WO2019119234A1 - 检测方法及装置、无人机、可读存储介质 - Google Patents

检测方法及装置、无人机、可读存储介质 Download PDF

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Publication number
WO2019119234A1
WO2019119234A1 PCT/CN2017/117026 CN2017117026W WO2019119234A1 WO 2019119234 A1 WO2019119234 A1 WO 2019119234A1 CN 2017117026 W CN2017117026 W CN 2017117026W WO 2019119234 A1 WO2019119234 A1 WO 2019119234A1
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WIPO (PCT)
Prior art keywords
load
preset
electronic governor
water pump
determining
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Application number
PCT/CN2017/117026
Other languages
English (en)
French (fr)
Inventor
李占斌
何纲
邓晓晓
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
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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 CN201780023545.6A priority Critical patent/CN109071020A/zh
Priority to PCT/CN2017/117026 priority patent/WO2019119234A1/zh
Publication of WO2019119234A1 publication Critical patent/WO2019119234A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations

Definitions

  • the embodiments of the present application relate to the field of spraying, and in particular, to a detecting method and device, a drone, and a readable storage medium.
  • the conventional judgment method for whether the above-mentioned liquid inlet pipe is filled with the amount of air that cannot be sprayed is: directly judge whether the pressure value of the pressure gauge is under the premise of normal spraying of the water pump Within the agreed scope.
  • the pressure gauge is a lossy and fragile product, which is very likely to cause a false alarm in the pipeline that causes the amount of air that cannot be sprayed, and the pressure gauge is coupled with the abnormality of the pressure gauge itself, which is not conducive to whether the inlet pipe is full or not. Accurate detection of the amount of air sprayed.
  • the embodiment of the present application provides a detection method and device, a drone, and a readable storage medium.
  • the water inlet pipe of the water pump can be determined more stably, more effectively, and more accurately. Whether it is full of the amount of air that can not be sprayed, is beneficial to realize the related operation of the mobile platform when the water inlet pipe of the water pump is filled with the amount of air that cannot be sprayed.
  • the first aspect of the present application provides a detection method applied to a mobile platform including a water pump for spraying liquid and an electronic governor for controlling the water pump, and the method may include:
  • a second aspect of the present application provides a detecting apparatus applied to a mobile platform, where the mobile platform includes For a water spray pump and an electronic governor for controlling the water pump, the device may include:
  • a collecting device a processor, and the collecting device is in communication connection with the processor
  • a third aspect of the present application provides an unmanned aerial vehicle including a water pump for spraying liquid and an electronic governor for controlling the water pump, the drone further comprising the detecting device provided by the above first aspect, the detecting device Connected to the electronic governor.
  • a fourth aspect of the present application provides a computer readable storage medium having stored thereon a computer program.
  • the computer program is executed by the processor, the following steps are implemented:
  • the embodiments of the present application have the following advantages:
  • the embodiment of the present application provides a detection method.
  • the water pump When detecting the load of the electronic governor of the water pump, the water pump is determined to be in a preset working state when the load of the electronic governor does not meet the preset condition.
  • the working state can be used to indicate that the water inlet pipe of the water pump is filled with the amount of air that cannot be sprayed, and under the resistance of the air volume, the water pump cannot deliver the spray liquid into the pump cavity and complete the spraying.
  • the electronic governor can be used instead of the air detecting function of the pressure gauge, thereby avoiding the false detection caused by the easy loss and easy damage of the pressure gauge, and at the same time,
  • the electronic governor is decoupled from other sensors in the spray system, and its service life and stability are longer and better than other sensors, which increases the detection of whether the inlet pipe is filled with air that cannot be sprayed. The accuracy of the quantity.
  • FIG. 1 is a schematic diagram of an embodiment of a detection method in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of another embodiment of a detection method in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of another embodiment of a detection method in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of another embodiment of a detection method in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of another embodiment of a detection method in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another embodiment of a detection method in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of another embodiment of a detection method in an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a communication frame of a detection method in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of an embodiment of a detecting device in an embodiment of the present application.
  • FIG. 10 is a schematic diagram of another embodiment of a detecting apparatus according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of another embodiment of a detecting apparatus according to an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.
  • the embodiment of the present application provides a detection method and device, a drone, and a readable storage medium.
  • the water inlet pipe of the water pump can be determined more stably, more effectively, and more accurately. Whether it is full of the amount of air that can not be sprayed, is beneficial to realize the related operation of the mobile platform when the water inlet pipe of the water pump is filled with the amount of air that cannot be sprayed.
  • an embodiment of the detection method in the embodiment of the present application includes:
  • the mobile platform may include a water pump for spraying liquid and an electronic governor for controlling the water pump.
  • the electronic governor may feed back such as the rotational speed and the working current, and the load of the electrical governor may be used to reflect the water pump.
  • the working state of the water pump can reflect whether the water inlet pipe of the water pump is filled with the amount of air that cannot be sprayed.
  • the load of the electronic governor can be obtained when the water pump and the electronic governor are activated.
  • the load of the electronic governor is a mass change of the spray liquid for reflecting the spray liquid accommodating cavity in the water pump.
  • the spray liquid accommodating cavity in the water pump is fully loaded with the spray liquid, the non-full load spray liquid and the no-load spray liquid, the electronic adjustment The load of the speed governor is different. From the full load of spray liquid to the no-load spray liquid, the load of the electronic governor will change drastically, such as a sharp drop, and when the liquid spray chamber in the pump is sprayed with no-load spray liquid, it means The inlet pipe of the water pump is filled with an amount of air that cannot be sprayed.
  • the water pump can have various working states, and the working state may include a state in which the liquid immersion spray liquid in the spray liquid holding chamber is sprayed, a non-full load spray liquid and a no-load spray liquid, and may also include other working states, but Different working states may correspond to the spray liquid holding chamber full of spray liquid, non-half load spray liquid and no-load spray liquid in the water pump respectively.
  • a preset condition may be preset, and the preset condition may be used to determine whether the load of the electronic governor indicates that the water pump is in a preset working state, and the preset working state may indicate that the water inlet pipe of the water pump is full, so that the The amount of air sprayed.
  • the preset conditions can be adjusted accordingly due to different factors such as the height difference between the oil tank of the mobile platform where the electric governor, the water pump and the spraying liquid are located and the pipe of the water pump.
  • the inlet pipe of the water pump is completely filled with air. At this time, no liquid can be supplied to the water pump in the storage tank for spraying liquid in the mobile platform, and the water pump cannot complete the spraying work.
  • the inlet pipe of the water pump is filled with the amount of air that cannot be sprayed.
  • the inlet pipe of the water pump is filled with the amount of air that cannot be sprayed. At this time, there may be a spray liquid in the storage tank in the mobile platform that can be supplied to the water pump, but the inlet pipe of the water pump may be damaged, such as partial spray liquid.
  • the breakage is discharged, and air enters the inlet pipe from the breakage, so that the pump cannot deliver the spray liquid due to the influence of the amount of the air.
  • the other processes may not be executed, that is, the process ends.
  • the detection of the load of the electronic governor may also be periodic detection, or the detection of the electronic governor may be triggered when the detection pump cannot be sprayed.
  • the detection of the electronic governor may be triggered when the detection pump cannot be sprayed.
  • the water pump by detecting and controlling the load of the electronic governor of the water pump, when the load of the electronic governor does not satisfy the preset condition, it is determined that the water pump is in a preset working state, and the preset working state can be used for indicating
  • the inlet pipe of the water pump is filled with the amount of air that cannot be sprayed. Under the resistance of the air volume, the water pump cannot deliver the spray material into the pump cavity and complete the spraying.
  • the electronic governor can be used to replace the air detecting function of the pressure gauge, thereby avoiding the false detection caused by the easy loss and damage of the pressure gauge, and at the same time, due to the electronic governor and the spraying system
  • the other sensors are decoupled and their service life and stability are longer and better relative to other sensors, which in turn increases the accuracy of detecting the amount of air that cannot be sprayed in the inlet pipe.
  • the load of the electronic governor may have different acquisition modes, and may be determined by using different methods after a single acquisition, or may be performed according to multiple sampling loads collected during a period of time. Determine, the following are explained separately:
  • another embodiment of the detection method in the embodiment of the present application includes:
  • the operating parameters of the electronic governor can reflect the load of the electronic governor accordingly.
  • the working parameter information of the electronic governor can be obtained. .
  • the operating parameter information may include, but is not limited to, the rotational speed, operating current, and power of the electronic governor.
  • the load of the electronic governor may be determined according to the working parameter information.
  • the load of the electronic governor is determined as follows:
  • the load of the electronic governor is determined according to the rotational speed and the working current, and the load is negatively correlated with the rotational speed, and the load is positively correlated with the working current;
  • the load of the electronic governor is determined according to the power, and the load is positively correlated with the power.
  • the working current of the electronic governor can reflect the load of the electronic governor, and the working current of the electronic governor is positively correlated with the load.
  • the smaller the load the smaller the working current.
  • the larger the load the larger the working current
  • the electronic governor load can be determined according to the speed and working current of the electronic governor, for example, by calculating the square of the rotational speed divided by the value of the working current to reflect the change of the load of the electronic governor, that is, the rotational speed
  • the squared value divided by the working current is negatively correlated with the load of the electronic governor.
  • the power of the electronic governor can be calculated according to the operating current of the electronic governor, and then reflected according to the power of the electronic governor. The change in the load of the electronic governor.
  • the present embodiment only illustrates the determination method of the load of the electronic governor by using the above two examples. In practical applications, other methods may also be adopted, as long as the load of the point governor and the operation of the water pump are determined.
  • the status is corresponding, and is not specifically limited herein.
  • Steps 203 to 205 in this embodiment are the same as steps 102 to 104 in the embodiment shown in FIG. 1, and details are not described herein again.
  • another embodiment of the detection method in the embodiment of the present application includes:
  • a plurality of sampling loads of the electronic governor within a preset duration may be acquired.
  • the preset duration can be preset, so that after the electronic governor is started, the electronic governor can acquire a plurality of sampling loads within a preset duration according to a preset sampling interval, and can feed back the plurality of sampling loads.
  • the preset duration can be set according to actual needs.
  • the preset adjustment can be performed according to the preset condition corresponding to the load, which may be long or short, and is not specifically limited herein.
  • the sliding window algorithm can be used to obtain multiple sampling loads of the electronic governor within the preset duration.
  • each sampling load For the determination manner of each sampling load, refer to the content described in steps 201 to 202 in the embodiment shown in FIG. 2, that is, the sampling load is calculated according to the working parameter information of the electronic governor corresponding to each sampling load. I will not repeat them here.
  • the load of the electronic governor may be determined according to the plurality of sampling loads.
  • the specific manner of determining the load of the electronic governor according to the plurality of sampling loads may be:
  • the minimum sampling load is determined from the multiple sampling loads as the load of the electronic governor.
  • a weighted average of the plurality of sampling loads may be used as a load of the electronic governor within a preset duration to improve the use of the load of the electronic governor to determine the smooth operation of the pump. Sex and accuracy; it is also possible to sort multiple sampling loads according to the principle of high to low, and determine the minimum sampling load from multiple sampling loads as the load of the electronic governor to improve the working state of the pump.
  • the timeliness of the judgment such as the other sampling load in the multiple sampling loads does not indicate that the water pump is in the preset working state, but the minimum sampling load indicates that the water pump is in the preset working state, and the water pump is in the preset working state in time. Corresponding operation to prevent the pump from being judged at a delay that is actually in a preset working state.
  • Steps 303 to 305 in this embodiment are the same as steps 102 to 104 in the embodiment shown in FIG. 1, and details are not described herein again.
  • the present embodiment is based on the embodiment shown in FIG. 1.
  • the embodiments shown in FIG. 2 and FIG. 3 respectively provide a method for determining the load of the electronic governor, and the embodiment shown in FIG. 2 can embody the electronic governor.
  • the real-time performance of the load detection, while the embodiment shown in FIG. 3 can reflect the smoothness, accuracy or timeliness of the load detection of the electronic governor.
  • whether the detection load meets the preset condition may correspond to different manners, which are respectively described below:
  • another embodiment of the detection method in the embodiment of the present application includes:
  • Step 401 in this embodiment may refer to step 101 in the embodiment shown in FIG. 1, or step 201 to step 202 in the embodiment shown in FIG. 2, or step 301 to step 302 in the embodiment shown in FIG.
  • the content described in the above is not described here, nor is it specifically limited.
  • step 402 detecting whether the load is greater than a preset threshold, if not, executing step 403, and if so, executing step 404;
  • the preset threshold may be preset as a criterion for determining whether the water pump is in a preset working state
  • the preset threshold may be a critical value of the load of the electronic governor when the water pump is in the working state, that is, the load is not greater than a preset threshold.
  • the working state of the water pump is the preset working state
  • the load is greater than the preset threshold
  • the working state of the water pump is a non-preset working state.
  • the load of the water pump when the load of the water pump is reflected by the square of the rotational speed divided by the value of the working current, since the square of the rotational speed divided by the value of the working current is negatively correlated with the load of the electronic governor, it can also be based on the load and the rotational speed. Dividing the square by the corresponding value of the working current value, dividing the square of the rotational speed by the critical value of the value of the working current as a criterion, that is, when the square of the rotational speed divided by the value of the working current is greater than the critical value, the electron can be considered
  • the load of the governor indicates that the working state of the water pump is the preset working state. Otherwise, it is considered that the load of the electronic governor does not indicate that the working state of the water pump is a non-preset working state.
  • the structure type can affect the working state of the water pump, correspondingly, the structure type can affect the setting of the preset threshold, then the load and preset of the electronic governor are Before the threshold comparison, the structure type of the water pump currently being used can be determined first, and the corresponding preset threshold value can be determined according to the structure type for the suitability detection.
  • the preset threshold may be set according to a statistical value, such as counting a plurality of loads of the electronic governor when the water pump is in a preset working state, and performing according to the multiple loads. The corresponding calculation is obtained. Among them, the preset threshold can be continuously corrected and updated. 403. Determine that the water pump is in a preset working state;
  • the load of the electronic governor is not greater than a preset threshold, it may be determined that the water pump is in a preset working state.
  • the preset working state of the water pump can be directly reflected as a preset capacity state.
  • the preset capacity state may be a capacity state of spraying liquid in the water pump or a capacity state of air in the water pump.
  • the water pump under the influence of the air volume in the water inlet pipe of the water pump, the water pump cannot perform the spraying operation, the water pump The spray liquid accommodating chamber will be filled with air, and the preset capacity state can be directly reflected as the preset air capacity state, that is, the full load air state.
  • the other processes may not be executed, that is, the process ends.
  • the present embodiment specifically describes the method for detecting the load of the electronic governor, and provides a corresponding preset threshold value for each type of water pump, so that the load can be relatively simple.
  • the detection is applicable, convenient and fast.
  • FIG. 5 another embodiment of the detection method in the embodiment of the present application includes:
  • Step 501 in this embodiment may refer to step 101 in the embodiment shown in FIG. 1, or step 201 to step 202 in the embodiment shown in FIG. 2, or step 301 to step 302 in the embodiment shown in FIG.
  • the contents of the description are not described here, nor are they specifically limited.
  • step 502 detecting whether the deviation of the load and the reference load is within a preset allowable range, if not, proceeding to step 503, and if so, executing step 504;
  • the reference load is obtained when the pump is at full load spray liquid.
  • the pump when the pump is fully loaded with liquid, it indicates that the pump is filled with spray liquid, or that there is a small amount of air in the pump, but the spray on the pump has little effect. At this time, the pump can continue to spray. , the load of the electronic governor at this time can be recorded and used as the reference load of the electronic governor.
  • the reference load may allow a certain fluctuation due to other factors such as a small amount of air, and the preset allowable range may be set according to the allowable fluctuation, that is, the reference load may have a certain amount of up and down deviation.
  • the deviation between the load of the electronic governor and the reference load can be further determined. If the deviation is within the preset allowable range, the default pump is still fully loaded with the spray liquid. Otherwise, the pump may be pre-filled. Set the working state, that is, the full load air state.
  • the reference load in this embodiment may be set according to a statistical value, such as counting a plurality of loads of the electronic governor when the water pump is fully loaded with the liquid, and correspondingly calculating according to the multiple loads. It can also be measured before the pump is fully loaded with liquid before each pump is used for actual spraying. Among them, the reference load and the preset allowable range can be continuously corrected and updated.
  • the other processes may not be executed, that is, the process ends.
  • the content of the steps 403 to 404 in the embodiment may refer to the descriptions of the steps 403 to 104 in the embodiment shown in FIG. 1 and the step 403 in the embodiment shown in FIG. 4, and details are not described herein again.
  • the present embodiment provides another method for detecting the load of the electronic governor.
  • the method is specific to each water pump, that is, each electronic device controlling the water pump.
  • the governor can correspond to the corresponding reference load, and only needs to be compared with the reference load, which is beneficial to improve the accuracy of the load detection.
  • another embodiment of the detecting method in the embodiment of the present application includes:
  • the step 601 in this embodiment is the same as the step 301 in the embodiment shown in FIG. 3, and details are not described herein again.
  • the load change trend of the electronic governor may be determined according to the plurality of sampling loads.
  • a sampling load versus time curve can be plotted for a plurality of sampling loads according to a coordinate system established by a sampling time size and a load size, and an electronic governor can be determined from the variation curve. The trend of load changes.
  • step 603 detecting whether the load change trend meets the preset trend, and if so, executing step 604, and if not, executing step 605;
  • the variation curve can be expressed as follows: 1. When the water pump starts from the preset working state and continues to be the preset working state, the sampling load variation curve with time can be presented as about one in the preset duration. Horizontal line; Second, when the water pump changes from the non-preset working state to the preset working state, the sampling load with time curve can appear as about one horizontal line and then fall within the preset time period.
  • the specific manner of detecting whether the load change trend conforms to the preset trend may be:
  • the load of the electronic governor is determined according to the plurality of sampling loads
  • the preset trend may have a corresponding load change rate, that is, a curve slope of the change curve.
  • a load change rate that is, a curve slope of the change curve.
  • the load corresponding to the electronic governor is inconsistent when the pump is fully loaded with the spray liquid and the full load air
  • the load of the electronic governor when the pump is fully loaded with the liquid can be used as the reference load, and the load and the reference of the electronic governor can be determined.
  • the deviation of the load if the deviation is within the preset allowable range, the load change trend of the default electronic governor conforms to the preset trend; otherwise, the load change trend of the electronic governor does not conform to the preset trend;
  • the slope of the curve of the sampling load over time will be greater than zero. The greater the slope of the curve, the faster the load of the electronic governor will fall.
  • the threshold value of the falling speed of the load of the electronic governor can be used as the preset rate of change threshold, so that when the load change rate of the electronic governor is greater than the preset rate of change threshold, the load trend of the electronic governor can be matched by default.
  • the preset trend on the contrary, assumes that the load change trend of the electronic governor does not conform to the preset trend.
  • the present embodiment only illustrates the specific manner of detecting whether the load change trend conforms to the preset trend by using the above two examples. In practical applications, other methods may also be used, such as directly using the electronic in the same coordinate system.
  • the current load change trend of the governor corresponds to the curve and the standard curve
  • the line graph is compared.
  • the standard graph can include two types: it is the preset working state at the beginning of the pump and continues to be the preset working state; in order to change the pump from the non-preset working state to the preset working state As long as it can determine whether the load change trend meets the preset trend, it is not specifically limited here.
  • the difference when the water pump is in the preset working state, the difference may be caused by the damage of the inlet pipe of the water pump or the spraying of the spray liquid.
  • sexual influences when detecting whether the load change of the electronic governor meets the preset trend, the preset trends can be considered separately in these two cases.
  • the content of the steps 604 to 605 in the embodiment of the present invention can be referred to the descriptions of the steps 403 to 104 in the embodiment shown in FIG. 1 and the step 403 in the embodiment shown in FIG. 4, and details are not described herein again.
  • this embodiment provides another method for detecting the load of the electronic governor, which is to change the load change trend of the electronic governor for a period of time.
  • Set the trend to make a corresponding comparison which can more intuitively reflect the load change of the electronic governor, especially when the pump changes from the non-preset working state to the preset working state, the load of the electronic governor will drop sharply. It can be correspondingly presented by the load change trend of the electronic governor.
  • another embodiment of the detecting method in the embodiment of the present application includes:
  • step 702 detecting whether the load meets the preset condition, if yes, executing step 703, if not, executing step 705;
  • Steps 701 to 703 in this embodiment are the same as steps 101 to 103 in the embodiment shown in FIG. 1, and details are not described herein again.
  • the state information of the water pump may be sent to the control device of the mobile platform, so that the control device may indicate, according to the state information, that the water inlet pipe of the water pump contains the amount of air that the spray device cannot spray.
  • the control device may prompt the user according to the status, so that the user can determine the cause of the water pump in the preset working state, and further provide a corresponding operation instruction or Carry out the appropriate maintenance.
  • the auxiliary determination may be performed according to the remaining amount of the spray liquid in the liquid storage tank in the mobile platform.
  • the pump may need to spray multiple times of the spray liquid of the liquid storage tank. Then, before the last spraying in the time period, the water pump is used to avoid the spraying of the spray liquid.
  • a preset remaining amount may be left in the liquid storage tank to reduce the number of air pressure relief, and only when the last spraying, the spraying liquid in the liquid storage tank will be sprayed.
  • the control device of the mobile platform sends the first prompt information, and after receiving the first prompt information, the control device may perform a fault detection prompt on the user according to the first prompt information to detect whether the water inlet pipe of the water pump is damaged;
  • the second prompting information may be sent to the control device by default.
  • the control device may perform the second prompting information on the user. After the sprayed liquid is sprayed, the user can select the corresponding action after the second prompt information is received, such as stopping the spraying operation or closing the mobile platform.
  • Step 705 in this embodiment is the same as step 104 in the embodiment shown in FIG. 1, and details are not described herein again.
  • the state information of the water pump can be Knowing the control device of the mobile platform is beneficial for the control device to promptly prompt the user according to the state information, so that the user can perform corresponding operations according to the current working state of the water pump in time to prevent unnecessary waste of resources of the mobile platform, such as spraying After the liquid is sprayed, the power consumption of the mobile platform due to the failure to shut down in time can also avoid the waste of the spray liquid caused by the damage of the pump pipe.
  • the spraying device may have different uses according to the type of the spraying liquid.
  • the spraying device when the spraying liquid is water, the spraying device may be used for irrigation, and when the spraying liquid is a pesticide, the spraying device may be Used to control pests.
  • the spraying device in the embodiment of the present application may be a pesticide spraying device.
  • the mobile platform may include, but is not limited to, an object that moves on land, on water, or in the air.
  • the mobile platform in the embodiment of the present application may be a drone to enhance the application of the drone in the agricultural industry.
  • the mobile platform is used as a drone, and the above embodiments are exemplified from different execution bodies:
  • the drone can include a flight control system, an agricultural machinery center plate, a water pump for spraying liquid, and an electronic governor for controlling the water pump.
  • the drone can be operated with the control device of the drone through the flight control system. Communication.
  • the flight control system can be connected with the agricultural machinery center board, the agricultural machinery center board is connected with the electronic governor, and the electronic governor is connected with the water pump.
  • the working parameter information can be fed back to the agricultural machine center board, and after obtaining the working parameter information of the electronic governor, the agricultural machine center board can determine the electronic according to the working information parameter.
  • the load of the governor Further, the agricultural machinery center board makes a corresponding judgment on the load of the electronic governor, and after determining that the water pump is in the preset working state, the state information of the water pump can be sent to the flight control system of the drone, and then the flight control system will The state information is transparently transmitted to the control device of the drone, and then the state information of the water pump is promptly prompted by the control device of the drone.
  • the execution subject is the flight control system of the drone
  • the working parameter information can be fed back to the agricultural machine center board, and the agricultural machine center board can send the working parameter information of the electronic governor to the flying machine of the drone.
  • the flight control system can determine the load of the electronic governor according to the working information parameter. Further, the flight control system makes a corresponding judgment on the load of the electronic governor, and after determining that the water pump is in the preset working state, the status information can be directly sent to the unmanned person. The control device of the machine, and then the control device of the drone, prompts the state information of the water pump accordingly.
  • control device of the drone may also serve as an execution subject:
  • the working parameter information can be fed back to the agricultural machine center board, and the agricultural machine center board can send the working parameter information of the electronic governor to the flying machine of the drone.
  • the control system, the flight control system can further transmit the working parameter information to the control device, and the control device can determine the load of the electronic governor according to the working information parameter. Further, the control device makes a corresponding judgment on the load of the electronic governor, and after determining that the water pump is in the preset working state, the corresponding prompt can be directly performed.
  • the control device of the drone can actively take the unmanned
  • the flight control system of the machine sends corresponding instructions to obtain the working parameter information of the electronic governor, which is not specifically limited herein.
  • the detection method in the embodiment of the present application has been described above.
  • the detection device in the embodiment of the present application is described below:
  • the detecting device is applied to a mobile platform, which includes a water pump for spraying liquid and an electronic governor for controlling the water pump.
  • a mobile platform which includes a water pump for spraying liquid and an electronic governor for controlling the water pump.
  • One embodiment of the detecting device in the embodiment of the present application includes:
  • the collecting device 901, the processor 902, and the collecting device 901 are communicably connected to the processor 902;
  • the collecting device 901 is configured to:
  • the processor 902 is configured to:
  • the load of the electronic governor can be detected by the processor 902, when the load of the electronic governor does not meet the preset condition.
  • the processor 902 can determine that the water pump is in a preset working state, and the preset working state can be used to indicate that the water inlet pipe of the water pump is filled with the amount of air that cannot be sprayed, and the water pump cannot transport the spray material under the resistance of the air volume. Into the cavity and complete the spray.
  • the electronic governor can be used instead of the air detecting function of the pressure gauge without changing the structure of the original spraying system, thereby avoiding
  • the pressure gauge is mis-detected due to its loss and damage, and because the electronic governor is decoupled from other sensors in the spray system, its service life and stability are longer and better than other sensors. Relatively speaking, it is improved whether the detection of the inside of the inlet pipe is filled with the accuracy of the amount of air that cannot be sprayed.
  • the collecting device 901 may be further specifically used to:
  • the load of the electronic governor is determined based on the operating parameter information.
  • the collecting device 901 may be further specifically used to:
  • the load of the electronic governor is determined according to the rotational speed and the working current.
  • the load is negatively correlated with the rotational speed, and the load is positively correlated with the working current.
  • the collecting device 901 may be further specifically used to:
  • the load of the electronic governor is determined according to the power, and the load is positively correlated with the power.
  • the collecting device 901 may be further specifically used to:
  • the load of the electronic governor is determined based on a plurality of sampling loads.
  • the collecting device 901 may be further specifically used to:
  • the weighting calculation is performed on a plurality of sampling loads to obtain the load of the electronic governor.
  • the collecting device 901 may be further specifically used to:
  • the minimum sampling load is determined from the multiple sampling loads as the load of the electronic governor.
  • the processor 902 may be further specifically configured to:
  • the processor 902 may be further specifically configured to:
  • the preset threshold is determined according to the type of structure.
  • the processor 902 may be further specifically configured to:
  • the collecting device 901 may be further specifically used to:
  • the processor 902 is specifically configured to:
  • the processor 902 may be further specifically configured to:
  • the processor 902 may be further specifically configured to:
  • the load of the electronic governor is determined according to the plurality of sampling loads
  • the collecting device 901 may be further specifically used to:
  • the sliding window algorithm is used to obtain multiple sampling loads of the electronic governor within a preset duration.
  • the apparatus may further include:
  • the transmitting device 903 is communicably connected to the processor 902;
  • the sending device 903 is configured to:
  • the status information of the water pump is sent to the control device of the mobile platform such that the control device prompts, according to the status information, that the inlet pipe of the water pump contains an amount of air that prevents the spray device from being sprayed.
  • the sending device 903 may be further specifically used to:
  • the first prompt information is sent to the control device, so that the control device performs the fault detection prompt according to the first prompt information.
  • the sending device 903 may be further specifically used to:
  • the second prompt information is sent to the control device, so that the control device performs the prompt of spraying the sprayed liquid according to the second prompt information.
  • the detecting device when the detecting device is disposed on the mobile platform, an example is illustrated based on FIG. 10, and as shown in FIG. 11, the detecting device may also be used as a part of the mobile platform, and then The collecting device 901 in the measuring device can be communicably connected with the electronic governor of the mobile platform to obtain relevant working parameter information and the like fed back by the electronic governor.
  • the detecting device may not be located on the mobile platform for different execution entities, and is not specifically limited herein.
  • the detecting device can include, but is not limited to, a collecting device, a processor, and a transmitting device. It will be understood by those skilled in the art that the schematic diagrams shown in FIG. 9, FIG. 10, and FIG. 11 are merely examples of the detecting device, and do not constitute a limitation of the detecting device, and may include more or less components than those illustrated, or a combination of The components, or different components, such as the detection device, may also include input and output devices, network access devices, etc., for example, the detection device may also include a memory.
  • a computer program can be stored in the memory, the computer program being executable by the processor to complete the application.
  • the computer program can include a series of instruction segments capable of performing a particular function for describing the execution of various components of the computer program in the detection device to implement the specific functions as described by the respective detection devices described above.
  • the processor may be a central processing unit (CPU), or may be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), and an off-the-shelf device.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA Field-Programmable Gate Array
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like, which is the control center of the detecting device, and connects various parts of the entire detecting device using various interfaces and lines.
  • the memory can be used to store the computer program and/or module, the processor implementing the detection by running or executing a computer program and/or module stored in the memory, and recalling data stored in the memory Various functions of the device.
  • the memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may be stored. Data created based on the use of the terminal (such as audio data, phone book, etc.).
  • the memory may include a high-speed random access memory, and may also include non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SMC), and a Secure Digital (SD) card.
  • non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SMC), and a Secure Digital (SD) card.
  • Flash Card at least one disk storage device, flash memory device, or other volatile solid-state storage device.
  • the embodiment of the present application further provides a drone, which may include a water pump for spraying liquid and an electronic governor for controlling the water pump, and may further include the detecting device described above, the detecting The device can be communicably connected with the electronic governor to receive the corresponding working parameter information fed back by the electronic governor, and achieve the purpose of judging the working state of the water pump by using the load of the electronic governor, thereby realizing whether the pump is contained in the pipeline or not Detection of the amount of air sprayed.
  • a drone which may include a water pump for spraying liquid and an electronic governor for controlling the water pump, and may further include the detecting device described above, the detecting The device can be communicably connected with the electronic governor to receive the corresponding working parameter information fed back by the electronic governor, and achieve the purpose of judging the working state of the water pump by using the load of the electronic governor, thereby realizing whether the pump is contained in the pipeline or not Detection of the amount of air sprayed.
  • a liquid storage tank 1 for storing a spray liquid may be disposed under the fuselage of the drone, and the water pump 2 on the drone may provide a power transmission function, and the liquid storage tank is lowered in the action.
  • the spray liquid in 1 is delivered to the nozzle 3 so that the spray liquid can be sprayed from the nozzle 3 to the target spray area.
  • the detecting device can monitor the working state of the water pump 2 in real time by using the feedback of the corresponding information of the electronic governor controlling the water pump 2, so as to contain the amount of air in the pipe of the water pump 2 that the nozzle 3 cannot continue to spray.
  • the embodiment of the present application further provides a computer readable storage medium, where the computer program is stored, and when the computer program is executed by the processor, the steps described in the foregoing method embodiments may be implemented. Process.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a respective computer readable storage medium.
  • the present application implements all or part of the processes in the foregoing corresponding embodiments, and may also be completed by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium.
  • the computer program when executed by the processor, implements the steps of the various method embodiments described above.
  • the computer program comprises computer program code, which may be in the form of source code, object code form, executable file or some intermediate form.
  • the computer readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM). , random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, computer readable media Does not include electricity Carrier signal and telecommunication signal.
  • the disclosed system, 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 an indirect coupling or communication connection through some interface, device or unit, and may be in an 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 application 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.

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Abstract

一种检测方法及装置、无人机、可读存储介质，通过检测移动平台上的水泵的工作状态，可以更稳定、更有效、更准确地来判断水泵的进液管内是否充满了使得无法喷洒的空气量，有利于在水泵的进液管内充满了使得无法喷洒的空气量时，实现对移动平台的相关操作。本申请实施例中检测方法可应用于移动平台，移动平台包括用于喷洒液体的水泵和用于控制水泵的电子调速器，该检测方法包括：获取电子调速器的负载；检测负载是否满足预设条件；若是，则确定水泵处于预设工作状态。

Description

检测方法及装置、无人机、可读存储介质 技术领域
本申请实施例涉及喷洒领域，尤其涉及一种检测方法及装置、无人机、可读存储介质。
背景技术
在农业无人机的喷洒过程中，由于喷洒物的储液箱与管道之间的高度差，当无人机喷洒系统中的进液管道有破损或全部喷洒物被喷洒完时，将会导致喷洒系统中的管道(尤其是进液管道)充满了使得无法喷洒的空气量，且使得下一次喷洒时需要先排除足量的空气才可以继续喷洒。由此，判断进液管内是否充满了使得无法喷洒的空气量对农业无人机的正常喷洒显得尤为重要。
目前，由于农业无人机上一般安装有压力计，则针对上述进液管内是否充满了使得无法喷洒的空气量的常规判断方法为：在水泵正常喷洒的前提下，直接判断压力计的压力值是否在约定的范围内。然而，压力计属于易损耗、易损坏产品，极容易造成管道内含有使得无法喷洒的空气量的误报，且压力计与压力计本身异常的情况耦合，不利于进液管内是否充满了使得无法喷洒的空气量的准确检测。
申请内容
本申请实施例提供了一种检测方法及装置、无人机、可读存储介质，通过检测移动平台上的水泵的工作状态，可以更稳定、更有效、更准确地来判断水泵的进液管内是否充满了使得无法喷洒的空气量，有利于在水泵的进液管内充满了使得无法喷洒的空气量时，实现对移动平台的相关操作。
有鉴于此，本申请第一方面提供一种检测方法，其应用于移动平台，移动平台包括用于喷洒液体的水泵和用于控制水泵的电子调速器，该方法可包括：
获取电子调速器的负载；
检测负载是否满足预设条件；
若是，则确定水泵处于预设工作状态。
本申请第二方面提供一种检测装置，其应用于移动平台，移动平台包括用 于喷洒液体的水泵和用于控制水泵的电子调速器，该装置可包括：
采集装置、处理器，采集装置与处理器通信连接；
采集装置，用于：
获取电子调速器的负载；
处理器，用于：
检测负载是否满足预设条件；
若是，则确定水泵处于预设工作状态。
本申请第三方面提供一种无人机，该无人机包括用于喷洒液体的水泵和用于控制水泵的电子调速器，无人机还包括上述第一方面提供的检测装置，检测装置与电子调速器通信连接。
本申请第四方面提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时，实现如下步骤：
获取电子调速器的负载；
检测负载是否满足预设条件；
若是，则确定水泵处于预设工作状态。
从以上技术方案可以看出，本申请实施例具有以下优点：
本申请实施例提供了一种检测方法，通过检测控制水泵的电子调速器的负载，可以在当电子调速器的负载不满足预设条件时，确定水泵处于预设工作状态，该预设工作状态可以用于指示水泵的进液管内充满了使得无法喷洒的空气量，水泵在该空气量的阻力下，无法将喷洒液体输送至水泵容腔内并完成喷洒。由此，在不改变原有喷洒系统的结构下，可以利用电子调速器来替代压力计的空气检测作用，从而避免了压力计由于易损耗、易损坏而带来的误检，同时，由于电子调速器与喷洒系统中的其它传感器解耦，且其使用寿命和稳定性相对于其它传感器而言更长更好，则相对而言提高了检测进液管内是否充满了使得无法喷洒的空气量的准确性。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下， 还可以根据这些附图获得其他的附图。
图1为本申请实施例中检测方法一个实施例示意图；
图2为本申请实施例中检测方法另一实施例示意图；
图3为本申请实施例中检测方法另一实施例示意图；
图4为本申请实施例中检测方法另一实施例示意图；
图5为本申请实施例中检测方法另一实施例示意图；
图6为本申请实施例中检测方法另一实施例示意图；
图7为本申请实施例中检测方法另一实施例示意图；
图8为本申请实施例中检测方法的通信框架示意图；
图9为本申请实施例中检测装置一个实施例示意图；
图10为本申请实施例中检测装置另一实施例示意图；
图11为本申请实施例中检测装置另一实施例示意图；
图12为本申请实施例中无人机的结构示意图。
具体实施方式
本申请实施例提供了一种检测方法及装置、无人机、可读存储介质，通过检测移动平台上的水泵的工作状态，可以更稳定、更有效、更准确地来判断水泵的进液管内是否充满了使得无法喷洒的空气量，有利于在水泵的进液管内充满了使得无法喷洒的空气量时，实现对移动平台的相关操作。
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，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，都应当属于本申请保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列 出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为便于理解，下面对本申请实施例中的具体流程进行描述，请参阅图1，本申请实施例中检测方法一个实施例包括：
101、获取电子调速器的负载；
本实施例中，移动平台可以包括用于喷洒液体的水泵和用于控制水泵的电子调速器，电子调速器可以反馈诸如转速和工作电流，电器调速器的负载可以用于反映水泵的工作状态，水泵的工作状态则可以反映水泵的进液管内是否充满了使得无法喷洒的空气量。由此，在移动平台上电后，启动水泵以及电子调速器时，可以获取电子调速器的负载。
具体的，电子调速器的负载为用于体现水泵中喷洒液体容纳腔的喷洒液体的质量变化，水泵中喷洒液体容纳腔分别满载喷洒液体、非满载喷洒液体与空载喷洒液体时，电子调速器的负载不一样，从满载喷洒液体到空载喷洒液体，电子调速器的负载将会发生剧烈的变化，如急剧下降，而当水泵中喷洒液体容纳腔空载喷洒液体时，则意味着水泵的进液管内充满了使得无法喷洒的空气量。
可以理解的是，水泵可以有多种工作状态，该工作状态可以包括水泵中喷洒液体容纳腔空载喷洒液体、非满载喷洒液体与空载喷洒液体这类状态，也可以包括其它工作状态，但不同的工作状态可以与水泵中喷洒液体容纳腔满载喷洒液体、非半载喷洒液体与空载喷洒液体时分别相对应。
102、检测负载是否满足预设条件，若是，则执行步骤103，若否，则执行步骤104；
本实施例中，获取电子调速器的负载后，可以检测负载是否满足预设条件。
具体的，可以预先设置预设条件，该预设条件可以用于判断电子调速器的负载是否指示水泵处于预设工作状态，该预设工作状态则可以指示水泵的进液管内充满了使得无法喷洒的空气量。
可以理解的是，由于电器调速器、水泵、喷洒液体所在的移动平台的储液箱与水泵的管道之间的高度差等影响因素的不同，预设条件可以相应的进行调整。
103、确定水泵处于预设工作状态；
本实施例中，若电子调速器的负载满足预设条件，则可以确定水泵处于预设工作状态。
示例性的，当水泵处于预设工作状态时，可以说明以下几种情况，但均无法完成喷洒动作：
一、水泵的进液管内完全充满了空气，此时移动平台中喷洒液体的存储箱中没有喷洒液体可以供应给水泵，水泵无法完成喷洒工作。
二、水泵的进液管内充满了使得无法喷洒的空气量，此时移动平台中存储箱中可能有喷洒液体可以供应给水泵，但在上次针对管道内的空气进行泄压的过程中，可能由于泄压不彻底而部分空气残留，或者由于其它原因，喷洒液体的存储箱中的部分空气进入管道内，使得由于该部分空气量的影响，水泵无法输送喷洒液体。
三、水泵的进液管内充满了使得无法喷洒的空气量，此时移动平台中存储箱中可能有喷洒液体可以供应给水泵，但水泵的进液管可能发生了诸如破损，导致部分喷洒液体从破损处排出，且空气从该破损处进入进液管内，使得由于该部分空气量的影响，水泵无法输送喷洒液体。
104、结束流程。
本实施例中，若电子调速器的负载不满足预设条件，则可以不执行其它流程，即结束流程。
可以理解的是，本实施例中，当电子调速器的负载不满足预设条件时，也可以执行其它流程，如持续对电子调速器的负载进行采样，并对电子调速器的负载进行检测，以在水泵从非预设工作状态变为预设工作状态时，可以及时进行相应的调整，此处不做具体限定。
需要说明的是，本实施例中，电子调速器的负载的检测除了持续性检测之外，也可以为周期性检测，更可以是在检测法水泵无法喷洒时再触发电子调速器的检测，以验证是否为由水泵的预设工作状态引起的，即验证水泵的进液管内是否充满了使得无法喷洒的空气量，此处不做具体限定。
本实施例中，通过检测控制水泵的电子调速器的负载，可以在当电子调速器的负载不满足预设条件时，确定水泵处于预设工作状态，该预设工作状态可以用于指示水泵的进液管内充满了使得无法喷洒的空气量，水泵在该空气量的阻力下，无法将喷洒物输送至水泵容腔内并完成喷洒。由此，在不改变原有喷 洒系统的结构下，可以利用电子调速器来替代压力计的空气检测作用，从而避免了压力计由于易损耗、易损坏而带来的误检，同时，由于电子调速器与喷洒系统中的其它传感器解耦，且其使用寿命和稳定性相对于其它传感器而言更长更好，则相对而言提高了检测进液管内是否充满了使得无法喷洒的空气量的准确性。
可以理解的是，本申请实施例中，电子调速器的负载可以有不同的获取方式，可以为单次采集后采用不同的方法进行确定，也可以根据一段时间内采集的多个采样负载进行确定，下面分别进行说明：
请参阅图2，本申请实施例中检测方法另一实施例包括：
201、获取电子调速器的工作参数信息；
本实施例中，电子调速器的工作参数可以相应地反映电子调速器的负载，为了确定电子调速器的负载，在电子调速器启动后，可以获取电子调速器的工作参数信息。
本实施例中，工作参数信息可以包括但不限于电子调速器的转速、工作电流以及功率。
202、根据工作参数信息确定电子调速器的负载；
本实施例中，获取电子调速器的工作参数信息后，可以根据该工作参数信息确定电子调速器的负载。
具体的，基于工作参数信息的不同，电子调速器的负载的确定方式如下：
根据转速和工作电流确定电子调速器的负载，负载与转速呈负相关，负载与工作电流呈正相关；或，
根据功率确定电子调速器的负载，负载与功率呈正相关。
具体的，电子调速器的工作电流可以反映电子调速器的负载，电子调速器的工作电流与负载呈正相关，负载越小，工作电流越小，反之，负载越大，工作电流越大，而在实际应用中，电子调速器的工作电流较小，其变化幅度难以体现负载的变化规律。由此，一方面可以根据电子调速器的转速和工作电流确定电子调速器的负载，如通过计算转速的平方除以工作电流的值来反映电子调速器的负载的变化情况，即转速的平方除以工作电流的值与电子调速器的负载呈负相关，另一方面可以根据电子调速器的工作电流来计算电子调速器的功率，再根据电子调速器的功率来反映电子调速器的负载的变化情况。
可以理解的是，本实施例仅以上述两个例子说明了电子调速器的负载的确定方式，在实际应用中，还可以采用其它方式，只要确定的点子调速器的负载与水泵的工作状态相对应即可，此处不做具体限定。
203、检测负载是否满足预设条件，若是，则执行步骤204，若否，则执行步骤205；
204、确定水泵处于预设工作状态。
205、结束流程。
本实施例中的步骤203至步骤205与图1所示实施例中步骤102至步骤104相同，此处不再赘述。
请参阅图3，本申请实施例中检测方法另一实施例包括：
301、获取预设时长内电子调速器的多个采样负载；
本实施例中，在电子调速器启动后，可以获取预设时长内电子调速器的多个采样负载。
具体的，一段时间内反映的电子调速器的负载更具有稳定性，也可以更好地反映电子调速器的负载在该段时间内的变化情况。由此，可以预先设置预设时长，以在电子调速器启动后，电子调速器可以根据预设采样间隔获取预设时长内的多个采样负载，并可以反馈该多个采样负载。其中，预设时长可以根据实际需要进行设置，如可以根据负载对应的预设条件进行相应的调整，可长时或短时，此处不做具体限定。
进一步的，为了提高一段时间内多个采样负载反映的水泵的工作状态的准确性与及时性，可以利用滑窗算法获取预设时长内电子调速器的多个采样负载。
其中，每一个采样负载的确定方式可以参照图2所示实施例中步骤201至步骤202中说明的内容，即根据每一个采样负载对应的电子调速器的工作参数信息来计算该采样负载，此处不再赘述。
302、根据多个采样负载确定电子调速器的负载；
本实施例中，获取预设时长内电子调速器的多个采样负载后，可以根据该多个采样负载确定电子调速器的负载。
本实施例中，根据多个采样负载确定电子调速器的负载的具体方式可以为：
将多个采样负载进行加权计算，得到电子调速器的负载；或，
从多个采样负载中确定最小的采样负载为电子调速器的负载。
具体的，得到多个采样负载后，可以采用多个采样负载的加权平均值作为电子调速器在预设时长内的负载，以提高利用电子调速器的负载来判断水泵的工作状态的平稳性与准确性；也可以将多个采样负载按照诸如由高到低的原则进行排序，并从多个采样负载中确定最小的采样负载作为电子调速器的负载，以提高对水泵的工作状态的判断的及时性，如在多个采样负载中的其它采样负载未指示水泵处于预设工作状态，但最小采样负载指示水泵处于预设工作状态时，可以及时对水泵处于预设工作状态做出相应的操作，以防止水泵在实际处于预设工作状态的延迟判断。
可以理解的是，本实施例仅以上述两个例子说明了根据多个采样负载确定电子调速器的负载的具体方式，在实际应用中，还可以采用其它方式，可以根据实际需要进行相应的调整，只要确定的电子调速器的负载可以与水泵的工作状态相对应即可，此处不作具体限定。
303、检测负载是否满足预设条件，若是，则执行步骤304，若否，则执行步骤305；
304、确定水泵处于预设工作状态；
305、结束流程。
本实施例中的步骤303至步骤305与图1所示实施例中步骤102至步骤104相同，此处不再赘述。
本实施例在图1所示实施例的基础上，图2与图3所示实施例分别提供了电子调速器的负载的确定方式，图2所示实施例而言能够体现电子调速器的负载检测的实时性，而图3所示实施例而言则能够体现电子调速器的负载检测的平稳性、准确性或及时性。
可以理解的是，本申请实施例中，检测负载是否满足预设条件可以对应有不同的方式，下面分别进行说明：
请参阅图4，本申请实施例中检测方法另一实施例包括：
401、获取电子调速器的负载；
本实施例中的步骤401可以参照图1所示实施例中的步骤101，或图2所示实施例中的步骤201至步骤202，或图3所示实施例中的步骤301至步骤302 中说明的内容，此处不再赘述，也不做具体限定。
402、检测负载是否大于预设阈值，若否，则执行步骤403，若是，则执行步骤404；
本实施例中，获取电子调速器的负载后，可以检测负载是否大于预设阈值。
具体的，可以预先设置预设阈值，作为判断水泵是否处于预设工作状态的标准，该预设阈值可以为水泵处于工作状态时电子调速器的负载的临界值，即负载不大于预设阈值时，说明水泵的工作状态为预设工作状态，反之，负载大于预设阈值时，则说明水泵的工作状态为非预设工作状态。
其中，当水泵的负载为根据转速的平方除以工作电流的值来反映时，由于转速的平方除以工作电流的值与电子调速器的负载呈负相关，那么还可以基于负载与转速的平方除以工作电流的值的对应关系，以转速的平方除以工作电流的值的临界值作为判断标准，即当转速的平方除以工作电流的值大于该临界值时，可以认为此时电子调速器的负载指示水泵的工作状态为预设工作状态，反之，则认为此时电子调速器的负载未指示水泵的工作状态为非预设工作状态。
进一步的，由于水泵可以有不同的结构，其结构类型可以影响水泵的工作状态，则相应的，其结构类型可以影响上述预设阈值的设定，那么在将电子调速器的负载与预设阈值对比之前，可以先行确定当前正在使用的水泵的结构类型，并可以根据该结构类型确定相应的预设阈值，以进行适用性检测。
可以理解的是，针对不同结构类型的水泵，该预设阈值可以为根据统计值进行设定，如统计水泵处于预设工作状态时电子调速器的多个负载，并根据该多个负载进行相应的计算得到。其中，预设阈值可以得到不断的修正与更新。403、确定水泵处于预设工作状态；
本实施例中，若电子调速器的负载不大于预设阈值，则可以确定水泵处于预设工作状态。
进一步的，水泵的预设工作状态可以直接体现为预设容量状态。其中，该预设容量状态可以为水泵中喷洒液体的容量状态或水泵中空气的容量状态，本实施例中，在水泵的进液管内空气量的影响下，水泵无法进行喷洒操作时，水泵的喷洒液体容纳腔内将充满空气，则预设容量状态可以直接体现为预设空气容量状态，即满载空气状态。
404、结束流程。
本实施例中，若电子调速器的负载大于预设阈值，则可以不执行其它流程，即结束流程。
本实施例中的步骤403至步骤404的部分内容可以参照图1所示实施例中步骤103至步骤104说明的内容，此处不再赘述。
本实施例在上述实施例的基础上，对电子调速器的负载的检测方法进行了相应的具体说明，通过每一种结构类型的水泵提供对应的预设阈值，可以较为简单地实现对负载的检测，适用性高且便捷、快速。
请参与图5，本申请实施例中检测方法另一实施例包括：
501、获取电子调速器的负载；
本实施例中的步骤501可以参照图1所示实施例中的步骤101，或图2所示实施例中的步骤201至步骤202，或图3所示实施例中的步骤301至步骤302中说明的内容，此处不再赘述，也不做具体限定。
502、检测负载与基准负载的偏差是否位于预设允许范围内，若否，则执行步骤503，若是，则执行步骤504；
本实施例中，确定电器调速器的负载后，可以确定电子调速器的负载与基准负载的偏差是否位于预设允许范围内。其中，基准负载为在水泵处于满载喷洒液体时获取。
具体的，当水泵满载喷洒液体时，说明水泵的管道内全部充满了喷洒液体，或者说明水泵的管道内存在少量的空气，但对水泵的喷洒影响甚微，此时水泵仍可以继续进行喷洒操作，则可以记录此时电子调速器的负载并作为电子调速器的基准负载。
在实际应用中，可能由于少量空气等其它因素的影响，基准负载可以允许有一定的波动，那么可以根据该允许的波动设定预设允许范围，即基准负载可以有一定的上下偏差量。确定电子调速器的负载后，可以进一步确定电子调速器的负载与基准负载的偏差，若该偏差位于预设允许范围内，则默认水泵仍满载喷洒液体，反之，则认为水泵可能处于预设工作状态，即满载空气状态。
可以理解的是，本实施例中的基准负载可以为根据统计值进行设定，如统计水泵处于满载喷洒液体时电子调速器的多个负载，并根据该多个负载进行相应的计算得到，也可以是在每次使用水泵进行实际喷洒前，在水泵满载喷洒液体时测定。其中，基准负载以及预设允许范围可以得到不断的修正与更新。
503、确定水泵处于预设工作状态；
本实施例中，若电子调速器的负载与基准负载的偏差不位于预设允许范围内，则可以确定水泵处于预设工作状态。
504、结束流程。
本实施例中，若电子调速器的负载与基准负载的偏差位于预设允许范围内则可以不执行其它流程，即结束流程。
本实施例中的步骤403至步骤404的部分内容可以参照图1所示实施例中步骤103至步骤104、图4所示实施例中步骤403说明的内容，此处不再赘述。
与图4所示实施例相比，本实施例提供了另一种电子调速器的负载的检测方法，相对而言，该种方法对每一个水泵具有针对性，即每一个控制水泵的电子调速器可以对应有相应的基准负载，且只需要与基准负载进行对比即可，有利于提高负载检测的准确性。
请参阅图6，本申请实施例中检测方法另一实施例包括：
601、获取预设时长内电子调速器的多个采样负载；
本实施例中的步骤601与图3所示实施例中的步骤301相同，此处不再赘述。
602、根据多个采样负载确定电子调速器的负载变化趋势；
本实施例中，获取电子调速器在预设时长内的多个采样负载后，可以根据多个采样负载确定电子调速器的负载变化趋势。
示例性的，确定多个采样负载后，可以根据以采样时间大小与负载大小建立的坐标系，对多个采样负载绘制采样负载随时间的变化曲线，从该变化曲线上可以确定电子调速器的负载变化趋势。
603、检测负载变化趋势是否符合预设趋势，若是，则执行步骤604，若否，则执行步骤605；
本实施例中，确定电子调速器的负载变化趋势后，可以检测负载变化趋势是否符合预设趋势。
具体的，当水泵从非预设工作状态转变至预设工作状态时，电子调速器的负载会呈现急剧下降趋势，但基于电子调速器的负载的检测位点的不同，预设趋势对应的变化曲线可以表现为：1、当水泵一开始即为预设工作状态并持续为预设工作状态时，采样负载随时间的变化曲线在预设时长内可以呈现为约一 条水平线；二、当水泵从非预设工作状态转变至预设工作状态时，采样负载随时间的变化曲线在预设时长内可以呈现为约一条水平线后下降。
基于预设趋势对应的变化曲线的上述两种呈现方式，本实施例中，检测负载变化趋势是否符合预设趋势的具体方式可以为：
根据负载变化趋势确定电子调速器的负载变化率；
检测负载变化率是否大于预设变化率阈值，若是，则确定负载变化趋势符合预设趋势；或，
根据负载变化趋势确定电子调速器的负载变化率；
当负载变化率位于预设变化率范围时，根据多个采样负载确定电子调速器的负载；
检测负载与基准负载的偏差是否位于预设允许范围内，若否，则确定负载变化趋势符合预设趋势，基准负载为在水泵满载喷洒液体时获取。
具体的，无论预设趋势对应的变化曲线以何种方式呈现，预设趋势可以具有相应的负载变化率，即变化曲线的曲线斜率。其中，当水泵一开始即为预设工作状态并持续为预设工作状态时，采样负载随时间的变化曲线的曲线斜率约为零，那么可以根据该曲线斜率设置相应的预设变化率范围，以使得电子调速器的负载变化率位于该预设变化率范围时，可以认为电子调速器的负载变化趋势初步符合预设趋势。进一步的，由于水泵满载喷洒液体与满载空气时电子调速器对应的负载不一致，则可以将水泵满载喷洒液体时电子调速器的负载作为基准负载，并可以确定电子调速器的负载与基准负载的偏差，若该偏差位于预设允许范围内，则默认电子调速器的负载变化趋势符合预设趋势，反之，则认为电子调速器的负载变化趋势不符合预设趋势；而当水泵从非预设工作状态转变至预设工作状态时，采样负载随时间的变化曲线的曲线斜率将会大于零，该曲线斜率越大，则意味着电子调速器的负载的下降速度越快，可以根据电子调速器的负载的下降速度的临界值作为预设变化率阈值，以在电子调速器的负载变化率大于预设变化率阈值时，可以默认电子调速器的负载变化趋势符合预设趋势，反之，则认为电子调速器的负载变化趋势不符合预设趋势。
可以理解的是，本实施例仅以上述两个例子说明了检测负载变化趋势是否符合预设趋势的具体方式，在实际应用中，还可以采用其它方式，如在同一个坐标系中直接将电子调速器的当前的负载变化趋势对应的曲线图与标准的曲 线图进行对比(该标准的曲线图可以包括两种：为在水泵一开始即为预设工作状态并持续为预设工作状态测定；为在水泵从非预设工作状态转变至预设工作状态时测定)，只要能够确定负载变化趋势是否符合预设趋势即可，此处不做具体限定。
需要说明的是，本实施例中，当水泵处于预设工作状态时，由于可能是水泵的进液管破损导致或喷洒液体喷洒完毕导致，那么基于这两种原由之间对预设趋势的差异性影响，在检测电子调速器的负载变化是否符合预设趋势时，还可以对这两种情况下预设趋势分别考虑。
604、确定水泵处于预设工作状态；
本实施例中，若电子调速器的负载变化趋势符合预设趋势，则可以确定水泵处于预设工作状态。
605、结束流程。
本实施例中，若电子调速器的负载变化趋势不符合预设趋势。则可以不执行其它流程，即结束流程。
本实施例中的步骤604至步骤605的部分内容可以参照图1所示实施例中步骤103至步骤104、图4所示实施例中步骤403说明的内容，此处不再赘述。
与图4、图5所示实施例相比，本实施例提供了另一种对电子调速器的负载的检测方式，该种方法是将一段时间的电子调速器的负载变化趋势与预设趋势进行相应的对比，更能直观地体现电子调速器的负载变化，尤其是当水泵从非预设工作状态转变至预设工作状态时，电子调速器的负载将会急剧的下降变化，可以通过电子调速器的负载变化趋势得到相应的呈现。
可以理解的是，本申请实施例中，确定水泵处于预设工作状态后，还可以对移动平台的使用用户进行相应的提示，基于图1，下面进行示例性具体说明：
请参阅图7，本申请实施例中检测方法另一实施例包括：
701、获取电子调速器的负载；
702、检测负载是否满足预设条件，若是，则执行步骤703，若否，则执行步骤705；
703、确定水泵处于预设工作状态；
本实施例中的步骤701至步骤703与图1所示实施例中的步骤101至步骤103相同，此处不再赘述。
704、向移动平台的控制设备发送水泵的状态信息，以使得控制设备根据状态信息提示水泵的进液管内含有使得喷洒装置无法喷洒的空气量；
本实施例中，确定水泵处于预设工作状态后，可以向移动平台的控制设备发送水泵的状态信息，以使得控制设备可以根据状态信息提示水泵的进液管内含有使得喷洒装置无法喷洒的空气量。
具体的，当水泵处于预设工作状态，说明水泵的进液管内含有使得喷洒装置无法喷洒的空气量，可能是水泵的进液管破损导致或喷洒液体喷洒完毕导致，那么可以向移动平台的控制设备发送该状态信息，控制设备接收到状态信息后，可以根据该状态向用户进行相应的提示，以使得用户可以对水泵处于预设工作状态的原因进行确定，并进一步给出相应的操作指令或进行相应的维护。
进一步的，本实施例中，为了明确水泵处于预设工作状态的原因，可以根据移动平台中储液箱的喷洒液体的剩余量进行辅助判断，在实际应用中，由于移动平台中储液箱的容量有限，在一个时间段内水泵可能需要对储液箱的多倍容量的喷洒液体进行多次喷洒操作，那么该时间段内的最后一次喷洒前，为了避免喷洒液体全部喷洒完毕而导致的水泵处于预设工作状态，储液箱内可以留有预设剩余量，以减少空气泄压的次数，且只有在最后一次喷洒时，储液箱中的喷洒液体将喷洒完毕。由此可知，当喷洒液体的剩余量不小于预设剩余量时，说明并非最后一次喷洒，实际上水泵不应当为预设工作状态，很有可能是水泵的进液管破损导致，那么可以向移动平台的控制设备发送第一提示信息，控制设备接收到该第一提示信息后，可以根据第一提示信息对用户进行故障排查提示，以检测是否由水泵的进液管道破损导致；而当喷洒液体的剩余量小于预设剩余量时，可以默认当前是最后一次喷洒，则可以向控制设备发送第二提示信息，控制设备接收到该第二提示信息后，可以根据第二提示信息对用户进行喷洒液体喷洒完毕的提示，用户获悉该第二提示信息后，可以选择相应的操作，如停止喷洒操作或关闭移动平台等。
705、结束流程。
本实施例中的步骤705与图1所示实施例中的步骤104相同，此处不再赘述。
本实施例中，在确定水泵处于预设工作状态后，可以将水泵的状态信息通 知给移动平台的控制设备，有利于控制设备根据状态信息对用户进行相应的提示，使得用户可以根据水泵的当前工作状态及时地执行相应的操作，以防止移动平台不必要的资源浪费，如喷洒液体喷洒完毕后，移动平台由于未及时关闭而造成的电量耗费，还可以避免由水泵的管道破损而造成的喷洒液体的浪费。
可以理解的是，本申请实施例中，喷洒装置基于喷洒液体的种类可以具有不同的使用用途，如喷洒液体为水时，喷洒装置可以为灌溉使用，又如喷洒液体为农药时，喷洒装置可以为防治有害生物使用。可选的，本申请实施例中的喷洒装置可以为农药喷洒装置。
需要说明的是，本申请实施例中，移动平台可以包括但不限于在陆地上、水上或空中移动的物体。可选的，本申请实施例中移动平台可以为无人机，以加强无人机在农业行业的应用。
下面以移动平台为无人机，从不同执行主体对上述实施例进行示例性说明：
如图8所示，无人机可以包括飞控系统、农机中心板、用于喷洒液体的水泵和控制水泵的电子调速器，无人机通过飞控系统可以与无人机的控制设备进行通信。其中，飞控系统可以与农机中心板通信连接，农机中心板与电子调速器通信连接，电子调速器则与水泵通信连接。
一、执行主体为无人机的农机中心板
示例性的，电子调速器获取自身的工作参数信息后，可以将该工作参数信息反馈至农机中心板，农机中心板获取电子调速器的工作参数信息后，可以根据该工作信息参数确定电子调速器的负载。进一步的，农机中心板对电子调速器的负载进行相应的判断，确定水泵处于预设工作状态后，可以将水泵的状态信息发送至无人机的飞控系统，再由飞控系统将该状态信息透传至无人机的控制设备，进而由无人机的控制设备对水泵的状态信息进行相应的提示。
二、执行主体为无人机的飞控系统
示例性的，电子调速器获取自身的工作参数信息后，可以将该工作参数信息反馈至农机中心板，农机中心板则可以将该电子调速器的工作参数信息发送至无人机的飞控系统，飞控系统获取该工作参数信息后，可以根据该工作信息参数确定电子调速器的负载。进一步的，飞控系统对电子调速器的负载进行相应的判断，确定水泵处于预设工作状态后，可以直接将该状态信息发送至无人 机的控制设备，进而由无人机的控制设备对水泵的状态信息进行相应的提示。
进一步的，在本申请的一些实施例中，无人机的控制设备也可以作为执行主体：
示例性的，电子调速器获取自身的工作参数信息后，可以将该工作参数信息反馈至农机中心板，农机中心板则可以将该电子调速器的工作参数信息发送至无人机的飞控系统，飞控系统则可以进一步将该工作参数信息透传至控制设备，而控制设备则可以根据该工作信息参数确定电子调速器的负载。进一步的，控制设备对电子调速器的负载进行相应的判断，确定水泵处于预设工作状态后，则可以直接进行相应的提示。
可以理解的是，在实际应用中，除了无人机的飞控系统自动将电子调速器的工作参数信息发送至无人机的控制设备外，无人机的控制设备也可以主动向无人机的飞控系统发送相应的指令，以获取电子调速器的工作参数信息，此处不做具体限定。
上面对本申请实施例中的检测方法进行了说明，下面对本申请实施例中的检测装置进行说明：
请参阅图9，该检测装置应用于移动平台，该移动平台包括用于喷洒液体的水泵和用于控制水泵的电子调速器，本申请实施例中的检测装置一个实施例包括：
采集装置901、处理器902，采集装置901与处理器902通信连接；
采集装置901，用于：
获取电子调速器的负载；
处理器902，用于：
检测负载是否满足预设条件；
若是，则确定水泵处于预设工作状态。
本实施例中，采集装置901获取控制水泵的电子调速器的负载后，可以由处理器902对电子调速器的负载进行相应的检测，当电子调速器的负载不满足预设条件时，处理器902可以确定水泵处于预设工作状态，该预设工作状态可以用于指示水泵的进液管内充满了使得无法喷洒的空气量，水泵在该空气量的阻力下，无法将喷洒物输送至容腔内并完成喷洒。由此，在不改变原有喷洒系统的结构下，可以利用电子调速器来替代压力计的空气检测作用，从而避免了 压力计由于易损耗、易损坏而带来的误检，同时，由于电子调速器与喷洒系统中的其它传感器解耦，且其使用寿命和稳定性相对于其它传感器而言更长更好，则相对而言提高了检测进液管内是否充满了使得无法喷洒的空气量的准确性。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
获取电子调速器的工作参数信息；
根据工作参数信息确定电子调速器的负载。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
获取电子调速器的转速和工作电流；
根据转速和工作电流确定电子调速器的负载，负载与转速呈负相关，负载与工作电流呈正相关。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
获取电子调速器的功率；
根据功率确定电子调速器的负载，负载与功率呈正相关。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
获取预设时长内电子调速器的多个采样负载；
根据多个采样负载确定电子调速器的负载。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
将多个采样负载进行加权计算，得到电子调速器的负载。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
从多个采样负载中确定最小的采样负载为电子调速器的负载。
可选的，在本申请的一些实施例中，处理器902，可以进一步具体用于：
检测负载是否大于预设阈值，若是，则确定负载不满足预设条件。
可选的，在本申请的一些实施例中，处理器902，可以进一步具体用于：
确定水泵的结构类型；
根据结构类型确定预设阈值。
可选的，在本申请的一些实施例中，处理器902，可以进一步具体用于：
检测负载与基准负载的偏差是否位于预设允许范围内，若否，则确定负载满足预设条件，基准负载为在水泵处于满载喷洒液体时获取。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
获取预设时长内电子调速器的多个采样负载；
处理器902，具体用于：
根据多个采样负载确定电子调速器的负载变化趋势；
检测负载变化趋势是否符合预设趋势，若是，则确定负载不满足预设条件。
可选的，在本申请的一些实施例中，处理器902，可以进一步具体用于：
根据负载变化趋势确定电子调速器的负载变化率；
检测负载变化率是否大于预设变化率阈值，若是，则确定负载变化趋势符合预设趋势。
可选的，在本申请的一些实施例中，处理器902，可以进一步具体用于：
根据负载变化趋势确定电子调速器的负载变化率；
当负载变化率位于预设变化率范围时，根据多个采样负载确定电子调速器的负载；
检测负载与基准负载的偏差是否位于预设允许范围内，若否，则确定负载变化趋势符合预设趋势，基准负载为在水泵满载喷洒液体时获取。
可选的，在本申请的一些实施例中，采集装置901，可以进一步具体用于：
利用滑窗算法获取预设时长内电子调速器的多个采样负载。
可选的，在本申请的一些实施例中，基于图9，如图10所示，装置还可以进一步包括：
发送装置903，发送装置903与处理器902通信连接；
发送装置903，用于：
向移动平台的控制设备发送水泵的状态信息，以使得控制设备根据状态信息提示水泵的进液管内含有使得喷洒装置无法喷洒的空气量。
可选的，在本申请的一些实施例中，发送装置903，可以进一步具体用于：
若喷洒液体的剩余量不小于预设剩余量，则向控制设备发送第一提示信息，以使得控制设备根据第一提示信息进行故障排查提示。
可选的，在本申请的一些实施例中，发送装置903，可以进一步具体用于：
若喷洒液体的剩余量小于预设剩余量，则向控制设备发送第二提示信息，以使得控制设备根据第二提示信息进行喷洒液体喷洒完毕的提示。
进一步的，本申请实施例中，当检测装置设于移动平台上时，基于图10为例进行说明，如图11所示，检测装置还可以作为移动平台的一部分，则检 测装置中的采集装置901可以与移动平台的电子调速器通信连接，以获取电子调速器反馈的相关工作参数信息等。
需要说明的是，本申请实施例中，针对不同的执行主体，检测装置也可以不位于移动平台上，此处不做具体限定。
可以理解的是，所述检测装置可包括，但不仅限于，采集装置、处理器、发送装置。本领域技术人员可以理解，图9、图10、图11所示示意图仅仅是检测装置的示例，并不构成对检测装置的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述检测装置还可以包括输入输出设备、网络接入设备等，又如，检测装置还可以包括存储器。
示例性的，所述存储器中可以存储有计算机程序，所述计算机程序可由所述处理器执行，以完成本申请。所述计算机程序可以包括能够完成特定功能的一系指令段，该指令段用于描述所述计算机程序在所述检测装置中各部件的执行过程，以实现如上述相应检测装置说明的具体功能。
所述处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，所述处理器是所述检测设备的控制中心，利用各种接口和线路连接整个检测设备的各个部分。
所述存储器可用于存储所述计算机程序和/或模块，所述处理器通过运行或执行存储在所述存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现所述检测设备的各种功能。所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据终端的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
进一步的，本申请实施例还提供了一种无人机，该无人机可以包括用于喷洒液体的水泵和用于控制水泵的电子调速器，还可以包括上述说明的检测装置，该检测装置可以与电子调速器通信连接，以接收电子调速器反馈的相应工作参数信息，达到利用电子调速器的负载判断水泵的工作状态的目的，进而实现对水泵的管道内是否含有使得无法喷洒的空气量的检测。
示例性的，如图12所示，无人机的机身下方可以设有用于存储喷洒液体的储液箱1，无人机上的水泵2可以提供动力输送作用，并在该作用下降储液箱1中的喷洒液体输送至喷嘴3，使得喷洒液体可以从喷嘴3喷洒至目标喷洒区域。在该喷洒过程中，检测装置通过利用控制水泵2的电子调速器的相应信息的反馈，可以实时监测水泵2的工作状态，以在水泵2的管道内含有使得喷嘴3无法继续喷洒的空气量时，可以进一步分析是由储液箱1中的喷洒液体喷洒完毕导致的结果，还是由水泵的进液管(即储液箱1与水泵2之间的管道)发生破损导致的结果。相对而言，由于无人机中控制水泵1的电子调速器的解耦性，及其使用寿命长和稳定性好的特点，提高了检测的准确性。
更进一步的，本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时，可以实现上述方法实施例中说明的各个步骤流程。
可以理解的是，所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在相应的一个计算机可读取存储介质中。基于这样的理解，本申请实现上述相应的实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电 载波信号和电信信号。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，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，在本申请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。
以上所述，以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，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申请各实施例技术方案的精神和范围。

Claims (46)

  1. 一种检测方法，其应用于移动平台，所述移动平台包括用于喷洒液体的水泵和用于控制所述水泵的电子调速器，其特征在于，所述检测方法包括：
    获取所述电子调速器的负载；
    检测所述负载是否满足预设条件；
    若是，则确定所述水泵处于预设工作状态。
  2. 根据权利要求1所述的方法，其特征在于，所述获取所述电子调速器的负载包括：
    获取所述电子调速器的工作参数信息；
    根据所述工作参数信息确定所述电子调速器的负载。
  3. 根据权利要求2所述的方法，其特征在于，所述获取所述电子调速器的工作参数信息包括：
    获取所述电子调速器的转速和工作电流；
    所述根据所述工作参数信息确定所述电子调速器的负载包括：
    根据所述转速和所述工作电流确定所述电子调速器的负载，所述负载与所述转速呈负相关，所述负载与所述工作电流呈正相关。
  4. 根据权利要求2所述的方法，其特征在于，所述获取所述电子调速器的工作参数信息包括：
    获取所述电子调速器的功率；
    所述根据所述工作参数信息确定所述电子调速器的负载包括：
    根据所述功率确定所述电子调速器的负载，所述负载与所述功率呈正相关。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述获取所述电子调速器的负载包括：
    获取预设时长内所述电子调速器的多个采样负载；
    根据多个所述采样负载确定所述电子调速器的负载。
  6. 根据权利要求5所述的方法，其特征在于，所述根据多个所述采样负载确定所述电子调速器的负载包括：
    将多个所述采样负载进行加权计算，得到所述电子调速器的负载。
  7. 根据权利要求5所述的方法，其特征在于，所述根据多个所述采样负载确定所述电子调速器的负载包括：
    从多个所述采样负载中确定最小的采样负载为所述电子调速器的负载。
  8. 根据权利要求1至7中任一项所述的方法，其特征在于，所述检测所述负载是否满足预设条件包括：
    检测所述负载是否大于预设阈值，若是，则确定所述负载不满足所述预设条件。
  9. 根据权利要求8所述的方法，其特征在于，在所述检测所述负载是否大于预设阈值之前，所述方法还包括：
    确定所述水泵的结构类型；
    根据所述结构类型确定所述预设阈值。
  10. 根据权利要求1至7中任一项所述的方法，其特征在于，所述检测所述负载是否满足预设条件包括：
    检测所述负载与基准负载的偏差是否位于预设允许范围内，若否，则确定所述负载满足所述预设条件，所述基准负载为在所述水泵处于满载所述喷洒液体时获取。
  11. 根据权利要求1至4中任一项所述的方法，其特征在于，所述获取所述电子调速器的负载包括：
    获取预设时长内所述电子调速器的多个采样负载；
    所述检测所述负载是否满足预设条件包括：
    根据多个所述采样负载确定所述电子调速器的负载变化趋势；
    检测所述负载变化趋势是否符合预设趋势，若是，则确定所述负载满足所述预设条件。
  12. 根据权利要求11所述的方法，其特征在于，所述检测所述负载变化趋势是否符合预设趋势包括：
    根据所述负载变化趋势确定所述电子调速器的负载变化率；
    检测所述负载变化率是否大于预设变化率阈值，若是，则确定所述负载变化趋势符合所述预设趋势。
  13. 根据权利要求11所述的方法，其特征在于，所述检测所述负载变化趋势是否符合预设趋势包括：
    根据所述负载变化趋势确定所述电子调速器的负载变化率；
    当所述负载变化率位于预设变化率范围时，根据多个所述采样负载确定所述电子调速器的负载；
    检测所述负载与基准负载的偏差是否位于预设允许范围内，若否，则确定所述负载变化趋势符合所述预设趋势，所述基准负载为在所述水泵满载所述喷洒液体时获取。
  14. 根据权利要求5至13中任一项所述的方法，其特征在于，所述获取预设时长内所述电子调速器的多个采样负载包括：
    利用滑窗算法获取预设时长内所述电子调速器的多个采样负载。
  15. 根据权利要求1至14中任一项所述的方法，其特征在于，在所述确定所述水泵处于预设工作状态之后，所述方法还包括：
    向所述移动平台的控制设备发送所述水泵的状态信息，以使得所述控制设备根据所述状态信息提示所述水泵的进液管内含有使得喷洒装置无法喷洒的空气量。
  16. 根据权利要求1至15中任一项所述的方法，其特征在于，在所述确定所述水泵处于预设工作状态之后，所述方法还包括：
    若所述喷洒液体的剩余量不小于预设剩余量，则向所述控制设备发送第一提示信息，以使得控制设备根据所述第一提示信息进行故障排查提示。
  17. 根据权利要求1至15中任一项所述的方法，其特征在于，在所述确定所述水泵处于预设工作状态之后，所述方法还包括：
    若所述喷洒液体的剩余量小于预设剩余量，则向所述控制设备发送第二提示信息，以使得所述控制设备根据所述第二提示信息进行所述喷洒液体喷洒完毕的提示。
  18. 根据权利要求1至17中任一项所述的方法，其特征在于，所述预设工作状态为预设容量状态。
  19. 根据权利要求18所述的方法，其特征在于，所述预设容量状态为预设空气容量状态。
  20. 根据权利要求19所述的方法，其特征在于，所述预设空气容量状态为满载空气状态。
  21. 根据权利要求1至20中任一项所述的方法，其特征在于，所述喷洒 装置为农药喷洒装置。
  22. 根据权利要求1至21中任一项所述的方法，其特征在于，所述移动平台为无人机。
  23. 一种检测装置，其应用于移动平台，所述移动平台包括用于喷洒液体的水泵和用于控制所述水泵的电子调速器，其特征在于，所述装置包括：
    采集装置、处理器，所述采集装置与所述处理器通信连接；
    所述采集装置，用于：
    获取所述电子调速器的负载；
    所述处理器，用于：
    检测所述负载是否满足预设条件；
    若是，则确定所述水泵处于预设工作状态。
  24. 根据权利要求23所述的装置，其特征在于，所述采集装置，具体用于：
    获取所述电子调速器的工作参数信息；
    根据所述工作参数信息确定所述电子调速器的负载。
  25. 根据权利要求24所述的装置，其特征在于，所述采集装置，具体用于：
    获取所述电子调速器的转速和工作电流；
    根据所述转速和所述工作电流确定所述电子调速器的负载，所述负载与所述转速呈负相关，所述负载与所述工作电流呈正相关。
  26. 根据权利要求24所述的装置，其特征在于，所述采集装置，具体用于：
    获取所述电子调速器的功率；
    根据所述功率确定所述电子调速器的负载，所述负载与所述功率呈正相关。
  27. 根据权利要求23至26中任一项所述的装置，其特征在于，所述采集装置，具体用于：
    获取预设时长内所述电子调速器的多个采样负载；
    根据多个所述采样负载确定所述电子调速器的负载。
  28. 根据权利要求27所述的装置，其特征在于，所述采集装置，具体用 于：
    将多个所述采样负载进行加权计算，得到所述电子调速器的负载。
  29. 根据权利要求27所述的装置，其特征在于，所述采集装置，具体用于：
    从多个所述采样负载中确定最小的采样负载为所述电子调速器的负载。
  30. 根据权利要求23至29中任一项所述的装置，其特征在于，所述处理器，具体用于：
    检测所述负载是否大于预设阈值，若是，则确定所述负载不满足所述预设条件。
  31. 根据权利要求30所述的装置，其特征在于，所述处理器，还用于：
    确定所述水泵的结构类型；
    根据所述结构类型确定所述预设阈值。
  32. 根据权利要求23至29中任一项所述的装置，其特征在于，所述处理器，具体用于：
    检测所述负载与基准负载的偏差是否位于预设允许范围内，若否，则确定所述负载满足所述预设条件，所述基准负载为在所述水泵处于满载所述喷洒液体时获取。
  33. 根据权利要求23至26中任一项所述的装置，其特征在于，所述采集装置，具体用于：
    获取预设时长内所述电子调速器的多个采样负载；
    所述处理器，具体用于：
    根据多个所述采样负载确定所述电子调速器的负载变化趋势；
    检测所述负载变化趋势是否符合预设趋势，若是，则确定所述负载满足所述预设条件。
  34. 根据权利要求33所述的装置，其特征在于，所述处理器，具体用于：
    根据所述负载变化趋势确定所述电子调速器的负载变化率；
    检测所述负载变化率是否大于预设变化率阈值，若是，则确定所述负载变化趋势符合所述预设趋势。
  35. 根据权利要求33所述的装置，其特征在于，所述处理器，具体用于：
    根据所述负载变化趋势确定所述电子调速器的负载变化率；
    当所述负载变化率位于预设变化率范围时，根据多个所述采样负载确定所述电子调速器的负载；
    检测所述负载与基准负载的偏差是否位于预设允许范围内，若否，则确定所述负载变化趋势符合所述预设趋势，所述基准负载为在所述水泵满载所述喷洒液体时获取。
  36. 根据权利要求27至35中任一项所述的装置，其特征在于，所述采集装置，具体用于：
    利用滑窗算法获取预设时长内所述电子调速器的多个采样负载。
  37. 根据权利要求23至36中任一项所述的装置，其特征在于，所述装置还包括：
    发送装置，所述发送装置与所述处理器通信连接；
    所述发送装置，用于：
    向所述移动平台的控制设备发送所述水泵的状态信息，以使得所述控制设备根据所述状态信息提示所述水泵的进液管内含有使得喷洒装置无法喷洒的空气量。
  38. 根据权利要求23至37中任一项所述的装置，其特征在于，所述发送装置，还用于：
    若所述喷洒液体的剩余量不小于预设剩余量，则向所述控制设备发送第一提示信息，以使得控制设备根据所述第一提示信息进行故障排查提示。
  39. 根据权利要求23至37中任一项所述的装置，其特征在于，所述发送装置，还用于：
    若所述喷洒液体的剩余量小于预设剩余量，则向所述控制设备发送第二提示信息，以使得所述控制设备根据所述第二提示信息进行所述喷洒液体喷洒完毕的提示。
  40. 根据权利要求23至39中任一项所述的装置，其特征在于，所述预设工作状态为预设容量状态。
  41. 根据权利要求40所述的装置，其特征在于，所述预设容量状态为预设空气容量状态。
  42. 根据权利要求41所述的装置，其特征在于，所述预设空气容量状态为满载空气状态。
  43. 根据权利要求23至42中任一项所述的装置，其特征在于，所述喷洒装置为农药喷洒装置。
  44. 根据权利要求23至43中任一项所述的装置，其特征在于，所述移动平台为无人机。
  45. 一种无人机，所述无人机包括用于喷洒液体的水泵和用于控制所述水泵的电子调速器，其特征在于，所述无人机还包括如权利要求23至44中任一项所述的检测装置，所述检测装置与所述电子调速器通信连接。
  46. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于：所述计算机程序被处理器执行时实现如权利要求1至22中任意一项所述方法的步骤。
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