WO2020034067A1 - 农业无人机及其水箱 - Google Patents

农业无人机及其水箱 Download PDF

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Publication number
WO2020034067A1
WO2020034067A1 PCT/CN2018/100261 CN2018100261W WO2020034067A1 WO 2020034067 A1 WO2020034067 A1 WO 2020034067A1 CN 2018100261 W CN2018100261 W CN 2018100261W WO 2020034067 A1 WO2020034067 A1 WO 2020034067A1
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WO
WIPO (PCT)
Prior art keywords
pressure sensor
water tank
box
card reader
agricultural drone
Prior art date
Application number
PCT/CN2018/100261
Other languages
English (en)
French (fr)
Inventor
周万仁
常子敬
周乐
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.)
Filing date
Publication date
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 PCT/CN2018/100261 priority Critical patent/WO2020034067A1/zh
Priority to CN201880031660.2A priority patent/CN110636969A/zh
Publication of WO2020034067A1 publication Critical patent/WO2020034067A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A01M7/0085—Tanks
    • 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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
    • G01F22/02—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for involving measurement of pressure
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management

Definitions

  • the invention relates to an agricultural drone and a water tank thereof, and belongs to the technical field of agricultural machinery.
  • Existing agricultural drones used for fertilizing, watering or spraying medicine generally mount a water tank on its frame, and the liquid in the water tank is ejected from the nozzle under the action of the pump, and then can be attached to the leaves of the crop on.
  • the water tank is generally mounted on the rack by fasteners such as screws, but in order to improve the efficiency of the operation, fast disassembly is required.
  • the existing agricultural drones cannot accurately measure the volume of the liquid in the water tank, making it difficult. Improve job accuracy.
  • an embodiment of the present invention provides an agricultural drone and a water tank thereof.
  • a water tank for an agricultural drone for mounting on a frame of the agricultural drone, and the water tank includes a tank, a pressure sensor, and a non-contact communication tag.
  • the pressure sensor is installed at the bottom of the box and used to measure the volume of liquid in the box;
  • the non-contact communication tag is installed on the box and is electrically connected to the pressure sensor, so
  • the non-contact communication tag is used to power the pressure sensor when communicating with a communication card reader installed on the rack, so as to obtain the volume of the liquid in the box measured by the pressure sensor and send the volume.
  • an agricultural drone including: a frame and a water tank; the water tank includes: a box body, a pressure sensor, and a non-contact communication tag; and the pressure sensor is installed in the box body
  • the bottom is used to measure the volume of liquid in the tank; the non-contact communication tag is installed on the tank and is electrically connected to the pressure sensor; the rack is in non-contact close to the water tank
  • a communication card reader is installed at the position of the communication tag, and the communication card reader is in communication connection with the flight control system provided on the rack; the contactless communication tag is used for The communication card reader supplies power to the pressure sensor during communication to obtain the volume of the liquid in the cabinet measured by the pressure sensor and send the volume to the communication card reader.
  • a pressure sensor is installed at the bottom of the tank of the water tank to measure the volume of the liquid in the tank.
  • the pressure sensor is electrically connected to a non-contact communication tag, so that the non-contact communication tag can be connected to the
  • the inductive current generated by the communication of the contact communication tag is used to power the pressure sensor, so that there is no need to set a connector on the box to be electrically connected to the frame of the agricultural drone, which not only guarantees safety, but also facilitates quick removal of the water tank. Function to reduce the time required to disassemble the water tank and improve the efficiency of the operation.
  • FIG. 1 is a schematic structural diagram of an assembled water tank and a rack according to an embodiment of the present invention
  • Figure 2 is a front view of Figure 1;
  • Figure 3 is an exploded view of Figure 1;
  • FIG. 4 is an enlarged schematic view of a part of the structure in FIG. 3;
  • FIG. 5 is a sectional view of FIG. 1;
  • FIG. 6 is an enlarged view of a position A in FIG. 5.
  • FIG. 1 is a schematic structural diagram of an assembled water tank and a rack provided in this embodiment
  • FIG. 2 is a front view of FIG. 1
  • FIG. 3 is an exploded view of FIG. 1
  • FIG. 4 is an enlarged schematic view of a part of the structure in FIG.
  • FIG. 1 is a sectional view of FIG. 1
  • FIG. 6 is an enlarged view of position A in FIG. 5.
  • this embodiment provides an agricultural drone and a water tank 10 that can be quickly disassembled on a frame 20 of the agricultural drone, so as to improve the accuracy of measuring the volume of the liquid in the water tank 10. In this way, the agricultural drone fertilization, watering, and pesticide application processes can be controlled more precisely.
  • components such as the rotor assembly, power supply, and flight control system of the agricultural drone are omitted, and these components are conventional parts of the drone, and will not be repeated here.
  • the drone of this embodiment includes a rack 20 and a water tank 10.
  • the water tank 10 can be quickly installed on the rack 20 and can be quickly removed from the rack 20.
  • the water tank 10 includes a tank 101, a pressure sensor 301, and a non-contact communication tag 302.
  • the pressure sensor 301 is installed at the bottom 1012 of the water tank 10 so as to detect the pressure of the liquid in the tank 101 to obtain the volume of the liquid in the tank 101.
  • the non-contact communication tag 302 is installed on the casing 101 and is electrically connected to the pressure sensor 301 to obtain the volume of the liquid in the casing 101 detected by the pressure sensor 301.
  • a communication card reader 401 is installed near the non-contact communication tag 302 on the rack 20, and is used to communicate with the non-contact communication tag 302 on the cabinet 101 under the control of the flight control system, so as to read the The volume of the liquid in the box 101 obtained by the non-contact communication tag 302 from the pressure sensor 301.
  • the non-contact communication tag 302 passively communicates with the communication card reader 401, it generates an induced current by itself, and supplies a part of the induced current to the pressure sensor 301 to make the pressure sensor 301 work, thereby detecting the inside of the cabinet 101.
  • the volume of the liquid is passed to the non-contact communication tag 302.
  • the communication card reader 401 After the communication card reader 401 reads the volume of the liquid in the box 101 received by the non-contact communication tag 302, it can be transmitted to the flight control system by wired or wireless means, so the flight control system can adjust the entire volume according to the volume. The operation process to improve the accuracy of the operation.
  • the non-contact communication tag 302 may be an NFC tag, an RFID tag, etc.
  • the communication card reader 401 is an NFC card reader, an RFID card reader, or the like.
  • the communication tag 302 is described using an NFC tag as an example
  • the communication card reader 401 is described using an NFC card reader as an example.
  • the agricultural drone is described by taking a multi-rotor unmanned aerial vehicle as an example.
  • the box body 101 can be made into a square or round shape by using materials such as plastic and stainless steel through processes such as injection molding, molding, and casting.
  • the box 101 includes a top 1011, a bottom 1012, and a side wall 1013 located between the top 1011 and the bottom 1012.
  • a liquid injection port 1015 for injecting liquid such as water, fertilizer, or pesticide into the box 101 is provided on the top 1011 of the box 101.
  • a water tank cover 102 is detachably installed on the liquid injection port 1015.
  • a circle of protrusions can be formed along the edge of the injection port 1015, a portion of the external thread or the snap structure can be formed on the protrusion, and another portion of the internal thread or the snap structure can be formed on the water tank cover 102, thereby achieving
  • the water tank cover 102 is detachably installed at the liquid injection port 1015 by means of screw connection or snap connection. It can be understood that, in order to prevent the water tank cover 102 from being lost, the water tank cover 102 and the tank body 101 can be connected by a flexible rope-like member. Pass through the connecting rings on the box body 101 and the water tank cover 102 and tie them together.
  • a handle 103 is further provided on the top 1011 of the box 101 to facilitate the user to carry the water tank 10.
  • the pressure sensor 301 mounted on the bottom 1012 of the cabinet 101 may be a variable resistance pressure sensor, a ceramic pressure sensor, a diffused silicon pressure sensor, a sapphire pressure sensor, a piezoelectric pressure sensor, and the like.
  • the pressure sensor 301 usually consists of a pressure-sensitive element and a signal processing unit. By installing the pressure sensor 301 on the bottom 1012 of the cabinet 101, the pressure-sensitive element can sense the pressure of the liquid in the cabinet 101, and the signal-processing unit will sense the pressure. The pressure signal sensed by the element is converted into a usable electrical signal and a non-contact communication tag 302 that is electrically connected to the pressure sensor 301 is output.
  • a non-contact communication tag 302 electrically connected to and supplying power to the pressure sensor 301 may be installed below the pressure sensor 301, that is, the non-contact communication tag 302 is also installed at The bottom 1012 of the cabinet 101 is used to reduce the length of the connection line for electrically connecting the pressure sensor 301 and the contactless communication tag 302, thereby reducing the loss of induced current on the connection line, so as to ensure that the contactless communication tag 302 is in contact with When the communication card reader 401 communicates, it can generate enough induced current for itself and the pressure sensor 301 to work, so as to measure the volume of the liquid in the box 101.
  • the communication card reader 401 communicating with the contactless communication tag 302 is also correspondingly disposed below the contactless communication tag 302 so that The communication quality between the communication card reader 401 and the contactless communication tag 302 is improved.
  • a communication card reader mounting beam 2023 may be provided at the bottom 1012 of the rack 20 as described below, so as to be used to install the communication card reader 401, so that the communication card reader 401 and a contactless communication tag The distance of 302 is within a proper range, thereby improving the communication quality of the two.
  • the contactless communication tag 302 may also be installed at other suitable positions of the box 101.
  • the non-contact communication tag 302 can be installed on the top 1011 of the box 101, and the electrical connection with the pressure sensor 301 can be achieved through connection cables embedded in the top 1011, side walls 1013, and bottom 1012 of the box 101 in sections. Power is supplied to the pressure sensor 301.
  • a communication card reader 401 that communicates with the contactless communication tag 302 is disposed above the contactless communication tag 302 so as to effectively communicate with the contactless communication tag 302.
  • the non-contact communication tag 302 can be installed on the side wall 1013 of the box 101, and the electrical connection with the pressure sensor 301 can be achieved by connecting cables embedded in the side wall 1013 and the bottom 1012 of the box 101 in sections. Power is supplied to the pressure sensor 301.
  • a communication card reader 401 that communicates with the contactless communication tag 302 is disposed on the side of the contactless communication tag 302 so as to communicate with the contactless communication tag 302.
  • the contactless communication tag 302 may be any type and model of a commercially available contactless communication tag 302, or a self-made contactless communication tag 302 may also be used.
  • the non-contact communication tag 302 may be a separate component, or may be an NFC coil soldered or directly formed on a circuit board.
  • the communication card reader 401 installed on the rack 20 may be any communication card reader 401 used in the prior art, which is connected to the flight control system of the agricultural drone through a wireless communication module or a communication line, so as to Actively turn on the RF field under the control of the flight control system, thereby establishing a communication connection with the contactless communication tag 302, and causing the coil in the contactless communication tag 302 to generate an induced current to provide the contactless communication tag 302 and the pressure sensor 301.
  • Working current is any communication card reader 401 used in the prior art, which is connected to the flight control system of the agricultural drone through a wireless communication module or a communication line, so as to Actively turn on the RF field under the control of the flight control system, thereby establishing a communication connection with the contactless communication tag 302, and causing the coil in the contactless communication tag 302 to generate an induced current to provide the contactless communication tag 302 and the pressure sensor 301.
  • the communication frequency between the communication card reader 401 and the flight control system is generally selected to communicate with the communication card reader 401 and the non-contact communication tag 302. Frequencies with different frequencies in order to reduce the interference between the two frequencies and improve their communication quality.
  • the wireless communication between the communication card reader 401 and the flight control system and the wireless communication between the communication card reader 401 and the contactless communication tag 302 may be performed alternately to further reduce the possibility of communication interference between the two, thereby improving communication the quality of.
  • the communication card reader 401 when the communication card reader 401 wirelessly communicates with the flight control system, the communication card reader 401 can be configured with a separate power source to supply power to it or the communication card reader 401 can be powered by the flight control system through wireless charging.
  • a coin cell battery can be used to power the communication card reader 401.
  • the communication line can be run through the rack 20.
  • a hollow rod may be used to make the frame 20 so that the communication line is routed inside the rod.
  • the flight control system can not only transfer data information with the communication card reader 401, but also supply power to the communication card reader 401.
  • a communication line for connecting the communication card reader 401 and the flight control system may also be located outside the rack 20.
  • the frame 20 of the agricultural drone may be any suitable structure capable of quickly disassembling and disassembling the water tank 10.
  • an optional rack structure is shown in FIG. 3.
  • the rack 20 includes an upper frame 201, a lower frame 202, and a support beam 203 located between the upper frame 201 and the lower frame 202.
  • the upper frame 201 includes two upper longitudinal beams 2011 and two opposite upper beams 2012 located between the two upper longitudinal beams 2011.
  • the lower frame 202 includes two lower longitudinal beams 2021 and two opposite beams.
  • the two lower beams 2022 opposite to each other are arranged between the two lower beams 2021.
  • a communication card reader mounting beam 2023 is provided between the two lower cross beams 2022 for mounting the communication card reader 401.
  • the upper beam 2012, the lower beam 2022, the upper stringer 2011, the lower stringer 2021, the communication card reader mounting beam 2023, and the support beam 203 can all be hollow members.
  • the accommodating space surrounded by the frame 202 and the support beam 203 may be carried on the upper cross beam 2012 and the upper longitudinal beam 2011 until the top 1011 of the water tank 10 exceeds the side wall 1013.
  • the non-contact communication tag 302 located at the bottom 1012 of the water tank 10 faces the communication card reader 401 installed on the communication card reader mounting beam 2023, so that effective communication between the two can be achieved.
  • the outside of the communication card reader 401 may further be provided with a communication card reader cover 402, so that Avoid exposing the communication card reader 401 to the external environment, thereby increasing its service life.
  • a seal ring 403 may be further provided between the communication card reader cover 402 and the communication card reader mounting beam 2023 to improve the sealing performance of the two.
  • the flight control system sends a control signal to the communication card reader 401 in the 20th row of the rack through a wired or wireless method, and controls the communication card reader 401 to continuously communicate with the contactless communication tag 302, thereby making the contactless
  • the coil in the communication tag 302 continuously generates an induced current and supplies it to the pressure sensor 301, so that the pressure sensor 301 continuously detects the liquid volume information in the box 101 and transmits the liquid volume information to the non-contact communication tag 302.
  • the non-contact communication tag 302 obtains the liquid volume information from the pressure sensor 301, it continuously sends the liquid volume information to the communication card reader 401.
  • the liquid volume information acquired by the communication card reader 401 is then transmitted back to the flight control system through a wired or wireless manner.
  • the flight control system processes the liquid volume information, it controls the working state of the spraying pump to adjust the spraying speed, etc. to control the operation process to improve the accuracy of the operation.
  • the flight control system sends a control signal to the communication card reader 401 in the 20th row of the rack through a wired or wireless manner, and controls the communication card reader 401 to intermittently communicate with the non-contact communication tag 302, thereby Inductive current is generated in the coil of the non-contact communication tag 302 intermittently and supplied to the pressure sensor 301, so that the pressure sensor 301 starts to detect the liquid volume information in the cabinet 101 at the moment when the non-contact communication tag 302 powers it. And pass the liquid volume information to the non-contact communication tag 302. After the non-contact communication tag 302 obtains the liquid volume information from the pressure sensor 301, it sends the liquid volume information to the communication card reader 401.
  • the liquid volume information acquired by the communication card reader 401 is then transmitted back to the flight control system through a wired or wireless manner.
  • the flight control system processes the liquid volume information, it controls the working state of the spraying pump to adjust the spraying speed, etc. to control the operation process to improve the accuracy of the operation.
  • the above-mentioned communication between the communication card reader 401 and the contactless communication tag 302 may be periodic, random, or performed according to a preset arbitrary plan.
  • the time interval for the communication card reader 401 to read the liquid volume information can be slightly longer; in the middle of the spraying, the communication card reader 401 can be appropriately shortened The time interval for taking the liquid volume information; at the end of the spraying, the time interval for the communication card reader 401 to read the liquid volume information can be shortened again in order to stop the spraying operation accurately.
  • a pressure sensor 301 is installed at the bottom 1012 of the box 101 to measure the volume of the liquid in the box 101.
  • the pressure sensor 301 is electrically connected to the non-contact communication tag 302, so that the communication card reader 401 can be used.
  • the inductive current generated by communication with the non-contact communication tag 302 supplies power to the pressure sensor 301, so there is no need to provide a connector on the cabinet 101 electrically connected to the frame 20 of the agricultural drone, which not only ensures safety Moreover, the time for assembling and disassembling the water tank 10 is reduced, and the operation efficiency is improved.
  • the pressure sensor 301 and the non-contact communication tag 302 can be installed together to form an integrated sensor assembly 30, thereby reducing the time for assembly and replacement, and avoiding the liquid in the box 101 from affecting the pressure sensor 301 and the non-contact type. Electrical connection of the communication tag 302.
  • the pressure sensor 301 and the non-contact communication tag 302 may be packaged together through an insulating packaging material.
  • the pressure sensor 301 and the non-contact communication tag 302 may also be installed together through other structures.
  • the non-contact communication tag 302 can be installed on the surface of the pressure sensor 301 facing away from the box 101 to reduce the volume of the sensing component 30 and realize the requirements of miniaturization and light weight.
  • a mounting hole may be opened in the bottom 1012 of the box 101 and the sensor assembly 30 is installed at the mounting hole, and the pressure sensor 301 is inserted into the mounting hole to make it It is in contact with the liquid in the case 101. Based on this, the pressure sensor 301 located above the sensing assembly 30 is in direct contact with the liquid in the box 101, so that the volume of the liquid in the box 101 is measured, and the non-contact communication tag 302 located below is mounted on the rack 20. The communication card reader 401 is opposed, thereby improving the ability of effective communication.
  • the sensor assembly 30 further includes a connecting member 303.
  • the connecting member 303 is used for fixing to the bottom 1012 of the box 101.
  • the non-contact communication tag 302 and the pressure sensor 301 are installed in the sensor module 30. Connection piece 303. By providing the connecting member 303, the non-contact communication tag 302 and the pressure sensor 301 can be conveniently installed at the mounting holes at the bottom 1012 of the box 101.
  • the connecting member 303 is detachably connected to the bottom 1012 of the box 101, so that the sensor assembly 30 can be detached for cleaning, so as to remove the sediment deposited on the pressure sensor 301 and ensure the measurement of the pressure sensor 301.
  • Precision the connecting member 303 may be screw-connected to the bottom 1012 of the box 101 through a screw structure, or the connecting member 303 may also be snap-connected to the bottom 1012 of the box 101 through a snap structure.
  • the connecting member 303 may be formed with external threads, and the hole wall of the mounting hole may be formed with internal threads, so that the connecting member 303 and the bottom 1012 of the box 101 are screwed together.
  • an annular groove is formed on the connecting member 303 or the hole wall of the mounting hole.
  • a protrusion is formed on the hole wall or the connecting member 303 of the mounting hole.
  • a seal may also be provided between the connecting member 303 and the bottom 1012 of the case 101, including, but not limited to, a seal ring 304, a labyrinth seal structure, or a seal described below Cover 3031 and so on.
  • a seal ring 304 may be provided on the hole wall of the mounting hole or the connecting member 303, and a sealing ring 304 may be sleeved in the annular sealing groove, so that whether the connecting member 303 is connected by a screw or a snap connection Sealing of the connecting piece 303 and the bottom 1012 of the box 101 is achieved.
  • the connecting member 303 includes a fixing cover 3032 and a sealing cover 3031.
  • the non-contact communication tag 302 and the pressure sensor 301 are provided inside the sealing cover 3031.
  • a seal cover 30311 may be formed in the seal cover 3031 so that the non-contact communication tag 302 and the pressure sensor 301 are provided in the seal cover 30311.
  • the sealing cover 30311 can be formed by forming a ring-shaped protrusion on the body of the sealing cover 3031.
  • the shape of the sealing cover 30311 can be set according to actual needs, for example, it can be designed into a circular or oval shape.
  • a first stepped surface for carrying the non-contact communication tag 302 may be formed in the lower half of the sealing cover 30311, and a second stepped surface for carrying the pressure sensor 301 may be formed in the upper half of the sealing cover 30311.
  • the fixing cover 3032 is detachably connected to the bottom 1012 of the box body 101.
  • the fixing cover 3032 can be detachably connected to the lugs 1016 protruding outwardly from the bottom 1012 of the box body 101.
  • a through hole is opened in the middle of the fixing cover 3032, and the sealing cover 3031 is embedded in the through hole.
  • the annular protrusion formed on the body of the sealing cover 3031 is embedded in a through hole opened in the middle of the fixing cover 3032.
  • a sealing ring 304 may be further provided between the fixed cover 3032 and the sealing cover 3031 to improve the sealing performance.
  • a seal groove surrounding the annular protrusion may be dug close to the position of the annular protrusion, and a seal ring 304 is sleeved in the seal groove, so that when the annular protrusion is embedded in the through hole of the fixing cover 3032 In this case, the sealing properties of the fixed cover 3032 and the sealing cover 3031 can be enhanced.
  • a ring of sealing grooves may also be provided inside the fixing cover 3032, and a sealing ring 304 is sleeved in the sealing groove to strengthen the sealing performance of the fixing cover 3032 and the bottom 1012 of the box 101.
  • a lug 1016 formed at the bottom 1012 of the box body 101 is provided around the mounting hole, and the fixing cover 3032 is detachably connected to the lug 1016 through a thread or a buckle.
  • an internal thread may be formed on the side wall 1013 of the fixing cover 3032 as shown in FIG. 4.
  • an external thread is formed on the lug 1016 of the bottom 1012 of the box 101 so as to thread the fixing cover 3032 and the lug 1016. connected together. At this time, the bottom end of the lug 1016 can abut against the sealing ring 304 in the fixing cover 3032 to improve the sealing performance.
  • the connecting member 303 including the sealing cover 3031 and the fixing cover 3032 is specifically described above with reference to FIGS. 3 to 6, in some other optional embodiments, only the sealing cover 3031 may be provided, which directly Removably connected to the bottom 1012 of the box 101. At the same time, in some optional embodiments, the lugs 1016 may not be formed on the bottom 1012 of the box 101. For example, a mounting groove formed in the bottom 1012 of the box 101 may be recessed inward to communicate with the sealing cover 3031.
  • the fixing cover 3032 or other optional connecting members 303 are detachably connected.
  • a foot 104 is further provided at the bottom 1012 of the box 101.
  • the height of the foot 104 protruding from the bottom 1012 of the box 101 is greater than the height of the connecting member 303 protruding from the bottom 1012 of the box 101.
  • the bracket can be any supporting structure 104 in the prior art, which can be connected with the box 101 in a non-detachable manner by integral molding, bonding, welding or other methods, or it can be detachable by threads, snaps, etc. Way together.
  • FIG. 1 to FIG. 3 show that four feet 104 are provided on the bottom 1012 of the box 101.
  • the four feet 104 are located at four edge positions of the bottom 1012 of the rectangular box 101, and include a fixed cover 3032 and a seal.
  • the connecting member 303 of the cover 3031 is disposed at a middle position of the bottom 1012 of the box 101.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood in a broad sense unless otherwise specified and defined, for example, they may be fixed connections or detachable. Connected or integrated; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless it is clearly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.

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  • Engineering & Computer Science (AREA)
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Abstract

一种农业无人机的水箱（10），用于挂载在农业无人机的机架（20）上，水箱(10)包括：箱体(101)、压力传感器(301)和非接触式通信标签(302)；压力传感器(301)安装于箱体(101)的底部(1012)，用于测量箱体(101)内液体的体积；非接触式通信标签(302)安装于箱体(101)上、并与压力传感器(301)电连接，非接触式通信标签(302)用于在与机架(20)上安装的通信读卡器(401)通信时为压力传感器(301)供电，以获取压力传感器(301)测量到的箱体(10)内液体的体积并将体积发送给通信读卡器(401)。

Description

农业无人机及其水箱 技术领域
本发明涉及一种农业无人机及其水箱，属于农用机械技术领域。
背景技术
随着无人机和农业技术的发展，农用无人机由于具有高效便捷等特点，正越来越多的被用于农业生产中。现有用于施肥、浇水或者喷药的农用无人机，一般是在其机架上挂载水箱，水箱中的液体在泵的作用下被从喷嘴喷射出去，然后就可以附着在农作物的叶片上。但是，由于水箱一般通过螺钉等紧固件安装在机架上的，但为了提高作业的效率，均要求快速拆卸，故导致现有的农用无人机无法精确测量水箱中液体的体积，从而难以提高作业的精度。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明实施例提供一种农用无人机及其水箱。
根据本发明的一些实施方式，提供一种农业无人机的水箱，用于挂载在所述农业无人机的机架上，所述水箱包括：箱体、压力传感器和非接触式通信标签；所述压力传感器安装于所述箱体的底部，用于测量所述箱体内液体的体积；所述非接触式通信标签安装于所述箱体上、并与所述压力传感器电连接，所述非接触式通信标签用于在与所述机架上安装的通信读卡器通信时为所述压力传感器供电，以获取所述压力传感器测量到的箱体内液体的体积并将所述体积发送给所述通信读卡器。
根据本发明的一些实施方式，提供一种农业无人机，包括：机架以及水箱；所述水箱包括：箱体、压力传感器和非接触式通信标签；所述压力传感 器安装于所述箱体的底部，用于测量所述箱体内液体的体积；所述非接触式通信标签安装于所述箱体上、并与所述压力传感器电连接；所述机架在靠近所述水箱的非接触式通信标签的位置安装有通信读卡器，所述通信读卡器与所述机架上设置的飞控系统通信连接；所述非接触式通信标签用于在与所述机架上安装的通信读卡器通信时为所述压力传感器供电，以获取所述压力传感器测量到的箱体内液体的体积并将所述体积发送给所述通信读卡器。
本发明实施例的方案，通过在水箱的箱体底部安装压力传感器来测量箱体内液体的体积，同时，该压力传感器又与非接触式通信标签电连接，从而可以通过通信读卡器与该非接触式通信标签的通信所产生的感应电流来为压力传感器供电，从而无需再在箱体上设置与农业无人机的机架电连接的接头，不仅保证了安全性，而且便于实现水箱快拆的功能，以减少了拆装水箱的时间，提高了作业的效率。
本发明的附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1为本发明实施例提供的水箱与机架组装后的结构示意图；
图2为图1的正视图；
图3为图1的爆炸图；
图4为图3中部分结构的放大示意图；
图5为图1的剖视图；
图6为图5中A位置的放大图。
图中：
10-水箱；             101-箱体；
1011-顶部；                          1012-底部；
1013-侧壁；                          1014-注液口；
1015-安装孔；                        1016-凸耳；
102-水箱盖；                         103-提手；
104-支脚；                           20-机架；
201-上框架；                         2011-上纵梁；
2012-上横梁；                        202-下框架；
2021-下纵梁；                        2022-下横梁；
2023-通信读卡器安装梁；              203-支撑梁；
30-传感组件；                        301-压力传感器；
302-非接触式通信标签；               303-连接件；
3031-密封盖；                        30311-容置槽；
3032-固定盖；                        304-密封圈；
401-通信读卡器；                     402-通信读卡器盖；
403-密封圈。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在本发明的描述中，需要理解的是，术语“上”、“下”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
图1为本实施例提供的水箱与机架组装后的结构示意图；图2为图1的正视图；图3为图1的爆炸图；图4为图3中部分结构的放大示意图； 图5为图1的剖视图；图6为图5中A位置的放大图。
如图1至图3所示，本实施例提供一种农业无人机以及可快速拆装于该农业无人机的机架20上的水箱10，以便提高水箱10内液体的体积测量精度，从而对农业无人机施肥、浇水、施药等作业过程进行更加精准的控制。需要说明的是，图1至图3均省略了农业无人机的旋翼组件、电源、飞行控制系统等部件，这些部件均是无人机的常规部件，在此不再进行赘述。
参见图1至图3，本实施例的无人机包括：机架20以及水箱10，水箱10能够快速安装到机架20上并能够从机架20上快速拆卸下来。其中，水箱10包括有箱体101、压力传感器301以及非接触式通信标签302。压力传感器301安装在水箱10的底部1012，以便检测箱体101内液体的压力，从而获得箱体101内液体的体积。非接触式通信标签302安装在箱体101上，并与压力传感器301电连接，以获取压力传感器301检测到的箱体101内的液体的体积。在机架20上靠近非接触式通信标签302的位置安装有通信读卡器401，其用于在飞控系统的控制下与箱体101上的非接触式通信标签302通信，从而读取该非接触式通信标签302从压力传感器301获得的箱体101内液体的体积。此外，当非接触式通信标签302在被动与通信读卡器401通信时，其自身产生感应电流，并将部分感应电流提供给压力传感器301，以使压力传感器301工作，从而检测箱体101内液体的体积并传递给非接触式通信标签302。通信读卡器401读取到非接触式通信标签302接收到的箱体101内液体的体积后，就可以通过有线或者无线的方式传递给飞控系统，从而飞控系统可以根据该体积调整整个作业过程，以提高作业的精度。
非接触式通信标签302可以NFC标签、RFID标签等，相应地，通信读卡器401为NFC读卡器、RFID读卡器等。具体在图示的实施例中，通信标签302以NFC标签为例进行说明，通信读卡器401以NFC读卡器为例进行说明。农业无人机以多旋翼无人飞行器为例进行说明。
具体的，在本实施例中，箱体101可以使用塑料、不锈钢等材料通过注塑、模压、铸造等工艺制作成为方形或者圆形等形状。如图1至图3所 示，箱体101包括顶部1011、底部1012以及位于顶部1011和底部1012之间的侧壁1013。在箱体101的顶部1011开设有用于往箱体101内注入水、肥料或者农药等液体的注液口1015。为了避免箱体101内的液体洒出，以及避免灰尘、昆虫或者树叶等从注液口1015处落到箱体101内，在注液口1015上可拆卸地安装有水箱盖102。例如，可以沿着注液口1015的边缘形成一圈凸起，在凸起上可以形成外螺纹或者卡扣结构的部分，在水箱盖102上形成内螺纹或者卡扣结构的另一部分，从而实现将水箱盖102通过螺纹连接或者卡扣连接的方式可拆卸地安装到注液口1015处。可以理解，为了避免水箱盖102丢失，可以通过柔性绳状部件将水箱盖102和箱体101连接，例如，可以在箱体101和水箱盖102上各设置一个连接环，将尼龙绳的两端分别穿过箱体101和水箱盖102上的连接环并绑在一起。可选地，在箱体101的顶部1011还设置有提手103，以方便用户搬运水箱10。
如图3至图6所示，安装于箱体101底部1012的压力传感器301可以使用变阻式压力传感器、陶瓷压力传感器、扩散硅压力传感器、蓝宝石压力传感器、压电式压力传感器等。压力传感器301通常由压力敏感元件和信号处理单元组成，通过在箱体101底部1012安装压力传感器301，从而可以由压力敏感元件来感受箱体101内液体的压力，并由信号处理单元将压力敏感元件感受到的压力信号转换成可用的电信号并输出给予该压力传感器301电连接的非接触式通信标签302。
继续参照图3至图6，与压力传感器301电连接并为该压力传感器301供电的非接触式通信标签302可以安装于压力传感器301的下方，也即，该非接触式通信标签302也安装于箱体101的底部1012，以便减少用于电连接压力传感器301和非接触式通信标签302的连接线的长度，从而减少感应电流在连接线上的损耗，以保证非接触式通信标签302在与通信读卡器401通信时能够产生足够的感应电流供其自身以及压力传感器301工作，从而实现对箱体101内液体的体积的测量。相应的，当非接触式通信标签302安装于箱体101的底部1012时，与该非接触式通信标签302通信的通信读卡器401也相应的设置在非接触式通信标签302的下方，以便提高通 信读卡器401和非接触式通信标签302的通信质量。具体来说，可以如下所述的在机架20的底部1012设置通信读卡器安装梁2023，以便用于安装该通信读卡器401，以使该通信读卡器401与非接触式通信标签302的距离在合适的范围内，从而提高二者的通信质量。
当然，在另外一些示例中，该非接触式通信标签302也可以安装在箱体101其他合适的位置。例如，可以将非接触式通信标签302安装于箱体101的顶部1011，并通过分段埋设在箱体101顶部1011、侧壁1013和底部1012内的连接线实现与压力传感器301的电连接并为该压力传感器301供电。相应的，与非接触式通信标签302通信的通信读卡器401设置在非接触式通信标签302的上方，以便与该非接触式通信标签302有效通信。又如，可以将非接触式通信标签302安装于箱体101的侧壁1013，并通过分段埋设在箱体101的侧壁1013以及底部1012内的连接线实现与压力传感器301的电连接并为该压力传感器301供电。相应的，与非接触式通信标签302通信的通信读卡器401则设置在非接触式通信标签302的侧面，以便与该非接触式通信标签302进行通信。
在本实施例中，非接触式通信标签302可以采用市售的任意类型和型号的非接触式通信标签302，或者也可以采用自制的非接触式通信标签302。该非接触式通信标签302可以是单独的元件，也可以是焊接或者直接形成于电路板上的NFC线圈。
安装于机架20上的通信读卡器401则可以是现有技术中所采用的任意通信读卡器401，其通过无线通信模块或者通信线与农业无人机的飞控系统连接，以便在飞控系统的控制下主动开启射频场，从而与非接触式通信标签302建立通信连接，并使非接触式通信标签302内的线圈产生感应电流以提供该非接触式通信标签302和压力传感器301的工作电流。
当通信读卡器401通过无线通信模块与飞控系统建立通信连接时，则通信读卡器401与飞控系统的通信频率一般选择与该通信读卡器401与非接触式通信标签302的通信频率不同的频率，以便降低二者频率的干扰，提高各自的通信质量。可选地，通信读卡器401与飞控系统的无线通信以及通信读卡器401与非接触式通信标签302的无线通信可以交替进行，以 进一步降低二者通信干扰的可能性，从而提高通信的质量。可以理解，当通信读卡器401与飞控系统无线通信时，该通信读卡器401可以配置单独的电源为其供电或者通过无线充电的方式由飞控系统为该通信读卡器401供电。例如，可以使用纽扣电池为通信读卡器401供电。
当通信读卡器401通过通信线与飞控系统连接时，该通信线可以穿设在机架20内。例如，可以采用中空的杆件来制作机架20，从而将通信线穿设在杆件内。通过通信线，飞控系统不仅可以和通信读卡器401之间传递数据信息，而且可以为该通信读卡器401供电。应当理解，在某些可选地示例中，用于连接通信读卡器401和飞控系统的通信线也可以位于机架20外部。
此外，在本实施例中，农业无人机的机架20可以是能够实现快速拆装水箱10的任意合适结构。例如，图3中示出了一种可选的机架结构，该机架20包括有上框架201、下框架202以及位于上框架201和下框架202之间的支撑梁203。上框架201包括相对设置的两个上纵梁2011以及位于两个上纵梁2011之间的两个相对设置的上横梁2012；下框架202则包括相对设置的两个下纵梁2021以及位于两个下纵梁2021之间的两个相对设置的下横梁2022。在两个下横梁2022之间设置有通信读卡器安装梁2023，用于安装通信读卡器401。上横梁2012、下横梁2022、上纵梁2011、下纵梁2021、通信读卡器安装梁2023以及支撑梁203均可以采用中空杆件。安装水箱10时，只需要握住水箱10顶部1011的提手103并将水箱10底部1012从上框架201的上横梁2012和上纵梁2011所围成的上开口放入由上框架201、下框架202和支撑梁203所围成的容纳空间，直至水箱10顶部1011超出侧壁1013的部分承载在上横梁2012和上纵梁2011上即可。此时，位于水箱10底部1012的非接触式通信标签302正对安装于通信读卡器安装梁2023上的通信读卡器401，从而可以实现二者的有效通信。拆卸水箱10时，只需要抓住水箱10顶部1011的提手103将该水箱10从上框架201、下框架202和支撑梁203所围成的容纳空间内拉出即可，不仅方便，而且快捷、高效。
可选地，如图3、图4和图6所示，通信读卡器401的外侧(例如图 3中在通信读卡器401的上方)还可以罩设有通信读卡器盖402，以避免通信读卡器401暴露在外部环境中，从而提高其使用寿命。为了避免外部环境中的雨、雪等进入通信读卡器401，还可以在通信读卡器盖402和通信读卡器安装梁2023之间设置密封圈403以提高二者的密封性。
下面简要介绍本实施例所提供的农业无人机获取箱体101内液体的体积信息的两种可选的方式：
一种方式是：飞控系统通过有线或者无线的方式向机架20行的通信读卡器401发送控制信号，控制该通信读卡器401持续与非接触式通信标签302通信，从而使得非接触式通信标签302内的线圈持续产生感应电流并供应给压力传感器301，以使压力传感器301持续检测箱体101内的液体体积信息，并将该液体体积信息传递给非接触式通信标签302。非接触式通信标签302获取到压力传感器301传来的液体体积信息以后也就持续的将该液体体积信息发送给通信读卡器401。通信读卡器401获取到的液体体积信息再通过有线或者无线的方式传回飞控系统。飞控系统对液体体积信息进行处理后，控制喷洒的泵的工作状态来调节喷液速度等来控制作业过程，以提高作业的精准度。
另一种方式是：飞控系统通过有线或者无线的方式向机架20行的通信读卡器401发送控制信号，控制该通信读卡器401间隙性的与非接触式通信标签302通信，从而使得非接触式通信标签302内的线圈间隙性的产生感应电流并供应给压力传感器301，以使压力传感器301在非接触式通信标签302为其供电的时刻开始检测箱体101内的液体体积信息，并将该液体体积信息传递给非接触式通信标签302。非接触式通信标签302获取到压力传感器301传来的液体体积信息以后就将该液体体积信息发送给通信读卡器401。通信读卡器401获取到的液体体积信息再通过有线或者无线的方式传回飞控系统。飞控系统对液体体积信息进行处理后，控制喷洒的泵的工作状态来调节喷液速度等来控制作业过程，以提高作业的精准度。应当理解，上述通信读卡器401间歇性的与非接触式通信标签302通信可以是周期性的，也可以是随机性的或者按照预设任意规划进行的。例如，在喷洒的初期，由于箱体101内的液体较多，故通信读卡器401读取液体 体积信息的时间间隔可以稍微长一些；在喷洒的中期，可以适当缩短通信读卡器401读取液体体积信息的时间间隔；在喷洒末期，可以再次缩短通信读卡器401读取液体体积信息的时间间隔，以便准确停止喷洒作业。
本实施例通过在箱体101的底部1012安装压力传感器301来测量箱体101内液体的体积，同时，该压力传感器301又与非接触式通信标签302电连接，从而可以通过通信读卡器401与该非接触式通信标签302的通信所产生的感应电流来为压力传感器301供电，从而无需再在箱体101上设置与农业无人机的机架20电连接的接头，不仅保证了安全性，而且减少了拆装水箱10的时间，提高了作业的效率。
进一步，压力传感器301和非接触式通信标签302可以安装在一起，以形成一体的传感组件30，从而减少装配和更换的时间，并避免箱体101内的液体影响压力传感器301和非接触式通信标签302的电连接。例如，在一些可选地实施方式中，可以将压力传感器301和非接触式通信标签302通过绝缘封装料封装在一起。在另一些可选地实施方式中，压力传感器301和非接触式通信标签302也可以通过其他结构安装在一起。举例而言，非接触式通信标签302可以安装在压力传感器301背离箱体101的表面，以减少传感组件30的体积，实现小型化、轻量化的要求。此外，为了便于传感组件30的安装，可以在箱体101的底部1012开设安装孔并将传感组件30安装于该安装孔处，并将压力传感器301伸入到安装孔内，以使其与箱体101内的液体接触。基于此，位于传感组件30上方的压力传感器301与箱体101内的液体直接接触，从而测得箱体101内液体的体积，位于下方的非接触式通信标签302则与机架20上安装的通信读卡器401相对，从而提高有效通信的能力。
进一步，如图3至6所示，传感组件30还包括有连接件303，该连接件303用于与箱体101的底部1012固定，非接触式通信标签302和压力传感器301则安装在该连接件303上。通过设置连接件303，可以方便的将非接触式通信标签302和压力传感器301安装到箱体101底部1012的安装孔处。
可选地，连接件303与箱体101的底部1012可拆卸连接，从而能够 将传感组件30拆卸下来进行清洗，以便将沉积在压力传感器301上的沉积物清理掉，保证压力传感器301的测量精度。例如，连接件303可以通过螺纹结构与箱体101的底部1012螺纹连接，或者连接件303也可以通过卡扣结构与箱体101的底部1012卡扣连接。举例而言，连接件303可以形成有外螺纹，安装孔的孔壁上则可以形成内螺纹，从而连接件303和箱体101的底部1012螺纹连接在一起。或者，在连接件303或者安装孔的孔壁上形成有环形凹槽，相应的，在安装孔的孔壁或者连接件303上形成有凸起，在装配的时候，将凸缘卡入环形凹槽内即可实现连接件303与箱体101底部1012的可拆卸连接。
为了保证传感组件30与箱体101的密封性，还可以在连接件303与箱体101的底部1012之间设置密封件，包括但不限于是密封圈304、迷宫密封结构或者下述的密封盖3031等。举例而言，在安装孔的孔壁上或者连接件303上可以开设环形密封槽，在该环形密封槽内可以套设密封圈304，从而无论是连接件303通过螺纹连接还是卡扣连接均可以实现对连接件303和箱体101的底部1012的密封。
进一步，如图3至图6所示，连接件303包括有固定盖3032和密封盖3031。非接触式通信标签302和压力传感器301设于密封盖3031的内侧。例如，可以在密封盖3031内形成密封盖30311，以便将非接触式通信标签302和压力传感器301设于该密封盖30311内。该密封盖30311可以通过在密封盖3031的本体上形成一圈环形凸起来形成，该密封盖30311的形状可以根据实际需要进行设置，例如可以设计成为圆形或者椭圆形等形状。在密封盖30311的下半部分可以形成用于承载非接触式通信标签302的第一台阶面，在密封盖30311的上半部分可以形成用于承载压力传感器301的第二台阶面。
固定盖3032则与箱体101的底部1012可拆卸连接，例如，可以与箱体101底部1012朝外凸出延伸出的凸耳1016可拆卸连接。固定盖3032的中部开设有通孔，密封盖3031嵌入该通孔内。具体来说，是将密封盖3031的本体上所形成的环形凸起嵌入到固定盖3032中部所开设的通孔内。在固定盖3032与密封盖3031之间还可以设置有密封圈304来提高密封性。 例如，可以紧挨环形凸起的位置挖一圈环绕该环形凸起的密封凹槽，并在该密封凹槽内套设密封圈304，从而当环形凸起嵌入到固定盖3032的通孔内时，可以加强固定盖3032和密封盖3031的密封性。在固定盖3032的内部也可以开设有一圈密封凹槽，并在该密封凹槽内套设密封圈304，以加强固定盖3032和箱体101底部1012的密封性。
在箱体101底部1012形成的凸耳1016环绕安装孔设置，固定盖3032通过螺纹或者卡扣等形式与凸耳1016可拆卸连接。例如，可以如图4所示的在固定盖3032的侧壁1013上形成内螺纹，相应的，在箱体101底部1012的凸耳1016上形成外螺纹，以便将固定盖3032和凸耳1016螺纹连接在一起。此时，凸耳1016的底端可以抵顶在固定盖3032内的密封圈304上，以提高密封性能。
应当理解，虽然以上结合图3至图6具体描述了连接件303包括密封盖3031和固定盖3032的结构形式，但在其他一些可选地实施方式中，也可以仅设置密封盖3031，其直接与箱体101的底部1012可拆卸连接。同时，某些可选地实施方式中，在箱体101的底部1012也可以不形成凸耳1016，例如，可以在箱体101的底部1012向内凹陷所形成的安装槽来与密封盖3031、固定盖3032或者其他可选地连接件303结构可拆卸连接。
进一步，参照图1至图3，在箱体101的底部1012还设有支脚104，该支脚104凸出于箱体101的底部1012的高度大于连接件303凸出于箱体101底部1012的高度，以便保护非接触式通信标签302和压力传感器301。支架可以是现有技术中起支撑作用的任意支脚104结构，其可以与箱体101通过一体成型、粘接、焊接等方式不可拆卸方式连接在一起，或者也可以通过螺纹、卡扣等可拆卸方式连接在一起。
可选地，设置在箱体101的底部1012的支脚104有多个，连接件303设置在多个支脚104之间。例如，图1至图3中示出了在箱体101的底部1012设置四个支脚104，这四个支脚104位于矩形箱体101的底部1012的四个边缘位置，包括有固定盖3032和密封盖3031的连接件303则设置在箱体101的底部1012的中间位置。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、 “连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸地连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (46)

  1. 一种农业无人机的水箱，用于挂载在所述农业无人机的机架上，其特征在于，所述水箱包括：箱体、压力传感器和非接触式通信标签；
    所述压力传感器安装于所述箱体的底部，用于测量所述箱体内液体的体积；
    所述非接触式通信标签安装于所述箱体上、并与所述压力传感器电连接，所述非接触式通信标签用于在与所述机架上安装的通信读卡器通信时为所述压力传感器供电，以获取所述压力传感器测量到的箱体内液体的体积并将所述体积发送给所述通信读卡器。
  2. 根据权利要求1所述的水箱，其特征在于，所述非接触式通信标签持续与所述通信读卡器通信，以便持续为所述压力传感器供电。
  3. 根据权利要求1所述的水箱，其特征在于，所述非接触式通信标签间隙性的与所述通信读卡器通信，以便间隙性的为所述压力传感器供电。
  4. 根据权利要求1所述的水箱，其特征在于，所述压力传感器与所述非接触式通信标签安装在一起，以形成一体的传感组件。
  5. 根据权利要求4所述的水箱，其特征在于，所述非接触式通信标签安装在所述压力传感器的背离所述箱体的表面。
  6. 根据权利要求4所述的水箱，其特征在于，所述箱体的底部开设有安装孔，所述传感组件安装于所述安装孔处，且所述压力传感器伸入到所述安装孔内。
  7. 根据权利要求6所述的水箱，其特征在于，所述传感组件还包括连接件，所述连接件用于与所述箱体的底部固定，所述非接触式通信标签以及压力传感器安装在所述连接件。
  8. 根据权利要求7所述的水箱，其特征在于，所述连接件与所述箱体的底部可拆卸连接。
  9. 根据权利要求8所述的水箱，其特征在于，所述连接件与所述箱体的底部螺纹连接。
  10. 根据权利要求8所述的水箱，其特征在于，所述连接件与所述箱体的底部通过卡扣连接。
  11. 根据权利要求7所述的水箱，其特征在于，所述连接件与所述箱体 的底部之间设置有密封件。
  12. 根据权利要求11所述的水箱，其特征在于，所述密封件为密封圈。
  13. 根据权利要求7所述的水箱，其特征在于，所述连接件包括密封盖，所述非接触式通信标签以及所述压力传感器设于所述密封盖的内侧。
  14. 根据权利要求13所述的水箱，其特征在于，所述密封盖的内侧设有容置槽，所述非接触式通信标签以及所述压力传感器设于所述容置槽内。
  15. 根据权利要求13所述的水箱，其特征在于，所述连接件还包括固定盖，所述固定盖的中部设有通孔，所述密封盖嵌入所述通孔内，所述固定盖与所述箱体的底部可拆卸连接。
  16. 根据权利要求15所述的水箱，其特征在于，所述箱体的底部朝外侧凸出延伸出凸耳，所述凸耳环绕所述安装孔设置，所述固定盖与所述凸耳可拆卸连接。
  17. 根据权利要求7所述的水箱，其特征在于，所述箱体的底部设有支脚，所述支脚相较于所述箱体的底部凸出的高度大于所述连接件相较于所述箱体的底部凸出的高度，以保护所述非接触式通信标签以及所述压力传感器。
  18. 根据权利要求17所述的水箱，其特征在于，所述支脚为多个，所述连接件位于多个所述支脚之间。
  19. 根据权利要求17所述的水箱，其特征在于，所述支脚与所述箱体的底部可拆卸连接；
    或/及，所述非接触式通信标签为NFC标签或RFID标签。
  20. 一种农业无人机，其特征在于，包括：机架以及水箱；
    所述水箱包括：箱体、压力传感器和非接触式通信标签；
    所述压力传感器安装于所述箱体的底部，用于测量所述箱体内液体的体积；
    所述非接触式通信标签安装于所述箱体上、并与所述压力传感器电连接；
    所述机架在靠近所述水箱的非接触式通信标签的位置安装有通信读卡器，所述通信读卡器与所述机架上设置的飞控系统通信连接；
    所述非接触式通信标签用于在与所述机架上安装的通信读卡器通信时为所述压力传感器供电，以获取所述压力传感器测量到的箱体内液体的体积并将所述体积发送给所述通信读卡器。
  21. 根据权利要求20所述的农业无人机，其特征在于，所述非接触式通信标签持续与所述通信读卡器通信，以便持续为所述压力传感器供电；
    或/及，所述非接触式通信标签为NFC标签或RFID标签。
  22. 根据权利要求20所述的农业无人机，其特征在于，所述非接触式通信标签间隙性的与所述通信读卡器通信，以便间隙性的为所述压力传感器供电。
  23. 根据权利要求20所述的农业无人机，其特征在于，所述压力传感器与所述非接触式通信标签安装在一起，以形成一体的传感组件。
  24. 根据权利要求23所述的农业无人机，其特征在于，所述非接触式通信标签安装在所述压力传感器的背离所述箱体的表面。
  25. 根据权利要求23所述的农业无人机，其特征在于，所述箱体的底部开设有安装孔，所述传感组件安装于所述安装孔处，且所述压力传感器伸入到所述安装孔内。
  26. 根据权利要求25所述的农业无人机，其特征在于，所述传感组件还包括连接件，所述连接件用于与所述箱体的底部固定，所述非接触式通信标签以及压力传感器安装在所述连接件。
  27. 根据权利要求26所述的农业无人机，其特征在于，所述连接件与所述箱体的底部可拆卸连接。
  28. 根据权利要求27所述的农业无人机，其特征在于，所述连接件与所述箱体的底部螺纹连接。
  29. 根据权利要求27所述的农业无人机，其特征在于，所述连接件与所述箱体的底部通过卡扣连接。
  30. 根据权利要求26所述的农业无人机，其特征在于，所述连接件与所述箱体的底部之间设置有密封件。
  31. 根据权利要求30所述的农业无人机，其特征在于，所述密封件为密封圈。
  32. 根据权利要求26所述的农业无人机，其特征在于，所述连接件包括密封盖，所述非接触式通信标签以及所述压力传感器设于所述密封盖的内侧。
  33. 根据权利要求32所述的农业无人机，其特征在于，所述密封盖的内侧设有容置槽，所述非接触式通信标签以及所述压力传感器设于所述容置槽 内。
  34. 根据权利要求32所述的农业无人机，其特征在于，所述连接件还包括固定盖，所述固定盖的中部设有通孔，所述密封盖嵌入所述通孔内，所述固定盖与所述箱体的底部可拆卸连接。
  35. 根据权利要求34所述的农业无人机，其特征在于，所述箱体的底部朝外侧凸出延伸出凸耳，所述凸耳环绕所述安装孔设置，所述固定盖与所述凸耳可拆卸连接。
  36. 根据权利要求26所述的农业无人机，其特征在于，所述箱体的底部设有支脚，所述支脚相较于所述箱体的底部凸出的高度大于所述连接件相较于所述箱体的底部凸出的高度，以保护所述非接触式通信标签以及所述压力传感器。
  37. 根据权利要求36所述的农业无人机，其特征在于，所述支脚为多个，所述连接件位于多个所述支脚之间。
  38. 根据权利要求36所述的农业无人机，其特征在于，所述支脚与所述箱体的底部可拆卸连接。
  39. 根据权利要求20至38任一项所述的农业无人机，其特征在于，所述通信读卡器与所述飞控系统通过通信线连接。
  40. 根据权利要求39所述的农业无人机，其特征在于，所述通信线穿设在中空的所述机架内。
  41. 根据权利要求20至38任一项所述的农业无人机，其特征在于，所述通信读卡器与所述飞控系统无线连接。
  42. 根据权利要求41所述的农业无人机，其特征在于，所述通信读卡器与所述飞控系统的通信频率与所述通信读卡器与所述非接触式通信标签的通信频率不同。
  43. 根据权利要求41所述的农业无人机，其特征在于，所述飞控系统控制所述通信读卡器与所述飞控系统的通信以及所述通信读卡器与所述非接触式通信标签的通信交替进行。
  44. 根据权利要求41所述的农业无人机，其特征在于，所述飞控系统控制所述通信读卡器周期性与所述非接触式通信标签进行通信。
  45. 根据权利要求20至38任一项所述的农业无人机，其特征在于，所 述机架包括：相对设置的上框架和下框架，以及位于所述上框架和下框架之间的支撑梁，所述通信读卡器安装于所述下框架上，且当所述水箱穿过所述上框架所围成的上开口并挂载在所述机架上时，所述通信读卡器位于所述非接触式通信标签的下方。
  46. 根据权利要求45所述的农业无人机，其特征在于，所述水箱的顶部超出该水箱的侧壁的部分承载在所述上框架上。
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