WO2019137134A1 - Method for testing spray flow of diaphragm pump of plant protection unmanned aerial vehicle based on microphone - Google Patents
Method for testing spray flow of diaphragm pump of plant protection unmanned aerial vehicle based on microphone Download PDFInfo
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- WO2019137134A1 WO2019137134A1 PCT/CN2018/120305 CN2018120305W WO2019137134A1 WO 2019137134 A1 WO2019137134 A1 WO 2019137134A1 CN 2018120305 W CN2018120305 W CN 2018120305W WO 2019137134 A1 WO2019137134 A1 WO 2019137134A1
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- diaphragm pump
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/66—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters
- G01F1/662—Constructional details
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- the invention belongs to the technical field of plant protection drones, and particularly relates to a diaphragm pump spray flow test method of a plant-based maintenance drone based on a microphone.
- the spraying flow rate of the plant protection unmanned aerial vehicle is difficult in the air.
- the reason is that the traditional vortex flowmeter is large in size and high in weight, and is not suitable for installation on the drone; 2 the traditional flowmeter has a large measuring range for 0.5-2L/min. The small flow measurement is difficult and not suitable for small diameter installation; 3 Because the high-concentration agent is applied by aviation application, the viscosity of the measured medium is large, and the built-in flowmeter is easily blocked due to the clogging of the drug;
- the technical problem to be solved by the present invention is to provide a diaphragm pump spray flow test method of a microphone-based plant protection drone for the above-mentioned deficiencies of the prior art, and the diaphragm pump spray flow test method of the microphone-based plant protection drone is not required.
- the traditional flowmeter is installed, and only the acoustic wave measurement method of the microphone is used to read the acoustic signal of the reciprocating motion of the diaphragm, and the vibration frequency of the diaphragm is analyzed by Fourier transform and low-pass filtering analysis, and finally the current flow rate of the diaphragm pump is solved by the acquired frequency information.
- the results are accurate and reliable.
- the technical solution adopted by the present invention is:
- a diaphragm-based spray pump flow test method for a plant-based maintenance drone based on a microphone comprising the following steps:
- Step 1 The microphone collects the acoustic signal of the diaphragm pump on the plant protection drone and sends the acoustic signal to the voice control unit;
- Step 2 The voice control unit converts the sound wave signal into an analog signal and sends the analog signal to the controller;
- Step 3 The controller receives the analog signal and performs a spectral analysis on the signal to obtain a sound wave spectrogram;
- Step 4 Determine the time interval of the diaphragm pump operation through the sonic spectrogram, and select the acoustic wave spectrum of the time zone in which the diaphragm pump works;
- Step 5 Filter out other amplitudes within the amplitude threshold range of the acoustic signal not emitted by the diaphragm pump from the acoustic wave spectrum of the time interval in which the diaphragm pump operates;
- Step 6 Analyze the acoustic wave spectrogram obtained in step 5 by using the Fourier transform method, and obtain the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval in which the diaphragm pump operates;
- Step 7 pre-calibrate the diaphragm acoustic wave frequency of the diaphragm pump under different flow working conditions, and obtain the relationship between the acoustic wave frequency of the diaphragm pump and the diaphragm pump flow rate;
- Step 8 Substituting the acoustic wave frequency of the reciprocating motion of the diaphragm at each time point in the time interval in which the diaphragm pump obtained in step 6 is operated into the relational expression of step 7, obtaining the corresponding point of each time point of the diaphragm pump in the working time interval. Traffic.
- the voice control unit comprises an acoustic wave analog to digital conversion unit, and the controller uses a single chip microcomputer.
- the step 4 specifically includes:
- the time point of the amplitude positive step specifically includes: setting a step change threshold in advance, if the amplitude at a certain time point increases and the increased change value is greater than the step Changing the threshold, then the time point is the time point at which the amplitude is positively graded;
- the time point of the negative amplitude step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point decreases and the decreased change value is greater than the step change threshold, the time point is amplitude negative. The point in time of the order.
- the step 5 includes:
- the amplitude of the acoustic wave spectrogram is determined according to the acoustic wave spectrogram in the time interval in which the diaphragm pump operates, and the amplitude threshold range of the acoustic wave signal emitted by the diaphragm pump is preset, from the acoustic wave spectrogram of the time interval in which the diaphragm pump operates. Other amplitudes within the amplitude threshold range that are not part of the acoustic signal from the diaphragm pump are filtered out.
- the step 6 includes:
- the acoustic wave frequency is the acoustic wave of the diaphragm reciprocating at the time point corresponding to the spectrogram in the time interval in which the diaphragm pump operates.
- the frequency, the acoustic wave frequency in which the amplitude variation is large in the spectrogram refers to the acoustic wave frequency whose amplitude change value is larger than the amplitude change threshold.
- the invention has the beneficial effects that the invention does not need to install a conventional flow meter, and solves the defects of the traditional flow meter occupying volume and installation difficulty, and the invention only uses the method of microphone sound wave measurement to read the diaphragm pump in the plant protection drone.
- the acoustic signal of the diaphragm reciprocating motion is analyzed by Fourier transform and low-pass filtering, and the diaphragm moving frequency is analyzed. Finally, the current flow rate of the diaphragm pump is solved by the acquired frequency information, and the result is accurate and reliable.
- Figure 1 is a schematic view of the structure of the present invention.
- Figure 2 is a flow chart of the operation of the present invention.
- Figure 3 is a sound wave spectrogram of the present invention.
- Figure 4 is a spectrogram of the present invention.
- the diaphragm pump 1 to spray the pesticide, and the diaphragm pump 1 works by driving the diaphragm of the pump body through the external motor to pump the pesticide liquid to the nozzle.
- the flow velocity of the liquid flowing through the pump body is positively correlated with the moving frequency of the diaphragm.
- the acoustic wave signal of the reciprocating motion of the diaphragm is read by the method of measuring the acoustic wave of the diaphragm, and the Fourier transform is performed. Transform and low-pass filter analysis, the diaphragm movement frequency is analyzed, and finally the current flow rate of the diaphragm pump 1 is solved by the acquired frequency information.
- the specific structure is as follows:
- a diaphragm pump spray flow test device of a microphone-based plant protection drone includes a plant protection drone, a diaphragm pump on a plant protection drone, a microphone 2, a voice control unit 3, and a controller 4 (single chip microcomputer), a microphone 2 is mounted on the diaphragm pump 1, and the microphone 2 is connected through the voice control unit 3 and the controller 4 (microcontroller).
- a diaphragm-based spray pump flow test method for a microphone-based plant protection drone includes the following steps:
- Step 1 collecting sound wave signals: the microphone 2 collects the sound wave signal of the diaphragm pump 1 on the plant protection drone and transmits the sound wave signal to the sound control unit 3;
- Step 2 acoustic wave analog-to-digital conversion: the voice control unit 3 converts the sound wave signal into an analog signal, and sends an analog signal to the controller 4;
- Step 3 Profiling analysis: The controller 4 receives the analog signal and performs the spectral analysis of the signal to obtain the acoustic wave spectrogram; the acoustic wave spectrum is shown in Fig. 3. The abscissa of the acoustic spectrum represents time and the ordinate represents amplitude. The waveform is characterized by amplitude versus time;
- Step 4 Analysis of the speech spectrum: Determine the time interval of the diaphragm pump operation through the sonic spectrogram, and select the acoustic wave spectrum of the time interval in which the diaphragm pump works; as shown in Fig. 3, t 11 to t 1m belong to the diaphragm pump. Time interval; t 21 to t 2m belong to the time interval in which the diaphragm pump operates; t 31 to t 3m belong to the time interval in which the diaphragm pump operates;
- Step 5 Low-pass filtering: Filter out other amplitudes within the amplitude threshold range of the acoustic signal not from the diaphragm pump from the acoustic spectral map of the time interval in which the diaphragm pump is operating; due to the propeller, motor or other unmanned aircraft operating The mechanical vibration can cause the acoustic wave signal, and the microphone receives the clutter signal of each frequency band when collecting the movement information of the pump diaphragm pump.
- the amplitude of the acoustic wave signal emitted by the diaphragm pump is the largest, and The amplitude of other acoustic signals on the body of the plant protection unmanned aircraft is small and the time-frequency signals are fluctuating, and the effective sound intensity can be obtained through the spectral analysis, and the low-pass filtering is performed;
- Step 6 Analysis of effective acoustic wave frequency characteristics: The acoustic wave spectral map obtained in step 5 is analyzed by using the Fourier transform method, and the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval of the diaphragm pump operation is obtained;
- Step 7 Calculation of diaphragm pump flow rate: Pre-calibrate the diaphragm acoustic wave frequency of the diaphragm pump under different flow conditions, and obtain the relationship between the diaphragm acoustic wave frequency and the diaphragm pump flow rate in the diaphragm pump;
- Step 8 Calculation of the diaphragm pump flow rate: the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval in which the diaphragm pump obtained in step 6 is operated is substituted into the relational expression in step 7, and the diaphragm pump is obtained in the working time interval. The traffic corresponding to each time point.
- the voice control unit 3 includes an acoustic wave analog to digital conversion unit, and the controller 4 employs a single chip microcomputer.
- the time point of the amplitude positive step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point increases and the increased change value is greater than the step change threshold, the time point is an amplitude.
- the time point of the negative amplitude step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point decreases and the decreased change value is greater than the step change threshold, the time point is amplitude negative. The point in time of the order. As shown in Fig.
- t 11 to t 1m belong to the time interval in which the diaphragm pump operates; t 21 to t 2m belong to the time interval in which the diaphragm pump operates; t 31 to t 3m belong to the time interval in which the diaphragm pump operates.
- the low-pass filtering method of step 5 specifically includes: (a) determining an amplitude in the acoustic wave spectrogram according to the acoustic wave spectrogram in a time interval in which the diaphragm pump operates, and presetting the amplitude of the acoustic wave signal emitted by the diaphragm pump
- the threshold range is filtered from the acoustic spectrum of the time interval in which the diaphragm pump operates to filter out other amplitudes within the amplitude threshold range of the acoustic signal not emitted by the diaphragm pump, and the acoustic wave spectrum in the time interval in which the diaphragm pump actually operates is obtained.
- the amplitude threshold range can be set according to the amplitude range of the acoustic signal emitted by the diaphragm pump when the actual clutterless signal is acquired.
- the acoustic wave frequency of the diaphragm pump itself is related to the rotational speed of the diaphragm pump.
- the operating frequency range of the diaphragm pump can also be calculated by the rotational speed of the diaphragm pump, and then the diaphragm pump is determined according to the acoustic wave spectrum in the time interval in which the diaphragm pump operates.
- the frequency signal in the time interval extracts the frequency signal located in the operating frequency range of the diaphragm pump from the working time interval of the diaphragm pump, filters out the frequency signal not within the operating frequency range of the diaphragm pump, and obtains the actual operation of the diaphragm pump.
- the sonic language spectrum within the time interval is the frequency signal located in the operating frequency range of the diaphragm pump from the working time interval of the diaphragm pump, filters out the frequency signal not within the operating frequency range of the diaphragm pump, and obtains the actual operation of the diaphragm pump.
- the acoustic wave spectrum in the time interval in which the diaphragm pump actually works can be clearly obtained, but here the acoustic wave also contains the clutter signal, which must be subjected to secondary analysis.
- the Fourier transform is used. The method is to analyze the frequency characteristic of the reciprocating motion of the diaphragm of the working area of the diaphragm pump, that is, the step 6 is performed, and the step 6 includes:
- f(t) represents the spectrogram
- F( ⁇ ) corresponding to the spectrogram
- the acoustic wave frequency is the acoustic wave of the diaphragm reciprocating at the time point corresponding to the spectrogram in the time interval in which the diaphragm pump operates.
- the frequency, the acoustic wave frequency in which the amplitude variation is large in the spectrogram refers to the acoustic wave frequency whose amplitude change value is larger than the amplitude change threshold.
- the abscissa is the frequency and the ordinate is the amplitude.
- x ⁇ 35.39 is the acoustic wave frequency of the reciprocating motion of the diaphragm obtained according to the spectrogram
- x ⁇ 70.74 Although the amplitude variation is also large, x ⁇ 70.74 and x ⁇ 35.39 belong to an integer multiple relationship, that is, the frequency of x ⁇ 70.74 belongs to the frequency multiplication.
- the acoustic wave frequency (ie, the diaphragm acoustic wave frequency) of the diaphragm pump under different flow working conditions is calibrated, and the diaphragm acoustic wave frequency and the diaphragm pump can be obtained by the diaphragm pump calibration.
- x is the acoustic frequency
- f(x) is the diaphragm pump flow.
- the diaphragm pump can be connected to different voltages, and there is a corresponding rotation speed under each voltage. The frequency is calculated by the rotation speed, so that the acoustic wave frequency of the diaphragm pump under different flow conditions is obtained, and the diaphragm pump is obtained. The relationship between the acoustic frequency of the inner diaphragm and the flow rate of the diaphragm pump.
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Measuring Volume Flow (AREA)
- Reciprocating Pumps (AREA)
Abstract
A method for testing a spray flow of a diaphragm pump (1) of a plant protection unmanned aerial vehicle based on a microphone (2), said method comprising: collecting a sound wave signal of the diaphragm pump (1) on the plant protection unmanned aerial vehicle; performing spectrum analysis on the signal; selecting a sound wave spectrogram of a time interval when the diaphragm pump (1) was operating; filtering out from the sound wave spectrogram other amplitudes which do not belong within an amplitude value range of the sound wave signal emitted by the diaphragm pump (1); using a Fourier transform method to determine a sound wave frequency of diaphragm reciprocating motion within the time interval when the diaphragm pump (1) was operating; pre-calibrating diaphragm sound wave frequencies of the diaphragm pump (1) at different flow operating states, and obtaining a relation between the diaphragm sound wave frequency within the diaphragm pump (1) and the diaphragm pump flow; obtaining the flow of the diaphragm pump (1) according to the diaphragm sound wave frequency and the relation. The sound wave measurement method obviates the need to install a traditional flow meter, reads the sound wave signal of the diaphragm reciprocating motion by means of the microphone (2), analyses the diaphragm motion frequency by means of the Fourier transform and low-pass filtering, and thereby calculates the current flow of the diaphragm pump (1).
Description
本发明属于植保无人机技术领域，具体涉及一种基于麦克风的植保无人机的隔膜泵喷洒流量测试方法。The invention belongs to the technical field of plant protection drones, and particularly relates to a diaphragm pump spray flow test method of a plant-based maintenance drone based on a microphone.
近年来，随着农业无人机(unmanned aerial vehicle,UAV)的出现，航空植保领域的研究与应用越来越广泛。当前，植保无人飞机发展迅速，尤其是在中国、日本、韩国等东亚地区。无人飞机在植保作业时，机具的作业效果和效率关系到生产成本和农田增收，直接影响农民使用无人机的积极性。In recent years, with the emergence of unmanned aerial vehicles (UAVs), research and application in the field of aviation plant protection has become more widespread. At present, plant protection unmanned aircraft is developing rapidly, especially in East Asia such as China, Japan and South Korea. When the unmanned aircraft is in plant protection operation, the operation effect and efficiency of the machine are related to the production cost and the increase of farmland, which directly affects the enthusiasm of farmers to use the drone.
当前植保无人飞机在空中的喷洒流量检测困难，其原因是①传统涡流流量计体积大、重量高，不适应安装于无人机上；②传统的流量计测量范围大，对于0.5-2L/min的小流量测量困难且不适合小管径安装；③由于航空施药采用高浓度药剂，被测介质黏度大，内置的流量计极易因药剂板结而堵塞失效；At present, the spraying flow rate of the plant protection unmanned aerial vehicle is difficult in the air. The reason is that the traditional vortex flowmeter is large in size and high in weight, and is not suitable for installation on the drone; 2 the traditional flowmeter has a large measuring range for 0.5-2L/min. The small flow measurement is difficult and not suitable for small diameter installation; 3 Because the high-concentration agent is applied by aviation application, the viscosity of the measured medium is large, and the built-in flowmeter is easily blocked due to the clogging of the drug;
为了精确获取植保无人飞机作业时的喷洒量及喷洒区域，急需解决喷洒流量的测试问题。In order to accurately obtain the amount of spray and the spray area during the operation of the plant protection drone, it is urgent to solve the test problem of the spray flow.
发明内容Summary of the invention
本发明所要解决的技术问题是针对上述现有技术的不足提供一种基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，本基于麦克风的植保无人机的隔膜泵喷洒流量测试方法不需要安装传统流量计，仅仅采用麦克风声波测量的方法，读取隔膜往复运动的声波信号，通过傅里叶变换与低通滤波分析，解析隔膜运动频率，最终通过获取的频率信息解算隔膜泵当前流量，结果准确可靠。The technical problem to be solved by the present invention is to provide a diaphragm pump spray flow test method of a microphone-based plant protection drone for the above-mentioned deficiencies of the prior art, and the diaphragm pump spray flow test method of the microphone-based plant protection drone is not required. The traditional flowmeter is installed, and only the acoustic wave measurement method of the microphone is used to read the acoustic signal of the reciprocating motion of the diaphragm, and the vibration frequency of the diaphragm is analyzed by Fourier transform and low-pass filtering analysis, and finally the current flow rate of the diaphragm pump is solved by the acquired frequency information. The results are accurate and reliable.
为实现上述技术目的，本发明采取的技术方案为：To achieve the above technical purpose, the technical solution adopted by the present invention is:
一种基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，包括以下步骤：A diaphragm-based spray pump flow test method for a plant-based maintenance drone based on a microphone, comprising the following steps:
步骤1：麦克风采集植保无人机上的隔膜泵的声波信号并发送声波信号到声控单元；Step 1: The microphone collects the acoustic signal of the diaphragm pump on the plant protection drone and sends the acoustic signal to the voice control unit;
步骤2：声控单元将声波信号转换为模拟信号，并发送模拟信号到控制器；Step 2: The voice control unit converts the sound wave signal into an analog signal and sends the analog signal to the controller;
步骤3：控制器接收模拟信号并对信号进行语谱分析得到声波语谱图；Step 3: The controller receives the analog signal and performs a spectral analysis on the signal to obtain a sound wave spectrogram;
步骤4：通过声波语谱图判断隔膜泵工作的时间区间，并选取隔膜泵工作的时间区 间的声波语谱图；Step 4: Determine the time interval of the diaphragm pump operation through the sonic spectrogram, and select the acoustic wave spectrum of the time zone in which the diaphragm pump works;
步骤5：从隔膜泵工作的时间区间的声波语谱图中过滤掉不属于隔膜泵发出的声波信号的振幅阈值范围内的其他振幅；Step 5: Filter out other amplitudes within the amplitude threshold range of the acoustic signal not emitted by the diaphragm pump from the acoustic wave spectrum of the time interval in which the diaphragm pump operates;
步骤6：采用傅里叶变换的方法解析步骤5得到的声波语谱图，得到隔膜泵工作的时间区间内的每个时间点的隔膜往复运动的声波频率；Step 6: Analyze the acoustic wave spectrogram obtained in step 5 by using the Fourier transform method, and obtain the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval in which the diaphragm pump operates;
步骤7：预先标定隔膜泵在不同流量工作状态下的隔膜声波频率，得到隔膜泵内隔膜声波频率与隔膜泵流量的关系式；Step 7: pre-calibrate the diaphragm acoustic wave frequency of the diaphragm pump under different flow working conditions, and obtain the relationship between the acoustic wave frequency of the diaphragm pump and the diaphragm pump flow rate;
步骤8：将步骤6得到的隔膜泵工作的时间区间内的每个时间点的隔膜往复运动的声波频率代入步骤7的关系式内，得到隔膜泵在工作的时间区间内的每个时间点对应的流量。Step 8: Substituting the acoustic wave frequency of the reciprocating motion of the diaphragm at each time point in the time interval in which the diaphragm pump obtained in step 6 is operated into the relational expression of step 7, obtaining the corresponding point of each time point of the diaphragm pump in the working time interval. Traffic.
作为本发明进一步改进的技术方案，所述声控单元包括声波模数转换单元，所述控制器采用单片机。As a further improved technical solution of the present invention, the voice control unit comprises an acoustic wave analog to digital conversion unit, and the controller uses a single chip microcomputer.
作为本发明进一步改进的技术方案，所述的步骤4具体包括：As a further improvement of the technical solution of the present invention, the step 4 specifically includes:
(1)通过声波语谱图选取声波语谱图中振幅正阶越的时间点，该时间点为隔膜泵的开启时间点，通过声波语谱图选取声波语谱图中振幅负阶越的时间点，该时间点为隔膜泵的关闭时间点，隔膜泵开启的时间点和其后的相邻的隔膜泵的关闭时间点之间的时间区间为隔膜泵工作的时间区间；(1) Select the time point of the positive amplitude of the acoustic wave spectral map by the acoustic wave spectrogram, which is the opening time point of the diaphragm pump, and select the time of the negative amplitude of the acoustic wave spectral map by the acoustic wave spectrogram. Point, the time point is the closing time point of the diaphragm pump, and the time interval between the time when the diaphragm pump is opened and the closing time of the adjacent diaphragm pump is the time interval in which the diaphragm pump operates;
(2)选取隔膜泵工作的时间区间内的声波语谱图。(2) Select the sonogram of the acoustic wave in the time interval in which the diaphragm pump works.
作为本发明进一步改进的技术方案，所述的振幅正阶越的时间点具体包括：预先设定阶越变化阈值，若在某一时间点上的振幅增大且增大的变化值大于阶越变化阈值，则该时间点为振幅正阶越的时间点；As a further improvement of the technical solution of the present invention, the time point of the amplitude positive step specifically includes: setting a step change threshold in advance, if the amplitude at a certain time point increases and the increased change value is greater than the step Changing the threshold, then the time point is the time point at which the amplitude is positively graded;
所述的振幅负阶越的时间点具体包括：预先设定阶越变化阈值，若在某一时间点上的振幅减小且减少的变化值大于阶越变化阈值，则该时间点为振幅负阶越的时间点。The time point of the negative amplitude step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point decreases and the decreased change value is greater than the step change threshold, the time point is amplitude negative. The point in time of the order.
作为本发明进一步改进的技术方案，所述的步骤5包括：As a further improvement of the technical solution of the present invention, the step 5 includes:
根据隔膜泵工作的时间区间内的声波语谱图确定该声波语谱图内的振幅，预先设定隔膜泵发出的声波信号的振幅阈值范围，从隔膜泵工作的时间区间的声波语谱图中过滤掉不属于隔膜泵发出的声波信号的振幅阈值范围内的其他振幅。The amplitude of the acoustic wave spectrogram is determined according to the acoustic wave spectrogram in the time interval in which the diaphragm pump operates, and the amplitude threshold range of the acoustic wave signal emitted by the diaphragm pump is preset, from the acoustic wave spectrogram of the time interval in which the diaphragm pump operates. Other amplitudes within the amplitude threshold range that are not part of the acoustic signal from the diaphragm pump are filtered out.
作为本发明进一步改进的技术方案，所述的步骤6包括：As a further improvement of the technical solution of the present invention, the step 6 includes:
(1)采用傅里叶变换的方法解析步骤5得到的声波语谱图，从而解析隔膜泵工作的时间区间内的隔膜往复运动的频率特性，得到隔膜泵工作的时间区间内的每个时间点 对应的频谱图；(1) Using the Fourier transform method to analyze the acoustic wave spectrogram obtained in step 5, thereby analyzing the frequency characteristics of the diaphragm reciprocating motion in the time interval during which the diaphragm pump operates, and obtaining each time point in the time interval in which the diaphragm pump operates. Corresponding spectrogram;
(2)选取频谱图中最接近于OHz、振幅变化大且不属于倍频的声波频率，该声波频率为隔膜泵工作的时间区间内的与频谱图相对应的时间点的隔膜往复运动的声波频率，所述的频谱图中振幅变化大的声波频率是指振幅变化值大于振幅变化阈值的声波频率。(2) Select the acoustic wave frequency in the spectrogram that is closest to OHz, has a large amplitude change, and does not belong to the multiplier. The acoustic wave frequency is the acoustic wave of the diaphragm reciprocating at the time point corresponding to the spectrogram in the time interval in which the diaphragm pump operates. The frequency, the acoustic wave frequency in which the amplitude variation is large in the spectrogram refers to the acoustic wave frequency whose amplitude change value is larger than the amplitude change threshold.
本发明的有益效果为：本发明不需要安装传统流量计，解决了传统流量计的占用体积、安装困难等缺陷，本发明仅仅采用麦克风声波测量的方法，读取植保无人机中隔膜泵内的隔膜往复运动的声波信号，通过傅里叶变换与低通滤波分析，解析隔膜运动频率，最终通过获取的频率信息解算隔膜泵当前流量，结果准确可靠。The invention has the beneficial effects that the invention does not need to install a conventional flow meter, and solves the defects of the traditional flow meter occupying volume and installation difficulty, and the invention only uses the method of microphone sound wave measurement to read the diaphragm pump in the plant protection drone. The acoustic signal of the diaphragm reciprocating motion is analyzed by Fourier transform and low-pass filtering, and the diaphragm moving frequency is analyzed. Finally, the current flow rate of the diaphragm pump is solved by the acquired frequency information, and the result is accurate and reliable.
图1为本发明的结构示意图。Figure 1 is a schematic view of the structure of the present invention.
图2为本发明的工作流程图。Figure 2 is a flow chart of the operation of the present invention.
图3为本发明的声波语谱图。Figure 3 is a sound wave spectrogram of the present invention.
图4为本发明的频谱图。Figure 4 is a spectrogram of the present invention.
下面根据图1至图4对本发明的具体实施方式作出进一步说明。Specific embodiments of the present invention will be further described below with reference to FIGS. 1 through 4.
当前市场上90％以上的植保无人飞机使用隔膜泵1喷洒农药，而隔膜泵1的工作原理是通过外部电机带动泵体内隔膜往复运动，将农药液体压送至喷嘴。在隔膜泵1内的隔膜往复运动的过程中，流经泵体的液体流速与隔膜运动频率成正相关，本实施例采用麦克风声波测量的方法，读取隔膜往复运动的声波信号，通过傅里叶变换与低通滤波分析，解析隔膜运动频率，最终通过获取的频率信息解算隔膜泵1当前流量。具体如下结构：More than 90% of the plant protection unmanned aerial vehicles on the market use the diaphragm pump 1 to spray the pesticide, and the diaphragm pump 1 works by driving the diaphragm of the pump body through the external motor to pump the pesticide liquid to the nozzle. During the reciprocating motion of the diaphragm in the diaphragm pump 1, the flow velocity of the liquid flowing through the pump body is positively correlated with the moving frequency of the diaphragm. In this embodiment, the acoustic wave signal of the reciprocating motion of the diaphragm is read by the method of measuring the acoustic wave of the diaphragm, and the Fourier transform is performed. Transform and low-pass filter analysis, the diaphragm movement frequency is analyzed, and finally the current flow rate of the diaphragm pump 1 is solved by the acquired frequency information. The specific structure is as follows:
参见图1，一种基于麦克风的植保无人机的隔膜泵喷洒流量测试装置包括植保无人机、植保无人机上的隔膜泵1、麦克风2、声控单元3和控制器4(单片机)，麦克风2安装在隔膜泵1上，麦克风2通过声控单元3和控制器4(单片机)连接。Referring to Fig. 1, a diaphragm pump spray flow test device of a microphone-based plant protection drone includes a plant protection drone, a diaphragm pump on a plant protection drone, a microphone 2, a voice control unit 3, and a controller 4 (single chip microcomputer), a microphone 2 is mounted on the diaphragm pump 1, and the microphone 2 is connected through the voice control unit 3 and the controller 4 (microcontroller).
参见图2，一种基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，包括以下步骤：Referring to FIG. 2, a diaphragm-based spray pump flow test method for a microphone-based plant protection drone includes the following steps:
步骤1：采集声波信号：麦克风2采集植保无人机上的隔膜泵1的声波信号并发送声波信号到声控单元3；Step 1: collecting sound wave signals: the microphone 2 collects the sound wave signal of the diaphragm pump 1 on the plant protection drone and transmits the sound wave signal to the sound control unit 3;
步骤2：声波模数转换：声控单元3将声波信号转换为模拟信号，并发送模拟信号到控制器4；Step 2: acoustic wave analog-to-digital conversion: the voice control unit 3 converts the sound wave signal into an analog signal, and sends an analog signal to the controller 4;
步骤3：语谱分析：控制器4接收模拟信号并对信号进行语谱分析得到声波语谱图；声波语谱图如图3所示，声波语谱图的横坐标代表时间，纵坐标代表振幅，波形以振幅随时间变化为特征；Step 3: Profiling analysis: The controller 4 receives the analog signal and performs the spectral analysis of the signal to obtain the acoustic wave spectrogram; the acoustic wave spectrum is shown in Fig. 3. The abscissa of the acoustic spectrum represents time and the ordinate represents amplitude. The waveform is characterized by amplitude versus time;
步骤4：语谱分析：通过声波语谱图判断隔膜泵工作的时间区间，并选取隔膜泵工作的时间区间的声波语谱图；如图3所示，t
11至t
1m属于隔膜泵工作的时间区间；t
21至t
2m属于隔膜泵工作的时间区间；t
31至t
3m属于隔膜泵工作的时间区间；
Step 4: Analysis of the speech spectrum: Determine the time interval of the diaphragm pump operation through the sonic spectrogram, and select the acoustic wave spectrum of the time interval in which the diaphragm pump works; as shown in Fig. 3, t 11 to t 1m belong to the diaphragm pump. Time interval; t 21 to t 2m belong to the time interval in which the diaphragm pump operates; t 31 to t 3m belong to the time interval in which the diaphragm pump operates;
步骤5：低通滤波：从隔膜泵工作的时间区间的声波语谱图中过滤掉不属于隔膜泵发出的声波信号的振幅阈值范围内的其他振幅；由于无人飞机运行时螺旋桨、电机或其他机械振动均能引起致声波信号，麦克风在采集泵隔膜泵运动信息时会同时接收到各频段的杂波信号，由于麦克风紧贴在隔膜泵头上，由隔膜泵发出的声波信号振幅最大，而植保无人飞机机体上其他声波信号的振幅较小且时频信号波动杂乱，通过语谱分析可得出有效的声波强度，进行低通滤波；Step 5: Low-pass filtering: Filter out other amplitudes within the amplitude threshold range of the acoustic signal not from the diaphragm pump from the acoustic spectral map of the time interval in which the diaphragm pump is operating; due to the propeller, motor or other unmanned aircraft operating The mechanical vibration can cause the acoustic wave signal, and the microphone receives the clutter signal of each frequency band when collecting the movement information of the pump diaphragm pump. Since the microphone is closely attached to the diaphragm pump head, the amplitude of the acoustic wave signal emitted by the diaphragm pump is the largest, and The amplitude of other acoustic signals on the body of the plant protection unmanned aircraft is small and the time-frequency signals are fluctuating, and the effective sound intensity can be obtained through the spectral analysis, and the low-pass filtering is performed;
步骤6：有效声波频率特性解析：采用傅里叶变换的方法解析步骤5得到的声波语谱图，得到隔膜泵工作的时间区间内的每个时间点的隔膜往复运动的声波频率；Step 6: Analysis of effective acoustic wave frequency characteristics: The acoustic wave spectral map obtained in step 5 is analyzed by using the Fourier transform method, and the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval of the diaphragm pump operation is obtained;
步骤7：隔膜泵流量计算：预先标定隔膜泵在不同流量工作状态下的隔膜声波频率，得到隔膜泵内隔膜声波频率与隔膜泵流量的关系式；Step 7: Calculation of diaphragm pump flow rate: Pre-calibrate the diaphragm acoustic wave frequency of the diaphragm pump under different flow conditions, and obtain the relationship between the diaphragm acoustic wave frequency and the diaphragm pump flow rate in the diaphragm pump;
步骤8：隔膜泵流量计算：将步骤6得到的隔膜泵工作的时间区间内的每个时间点的隔膜往复运动的声波频率代入步骤7的关系式内，得到隔膜泵在工作的时间区间内的每个时间点对应的流量。Step 8: Calculation of the diaphragm pump flow rate: the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval in which the diaphragm pump obtained in step 6 is operated is substituted into the relational expression in step 7, and the diaphragm pump is obtained in the working time interval. The traffic corresponding to each time point.
所述声控单元3包括声波模数转换单元，所述控制器4采用单片机。The voice control unit 3 includes an acoustic wave analog to digital conversion unit, and the controller 4 employs a single chip microcomputer.
所述的步骤4具体包括：The step 4 described specifically includes:
(1)通过声波语谱图选取声波语谱图中振幅正阶越的时间点，该时间点为隔膜泵的开启时间点，通过声波语谱图选取声波语谱图中振幅负阶越的时间点，该时间点为隔膜泵的关闭时间点，隔膜泵开启的时间点和其后的相邻的隔膜泵的关闭时间点之间的时间区间为隔膜泵工作的时间区间；(1) Select the time point of the positive amplitude of the acoustic wave spectral map by the acoustic wave spectrogram, which is the opening time point of the diaphragm pump, and select the time of the negative amplitude of the acoustic wave spectral map by the acoustic wave spectrogram. Point, the time point is the closing time point of the diaphragm pump, and the time interval between the time when the diaphragm pump is opened and the closing time of the adjacent diaphragm pump is the time interval in which the diaphragm pump operates;
(2)选取隔膜泵工作的时间区间内的声波语谱图。(2) Select the sonogram of the acoustic wave in the time interval in which the diaphragm pump works.
所述的振幅正阶越的时间点具体包括：预先设定阶越变化阈值，若在某一时间点上的振幅增大且增大的变化值大于阶越变化阈值，则该时间点为振幅正阶越的时间点。所述的振幅负阶越的时间点具体包括：预先设定阶越变化阈值，若在某一时间点上的振幅减小且减少的变化值大于阶越变化阈值，则该时间点为振幅负阶越的时间点。如图3所 示，t
11至t
1m属于隔膜泵工作的时间区间；t
21至t
2m属于隔膜泵工作的时间区间；t
31至t
3m属于隔膜泵工作的时间区间。
The time point of the amplitude positive step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point increases and the increased change value is greater than the step change threshold, the time point is an amplitude. The time point of the positive order. The time point of the negative amplitude step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point decreases and the decreased change value is greater than the step change threshold, the time point is amplitude negative. The point in time of the order. As shown in Fig. 3, t 11 to t 1m belong to the time interval in which the diaphragm pump operates; t 21 to t 2m belong to the time interval in which the diaphragm pump operates; t 31 to t 3m belong to the time interval in which the diaphragm pump operates.
所述的步骤5的低通滤波方法具体包括：(a)根据隔膜泵工作的时间区间内的声波语谱图确定该声波语谱图内的振幅，预先设定隔膜泵发出的声波信号的振幅阈值范围，从隔膜泵工作的时间区间的声波语谱图中过滤掉不属于隔膜泵发出的声波信号的振幅阈值范围内的其他振幅，得到隔膜泵实际工作的时间区间内的声波语谱。其中振幅阈值范围可根据实际无杂波信号时采集的隔膜泵发出的声波信号的振幅范围来设定。(b)而隔膜泵本身的声波频率与隔膜泵的转速有关，也可以通过隔膜泵的转速计算隔膜泵的工作频率范围，然后根据隔膜泵工作的时间区间内的声波语谱确定隔膜泵工作的时间区间内的的频率信号，从隔膜泵工作的时间区间内的提取位于隔膜泵的工作频率范围内的频率信号，过滤掉不位于隔膜泵的工作频率范围内的频率信号，得到隔膜泵实际工作的时间区间内的声波语谱。The low-pass filtering method of step 5 specifically includes: (a) determining an amplitude in the acoustic wave spectrogram according to the acoustic wave spectrogram in a time interval in which the diaphragm pump operates, and presetting the amplitude of the acoustic wave signal emitted by the diaphragm pump The threshold range is filtered from the acoustic spectrum of the time interval in which the diaphragm pump operates to filter out other amplitudes within the amplitude threshold range of the acoustic signal not emitted by the diaphragm pump, and the acoustic wave spectrum in the time interval in which the diaphragm pump actually operates is obtained. The amplitude threshold range can be set according to the amplitude range of the acoustic signal emitted by the diaphragm pump when the actual clutterless signal is acquired. (b) The acoustic wave frequency of the diaphragm pump itself is related to the rotational speed of the diaphragm pump. The operating frequency range of the diaphragm pump can also be calculated by the rotational speed of the diaphragm pump, and then the diaphragm pump is determined according to the acoustic wave spectrum in the time interval in which the diaphragm pump operates. The frequency signal in the time interval extracts the frequency signal located in the operating frequency range of the diaphragm pump from the working time interval of the diaphragm pump, filters out the frequency signal not within the operating frequency range of the diaphragm pump, and obtains the actual operation of the diaphragm pump. The sonic language spectrum within the time interval.
当低通滤波完成后，可清晰的得出隔膜泵实际工作的时间区间内的声波语谱，但是此处声波亦包含杂波信号，须进行二次解析，本实施例采用傅里叶变换的方法解析隔膜泵工作区间隔膜往复运动的频率特性，即执行所述的步骤6，所述的步骤6具体包括：When the low-pass filtering is completed, the acoustic wave spectrum in the time interval in which the diaphragm pump actually works can be clearly obtained, but here the acoustic wave also contains the clutter signal, which must be subjected to secondary analysis. In this embodiment, the Fourier transform is used. The method is to analyze the frequency characteristic of the reciprocating motion of the diaphragm of the working area of the diaphragm pump, that is, the step 6 is performed, and the step 6 includes:
(1)采用傅里叶变换的方法解析步骤5得到的声波语谱图，从而解析隔膜泵工作的时间区间内的隔膜往复运动的频率特性，得到隔膜泵工作的时间区间内的每个时间点对应的频谱图；(1) Using the Fourier transform method to analyze the acoustic wave spectrogram obtained in step 5, thereby analyzing the frequency characteristics of the diaphragm reciprocating motion in the time interval during which the diaphragm pump operates, and obtaining each time point in the time interval in which the diaphragm pump operates. Corresponding spectrogram;
定义时间区间为t
i，i＝0,1,2,…在t
i区间内进行复变函数转换
Define the time interval as t i , i=0,1,2,... perform complex variable function conversion in the t i interval
其中f(t)表示的是语谱图，得到语谱图对应的周期函数F(ω)，即如图4所示的频谱图，其中t代表时间，ω代表频率；Where f(t) represents the spectrogram, and the periodic function F(ω) corresponding to the spectrogram is obtained, that is, the spectrogram as shown in FIG. 4, where t represents time and ω represents frequency;
(2)选取频谱图中最接近于OHz、振幅变化大且不属于倍频的声波频率，该声波频率为隔膜泵工作的时间区间内的与频谱图相对应的时间点的隔膜往复运动的声波频率，所述的频谱图中振幅变化大的声波频率是指振幅变化值大于振幅变化阈值的声波频率。(2) Select the acoustic wave frequency in the spectrogram that is closest to OHz, has a large amplitude change, and does not belong to the multiplier. The acoustic wave frequency is the acoustic wave of the diaphragm reciprocating at the time point corresponding to the spectrogram in the time interval in which the diaphragm pump operates. The frequency, the acoustic wave frequency in which the amplitude variation is large in the spectrogram refers to the acoustic wave frequency whose amplitude change value is larger than the amplitude change threshold.
如图4所示，为某一时间点对应的频谱图，横坐标为频率，纵坐标为振幅，由该图可知，x≈35.39，为根据频谱图得到的隔膜往复运动的声波频率，x≈70.74虽然振幅变化 也很大，但是x≈70.74与x≈35.39属于整数倍关系，即x≈70.74的频率属于倍频。经过实验测得实际频率为f＝33.88,因此采用麦克风方法测得频率的结果较为准确。As shown in Fig. 4, for the spectrogram corresponding to a certain time point, the abscissa is the frequency and the ordinate is the amplitude. From the figure, x≈35.39 is the acoustic wave frequency of the reciprocating motion of the diaphragm obtained according to the spectrogram, x≈ 70.74 Although the amplitude variation is also large, x≈70.74 and x≈35.39 belong to an integer multiple relationship, that is, the frequency of x≈70.74 belongs to the frequency multiplication. The actual frequency measured by the experiment is f=33.88, so the result of using the microphone method to measure the frequency is more accurate.
本实施例中的所述的步骤7中选择0.15号喷嘴时，标定隔膜泵在不同流量工作状态下的声波频率(即隔膜声波频率)，通过隔膜泵标定可得泵内隔膜声波频率与隔膜泵流量的关系，最终计算隔膜泵流量；隔膜泵声波频率对应的隔膜泵流量：When the No. 0.15 nozzle is selected in the step 7 in this embodiment, the acoustic wave frequency (ie, the diaphragm acoustic wave frequency) of the diaphragm pump under different flow working conditions is calibrated, and the diaphragm acoustic wave frequency and the diaphragm pump can be obtained by the diaphragm pump calibration. The relationship of the flow rate, the final calculation of the diaphragm pump flow; diaphragm pump sound frequency corresponding to the diaphragm pump flow:
f(x)＝133300x
3-0.00001x
2+25670x+12950
f(x)=133300x 3 -0.00001x 2 +25670x+12950
其中：x为声波频率；f(x)为隔膜泵流量。在进行标定的时候，可以给隔膜泵接通不同的电压，在每个电压下面都有一个对应的转速，通过转速计算频率，从而得到隔膜泵在不同流量工作状态下的声波频率，得到隔膜泵内隔膜声波频率与隔膜泵流量的关系式。Where: x is the acoustic frequency; f(x) is the diaphragm pump flow. When calibrating, the diaphragm pump can be connected to different voltages, and there is a corresponding rotation speed under each voltage. The frequency is calculated by the rotation speed, so that the acoustic wave frequency of the diaphragm pump under different flow conditions is obtained, and the diaphragm pump is obtained. The relationship between the acoustic frequency of the inner diaphragm and the flow rate of the diaphragm pump.
本发明的保护范围包括但不限于以上实施方式，本发明的保护范围以权利要求书为准，任何对本技术做出的本领域的技术人员容易想到的替换、变形、改进均落入本发明的保护范围。The scope of the present invention includes, but is not limited to, the above embodiments, and the scope of the present invention is defined by the claims, and any substitutions, modifications, and improvements which are obvious to those skilled in the art to which the present invention is made fall within the scope of the present invention. protected range.
Claims (6)
- 一种基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，其特征在于，包括以下步骤：A diaphragm-based spray pump flow test method for a plant-based maintenance drone based on a microphone, characterized in that it comprises the following steps:步骤1：麦克风采集植保无人机上的隔膜泵的声波信号并发送声波信号到声控单元；Step 1: The microphone collects the acoustic signal of the diaphragm pump on the plant protection drone and sends the acoustic signal to the voice control unit;步骤2：声控单元将声波信号转换为模拟信号，并发送模拟信号到控制器；Step 2: The voice control unit converts the sound wave signal into an analog signal and sends the analog signal to the controller;步骤3：控制器接收模拟信号并对信号进行语谱分析得到声波语谱图；Step 3: The controller receives the analog signal and performs a spectral analysis on the signal to obtain a sound wave spectrogram;步骤4：通过声波语谱图判断隔膜泵工作的时间区间，并选取隔膜泵工作的时间区间的声波语谱图；Step 4: Determine the time interval of the diaphragm pump operation through the sonic spectrogram, and select the acoustic wave spectrum of the time interval in which the diaphragm pump works;步骤5：从隔膜泵工作的时间区间的声波语谱图中过滤掉不属于隔膜泵发出的声波信号的振幅阈值范围内的其他振幅；Step 5: Filter out other amplitudes within the amplitude threshold range of the acoustic signal not emitted by the diaphragm pump from the acoustic wave spectrum of the time interval in which the diaphragm pump operates;步骤6：采用傅里叶变换的方法解析步骤5得到的声波语谱图，得到隔膜泵工作的时间区间内的每个时间点的隔膜往复运动的声波频率；Step 6: Analyze the acoustic wave spectrogram obtained in step 5 by using the Fourier transform method, and obtain the acoustic wave frequency of the diaphragm reciprocating motion at each time point in the time interval in which the diaphragm pump operates;步骤7：预先标定隔膜泵在不同流量工作状态下的隔膜声波频率，得到隔膜泵内隔膜声波频率与隔膜泵流量的关系式；Step 7: pre-calibrate the diaphragm acoustic wave frequency of the diaphragm pump under different flow working conditions, and obtain the relationship between the acoustic wave frequency of the diaphragm pump and the diaphragm pump flow rate;步骤8：将步骤6得到的隔膜泵工作的时间区间内的每个时间点的隔膜往复运动的声波频率代入步骤7的关系式内，得到隔膜泵在工作的时间区间内的每个时间点对应的流量。Step 8: Substituting the acoustic wave frequency of the reciprocating motion of the diaphragm at each time point in the time interval in which the diaphragm pump obtained in step 6 is operated into the relational expression of step 7, obtaining the corresponding point of each time point of the diaphragm pump in the working time interval. Traffic.
- 根据权利要求1所述的基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，其特征在于，所述声控单元包括声波模数转换单元，所述控制器采用单片机。The diaphragm pump spray flow test method for a microphone-based plant protection drone according to claim 1, wherein the sound control unit comprises an acoustic wave analog-to-digital conversion unit, and the controller uses a single chip microcomputer.
- 根据权利要求1所述的基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，其特征在于，所述的步骤4具体包括：The diaphragm pump spray flow test method of the microphone-based plant protection drone according to claim 1, wherein the step 4 specifically comprises:(1)通过声波语谱图选取声波语谱图中振幅正阶越的时间点，该时间点为隔膜泵的开启时间点，通过声波语谱图选取声波语谱图中振幅负阶越的时间点，该时间点为隔膜泵的关闭时间点，隔膜泵开启的时间点和其后的相邻的隔膜泵的关闭时间点之间的时间区间为隔膜泵工作的时间区间；(1) Select the time point of the positive amplitude of the acoustic wave spectral map by the acoustic wave spectrogram, which is the opening time point of the diaphragm pump, and select the time of the negative amplitude of the acoustic wave spectral map by the acoustic wave spectrogram. Point, the time point is the closing time point of the diaphragm pump, and the time interval between the time when the diaphragm pump is opened and the closing time of the adjacent diaphragm pump is the time interval in which the diaphragm pump operates;(2)选取隔膜泵工作的时间区间内的声波语谱图。(2) Select the sonogram of the acoustic wave in the time interval in which the diaphragm pump works.
- 根据权利要求3所述的基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，其特征在于，A diaphragm pump spray flow test method for a microphone-based plant protection drone according to claim 3, wherein所述的振幅正阶越的时间点具体包括：预先设定阶越变化阈值，若在某一时间点上 的振幅增大且增大的变化值大于阶越变化阈值，则该时间点为振幅正阶越的时间点；The time point of the amplitude positive step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point increases and the increased change value is greater than the step change threshold, the time point is an amplitude. The time point of the positive order;所述的振幅负阶越的时间点具体包括：预先设定阶越变化阈值，若在某一时间点上的振幅减小且减少的变化值大于阶越变化阈值，则该时间点为振幅负阶越的时间点。The time point of the negative amplitude step specifically includes: setting a step change threshold in advance, and if the amplitude at a certain time point decreases and the decreased change value is greater than the step change threshold, the time point is amplitude negative. The point in time of the order.
- 根据权利要求3所述的基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，其特征在于，所述的步骤5包括：The diaphragm pump spray flow test method of the microphone-based plant protection drone according to claim 3, wherein the step 5 comprises:根据隔膜泵工作的时间区间内的声波语谱图确定该声波语谱图内的振幅，预先设定隔膜泵发出的声波信号的振幅阈值范围，从隔膜泵工作的时间区间的声波语谱图中过滤掉不属于隔膜泵发出的声波信号的振幅阈值范围内的其他振幅。The amplitude of the acoustic wave spectrogram is determined according to the acoustic wave spectrogram in the time interval in which the diaphragm pump operates, and the amplitude threshold range of the acoustic wave signal emitted by the diaphragm pump is preset, from the acoustic wave spectrogram of the time interval in which the diaphragm pump operates. Other amplitudes within the amplitude threshold range that are not part of the acoustic signal from the diaphragm pump are filtered out.
- 根据权利要求5所述的基于麦克风的植保无人机的隔膜泵喷洒流量测试方法，其特征在于，所述的步骤6包括：The diaphragm pump spray flow test method of the microphone-based plant protection drone according to claim 5, wherein the step 6 comprises:(1)采用傅里叶变换的方法解析步骤5得到的声波语谱图，从而解析隔膜泵工作的时间区间内的隔膜往复运动的频率特性，得到隔膜泵工作的时间区间内的每个时间点对应的频谱图；(1) Using the Fourier transform method to analyze the acoustic wave spectrogram obtained in step 5, thereby analyzing the frequency characteristics of the diaphragm reciprocating motion in the time interval during which the diaphragm pump operates, and obtaining each time point in the time interval in which the diaphragm pump operates. Corresponding spectrogram;(2)选取频谱图中最接近于OHz、振幅变化大且不属于倍频的声波频率，该声波频率为隔膜泵工作的时间区间内的与频谱图相对应的时间点的隔膜往复运动的声波频率，所述的频谱图中振幅变化大的声波频率是指振幅变化值大于振幅变化阈值的声波频率。(2) Select the acoustic wave frequency in the spectrogram that is closest to OHz, has a large amplitude change, and does not belong to the multiplier. The acoustic wave frequency is the acoustic wave of the diaphragm reciprocating at the time point corresponding to the spectrogram in the time interval in which the diaphragm pump operates. The frequency, the acoustic wave frequency in which the amplitude variation is large in the spectrogram refers to the acoustic wave frequency whose amplitude change value is larger than the amplitude change threshold.
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