor occupies space; (2) The flow sensor has the problem of instability such as failure in long-time work.
Example 1
Fig. 1 shows a flowchart of a method for detecting no-drug in a spraying tank of an unmanned aerial vehicle according to an embodiment of the present invention. This embodiment detects spray tank and has the medicine state or no medicine state, and the rationale then is: the medicine-containing state: equivalent to a load state, the current is large, and the rotating speed is small; the drug-free state: the device is equivalent to an idle state, the current is small, and the rotating speed is high.
In this embodiment, in order to realize the accurate recognition of no-drug state of the water tank based on the accurate recognition of algorithm, the unmanned aerial vehicle sprays the no-drug detection method of case, including the following steps:
s1, acquiring an accelerator value input by the unmanned aerial vehicle flight control.
Specifically, in this embodiment, the general unmanned aerial vehicle all has the flight control subsystem, that is, unmanned aerial vehicle's flight control system. In the link of pesticide spraying, the throttle value of a pesticide spraying motor is generally applied in a flight control to perform pesticide spraying. The maximum throttle value of the motor of the spraying tank is generally obtained from production configuration parameters of unmanned aerial vehicle flight control. When the pesticide spraying operation is executed by the unmanned aerial vehicle spraying box, the current throttle size is acquired from unmanned aerial vehicle flight control in real time.
S2, if the throttle value is smaller than a first preset threshold value, determining that the current spraying box is in a default state; the default state includes a drug-in state.
Specifically, in this embodiment, according to the maximum throttle value of the motor obtained in the above step and the current throttle size, it is determined whether the current throttle value exceeds a first predetermined threshold range of the maximum throttle value, such as: 50 percent. If the current throttle value is less than 50% of the maximum throttle value, the detection of current and rotating speed is not executed, the current spraying box motor is directly determined to be in a loading state, and the default state is a drug-containing state.
It should be noted that the throttle value is smaller than a certain threshold value, which may indicate that the spraying tank of the current unmanned aerial vehicle is in an initial state, that is, the motor full of pesticide has not started to operate, so that the general load is small, and here, the judgment of the state of the spraying tank is not performed, and it is determined that the current spraying tank is in a default state; the default state includes a drug-in state.
And S3, if the throttle value is larger than or equal to the first preset threshold value, acquiring current information and rotating speed information of the motor of the spraying box.
Specifically, in this embodiment, according to the maximum throttle value of the motor obtained in the above step and the current throttle size, it is determined whether the current throttle value exceeds a first predetermined threshold range of the maximum throttle value, such as: 50 percent. If the current throttle value is greater than or equal to 50% of the maximum throttle value, it indicates that the spraying tank motor starts to operate, and at this time, the subsequent current and the motor speed are sensed, so as to facilitate detection of when the spraying of the medicine can be completed.
It should be noted that, in this embodiment, in step S1, the throttle value input by the unmanned aerial vehicle flight control is obtained, and meanwhile, the current information and the rotation speed information of the motor of the spraying tank are obtained and updated.
As shown in fig. 2, it is a flowchart for acquiring and updating the current information and the rotation speed information of the motor of the spraying tank in this embodiment. Wherein, acquire and update current information, the rotational speed information of spraying case motor, include:
s101, acquiring a first current value and a first rotating speed value of a motor of the spraying box according to a first updating period; the first update period includes a plurality of second update periods; the first current value, the first speed value including first time stamp information;
s102, acquiring a second current value and a second rotating speed value of the motor of the spraying box according to a second updating period, and forming a second current value sequence and a second rotating speed value sequence; the second update period comprises a plurality of third update periods; the second current value and the second rotating speed value comprise second time stamp information;
s103, acquiring a third current value and a third rotating speed value of the motor of the spraying box according to a third updating period, and forming a third current value sequence and a third rotating speed value sequence; the third current value and the third rotation speed value include third time stamp information.
In one embodiment, obtaining and updating current information and rotating speed information of a motor of the spraying box further comprises: respectively generating a second current value and a second rotating speed value in a corresponding second updating period according to the third current value sequence and the third rotating speed value sequence;
and respectively generating a first current value and a first rotating speed value in a corresponding first updating period according to the second current value sequence and the second rotating speed value sequence.
Specifically, this embodiment is through gathering the generating line current value of spraying the case motor and spraying the rotational speed information of case motor. Wherein a first update period is set to be, for example, 1 second(s), wherein the first update period includes a plurality of second update periods, and the second update period is, for example, 50 milliseconds (ms); the second update period includes a plurality of third update periods, such as 50 microseconds (μ s).
In one embodiment, the plurality of second update periods are distributed in the first update period at equal time intervals; the plurality of third updating periods are distributed in the second updating period at equal time intervals.
Taking the first update period as 1 second as an example, for each first update period, 20 millisecond sampling points corresponding to the second update period correspond, and for each second update period, 1000 microsecond sampling points corresponding to the third update period correspond. That is, the minimum sampling point interval is 50 microseconds (μ s).
And taking the current time as the Nth second after the motor of the spraying box is started, and counting a first current value of the Nth second as I and a first rotating speed value R. Further, the duration of the nth second is divided into 20 second update periods at intervals of 50 microseconds (μ s), and each second update period corresponds to an interval of 50 milliseconds (ms). Therefore, a second current value series { i1, i2 … … i20} and a second rotation speed value series { r1, r2 … … r20} can be obtained.
For each second update period with an interval of 50 milliseconds (ms), the second update period can be divided into 1000 third update periods with an interval of 50 microseconds (μ s), that is, the minimum current/rotation speed sampling unit in this embodiment is actually sampling every 50 microseconds (μ s). Specifically, for each current value element in the second current value series { i1, i2 … … i20}, there corresponds a third current value series; for example, i1 corresponds to the sequence { i11, i12, … … i11000}; i2 corresponds to the sequence { i21, i22, … … i21000} … …. Similarly, each rotation speed value element in the second rotation speed value sequence { r1, r2 … … r20} corresponds to a third rotation speed value sequence; for example, r1 corresponds to the sequence { r11, r12, … … r11000}; r2 corresponds to the sequence { r21, r22, … … r21000} … ….
In one embodiment, the third current value, the third rotational speed value, includes third time stamp information; for example, each element in the third current value sequence { i11, i12, … … i11000} is an array, and includes a current value and timestamp information, for example, i11 corresponds to (i 11 current value, t 11), where t11 is the timestamp information sampled by i11, and when the current time is the nth second after the spraying tank motor is started, t11 may be N-1 second 200 microseconds (μ s). Each element in the third rotation speed value sequence { r11, r12, … … r11000} is an array, and includes a rotation speed value and timestamp information, for example, r11 corresponds to (r 11 rotation speed value, t 11), where t11 is timestamp information of r11 samples.
It should be noted that each current value element in the second current value sequence may be obtained according to an element mean value of the corresponding third current value sequence. For example, the value of i1 can be obtained by the mean of the 1000 current value elements in its corresponding sequence { i11, i12, … … i11000 }. The value of i2 can be obtained by the mean value of 1000 current value elements in the corresponding sequence { i21, i22, … … i21000}, and by analogy, the second current value sequence { i1, i2 … … i20} can be obtained and obtained.
Similarly, each rotation speed value element in the second rotation speed value sequence may be obtained according to an element mean value of the third rotation speed value sequence corresponding to the rotation speed value element. For example, the value of r1 can be obtained by the mean of 1000 tachometer value elements in the corresponding sequence { r11, r12, … … r11000 }. The value of r2 can be obtained by the average value of 1000 rotation speed value elements in the corresponding sequence { r21, r22, … … r21000}, and by analogy, a second rotation speed value sequence { r1, r2 … … r20} can be obtained and obtained.
In one embodiment, the second current value, the second rotational speed value, comprise second time stamp information; each element in the second current value sequence { i1, i2 … … i20} is an array, including current values and timestamp information. For example, i1 corresponds to (i 1 current value, t 1), where t1 is the timestamp information sampled by i1, and when the current time is the nth second after the motor of the spraying box is started, t1 may be the 100 th millisecond (ms) of N-1 second. Each element in the second rotation speed value sequence { r1, r2 … … r20} is an array, and includes a rotation speed value and timestamp information, for example, r1 corresponds to (r 1 rotation speed value, t 1), where t1 is the timestamp information of r1 sample.
Next, taking the current time as the nth second after the motor of the spraying box is started, taking the first current value counted in the nth second as I and the first rotation speed value R as an example, since the first current value is I and the first rotation speed value R is updated once at intervals of 20 second update cycles (50 milliseconds), that is, in this embodiment, I20 in the second current value sequence and R20 in the second rotation speed value sequence are taken as the first current value I and the first rotation speed value R respectively, and the first timestamp information corresponding to the first current value and the first rotation speed value is t, that is, t =45s.
Further, in step S3, if the throttle value is greater than or equal to the first predetermined threshold, the current information and the rotational speed information of the motor of the spraying tank are obtained, including:
acquiring a first current value and a first rotating speed value corresponding to a first updating period which is most recent in history according to the current time, and respectively determining the first current value and the first rotating speed value as a first reference current value and a first reference rotating speed value;
and obtaining a second current value and a second rotating speed value corresponding to a second updating period in the current first updating period according to the current time.
Specifically, the present embodiment follows the above-mentioned judgment performed by taking the current time as the nth second after the motor of the spraying box is started. For example, if the current time is nth second, the comparison is performed 20 times (according to the second cycle interval) in the first cycle of N seconds, that is, the second current value and the second rotation speed value obtained in the second cycle interval are compared with the first reference current value and the first reference rotation speed value, respectively, and it is determined that the spraying tank is in the drug-containing/drug-free state according to the comparison result each time.
The first reference current value is the first current value corresponding to the N-1 second, namely the last element in the 20 elements in the second current value sequence in the period of the N-1 second. For example, it can be understood that the current time is 45 seconds, and the first reference current value is the element i20 in { i1, i2 … … i20} corresponding to the 44 second period.
Similarly, the first reference rotation speed value is the first rotation speed value corresponding to the N-1 second, namely, the last element in the 20 elements in the second rotation speed value sequence in the N-1 second period. For example, it can be understood that the current time is 45 seconds, and the first reference rotational speed value is the element r20 in the corresponding { r1, r2 … … r20} in the 44 second period.
And S4, determining whether the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box.
Further, fig. 3 is a flow chart illustrating the determination of the status of the spraying chamber according to the current information and the rotation speed information of the motor of the spraying chamber in the present embodiment. Wherein, current information, the rotational speed information according to spraying case motor confirm spraying case is for having the medicine state or not having the medicine state, include:
s401, according to the first reference current value, the first reference rotating speed value and a second updating period, comparing a second current value with the first reference current value and comparing a second rotating speed value with the first reference rotating speed value;
s402, if the first reference current value minus the second current value is larger than a second preset threshold value, and the second rotating speed value minus the first reference rotating speed value is larger than a third preset threshold value, determining that the current spraying box is in a no-medicine state;
s403, if the second current value minus the first reference current value is larger than a second preset threshold value, and the first reference rotating speed value minus the second rotating speed value is larger than a third preset threshold value, determining that the spraying box is in a pesticide-containing state currently.
In this embodiment, according to the technical principle: the medicine is in a loaded state, the current is high, and the rotating speed is low; the no-drug state is equivalent to the no-load state, the current is small, and the rotating speed is high.
Therefore, if the first reference current value minus the second current value (the second current value corresponding to every 50ms in the current period) is greater than the second predetermined threshold, it indicates that the current motor current value is gradually decreased; the second rotating speed value minus the first reference rotating speed value is greater than a third preset threshold value, which shows that the current rotating speed value of the motor is gradually increased; the spraying box can be indicated to start to enter an idle state, the current spraying box is determined to be in a no-medicine state, and the current spraying box is output to a central control module of the unmanned aerial vehicle to control the return of the unmanned aerial vehicle.
Further, if the second current value (the second current value corresponding to every 50ms in the current period) minus the first reference current value is greater than the second predetermined threshold, it indicates that the current motor current value is gradually increasing; the first reference rotating speed value minus the second rotating speed value is larger than a third preset threshold value, which shows that the current rotating speed value of the motor is gradually reduced; the spraying box can be still in a medicine state, the current spraying box is determined to be in the medicine state, the current spraying box is output to the central control module of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to continue spraying operation.
In another embodiment, a first mapping relationship including a first current value, a second current value, and a third current value is established according to the first time stamp information, the second time stamp information, and the third time stamp information.
And establishing a second mapping relation including the first rotating speed value, the second rotating speed value and the third rotating speed value according to the first time stamp information, the second time stamp information and the third time stamp information.
And respectively drawing a current analysis chart and a rotating speed analysis chart corresponding to the spraying box according to the first mapping relation and the second mapping relation.
Specifically, a current analysis graph can be drawn with a time axis as an abscissa and an ordinate as the magnitude of the current value; and drawing a rotating speed analysis graph by taking a time axis as an abscissa and taking an ordinate as the rotating speed value.
Compare in prior art's flow sensor detection medical kit state, this embodiment carries out the detection of spraying the case and also having liquid medicine through intelligent algorithm, has avoided the flowmeter of traditional technique to occupy space and flow sensor to have the problem that detects the inefficacy to spray case stability and reliability that have medicine/do not have medicine state monitoring have been improved greatly.
Example 2
In addition, a second aspect of this embodiment further provides a pesticide-free detection device for a spraying box of an unmanned aerial vehicle, as shown in fig. 4, the device includes an obtaining module 10, a judging module 20, and a determining module 30; wherein:
the acquisition module 10 is used for acquiring the throttle value input by the unmanned aerial vehicle flight control;
the judging module 20 is configured to determine that the current spraying tank is in a default state if the throttle value is smaller than a first predetermined threshold value; the default state comprises a drug-containing state; if the throttle value is larger than or equal to the first preset threshold value, sending an acquisition message to an acquisition module so that the acquisition module acquires current information and rotating speed information of a motor of the spraying tank;
the determining module 30 determines whether the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box.
Further, the obtaining module 10 is further configured to obtain and update current information and rotation speed information of a motor of the spraying tank while obtaining an accelerator value input by flight control of the unmanned aerial vehicle;
the obtaining module 10 further includes a first obtaining and updating submodule 11 and a second obtaining and updating submodule 12;
the first obtaining and updating submodule 11 is used for obtaining a first current value and a first rotating speed value of the motor of the spraying box according to a first updating period; the first update period includes a plurality of second update periods; the first current value, the first speed value including time stamp information;
the second obtaining and updating submodule 12 is configured to obtain a second current value and a second rotation speed value of the spraying tank motor according to a second updating period, and form a second current value sequence and a second rotation speed value sequence; the second current value and the second rotation speed value include time stamp information.
The obtaining module 10 is further configured to generate a second current value and a second rotation speed value in a corresponding second update period according to the third current value sequence and the third rotation speed value sequence; and respectively generating a first current value and a first rotating speed value in a corresponding first updating period according to the second current value sequence and the second rotating speed value sequence.
A plurality of second updating periods are distributed in the first updating period at equal time intervals; the plurality of third updating periods are distributed in the second updating period at equal time intervals.
Further, the obtaining module 10 is further configured to obtain a first current value and a first rotation speed value corresponding to a first update period that is most recent in history according to the current time, and respectively determine the first current value and the first rotation speed value as a first reference current value and a first reference rotation speed value; and obtaining a second current value and a second rotating speed value corresponding to a second updating period in the current first updating period according to the current time.
The determining module 30 is further configured to perform comparison between a second current value and the first reference current value and comparison between a second rotating speed value and the first reference rotating speed value according to the first reference current value and the first reference rotating speed value and according to a second updating period; if the first reference current value minus the second current value is larger than a second preset threshold value, and the second rotating speed value minus the first reference rotating speed value is larger than a third preset threshold value, determining that the current spraying box is in a no-pesticide state; and if the second current value minus the first reference current value is greater than a second preset threshold value, and the first reference rotating speed value minus the second rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a pesticide-containing state currently.
The apparatus further comprises a building module 40: establishing a first mapping relation including a first current value, a second current value and a third current value according to the first time stamp information, the second time stamp information and the third time stamp information; establishing a second mapping relation including the first rotating speed value, the second rotating speed value and the third rotating speed value according to the first time stamp information, the second time stamp information and the third time stamp information; and respectively drawing a current analysis chart and a rotating speed analysis chart corresponding to the spraying box according to the first mapping relation and the second mapping relation.
In addition, the present embodiment further provides an electronic device, as shown in fig. 5, the electronic device includes: one or more processors, memory for storing one or more computer programs; the computer program is configured to be executed by one or more processors, the program comprising instructions for performing the unmanned aerial vehicle spray box no-drug detection method steps of embodiment 1 above.
In addition, the present embodiment also provides a storage medium, in which a computer program is stored; the program is loaded and executed by a processor to implement the unmanned aerial vehicle spray box no drug detection method steps as in embodiment 1 above.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The elements described as separate parts may or may not be physically separate, as one of ordinary skill in the art would appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general sense in the foregoing description for clarity of explanation of the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a grid device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle spraying box drug-free detection method is characterized by comprising the following steps:
acquiring an accelerator value input by flight control of the unmanned aerial vehicle;
if the throttle value is larger than or equal to a first preset threshold value, acquiring current information and rotating speed information of a motor of the spraying box;
and determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box.
2. The unmanned aerial vehicle spray box non-drug detection method of claim 1, further comprising: acquiring and updating current information and rotating speed information of a motor of a spraying tank while acquiring an accelerator value input by flight control of the unmanned aerial vehicle;
wherein, acquire and update current information, the rotational speed information of spraying case motor, include:
acquiring a first current value and a first rotating speed value of a motor of the spraying box according to the first updating period; the first update period comprises a plurality of second update periods; the first current value, the first speed value comprise first time stamp information;
according to a second updating period, obtaining a second current value and a second rotating speed value of the motor of the spraying box, and forming a second current value sequence and a second rotating speed value sequence; the second update period comprises a plurality of third update periods; the second current value and the second rotating speed value comprise second time stamp information;
according to a third updating period, obtaining a third current value and a third rotating speed value of the motor of the spraying box, and forming a third current value sequence and a third rotating speed value sequence; the third current value and the third rotation speed value comprise third time stamp information.
3. The unmanned aerial vehicle sprays case no medicine detection method of claim 2, characterized in that, the current information, the rotational speed information of spraying case motor of obtaining and renewing still includes:
generating a second current value and a second rotating speed value in a corresponding second updating period according to the third current value sequence and the third rotating speed value sequence;
and respectively generating a first current value and a first rotating speed value in a corresponding first updating period according to the second current value sequence and the second rotating speed value sequence.
4. The unmanned aerial vehicle spray box non-drug detection method of claim 3, wherein the plurality of second update periods are distributed at equal time intervals within the first update period; the plurality of third updating periods are distributed in the second updating period at equal time intervals;
the method further comprises the following steps: establishing a first mapping relation including a first current value, a second current value and a third current value according to the first time stamp information, the second time stamp information and the third time stamp information;
establishing a second mapping relation including the first rotating speed value, the second rotating speed value and the third rotating speed value according to the first time stamp information, the second time stamp information and the third time stamp information;
and respectively drawing a current analysis chart and a rotating speed analysis chart corresponding to the spraying box according to the first mapping relation and the second mapping relation.
5. The unmanned aerial vehicle sprays case no medicine detection method of claim 3, wherein if throttle value is greater than or equal to first predetermined threshold, then obtain spray case motor's current information, rotational speed information, include:
acquiring a first current value and a first rotating speed value corresponding to a first updating period with the latest history according to the current time, and respectively determining the first current value and the first rotating speed value as a first reference current value and a first reference rotating speed value;
and obtaining a second current value and a second rotating speed value corresponding to a second updating period in the current first updating period according to the current time.
6. The unmanned aerial vehicle sprays case no medicine detection method of claim 5, wherein said spray case is determined to be a medicine-containing state or a no-medicine state according to current information, rotational speed information of the spray case motor, comprising:
according to the first reference current value, the first reference rotating speed value and a second updating period, executing comparison of a second current value and the first reference current value and comparison of a second rotating speed value and the first reference rotating speed value;
if the first reference current value minus the second current value is greater than a second preset threshold value, and the second rotating speed value minus the first reference rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a no-medicine state currently;
and if the second current value minus the first reference current value is greater than a second preset threshold value, and the first reference rotating speed value minus the second rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a pesticide-containing state currently.
7. The unmanned aerial vehicle spraying box drug-free detection device is characterized by comprising an acquisition module, a judgment module and a determination module; wherein:
the acquisition module is used for acquiring the throttle value input by the unmanned aerial vehicle flight control;
the judging module is used for determining that the current spraying tank is in a default state if the throttle value is smaller than a first preset threshold value; the default state comprises a drug-in state; if the throttle value is larger than or equal to a first preset threshold value, sending an acquisition message to an acquisition module so that the acquisition module acquires current information and rotating speed information of a motor of the spraying tank;
and the determining module is used for determining that the spraying box is in a pesticide-containing state or a pesticide-free state according to the current information and the rotating speed information of the motor of the spraying box.
8. The unmanned aerial vehicle sprays case no medicine detection device of claim 7, characterized in that, the acquisition module is still used for obtaining unmanned aerial vehicle flight control input throttle value, and simultaneously obtaining and updating current information, rotational speed information of spraying case motor;
the acquisition module further comprises a first acquisition updating submodule, a second acquisition updating submodule and a third acquisition updating submodule;
the first obtaining and updating submodule is used for obtaining a first current value and a first rotating speed value of the motor of the spraying box according to a first updating period; the first update period comprises a plurality of second update periods; the first current value, the first speed value comprise first time stamp information;
the second obtaining and updating submodule is used for obtaining a second current value and a second rotating speed value of the motor of the spraying box according to a second updating period and forming a second current value sequence and a second rotating speed value sequence; the second update period comprises a plurality of third update periods; the second current value and the second rotating speed value comprise second time stamp information;
the third obtaining and updating submodule is used for obtaining a third current value and a third rotating speed value of the motor of the spraying box according to a third updating period and forming a third current value sequence and a third rotating speed value sequence; the third current value and the third rotation speed value comprise third time stamp information.
9. The unmanned aerial vehicle sprays case no medicine detection device of claim 8, characterized in that the acquisition module is further configured to acquire a first current value, a first rotation speed value corresponding to a first update period that is most recent in history according to a current time, and determine as a first reference current value, a first reference rotation speed value, respectively; acquiring a second current value and a second rotating speed value corresponding to a second updating period in the current first updating period according to the current time;
the determining module is further configured to perform comparison between a second current value and the first reference current value and comparison between the second rotation speed value and the first reference rotation speed value according to the first reference current value, the first reference rotation speed value and a second updating period; if the first reference current value minus the second current value is larger than a second preset threshold value, and the second rotating speed value minus the first reference rotating speed value is larger than a third preset threshold value, determining that the current spraying box is in a no-pesticide state; and if the second current value minus the first reference current value is greater than a second preset threshold value, and the first reference rotating speed value minus the second rotating speed value is greater than a third preset threshold value, determining that the spraying box is in a pesticide-containing state currently.
10. A storage medium storing a computer program; characterized in that said program is loaded and executed by a processor to implement the steps of the unmanned aerial vehicle spray box non-drug detection method of any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211474097.0A CN115792337B (en) | 2022-11-23 | 2022-11-23 | Unmanned aerial vehicle spraying box non-medicine detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211474097.0A CN115792337B (en) | 2022-11-23 | 2022-11-23 | Unmanned aerial vehicle spraying box non-medicine detection method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115792337A true CN115792337A (en) | 2023-03-14 |
| CN115792337B CN115792337B (en) | 2023-09-26 |
Family
ID=85440493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211474097.0A Active CN115792337B (en) | 2022-11-23 | 2022-11-23 | Unmanned aerial vehicle spraying box non-medicine detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115792337B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205686613U (en) * | 2016-06-18 | 2016-11-16 | 内蒙古博鹰通航科技有限公司 | A kind of have the plant protection unmanned plane that dose sprinkling controls |
| CN107202918A (en) * | 2017-06-19 | 2017-09-26 | 华南农业大学 | A kind of dynamic loading electric power unmanned plane effective operation Energy Consumption Evaluation method |
| CN207598469U (en) * | 2017-11-13 | 2018-07-10 | 大英县东创农业有限公司 | A kind of plant protection unmanned plane circuit system |
| CN108363335A (en) * | 2018-04-03 | 2018-08-03 | 南京林业大学 | Agricultural unmanned plane aerial pesticide monitoring operation device |
| CN109152353A (en) * | 2017-11-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Medicine-chest flow rate testing methods, device and agricultural unmanned plane |
| CN109343553A (en) * | 2018-10-30 | 2019-02-15 | 佛山市神风航空科技有限公司 | A kind of no medicine makes a return voyage unmanned plane automatically |
| CN109757459A (en) * | 2019-02-22 | 2019-05-17 | 农业农村部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device and method |
| US20190247050A1 (en) * | 2006-11-21 | 2019-08-15 | David S. Goldsmith | Integrated system for the infixion and retrieval of implants |
| CN110624717A (en) * | 2015-06-01 | 2019-12-31 | 深圳市大疆创新科技有限公司 | Sprinkler system with feedback of liquid flow and rotational speed |
| CN111344651A (en) * | 2019-01-30 | 2020-06-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
| CN112166252A (en) * | 2019-11-05 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Exhaust control method of water pump, movable equipment, spraying device and storage medium |
| CN112630515A (en) * | 2020-12-01 | 2021-04-09 | 苏州臻迪智能科技有限公司 | Current sampling method, device and system and unmanned aerial vehicle |
| CN112947586A (en) * | 2021-05-12 | 2021-06-11 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, storage medium and rotary wing type unmanned aerial vehicle |
| CN217716552U (en) * | 2022-07-21 | 2022-11-01 | 深圳洲际通航投资控股有限公司 | Unmanned aerial vehicle liquid medicine alarm device gives medicine to poor free of charge |
-
2022
- 2022-11-23 CN CN202211474097.0A patent/CN115792337B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190247050A1 (en) * | 2006-11-21 | 2019-08-15 | David S. Goldsmith | Integrated system for the infixion and retrieval of implants |
| CN110624717A (en) * | 2015-06-01 | 2019-12-31 | 深圳市大疆创新科技有限公司 | Sprinkler system with feedback of liquid flow and rotational speed |
| CN205686613U (en) * | 2016-06-18 | 2016-11-16 | 内蒙古博鹰通航科技有限公司 | A kind of have the plant protection unmanned plane that dose sprinkling controls |
| CN107202918A (en) * | 2017-06-19 | 2017-09-26 | 华南农业大学 | A kind of dynamic loading electric power unmanned plane effective operation Energy Consumption Evaluation method |
| CN207598469U (en) * | 2017-11-13 | 2018-07-10 | 大英县东创农业有限公司 | A kind of plant protection unmanned plane circuit system |
| CN109152353A (en) * | 2017-11-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Medicine-chest flow rate testing methods, device and agricultural unmanned plane |
| CN108363335A (en) * | 2018-04-03 | 2018-08-03 | 南京林业大学 | Agricultural unmanned plane aerial pesticide monitoring operation device |
| CN109343553A (en) * | 2018-10-30 | 2019-02-15 | 佛山市神风航空科技有限公司 | A kind of no medicine makes a return voyage unmanned plane automatically |
| CN111344651A (en) * | 2019-01-30 | 2020-06-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
| CN109757459A (en) * | 2019-02-22 | 2019-05-17 | 农业农村部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device and method |
| CN112166252A (en) * | 2019-11-05 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Exhaust control method of water pump, movable equipment, spraying device and storage medium |
| CN112630515A (en) * | 2020-12-01 | 2021-04-09 | 苏州臻迪智能科技有限公司 | Current sampling method, device and system and unmanned aerial vehicle |
| CN112947586A (en) * | 2021-05-12 | 2021-06-11 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, storage medium and rotary wing type unmanned aerial vehicle |
| CN217716552U (en) * | 2022-07-21 | 2022-11-01 | 深圳洲际通航投资控股有限公司 | Unmanned aerial vehicle liquid medicine alarm device gives medicine to poor free of charge |
Non-Patent Citations (3)
| Title |
|---|
| TEDDY SURYA GUNAWAN 等: "Performance Comparision of Various YOLO Architecures on Object Detection of UAV Image", 《2022 IEEE 8TH INTERNATIONAL CONFERENCE ON SMART INSRUMENTATION, MEASUREMENT AND APPLICATIONS》, pages 257 - 261 * |
| 叶芙蓉: "丘陵山区茶园自动喷药装置研制", 《中国优秀硕士学位论文全文数据库农业科技辑》, no. 1, pages 044 - 70 * |
| 徐云川: "采用变量喷洒控制装置的四旋翼无人机", 《电子世界》, pages 139 - 140 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115792337B (en) | 2023-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105227626B (en) | Content pushing method and device and terminal | |
| CN104883376A (en) | Application program recommendation method and terminal | |
| CN113931258B (en) | Self-diagnosis method and non-negative pressure-superposed water supply equipment | |
| CN113360041B (en) | Display method, display device, electronic equipment and storage medium | |
| CN111026627A (en) | Pressure testing method and device and server | |
| DE102015103272B4 (en) | Method and system for detecting an erratic sensor using a dynamic threshold | |
| CN115792337A (en) | Unmanned aerial vehicle spraying box pesticide-free detection method and device | |
| CN115302506A (en) | Joint module testing method, device, equipment and storage medium | |
| CN113240102B (en) | Membrane potential updating method of neuron, brain-like neuron device and processing core | |
| CN106940710B (en) | Information pushing method and device | |
| CN112485640A (en) | Detection method and device for built-in capacitor, detection equipment and storage medium | |
| CN116008820B (en) | Method, device and medium for detecting inconsistency of vehicle battery cells | |
| CN114019946B (en) | Method and device for processing monitoring data of industrial control terminal | |
| CN109491771A (en) | Task processing method and relevant device based on system function optimization | |
| CN114083987A (en) | Battery monitoring parameter correction method and device and computer equipment | |
| CN112799911A (en) | Node health state detection method, device, equipment and storage medium | |
| CN115994478A (en) | Battery life prediction method, apparatus, electronic device, and readable storage medium | |
| CN112046784A (en) | Unmanned aerial vehicle positioner endurance time analysis method and device and unmanned aerial vehicle positioner | |
| CN113352939A (en) | Remaining power determination method and device, electronic equipment and storage medium | |
| CN116821638B (en) | Data analysis method and system for AI chip application optimization design | |
| CN112146686A (en) | Rotation information acquisition method, device and system and computer readable storage medium | |
| CN113595763B (en) | Fault-tolerant control method and device, fault-tolerant controller and storage medium | |
| CN112598816B (en) | Vehicle data acquisition method and device and vehicle diagnosis system | |
| CN113805565B (en) | Counter control method and device, vehicle and storage medium | |
| CN114233470B (en) | Engine crankcase pressure correction method and related equipment |
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 |