WO2019113980A1 - 流量控制方法、设备及无人机 - Google Patents

流量控制方法、设备及无人机 Download PDF

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Publication number
WO2019113980A1
WO2019113980A1 PCT/CN2017/116657 CN2017116657W WO2019113980A1 WO 2019113980 A1 WO2019113980 A1 WO 2019113980A1 CN 2017116657 W CN2017116657 W CN 2017116657W WO 2019113980 A1 WO2019113980 A1 WO 2019113980A1
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WIPO (PCT)
Prior art keywords
value
flow
throttle
target
values
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PCT/CN2017/116657
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English (en)
French (fr)
Inventor
李占斌
何纲
邓晓晓
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780025599.6A priority Critical patent/CN109154839B/zh
Priority to PCT/CN2017/116657 priority patent/WO2019113980A1/zh
Publication of WO2019113980A1 publication Critical patent/WO2019113980A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D7/00—Control of flow
    • G05D7/06—Control of flow characterised by the use of electric means
    • G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
    • G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
    • G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means

Definitions

  • the present application relates to the technical field of agricultural drones, and in particular, to a flow control method, a device, and a drone.
  • the agricultural drone spraying system mainly performs the spraying action of the drone during the flight. Since the flying speed is related to the spraying flow rate, it is important to control the accuracy and real-time of the spraying flow. The precision requires the spraying of the pesticide. Need to meet the user setting requirements, too few drugs will not work well, too much will burn the seedlings, real-time requirements spray action associated with flight speed, real-time adjustment of the spray flow rate.
  • the flow meter method is generally adopted for the control method of the pressure water pump.
  • the flow meter is composed of a rotor having six magnetic points. According to the Hall effect, a pulse is recorded each time the magnetic point is rotated, and then the calculation can be performed. The rotational speed of the rotor, thereby inferring the flow rate.
  • the accuracy of the existing flow control method is easily affected by the viscosity and density of the liquid.
  • the flow meter takes a long time to close the target flow, which affects the flow control. Accuracy and real-time.
  • Embodiments of the present invention provide a flow control method, device, and drone to achieve accurate flow control and improve real-time performance of flow control.
  • a first aspect of the embodiments of the present invention provides a flow control method, including:
  • the motor that drives the liquid pump rotates such that the liquid pump pumps liquid.
  • a second aspect of the embodiments of the present invention provides an aircraft controller, including:
  • a communication interface one or more processors; the one or more processors working alone or in concert
  • the communication interface is connected to the processor;
  • the communication interface is configured to: acquire a target flow value of a liquid pump carried by the aircraft;
  • the processor is configured to: determine, according to a relationship between a preset flow value and a throttle value, a target throttle value corresponding to the target flow value;
  • the processor is configured to: control the liquid pump to pump liquid based on the target throttle value.
  • a third aspect of the embodiments of the present invention provides a ground station, including:
  • a communication interface one or more processors; the one or more processors operating separately or in cooperation, the communication interface being coupled to the processor;
  • the communication interface is configured to: acquire a target flow value of a liquid pump carried by the aircraft;
  • the processor is configured to: determine, according to a relationship between a preset flow value and a throttle value, a target throttle value corresponding to the target flow value;
  • the processor is configured to: control the liquid pump to pump liquid based on the target throttle value.
  • a fourth aspect of the embodiments of the present invention provides a drone, including:
  • a power system mounted to the fuselage for providing flight power
  • a liquid pump mounted to the body for pumping liquid from the tank;
  • the target throttle value corresponding to the target flow value is determined by acquiring the target flow value of the liquid pump mounted on the aircraft, based on the relationship between the preset flow value and the throttle value, based on the target throttle value.
  • the motor that drives the liquid pump rotates, causing the liquid pump to pump liquid. Since the embodiment of the present invention obtains the target throttle value corresponding to the target flow value based on the relationship between the preset flow value and the throttle value, the flow meter is not required, and therefore, the inaccurate measurement by the flow meter can be avoided.
  • the problem of low flow control accuracy is not affected by the mechanical characteristics of the flowmeter, and the problem that the flow control is not timely, the accuracy and real-time of the flow control are improved, and the cost of the flow control is reduced.
  • FIG. 1 is a flowchart of a flow control method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an aircraft according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of a flow control method according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a flow control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an aircraft controller according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a ground station according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a flow control method according to an embodiment of the present invention. As shown in FIG. 1 , the method includes:
  • Step 101 Obtain a target flow rate value of a liquid pump mounted on the aircraft.
  • the aircraft 21 includes a casing 211, a liquid pump 212, a spraying device 213, and a flight controller 214, wherein the casing 211 is used for carrying
  • the liquid, flight controller 214 is rotated by a motor (not shown in FIG. 2) that drives the liquid pump 212 to cause the liquid pump 212 to pump liquid from the tank 211, and the spray device 213 It is used to spray the liquid taken out by the pump of the liquid pump 212.
  • the target flow rate referred to in this embodiment refers to the amount of liquid pumping that the liquid pump is to achieve in a unit time.
  • the target traffic can be obtained according to the flight altitude and the flight speed of the aircraft.
  • the liquid pump involved in the present embodiment may be specifically a pump structure such as a centrifugal pump, a diaphragm pump or the like, but is not limited to a centrifugal pump and a diaphragm pump.
  • Step 102 Determine, according to a relationship between a preset flow value and a throttle value, a target throttle value corresponding to the target flow value.
  • the relationship between the preset flow value and the throttle value in this embodiment may be specifically a list of the relationship between the flow value and the throttle value.
  • the flow value and the throttle value in the association relationship list may be specifically a one-to-one correspondence, that is, one flow value corresponds to one throttle value.
  • Table 1 is a list of associations between flow values and throttle values provided by an embodiment of the present invention.
  • a flow value corresponds to a throttle value. After the target flow value is obtained, the corresponding target throttle value directly searched according to the relationship list may be obtained.
  • Table 1 is only an example, rather than a specific definition of the correspondence between the flow value and the throttle value.
  • the flow value and the throttle value may also be a one-to-many correspondence relationship, that is, one flow value corresponds to multiple throttle values.
  • the target throttle value when the target throttle value is searched according to the target flow value, the target throttle value may be determined from the plurality of throttle values according to the flight altitude and/or the flight speed of the aircraft.
  • the corresponding relationship between the throttle value and the flight speed and/or the flying height may be preset. For the setting, refer to the prior art, and details are not described herein again.
  • the relationship between the preset flow value and the throttle value in this embodiment may be specifically a function fitting relationship between the flow value and the throttle value. After the target throttle value is obtained, According to the function fitting relationship calculation, the corresponding target throttle value is obtained.
  • the method for determining the function fitting relationship described above is not specifically limited in this embodiment. In fact, those skilled in the art can obtain different function fitting relationships by using different processing methods as needed.
  • Step 103 Drive the motor of the liquid pump to rotate based on the target throttle value, so that the liquid pump pumps the liquid.
  • Different motor values can be obtained by driving the motor of the liquid pump with different throttle values.
  • the motor of the liquid pump is driven based on the target throttle value to enable the target flow corresponding to the target throttle, thereby realizing The purpose of precise control of traffic.
  • the target flow value corresponding to the target flow value is determined by acquiring the target flow value of the liquid pump mounted on the aircraft, based on the relationship between the preset flow value and the throttle value, and is driven based on the target throttle value.
  • the motor of the liquid pump rotates, so that the liquid pump pumps the liquid. Since the embodiment obtains the target throttle value corresponding to the target flow value based on the relationship between the preset flow value and the throttle value, the flow meter is not required, and therefore, the flow caused by the inaccurate measurement of the flow meter can be avoided.
  • the problem of low control accuracy is not affected by the mechanical characteristics of the flowmeter, and the problem that the flow control is not timely is improved, the accuracy and real-time of the flow control are improved, and the cost of the flow control is reduced.
  • FIG. 3 is a flowchart of a flow control method according to an embodiment of the present invention, as shown in FIG.
  • the following method is performed:
  • Step 301 Acquire at least two flow values in the association relationship list, and corresponding throttle values.
  • At least two flow values are randomly obtained from a list of associations between flow values and throttle values, and a throttle value corresponding to each of the two flow values.
  • the relationship between the flow value and the throttle value can be The list obtains one or more flow values that are less than the target flow value and one or more flow values that are greater than the target flow value. For example, when two flow values are obtained from the association list between the flow value and the throttle value, the largest of all the flow values smaller than the target flow value can be obtained from the relationship list between the magnitude and the throttle value. And the smallest of all flow values greater than the target flow value, and the corresponding throttle value.
  • the relationship between the flow value and the throttle value includes the flow values 5, 6, 7, and 8. When the target flow value is 6.5, the flow values 6 and 7 are obtained from the association list, and their corresponding Throttle value.
  • this is merely an illustration and not a limitation of the invention.
  • Step 302 Calculate, according to the at least two flow values and the corresponding throttle values, an interpolation throttle algorithm to obtain a target throttle value corresponding to the target flow value.
  • the target throttle value corresponding to the target flow value may be calculated based on the linear interpolation method.
  • the target throttle value corresponding to the target flow value may be calculated by using any other interpolation method as needed.
  • the principle and method of the interpolation method can be referred to the prior art, and details are not described herein again.
  • the association list between the flow value and the throttle value is a list of associations including limited data, it is impossible to include all the cases in the actual scenario. Therefore, after obtaining the target traffic, the list may not be searched according to the association relationship.
  • the embodiment obtains at least two flow values in the association list between the flow value and the throttle value, and the corresponding throttle value, and based on the acquired flow value
  • the interpolation algorithm is used to calculate the target throttle value corresponding to the target flow value, which ensures that the flow can be accurately controlled based on the relationship between the flow value and the throttle value in any scenario without using the flow. Improves the accuracy, real-time and reliability of flow control. Reduce the cost of flow control.
  • FIG. 4 is a flowchart of a flow control method according to an embodiment of the present invention. As shown in FIG. 4, on the basis of the foregoing embodiment, the embodiment may further include establishing an association relationship between a flow value and a throttle value. step:
  • Step 401 Control the liquid pump to pump liquid.
  • Step 402 Acquire a throttle value and a flow value corresponding to each preset time length of the plurality of preset time lengths, wherein the motor for driving the liquid pump rotates within the preset time length
  • the throttle value is constant.
  • Step 403 Establish an association relationship between the flow value and the throttle value based on the throttle value and the flow value corresponding to each preset time length of the plurality of preset time lengths.
  • the housing 211 further includes a float (not shown in FIG. 2) for detecting whether the liquid has been pumped.
  • the float can be calibrated first to ensure that the float can accurately detect the liquid inventory in the tank 211. First, a preset volume or mass of liquid (for example, water) is injected into the tank 211 to float the float, and then the liquid pump 212 is controlled to pump the liquid until the float falls to the bottom of the tank 211 and is reported to the tank 211.
  • a preset volume or mass of liquid for example, water
  • a certain amount of liquid for example, 5 liters or 10 liters, but not limited to 5 liters or 10 liters
  • the specific calibration method can be referred to the prior art, and there are not many Make a statement.
  • the motor of the control liquid pump 212 can be driven to rotate at a constant throttle value, so that the liquid pump 212 pumps the liquid until the liquid pump is taken, and can also be pumped.
  • the liquid pump 212 is controlled to pump liquid with a varying throttle value during the process.
  • the threshold value of the plurality of liquids can be preset (for example, 1.5kg, 2kg, 2.5kg, 3kg, 3.5kg, but not limited to 1.5kg, 2kg, 2.5kg, 3kg, 3.5kg, etc.) Actually, it may be any other arbitrarily set threshold, and other number of thresholds.
  • the motor of the liquid pump 212 is driven to rotate with a constant throttle value, so that the liquid pump 212 pumps the liquid to obtain the throttle value for each preset time length and the corresponding flow meter (for example, the rotameter), but is not limited.
  • the liquid pump 212 can be used to control the pumping of the liquid pump 212 in any time outside the preset time length, which is not limited in this embodiment.
  • the preset time lengths corresponding to the preset thresholds of different liquid quantities may be the same or different, and the throttle values corresponding to different preset time lengths may be the same or different.
  • the second count value of the flow meter is obtained; and based on the second count value and the total amount of liquid carried in the tank, the rotor rotation of the flow meter is calculated.
  • the rotor of the flow meter is rotated once, the amount of liquid pumped by the liquid pump 212 is multiplied by the first count value of the corresponding counter in each preset time length, and the pumping time is obtained for each preset time length.
  • the total number of liquids which can be obtained by dividing the total number of liquids pumped in each preset length of time by the preset length of time.
  • the method for establishing the relationship between the flow value and the throttle value provided by the embodiment is simple and easy to operate, and can quickly and conveniently complete the calibration of the float in the box, and the flow value and the throttle value without requiring the aircraft to take off.
  • the establishment of the relationship between the two has a high efficiency of execution.
  • FIG. 5 is a schematic structural diagram of an aircraft controller according to an embodiment of the present invention.
  • the aircraft controller may be the aircraft controller described in the foregoing embodiment.
  • the aircraft controller 50 includes: a communication interface. 51.
  • the processor 52 is configured to: search for a target throttle value corresponding to the target flow value in a list of associations between the preset flow value and the throttle value.
  • the processor 52 is configured to: determine, according to a function fitting relationship between the preset flow value and the throttle value, a target throttle value corresponding to the target flow value.
  • the aircraft controller provided in this embodiment can be used to perform the method of the embodiment of FIG. 1 , and the execution manner and the beneficial effects are similar, and details are not described herein again.
  • the embodiment of the present invention further provides an aircraft controller.
  • the communication interface 51 is configured to: find the target throttle value corresponding to the target flow value in the association relationship list. Obtaining at least two flow values in the association relationship list, and corresponding throttle values; the processor 52 is configured to: calculate, obtain, by using an interpolation algorithm based on the at least two flow values and corresponding throttle values The target throttle value corresponding to the target flow value.
  • the communication interface 51 is configured to: acquire, in the association relationship list, at least two flow values whose absolute value of the difference value of the target flow value is within a preset range, and corresponding oil Gate value.
  • the communication interface 51 is configured to: obtain two flow values in the association relationship list, and corresponding throttle values, wherein one of the two flow values is smaller than the target flow value, and One is greater than the target flow value.
  • the communication interface 51 is configured to: obtain the smallest of all the traffic values smaller than the target traffic value in the association relationship list, and the smallest of all the traffic values that are greater than the target traffic value, and corresponding Throttle value.
  • the aircraft controller provided in this embodiment can perform the method of the embodiment of FIG. 3, and the execution manner and the beneficial effects are similar, and details are not described herein again.
  • the embodiment of the present invention further provides an aircraft controller.
  • the processor 52 is configured to: control the liquid pump to pump liquid; and the communication interface 51 is configured to: acquire multiple pre- And a throttle value and a flow value corresponding to each preset time length, wherein a throttle value for driving the motor of the liquid pump is constant within the preset time length; And: establishing an association relationship between the flow value and the throttle value based on the throttle value and the flow value corresponding to each preset time length of the plurality of preset time lengths.
  • the communication interface 51 is configured to: when the quantity of the liquid carried in the box carried by the aircraft reaches any one of a plurality of preset thresholds, the constant is performed for the next preset time length.
  • the throttle value drives the motor of the liquid pump to rotate to obtain a throttle value for each preset time length, and a first count value of the flow meter carried by the aircraft for each preset time length;
  • the communication interface 51 For obtaining a second count value of the flow meter when all the liquids in the tank are pumped out;
  • the processor 52 is configured to: based on the second count value and the load in the box The total amount of liquid, the amount of liquid of the liquid pump when the rotor of the flow meter rotates one turn;
  • the processor 52 is configured to: the amount of liquid of the liquid pump when the rotor of the flow meter rotates one turn And determining, by the first count value of the flow meter in each preset time length, a flow value corresponding to each preset time length.
  • the aircraft controller provided in this embodiment can perform the method of the embodiment of FIG. 4, and the execution manner and the beneficial effects are similar, and details are not described herein again.
  • FIG. 6 An embodiment of the present invention provides a ground station, see FIG. 6, which is provided by an embodiment of the present invention.
  • a schematic diagram of a ground station, as shown in FIG. 6, the ground station 60 includes: a communication interface 61, one or more processors 62; the one or more processors 62 operating separately or in cooperation, the communication interface 61 is connected to the processor 62; the communication interface 61 is configured to: acquire a target flow value of a liquid pump carried by the aircraft; and the processor 62 is configured to: establish an association relationship between the preset flow value and the throttle value Determining a target throttle value corresponding to the target flow value; the processor is configured to: control the liquid pump to pump liquid based on the target throttle value.
  • the processor 62 is configured to: search for a target throttle value corresponding to the target flow value in a list of associations between the preset flow value and the throttle value.
  • the processor 62 is configured to determine a target throttle value corresponding to the target flow value based on a function fitting relationship between the preset flow value and the throttle value.
  • ground station provided by this embodiment can be used to perform the method of the embodiment of FIG. 1 , and the execution manner and the beneficial effects are similar, and details are not described herein again.
  • the embodiment of the present invention further provides a ground station.
  • the communication interface 61 is configured to: when the target throttle value corresponding to the target flow value is not found in the association relationship list, Obtaining at least two flow values in the association list, and corresponding throttle values; the processor 62 is configured to: obtain, by using an interpolation algorithm, the calculation based on the at least two flow values and corresponding throttle values The target throttle value corresponding to the target flow value.
  • the communication interface 61 is configured to: acquire, in the association relationship list, at least two flow values whose absolute value of the difference value of the target flow value is within a preset range, and a corresponding throttle value.
  • the communication interface 61 is configured to: acquire two flow values in the association relationship list, and corresponding throttle values, where one of the two flow values is smaller than the target flow value, and One is greater than the target flow value.
  • the communication interface 61 is configured to: obtain the smallest of all the traffic values smaller than the target traffic value in the association relationship list, and the smallest of all traffic values greater than the target traffic value, and corresponding Throttle value.
  • the ground station provided by this embodiment can perform the method of the embodiment of FIG. 3, and the execution manner and the beneficial effects are similar, and details are not described herein again.
  • the embodiment of the present invention further provides a ground station.
  • the processor 62 is configured to: control the liquid pump to take liquid according to the embodiment of FIG. 6;
  • the communication interface 61 is configured to: acquire multiple presets. a throttle value and a flow value corresponding to each preset time length in the length of time, wherein a throttle value for rotating the motor for driving the liquid pump is constant within the preset time length;
  • the processor 62 is configured to And establishing an association relationship between the flow value and the throttle value based on the throttle value and the flow value corresponding to each preset time length of the plurality of preset time lengths.
  • the communication interface 61 is configured to: when the quantity of the liquid carried in the box carried by the aircraft reaches any one of a plurality of preset thresholds, the constant is performed for the next preset time length.
  • the throttle value drives the motor of the liquid pump to rotate to obtain a throttle value for each preset time length, and a first count value of the flow meter carried by the aircraft for each preset time length;
  • the communication interface 61 For obtaining a second count value of the flow meter when all the liquids in the tank are pumped out;
  • the processor 62 is configured to: based on the second count value and the load in the box The total amount of liquid, the amount of liquid of the liquid pump when the rotor of the flow meter rotates one turn;
  • the processor 62 is configured to: the amount of liquid of the liquid pump when the rotor of the flow meter rotates one turn And determining, by the first count value of the flow meter in each preset time length, a flow value corresponding to each preset time length.
  • the ground station provided by this embodiment can perform the method of the embodiment of FIG. 4, and the execution manner and the beneficial effects are similar, and details are not described herein again.
  • An embodiment of the present invention further provides a drone, including a fuselage, a power system installed in the airframe for providing flight power, and a cabinet mounted on the air body for carrying the liquid to be treated; a pump mounted to the fuselage for pumping liquid from the tank; and the aircraft controller of the above embodiments.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be indirect through some interface, device or unit.
  • the coupling or communication connection can be in electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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Abstract

本发明实施例提供一种流量控制方法、设备及无人机，该方法包括：获取飞行器搭载的液泵的目标流量值；基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；基于所述目标油门值，驱动所述液泵的电机转动，从而使得所述液泵泵取液体。本发明实施例提供的方法、设备及无人机能够实现流量的准确控制，提高流量控制的实时性。

Description

流量控制方法、设备及无人机 技术领域
本申请涉及农业无人机技术领域，尤其涉及一种流量控制方法、设备及无人机。
背景技术
农业无人机喷洒系统，主要执行无人机在飞行过程中的喷洒动作，由于飞行的速度与喷洒的流速关联，因此控制喷洒流量的精确度和实时性很重要，精确度要求喷洒出的农药需满足用户设置要求，过少则打药效果不好，过多则会烧苗，实时性要求喷洒动作与飞行速度关联，实时地调整喷洒流速。
目前对于压力水泵的控制方式普遍采用流量计的方法，该流量计由一个转子组成，转子上含有六个磁性点，根据霍尔效应，每次磁性点转过的时候记录一个脉冲，进而可计算转子的转速，从而推算出流速。
但是，现有流量控制方式的精确度容易受液体的粘度和密度影响，另外，由于转子的机械特性，每次改变流量，流量计需要一个较长的时间来闭环出目标流量，影响了流量控制的精确性和实时性。
发明内容
本发明实施例提供一种流量控制方法、设备及无人机，以实现准确的流量控制，提高流量控制的实时性。
本发明实施例的第一方面是提供一种流量控制方法，包括：
获取飞行器搭载的液泵的目标流量值；
基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；
基于所述目标油门值，驱动所述液泵的电机转动，从而使得所述液泵泵取液体。
本发明实施例的第二方面是提供一种飞行器控制器，包括：
通信接口、一个或多个处理器；所述一个或多个处理器单独或协同工 作，所述通信接口和所述处理器连接；
所述通信接口用于：获取飞行器搭载的液泵的目标流量值；
所述处理器用于：基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；
所述处理器用于：基于所述目标油门值，控制所述液泵泵取液体。
本发明实施例的第三方面是提供一种地面站，包括：
通信接口、一个或多个处理器；所述一个或多个处理器单独或协同工作，所述通信接口和所述处理器连接；
所述通信接口用于：获取飞行器搭载的液泵的目标流量值；
所述处理器用于：基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；
所述处理器用于：基于所述目标油门值，控制所述液泵泵取液体。
本发明实施例的第四方面是提供一种无人机，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
箱体，安装在所述机身，用于承载待的液体；
液泵，安装在所述机身，用于从所述箱体中泵取液体；
以及上述第二方面所述的飞行器控制器。
本发明实施例提供的，通过获取飞行器搭载的液泵的目标流量值，基于预设的流量值与油门值之间的关联关系，确定目标流量值所对应的目标油门值，基于目标油门值，驱动液泵的电机转动，使得液泵泵取液体。由于本发明实施例是基于预设的流量值与油门值之间的关联关系来获得目标流量值对应的目标油门值的，无需借助流量计，因此，能够避免因流量计测量不准确而导致的流量控制精确度低的问题，也不会受流量计机械特性影响，出现流量控制不及时的问题，提高了流量控制的精确性和实时性，降低了流量控制的成本。
附图说明
图1是本发明实施例提供的一种流量控制方法的流程图；
图2是本发明实施例提供的一种飞行器的结构示意图；
图3是本发明实施例提供的一种流量控制方法的流程图；
图4是本发明实施例提供的一种流量控制方法的流程图；
图5是本发明实施例提供的一种飞行器控制器的结构示意图；
图6是本发明实施例提供的一种地面站的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本实施例提供一种流量控制方法，还方法可以由飞行器控制器或地面站来执行。以下实施例是以飞行器控制器为例所做的具体说明，地面站与飞行器控制器的执行方式类似，本实施例中不再重复赘述。参见图1，图1是本发明实施例提供的一种流量控制方法的流程图，如图1所示，该方法包括：
步骤101、获取飞行器搭载的液泵的目标流量值。
图2是本发明实施例提供的一种飞行器的结构示意图，如图2所示，飞行器21包括箱体211，液泵212，喷洒装置213和飞行控制器214，其中，箱体211用于承载液体，飞行控制器214通过驱动液泵212的电机(图2中未示出)转动，以使得液泵212从箱体211中泵取液体，喷洒装置213 用于对液泵212泵取出的液体进行喷洒。
当以不同的油门值驱动液泵212的电机转动时，液泵212泵取液体的流量值不同。
本实施例中所称的目标流量值是指液泵在单位时间内目标所要达到的液体抽取数量。其中，目标流量可以根据飞行器的飞行高度和飞行速度获得，其具体获取方法可以参见现有技术，本实施例中不做详述。
在本实施例中涉及的液泵可以被具体为泵结构，比如，离心泵、隔膜泵等，但不局限于离心泵和隔膜泵。
步骤102、基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值。
在一种可能的实现方式中，本实施例预设的流量值与油门值之间的关联关系可以被具体为流量值与油门值之间的关联关系列表。在该关联关系列表中流量值和油门值之间可以被具体为一对一的对应关系，即一个流量值对应一个油门值。示例的，表一是本发明实施例提供的一种流量值与油门值之间的关联关系列表，在关联关系列表中一个流量值对应一个油门值。在获得目标流量值后，可以根据该关联关系列表直接查找过的对应的目标油门值。当然表一仅为示例说明，而不是对流量值和油门值之间对应关系的具体限定。
流量值 油门值
0.6 1210
0.7 1230
0.8 1240
… …
可选的，在流量值与油门值之间的关联关系列表中，流量值和油门值之间还可以是一对多的对应关系，即一个流量值对应多个油门值。此时，在根据目标流量值查找目标油门值时，可以根据飞行器的飞行高度和/或飞行速度来从多个油门值中确定目标油门值。其中，每个油门值与飞行速度和/或飞行高度的对应关系可以预先设定，其设定可以参见现有技术，这里不再赘述。
在另一种可能的实现方式中，本实施例预设的流量值与油门值之间的关联关系可以被具体为流量值与油门值之间的函数拟合关系，在获得目标油门值后，根据该函数拟合关系计算获得对应的目标油门值。其中，本实施例不对上述函数拟合关系的确定方法进行具体的限定。实际上，本领域技术人员可以根据需要，采用不用的处理方法得到不同的函数拟合关系。
步骤103、基于所述目标油门值，驱动所述液泵的电机转动，从而使得所述液泵泵取液体。
以不同的油门值驱动液泵的电机转动能够得到不同流量值，本实施例在获得目标油门值后，基于该目标油门值驱动液泵的电机转动就能够使得目标油门对应的目标流量，从而实现精确控制流量的目的。
本实施例提供的，通过获取飞行器搭载的液泵的目标流量值，基于预设的流量值与油门值之间的关联关系，确定目标流量值所对应的目标油门值，基于目标油门值，驱动液泵的电机转动，使得液泵泵取液体。由于本实施例是基于预设的流量值与油门值之间的关联关系来获得目标流量值对应的目标油门值的，无需借助流量计，因此，能够避免因流量计测量不准确而导致的流量控制精确度低的问题，也不会受流量计机械特性影响，出现流量控制不及时的问题，提高了流量控制的精确性和实时性，降低了流量控制的成本。
以下结合具体实施例对图1实施例的技术方案进行优化和扩展，参见图3，图3是本发明实施例提供的一种流量控制方法的流程图，如图3所示，在图1实施例的基础上，若未在预设的流量值与油门值之间的关联关系列表中查找到目标流量值所对应的目标油门值时，则该执行如下方法：
步骤301、在所述关联关系列表中获取至少两个流量值，以及对应的油门值。
在一种可能的实现方式中，随机从流量值与油门值之间的关联关系列表中获取至少两个流量值，以及这两个流量值各自对应的油门值。
在另一种可能的实现方式中，获取从流量值与油门值之间的关联关系列表中获取与密保流量值的差值绝对值在预设范围内的至少两个流量值，以及各流量值各自对应的油门值。
在又一种可能的实现方式中，可以从流量值与油门值之间的关联关系 列表中获取一个或多个小于目标流量值的流量值，以及一个或多个大于目标流量值的流量值。示例的，当从流量值与油门值之间的关联关系列表中获取两个流量值时，可以从量值与油门值之间的关联关系列表中获取所有小于目标流量值的流量值中最大的和所有大于目标流量值的流量值中最小的，以及对应的油门值。比如，流量值与油门值之间的关联关系列表中包括流量值5、6、7、8，当目标流量值为6.5时，从该关联关系列表中获取流量值6和7，及其对应的油门值。当然这里仅为示例说明而不是对本发明的唯一限定。
步骤302、基于所述至少两个流量值和对应的油门值，采用插值算法计算获得所述目标流量值所对应的目标油门值。
可选的，在获取到的流量值为两个时，可以基于线性插值法计算获得目标流量值对应的目标油门值。当获取到的流量值大于两个时，则可以根据需要采用其他任意的插值法计算获得目标流量值对应的目标油门值。其中，插值法原理和方法可以参见现有技术，在这里不再赘述。
由于流量值与油门值之间的关联关系列表是一个包含有限数据的关联关系列表，其不可能包括实际场景中的所有情况，因此，在获得目标流量后，根据该关联关系列表可能都查找不到对应的目标流量值，在这种情况下，本实施例通过获取流量值与油门值之间的关联关系列表中的至少两个流量值，以及对应的油门值，并基于获取到的流量值和对应的油门值，采用插值算法计算获得目标流量值对应的目标油门值，确保了在任何场景下都能基于流量值与油门值之间的关联关系列表实现流量的精确控制，而无需借助流量计，提高了流量控制的准确性，实时性和可靠性。降低了流量控制的成本。
图4是本发明实施例提供的一种流量控制方法的流程图，如图4所示，在上述实施例的基础上，本实施例还可以包括建立流量值与油门值之间的关联关系的步骤：
步骤401、控制所述液泵泵取液体。
步骤402、获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，其中，在所述预设时间长度内用于驱动所述液泵的电机转动 的油门值恒定。
步骤403、基于所述多个预设时间长度中每个预设时间长度所对应的油门值和流量值，建立流量值与油门值之间的关联关系。
以图2所示的场景为例，箱体211中还包括用于检测液体是否被泵取完毕的浮子(图2中未示出)。实际场景中，可以先对浮子进行标定，以确保浮子能够准确检测到箱体211中的液体存量。首先，先往箱体211中注入预设体积或质量的液体(比如，水)，使得浮子浮起，然后控制液泵212泵取液体，直至浮子掉落箱体211底部，上报箱体211内无液体为止，然后，再次往箱体211注入定量的液体(比如5升或10升，但不局限于5升或10升)完成标定，具体的标定方法可以参见现有技术，在这里不多做赘述。
可选的，在控制液泵212泵取液体时，可以始终以恒定的油门值驱动控制液泵212的电机转动，使得液泵212泵取液体，直至液体泵取完毕，也可以在泵取的过程中以变化的油门值控制液泵212泵取液体。以变化的油门值为例，可以预先设定多个液体数量的阈值(比如1.5kg、2kg、2.5kg、3kg、3.5kg，但不局限于1.5kg、2kg、2.5kg、3kg、3.5kg，实际上可以是其他任意设定的阈值，以及其他数量的阈值个数)，当箱体211中承载的液体数量达到多个预设阈值中的任意一个时，在接下来的预设时间长度内以恒定的油门值驱动液泵212的电机转动，使得液泵212泵取液体，获得每个预设时间长度内的油门值以及对应的飞行器搭载的流量计(比如，转子流量计，但不局限于转子流量计)的第一计数值。在预设时间长度之外的时间内可以以任意油门值控制液泵212泵取液体，本实施例不做限定。不同液体数量的预设阈值所对应的预设时间长度可以相同也可以不同，不同预设时间长度对应的油门值可以相同也可以不同。
进一步的，当箱体211中的液体全部泵取完毕时，获取此时流量计的第二计数值；基于第二计数值和箱体中承载的液体总量，计算获得流量计的转子转动一圈时液泵212泵取的液体数量。再将流量计的转子转动一圈时液泵212泵取的液体数量分别乘以每个预设时间长度内对应的计数器的第一计数值，即可获得每个预设时间长度内泵取的液体总数，分别利用每个预设时间长度内泵取的液体总数除以预设时间长度，即可以获得每个预 设时间长度对应的流量值，根据每个预设时间长度对应的流量值和油门值，即可建立流量值与油门值之间的关联关系列表或函数拟合关系。当然这里仅为示例说明而不是对本发明的唯一限定。
本实施例提供的建立流量值与油门值之间的关联关系的方法，简单易操作，在不需要飞行器起飞的情况下即可方便快捷的完成箱体中浮子的标定，以及流量值与油门值之间的关联关系的建立，具有较高的执行效率。
本实施例的有益效果与上述实施例类似，在这里不再赘述。
图5是本发明实施例提供的一种飞行器控制器的结构示意图，该飞行器控制器可以是上述实施例中所述的飞行器控制器，如图5所示，该飞行器控制器50包括：通信接口51、一个或多个处理器52；所述一个或多个处理器52单独或协同工作，所述通信接口51和所述处理器52连接；所述通信接口51用于：获取飞行器搭载的液泵的目标流量值；所述处理器52用于：基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；所述处理器用于：基于所述目标油门值，控制所述液泵泵取液体。
可选的，所述处理器52用于：在预设的流量值与油门值之间的关联关系列表中查找所述目标流量值所对应的目标油门值。
可选的，所述处理器52用于：基于预设的流量值与油门值之间的函数拟合关系，确定所述目标流量值所对应的目标油门值。
本实施例提供的飞行器控制器能够用于执行图1实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例还提供一种飞行器控制器，在图5实施例的基础上，所述通信接口51用于：未在所述关联关系列表中查找到所述目标流量值所对应的目标油门值时，在所述关联关系列表中获取至少两个流量值，以及对应的油门值；所述处理器52用于：基于所述至少两个流量值和对应的油门值，采用插值算法计算获得所述目标流量值所对应的目标油门值。
可选的，所述通信接口51用于：在所述关联关系列表中获取与所述目标流量值的差值绝对值在预设范围内的至少两个流量值，以及对应的油 门值。
可选的，所述通信接口51用于：在所述关联关系列表中获取两个流量值，以及对应的油门值，其中，所述两个流量值中的一个小于所述目标流量值，另一个大于所述目标流量值。
可选的，所述通信接口51用于：获取所述关联关系列表中所有小于所述目标流量值的流量值中最大的和所有大于所述目标流量值的流量值中最小的，以及对应的油门值。
本实施例提供的飞行器控制器，能够执行图3实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例还提供一种飞行器控制器，在图5实施例的基础上，所述处理器52用于：控制所述液泵泵取液体；所述通信接口51用于：获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，其中，在所述预设时间长度内用于驱动所述液泵的电机转动的油门值恒定；所述处理器52用于：基于所述多个预设时间长度中每个预设时间长度所对应的油门值和流量值，建立流量值与油门值之间的关联关系。
可选的，所述通信接口51用于：在所述飞行器搭载的箱体中承载的液体数量达到多个预设阈值中的任意一个时，则在接下来的预设时间长度内以恒定的油门值驱动所述液泵的电机转动，获得每个预设时间长度内的油门值，以及在每个预设时间长度内所述飞行器搭载的流量计的第一计数值；所述通信接口51用于：在所述箱体中的液体全部泵取完毕时，获取所述流量计的第二计数值；所述处理器52用于：基于所述第二计数值和所述箱体中承载的液体总量，确定所述流量计的转子转动一圈时所述液泵的液体数量；所述处理器52用于：基于所述流量计的转子转动一圈时所述液泵的液体数量，以及所述流量计在每个预设时间长度内的第一计数值，确定每个预设时间长度对应的流量值。
本实施例提供的飞行器控制器，能够执行图4实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例提供一种地面站，参见图6，图6是本发明实施例提供 的一种地面站的结构示意图，如图6所示，地面站60包括：通信接口61、一个或多个处理器62；所述一个或多个处理器62单独或协同工作，所述通信接口61和所述处理器62连接；所述通信接口61用于：获取飞行器搭载的液泵的目标流量值；所述处理器62用于：基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；所述处理器用于：基于所述目标油门值，控制所述液泵泵取液体。
可选的，所述处理器62用于：在预设的流量值与油门值之间的关联关系列表中查找所述目标流量值所对应的目标油门值。
可选的，所述处理器62用于：基于预设的流量值与油门值之间的函数拟合关系，确定所述目标流量值所对应的目标油门值。
本实施例提供的地面站能够用于执行图1实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例还提供一种地面站，在图6实施例的基础上，所述通信接口61用于：未在所述关联关系列表中查找到所述目标流量值所对应的目标油门值时，在所述关联关系列表中获取至少两个流量值，以及对应的油门值；所述处理器62用于：基于所述至少两个流量值和对应的油门值，采用插值算法计算获得所述目标流量值所对应的目标油门值。
可选的，所述通信接口61用于：在所述关联关系列表中获取与所述目标流量值的差值绝对值在预设范围内的至少两个流量值，以及对应的油门值。
可选的，所述通信接口61用于：在所述关联关系列表中获取两个流量值，以及对应的油门值，其中，所述两个流量值中的一个小于所述目标流量值，另一个大于所述目标流量值。
可选的，所述通信接口61用于：获取所述关联关系列表中所有小于所述目标流量值的流量值中最大的和所有大于所述目标流量值的流量值中最小的，以及对应的油门值。
本实施例提供的地面站，能够执行图3实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例还提供一种地面站，在图6实施例的基础上，所述处理器62用于：控制所述液泵泵取液体；所述通信接口61用于：获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，其中，在所述预设时间长度内用于驱动所述液泵的电机转动的油门值恒定；所述处理器62用于：基于所述多个预设时间长度中每个预设时间长度所对应的油门值和流量值，建立流量值与油门值之间的关联关系。
可选的，所述通信接口61用于：在所述飞行器搭载的箱体中承载的液体数量达到多个预设阈值中的任意一个时，则在接下来的预设时间长度内以恒定的油门值驱动所述液泵的电机转动，获得每个预设时间长度内的油门值，以及在每个预设时间长度内所述飞行器搭载的流量计的第一计数值；所述通信接口61用于：在所述箱体中的液体全部泵取完毕时，获取所述流量计的第二计数值；所述处理器62用于：基于所述第二计数值和所述箱体中承载的液体总量，确定所述流量计的转子转动一圈时所述液泵的液体数量；所述处理器62用于：基于所述流量计的转子转动一圈时所述液泵的液体数量，以及所述流量计在每个预设时间长度内的第一计数值，确定每个预设时间长度对应的流量值。
本实施例提供的地面站，能够执行图4实施例的方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例还提供一种无人机，包括机身，动力系统，安装在所述机身，用于提供飞行动力；箱体，安装在所述机身，用于承载待的液体；液泵，安装在所述机身，用于从所述箱体中泵取液体；以及上述实施例所述的飞行器控制器。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接 耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (28)

  1. 一种流量控制方法，其特征在于，包括：
    获取飞行器搭载的液泵的目标流量值；
    基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；
    基于所述目标油门值，驱动所述液泵的电机转动，从而使得所述液泵泵取液体。
  2. 根据权利要求1所述的方法，其特征在于，所述基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值，包括：
    在预设的流量值与油门值之间的关联关系列表中查找所述目标流量值所对应的目标油门值。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    若未在所述关联关系列表中查找到所述目标流量值所对应的目标油门值，则在所述关联关系列表中获取至少两个流量值，以及对应的油门值；
    基于所述至少两个流量值和对应的油门值，采用插值算法计算获得所述目标流量值所对应的目标油门值。
  4. 根据权利要求3所述的方法，其特征在于，所述在所述关联关系列表中获取至少两个流量值，以及对应的油门值，包括：
    在所述关联关系列表中获取与所述目标流量值的差值绝对值在预设范围内的至少两个流量值，以及对应的油门值。
  5. 根据权利要求3所述的方法，其特征在于，所述在所述关联关系列表中获取至少两个流量值，以及对应的油门值，包括：
    在所述关联关系列表中获取两个流量值，以及对应的油门值，其中，所述两个流量值中的一个小于所述目标流量值，另一个大于所述目标流量值。
  6. 根据权利要求5所述的方法，其特征在于，所述在所述关联关系列表中获取两个流量值，以及对应的油门值，包括：
    获取所述关联关系列表中所有小于所述目标流量值的流量值中最大的和所有大于所述目标流量值的流量值中最小的，以及对应的油门值。
  7. 根据权利要求1所述的方法，其特征在于，所述基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值，包括：
    基于预设的流量值与油门值之间的函数拟合关系，确定所述目标流量值所对应的目标油门值。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    控制所述液泵泵取液体；
    获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，其中，在所述预设时间长度内用于驱动所述液泵的电机转动的油门值恒定；
    基于所述多个预设时间长度中每个预设时间长度所对应的油门值和流量值，建立流量值与油门值之间的关联关系。
  9. 根据权利要求8所述的方法，其特征在于，所述获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，包括：
    当所述飞行器搭载的箱体中承载的液体数量达到多个预设阈值中的任意一个时，则在接下来的预设时间长度内以恒定的油门值驱动所述液泵的电机转动，获得每个预设时间长度内的油门值，以及在每个预设时间长度内所述飞行器搭载的流量计的第一计数值；
    当所述箱体中的液体全部泵取完毕时，获取所述流量计的第二计数值；
    基于所述第二计数值和所述箱体中承载的液体总量，确定所述流量计的转子转动一圈时所述液泵的液体数量；
    基于所述流量计的转子转动一圈时所述液泵的液体数量，以及所述流量计在每个预设时间长度内的第一计数值，确定每个预设时间长度对应的流量值。
  10. 一种飞行器控制器，其特征在于，包括通信接口、一个或多个处理器；所述一个或多个处理器单独或协同工作，所述通信接口和所述处理器连接；
    所述通信接口用于：获取飞行器搭载的液泵的目标流量值；
    所述处理器用于：基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；
    所述处理器用于：基于所述目标油门值，控制所述液泵泵取液体。
  11. 根据权利要求10所述的飞行器控制器，其特征在于，所述处理器用于：
    在预设的流量值与油门值之间的关联关系列表中查找所述目标流量值所对应的目标油门值。
  12. 根据权利要求11所述的飞行器控制器，其特征在于，所述通信接口用于：未在所述关联关系列表中查找到所述目标流量值所对应的目标油门值时，在所述关联关系列表中获取至少两个流量值，以及对应的油门值；
    所述处理器用于：基于所述至少两个流量值和对应的油门值，采用插值算法计算获得所述目标流量值所对应的目标油门值。
  13. 根据权利要求12所述的飞行器控制器，其特征在于，所述通信接口用于：在所述关联关系列表中获取与所述目标流量值的差值绝对值在预设范围内的至少两个流量值，以及对应的油门值。
  14. 根据权利要求12所述的飞行器控制器，其特征在于，所述通信接口用于：在所述关联关系列表中获取两个流量值，以及对应的油门值，其中，所述两个流量值中的一个小于所述目标流量值，另一个大于所述目标流量值。
  15. 根据权利要求14所述的飞行器控制器，其特征在于，所述通信接口用于：获取所述关联关系列表中所有小于所述目标流量值的流量值中最大的和所有大于所述目标流量值的流量值中最小的，以及对应的油门值。
  16. 根据权利要求10所述的飞行器控制器，其特征在于，所述处理器用于：基于预设的流量值与油门值之间的函数拟合关系，确定所述目标流量值所对应的目标油门值。
  17. 根据权利要求10所述的飞行器控制器，其特征在于，所述处理器用于：控制所述液泵泵取液体；
    所述通信接口用于：获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，其中，在所述预设时间长度内用于驱动所述液泵的电机转动的油门值恒定；
    所述处理器用于：基于所述多个预设时间长度中每个预设时间长度所 对应的油门值和流量值，建立流量值与油门值之间的关联关系。
  18. 根据权利要求17所述的飞行器控制器，其特征在于，所述通信接口用于：在所述飞行器搭载的箱体中承载的液体数量达到多个预设阈值中的任意一个时，则在接下来的预设时间长度内以恒定的油门值驱动所述液泵的电机转动，获得每个预设时间长度内的油门值，以及在每个预设时间长度内所述飞行器搭载的流量计的第一计数值；
    所述通信接口用于：在所述箱体中的液体全部泵取完毕时，获取所述流量计的第二计数值；
    所述处理器用于：基于所述第二计数值和所述箱体中承载的液体总量，确定所述流量计的转子转动一圈时所述液泵的液体数量；
    所述处理器用于：基于所述流量计的转子转动一圈时所述液泵的液体数量，以及所述流量计在每个预设时间长度内的第一计数值，确定每个预设时间长度对应的流量值。
  19. 一种地面站，其特征在于，包括通信接口、一个或多个处理器；所述一个或多个处理器单独或协同工作，所述通信接口和所述处理器连接；
    所述通信接口用于：获取飞行器搭载的液泵的目标流量值；
    所述处理器用于：基于预设的流量值与油门值之间的关联关系，确定所述目标流量值所对应的目标油门值；
    所述处理器用于：基于所述目标油门值，控制所述液泵泵取液体。
  20. 根据权利要求19所述的地面站，其特征在于，所述处理器用于：
    在预设的流量值与油门值之间的关联关系列表中查找所述目标流量值所对应的目标油门值。
  21. 根据权利要求20所述的地面站，其特征在于，所述通信接口用于：未在所述关联关系列表中查找到所述目标流量值所对应的目标油门值时，在所述关联关系列表中获取至少两个流量值，以及对应的油门值；
    所述处理器用于：基于所述至少两个流量值和对应的油门值，采用插值算法计算获得所述目标流量值所对应的目标油门值。
  22. 根据权利要求21所述的地面站，其特征在于，所述通信接口用于：在所述关联关系列表中获取与所述目标流量值的差值绝对值在预设范围内的至少两个流量值，以及对应的油门值。
  23. 根据权利要求21所述的地面站，其特征在于，所述通信接口用于：在所述关联关系列表中获取两个流量值，以及对应的油门值，其中，所述两个流量值中的一个小于所述目标流量值，另一个大于所述目标流量值。
  24. 根据权利要求23所述的地面站，其特征在于，所述通信接口用于：获取所述关联关系列表中所有小于所述目标流量值的流量值中最大的和所有大于所述目标流量值的流量值中最小的，以及对应的油门值。
  25. 根据权利要求19所述的地面站，其特征在于，所述处理器用于：基于预设的流量值与油门值之间的函数拟合关系，确定所述目标流量值所对应的目标油门值。
  26. 根据权利要求19所述的地面站，其特征在于，所述处理器用于：控制所述液泵泵取液体；
    所述通信接口用于：获取多个预设时间长度中每个预设时间长度所对应的油门值和流量值，其中，在所述预设时间长度内用于驱动所述液泵的电机转动的油门值恒定；
    所述处理器用于：基于所述多个预设时间长度中每个预设时间长度所对应的油门值和流量值，建立流量值与油门值之间的关联关系。
  27. 根据权利要求26所述的地面站，其特征在于，所述通信接口用于：在所述飞行器搭载的箱体中承载的液体数量达到多个预设阈值中的任意一个时，则在接下来的预设时间长度内以恒定的油门值驱动所述液泵的电机转动，获得每个预设时间长度内的油门值，以及在每个预设时间长度内所述飞行器搭载的流量计的第一计数值；
    所述通信接口用于：在所述箱体中的液体全部泵取完毕时，获取所述流量计的第二计数值；
    所述处理器用于：基于所述第二计数值和所述箱体中承载的液体总量，确定所述流量计的转子转动一圈时所述液泵的液体数量；
    所述处理器用于：基于所述流量计的转子转动一圈时所述液泵的液体数量，以及所述流量计在每个预设时间长度内的第一计数值，确定每个预设时间长度对应的流量值。
  28. 一种无人机，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    箱体，安装在所述机身，用于承载待的液体；
    液泵，安装在所述机身，用于从所述箱体中泵取液体；以及
    权利要求10-18中任一项所述的飞行器控制器。
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