WO2021078206A1

WO2021078206A1 - Flow correction method and device and unmanned aerial vehicle

Info

Publication number: WO2021078206A1
Application number: PCT/CN2020/122915
Authority: WO
Inventors: 成转鹏; 张辉华
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-10-22
Filing date: 2020-10-22
Publication date: 2021-04-29
Also published as: CN110686760A

Abstract

A flow correction method and device and an unmanned aerial vehicle (10). The flow correction method comprises: acquiring first capacity change information and flow information of a liquid within a preset time period (S21), wherein the liquid is stored in a container device and is sprayed from the container device, and the container device can be carried by the unmanned aerial vehicle (10); calculating second capacity change information according to the flow information of the liquid within the preset time period (S22); obtaining correction data according to the first capacity change information and the second capacity change information (S23); and correcting current flow information according to the correction data (S24). The process continues to cycle in the described way. When the unmanned aerial vehicle (10) is in a vibrating or posture changing environment, the current flow information can be calibrated continually, so that the error of the current flow information is smaller and smaller to achieve the purpose of precise spraying.

Description

Flow correction method and device, and unmanned aerial vehicle

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on October 22, 2019, the application number is 2019110073872, and the application name is "Flow correction method and device, unmanned aerial vehicle", the entire content of which is incorporated herein by reference. Applying.

【Technical Field】

The present invention relates to the technical field of unmanned aerial vehicles, in particular to a flow correction method and device, and unmanned aerial vehicles.

【Background technique】

A flow meter is an instrument that indicates the total amount of fluid in a selected time interval for the measured flow rate. Simply put, it is an instrument used to measure the flow of fluid in a pipeline or tank. There are many types. The existing flow meters all have Chinese LCD screens, and the functions are more complete, and the operation is relatively simple. At the same time, there is no need for a grounding ring, which greatly reduces the volume and maintenance of the flow detection device.

In the current spraying system of unmanned aerial vehicles, it is necessary to rely on the feedback of the flowmeter to adjust the spraying speed of the liquid in a closed loop. The data accuracy of the flowmeter directly affects the actual spraying volume and spraying density, thereby affecting the spraying effect.

In the process of implementing the present invention, the inventor found that the related technology has at least the following problems: Although the flow meter can obtain the flow rate in real time, when the UAV is in a vibration or attitude change environment, the error in the flow rate detected is large, and the spraying effect difference.

[Summary of the invention]

In order to solve the above-mentioned technical problems, embodiments of the present invention provide a flow correction method and device, and an unmanned aerial vehicle that reduce the error of flow information and improve the spray effect.

In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions: a flow correction method applied to an unmanned aerial vehicle, the method comprising: acquiring first volume change information and flow information of the liquid within a preset period of time, the Liquid is stored in a container device and sprayed out through the container device, and the unmanned aerial vehicle can carry the container device for flight;

Calculating the second volume change information according to the flow information of the liquid within the preset time period;

Obtaining correction data according to the first capacity change information and the second capacity change information;

According to the correction data, the current flow information is corrected.

Optionally, the preset duration is defined by two time endpoints, and the acquiring the first volume change information of the liquid within the preset duration includes:

Calculating capacity information under each of the time endpoints;

Calculate the first volume change information of the liquid according to the volume information under each of the time endpoints.

Optionally, the calculating the first volume change information of the liquid according to the volume information under each of the time endpoints includes:

The respective volume information under the two time endpoints are subjected to a difference operation to obtain the first volume change information of the liquid.

Optionally, the container device is provided with at least two liquid level detection devices, each of the liquid level detection devices is used to detect the liquid level information of the liquid in the container device, and the calculation of each liquid level detection device The capacity information under the time endpoint includes:

Acquiring liquid level information of each of the liquid level detection devices at each of the time endpoints;

According to the liquid level information of each liquid level detection device under each time endpoint, the capacity information under each time endpoint is obtained.

Optionally, the calculating the second volume change information according to the flow information of the liquid within a preset time period includes:

The flow rate information of the liquid in the preset time period is integrated to obtain the second volume change information of the liquid.

Optionally, the obtaining correction data according to the first capacity change information and the second capacity change information includes:

Divide the first capacity change information and the second capacity change information to obtain a correction ratio parameter, and use the correction ratio parameter as correction data.

Optionally, the calibrating the flow meter according to the calibration data includes:

Get current traffic information;

Multiplying the correction ratio parameter and the current flow information to obtain corrected flow information;

Use the corrected flow information to correct the current flow information.

In order to solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: a flow correction device. The flow correction device includes:

The first volume change information acquisition module is used to acquire the first volume change information and flow information of the liquid within a preset time period;

The second volume change information acquiring module is configured to calculate the second volume change information according to the flow information of the liquid within a preset time period;

A correction data calculation module, configured to obtain correction data according to the first capacity change information and the second capacity change information;

The correction module is used to correct the current flow information according to the correction data.

Optionally, the correction module includes a current flow information acquisition unit, a correction calculation unit, and a correction unit;

The current flow information obtaining unit is used to obtain current flow information;

The correction calculation unit is configured to multiply the correction ratio parameter and the current flow information to obtain corrected flow information;

The correction unit is configured to use the corrected flow information to correct the current flow information.

To solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes: a fuselage;

An arm, connected to the fuselage;

The power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;

A container device in which liquid is stored, and the liquid is sprayed out through the container device, and the unmanned aerial vehicle can carry the container device for flight;

A liquid level detection device for acquiring liquid level information of the liquid in real time, and the liquid level detection device is installed on the container device;

A flow detection device for acquiring flow information of the liquid in real time, and the flow detection device is connected to the container device;

At least one processor; and

A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the at least one processor to execute The device can be used to perform the flow correction method described above.

Compared with the prior art, the method for providing flow correction according to the embodiment of the present invention first obtains the first volume change information and flow information of the liquid within a preset period of time. The liquid is stored in a container device and is ejected through the container device. , The unmanned aerial vehicle can carry the container device for flight; then calculate the second volume change information according to the flow information of the liquid within a preset time; finally, according to the first volume change information and the second volume change The information is corrected current flow information of the corrected data. With this reciprocating cycle, when the unmanned aerial vehicle is in an environment of vibration or attitude changes, the current flow information can be continuously calibrated, thereby making the error of the current flow information smaller and smaller, and achieving the purpose of precise spraying.

【Explanation of the drawings】

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a scale limitation.

Figures 1 and 2 are schematic diagrams of application environments of embodiments of the present invention;

FIG. 3 is a schematic flowchart of a flow correction method provided by one of the embodiments of the present invention;

FIG. 4 is a schematic diagram of the flow of S21 in FIG. 3;

FIG. 5 is a schematic diagram of the flow of S211 in FIG. 4;

FIG. 6 is a schematic diagram of the flow of S23 in FIG. 3;

FIG. 7 is a structural block diagram of a flow correction device provided by one of the embodiments of the present invention;

Fig. 8 is a structural block diagram of an unmanned aerial vehicle provided by one embodiment of the present invention.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as being "fixed to" another element, it may be directly on the other element, or there may be one or more elements in between. When an element is said to be "connected" to another element, it can be directly connected to the other element, or there may be one or more intervening elements in between. The terms "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present invention. The invention and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more related listed items.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Embodiments of the present invention provide a flow correction method and device, and an unmanned aerial vehicle, wherein the method first obtains first volume change information and flow information of a liquid within a preset time period, and the liquid is stored in a container device and Ejected through the container device, the unmanned aerial vehicle can carry the container device for flight; then calculate the second volume change information according to the flow information of the liquid within a preset time; finally, according to the first volume change information The corrected current flow information of the corrected data is obtained with the second capacity change information. With this reciprocating cycle, when the unmanned aerial vehicle is in an environment of vibration or attitude changes, the current flow information can be continuously calibrated, thereby making the error of the current flow information smaller and smaller, and achieving the purpose of precise spraying.

The following examples illustrate the application environment of the flow correction method.

Fig. 1 is a schematic diagram of an application environment of a flow correction method provided by an embodiment of the present invention. As shown in FIG. 1, the application scenario includes an unmanned aerial vehicle 10, a wireless network 20, a remote control device 30 and a user 40. The user 40 can use the remote control device 30 to control the UAV 10 through the wireless network 20.

The unmanned aerial vehicle 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing unmanned aerial vehicle 10, a fixed-wing unmanned aerial vehicle 10, an umbrella-wing unmanned aerial vehicle 10, a flapping-wing unmanned aerial vehicle 10, and Helicopter model etc.

The unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use. One or more functional modules may be added to the drone, so that the unmanned aerial vehicle 10 can realize corresponding functions. For example, in this embodiment, the UAV 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.

The unmanned aerial vehicle 10 is equipped with a container device in which liquid is stored and sprayed out through the container device, and the unmanned aerial vehicle 10 can fly with the container device.

Please refer to FIG. 2, the UAV 10 is provided with a liquid level detection device 12 and a flow detection device 14.

The liquid level detection device 12 is used to detect the liquid level information of the liquid in the container device, and then the liquid volume information can be obtained according to the liquid level information. In this embodiment, the liquid level detection device 12 includes a meter head, a dashboard, a sensor, a detection rod, a float, and an induction magnet. One end of the detection rod is connected to the bottom end of the sensor, and the sensor is connected to the meter head. The floats are stringed on the detection rod, the induction magnet is connected to the other end of the detection rod, there are two detection rods arranged in parallel, each of the detection rods has a float, and the detection rod is provided with A fixed flange, two instrument panels are arranged on the instrument head, and a layer of high temperature resistant anticorrosive paint is coated on the probe rod. In this embodiment, the liquid level detection device 12 is provided with a detection rod and a float, which can measure liquid level information at different positions in the container device. For example, when the volumetric device is placed obliquely, the volume information of different positions can be measured. It is understandable that when the volumetric device is placed obliquely, the liquid level information of different positions is different, and then the liquid level of different positions is different. The information is subjected to averaging processing, and the obtained liquid level information after the averaging processing is more accurate, and furthermore, the liquid volume information obtained according to the liquid level information is also more accurate.

The flow detection device 14 is used for real-time detection of the flow rate information of the liquid ejected from the container device. Specifically, the flow detection device 14 may be a differential pressure flowmeter, a rotameter, a throttling flowmeter, a slit flowmeter, a positive displacement flowmeter, an electromagnetic flowmeter, an ultrasonic flowmeter, a turbine flowmeter, and so on.

The remote control device 30 may be any type of smart device used to establish a communication connection with the UAV 10, such as a mobile phone, a tablet computer, or a smart remote control. The remote control device 30 may be equipped with one or more different user 40 interaction devices to collect instructions from the user 40 or display and feedback information to the user 40.

These interactive devices include but are not limited to: buttons, display screens, touch screens, speakers, and remote control joysticks. For example, the remote control device 30 may be equipped with a touch screen, through which the user 40 receives remote control instructions for the UAV 10 and displays the image information obtained by aerial photography to the user 40 through the touch screen. The user 40 can also Switch the image information currently displayed on the display screen through the remote control touch screen.

In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can also be integrated with the existing image visual processing technology to further provide more intelligent services. For example, the unmanned aerial vehicle 10 may use a dual-lens camera to collect images, and the remote control device 30 may analyze the images, so as to realize the gesture control of the unmanned aerial vehicle 10 by the user 40.

The wireless network 20 may be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network, or a combination thereof located in different signal frequency bands.

Fig. 3 is an embodiment of a flow correction method provided by an embodiment of the present invention. This method can be executed by the unmanned aerial vehicle 10 in FIG. 1.

Specifically, referring to FIG. 3, the method may include but is not limited to the following steps:

S21. Acquire first volume change information and flow rate information of the liquid within a preset period of time. The liquid is stored in a container device and sprayed out through the container device, and the UAV 10 can fly with the container device.

Specifically, the preset duration is defined by two time endpoints, such as a time endpoint T1 and a time endpoint T2, and the time period T2-T1 between the time endpoint T2 and the time endpoint T1 is the preset duration.

Specifically, the first volume change information of the liquid can be acquired through the liquid level detection device 12. The first volume change information refers to the amount of change in the liquid volume in the container device within the preset time period. Preferably, the container device is provided with at least two liquid level detection devices 12, and each of the liquid level detection devices 12 is used to detect the liquid level information of the liquid in the container device, and then pass the liquid level information. The bit information obtains the first capacity change information. Preferably, when the liquid level detection device 12 is provided with an even number, a number of the container devices are arranged opposite to each other along the symmetry axis of the liquid level detection device 12. Therefore, when the container device is irregularly shaped or inclined, the liquid level information of different positions in the container device can be measured. It can be understood that the liquid level information of different positions is different, and then the liquid level of different positions is different. The information is subjected to averaging processing, and the obtained liquid level information after the averaging processing is more accurate, and further, the first volume change information obtained according to the liquid level information is also more accurate.

Specifically, the flow rate information can be acquired through the flow rate detection device 14. The flow rate detection device 14 can be a differential pressure flowmeter, a rotameter, a throttling flowmeter, a slit flowmeter, a positive displacement flowmeter, an electromagnetic flowmeter. Meter, ultrasonic flowmeter, turbine flowmeter, etc.

S22: Calculate second volume change information according to the flow information of the liquid within the preset time period.

Specifically, the flow rate information of the liquid within a preset time period is integrated to obtain the second volume change information of the liquid. Firstly, the flow information at each time point within the preset time period is obtained respectively, and then the flow information corresponding to each time point is integrated, and the second volume change information of the liquid is calculated. For example, the preset duration includes 5 time points T1, T2, T3, T4, and T5; each time point T1, T2, T3, T4, and T5 corresponds to a flow information v1, v2, v3, v4, and v5. , And then draw a curve according to the formed coordinates (T1, v1), (T2, v12), (T3, v4), (T4, v5) and (T1, v1), and then perform the integral operation to obtain the second Capacity change information.

S23. Obtain correction data according to the first capacity change information and the second capacity change information.

Specifically, the correction data obtained according to the first capacity change information and the second capacity change information is a proportional parameter. For example, the first capacity change information and the second capacity change information are divided to obtain a correction ratio parameter, and the correction ratio parameter is used as the correction data.

S24. Correct the current flow information according to the correction data.

Wherein, the current flow information refers to the flow information at the current moment. First, the flow information at the current moment is obtained, and then the current flow information is performed according to the ratio parameter obtained by the first capacity change information and the second capacity change information. Correction.

The embodiment of the present invention provides a flow rate correction method. The method first obtains first volume change information and flow rate information of a liquid within a preset period of time. The liquid is stored in a container device and ejected through the container device, The unmanned aerial vehicle 10 can carry the container device for flight; then calculate the second volume change information according to the flow information of the liquid within a preset time; finally, according to the first volume change information and the second volume change The information is corrected current flow information of the corrected data. In this reciprocating cycle, when the UAV 10 is in an environment of vibration or attitude changes, the current flow information can be continuously calibrated, thereby making the error of the current flow information smaller and smaller, and achieving the purpose of precise spraying.

In order to better obtain the first volume change information of the liquid within the preset time period, in some embodiments, referring to FIG. 4, the method further includes the following steps:

S211. Calculate capacity information under each time endpoint.

Specifically, the preset duration is defined by two time endpoints. For example, the time endpoint T1 and the time endpoint T2, and the time period T2-T1 between the time endpoint T2 and the time endpoint T1 is the preset duration.

Specifically, the container device is provided with at least two liquid level detection devices 12, and each of the liquid level detection devices 12 is used to detect the liquid level information of the liquid in the container device. First, the liquid level information of each of the liquid level detection devices 12 at each of the time endpoints can be obtained, and then according to the liquid level information of each of the liquid level detection devices 12 at each of the time endpoints, obtain Capacity information under each time endpoint.

S212: Calculate first volume change information of the liquid according to the volume information under each of the time endpoints.

Specifically, the respective capacity information under the two time endpoints may be subjected to a difference calculation to obtain the first capacity change information of the liquid. For example, if the volume information corresponding to the time endpoint T1 is V1, and the volume information corresponding to the time endpoint T2 is V2, the first volume change information of the liquid is V2-V1.

In order to better calculate the capacity information under each of the time endpoints, in some embodiments, referring to FIG. 5, S211 includes the following steps:

S2111: Acquire liquid level information of each liquid level detection device 12 at each time endpoint.

Specifically, the liquid level detection device 12 includes an instrument head, an instrument panel, a sensor, a detection rod, a float, and an induction magnet. One end of the detection rod is connected to the bottom end of the sensor, the sensor is connected to the instrument head, and the float It is stringed on the detection rod, and the induction magnet is connected to the other end of the detection rod. In this embodiment, when the liquid level detection device 12 is provided with an even number, a number of the container devices are arranged opposite to each other along the symmetry axis of the liquid level detection device 12. Therefore, when the container device is irregularly shaped or inclined, the liquid level information of different positions in the container device can be measured, and it can be understood that the liquid level information of different positions is different.

For example, you can first obtain the liquid level information corresponding to different positions of the container device under the time endpoint T1 as H1, H2, H3, H4, and H5, and then perform the liquid level information H1, H2, H3, H4, and H5 corresponding to the different positions. The average liquid level information H _ave1 =(H1+H2+H3+H4+H5)/5 is obtained by averaging processing. The average liquid level information H _{ave1 is} the liquid level information corresponding to the time endpoint T1. For another example, at the time endpoint T2, the liquid level information corresponding to different positions of the container device can be obtained as H1a, H2a, H3a, H4a, and H5a respectively, and then the liquid level information H1a, H2a, H3a, H4a, and H5a corresponding to the different positions can be obtained. Perform averaging processing to obtain average liquid level information H _ave2 =(H1a+H2a+H3a+H4a+H5a)/5. The average liquid level information H _{ave2 is} the liquid level information corresponding to the time endpoint T2.

S2112: According to the liquid level information of each liquid level detection device 12 under each time endpoint, obtain the capacity information under each time endpoint.

Specifically, the liquid level information of different positions under each of the time endpoints may be obtained first, and then the liquid level information of different positions may be averaged to obtain the average liquid level information, and then according to the average liquid level information Obtain the capacity information under the time endpoint. It is also possible to first obtain the liquid level information of different positions under each of the time endpoints, and then obtain the capacity information corresponding to the different positions according to the liquid level information of the different positions, and then perform the average processing on the capacity information corresponding to the different positions, Obtain average capacity information, and the average capacity information is the capacity information under each time endpoint.

For example, you can first obtain the time endpoint T1, the liquid level information corresponding to different positions of the container device are H1, H2, H3, H4, and H5, and then calculate the liquid level information H1, H2, H3, H4, and H5 corresponding to the different positions. By averaging processing, the average liquid level information H _ave =(H1+H2+H3+H4+H5)/5 is obtained. Then obtain the corresponding capacity information V _ave according to the average liquid level information H _ave . If the container device is a cylinder, then the capacity information V _ave =π(r^2)H _ave , where r is the cylinder capacity device The radius of the bottom surface. The capacity information V _{ave is} the capacity information corresponding to the time endpoint T1.

For another example, the time endpoint T1 can be obtained first, and the liquid level information corresponding to different positions of the container device are H1, H2, H3, H4, and H5, and then the corresponding capacity can be obtained according to the liquid level information H1, H2, H3, H4, and H5. Information V1, V2, V3, V4, and V5, and then the capacity information corresponding to different positions is averaged to obtain the average capacity information V _ave =(V1+V2+V3+V4+V5)/5. The average capacity information V _{ave is} the capacity information corresponding to the time endpoint T1.

In order to better obtain correction data according to the first capacity change information and the second capacity change information, in some embodiments, S23 includes the following steps:

Specifically, for example, divide the first capacity change information ΔV1 and the second capacity change information ΔV2, and then divide the first capacity change information ΔV1 and the second capacity change information ΔV2 to obtain the correction ratio parameter Δ v, and use the correction ratio parameter Δv as the correction data.

In order to better correct the current flow information according to the correction data to obtain the correction data, in some embodiments, please refer to FIG. 6. S24 includes the following steps:

S241: Obtain current flow information.

Specifically, the current flow rate information of the liquid ejected from the container device can be obtained through the flow detection device 14. Specifically, the flow detection device 14 may be a differential pressure flowmeter, a rotameter, a throttling flowmeter, a slit flowmeter, a positive displacement flowmeter, an electromagnetic flowmeter, an ultrasonic flowmeter, a turbine flowmeter, and so on.

S242: Multiply the correction ratio parameter and the current flow information to obtain corrected flow information.

Specifically, the first capacity change information ΔV1 and the second capacity change information ΔV2 are firstly divided, and then the first capacity change information ΔV1 and the second capacity change information ΔV2 are divided to obtain the correction ratio parameter Δv , And use the correction ratio parameter Δv as the correction data. Then, the current flow information is acquired as v _n , and then the correction ratio parameter Δ _{is multiplied with the current flow information v n} to obtain the corrected flow information v=v _n* Δv.

S243: Use the corrected flow information to correct the current flow information.

Specifically, after the corrected flow information v=v _n* _{Δv is obtained, the current flow information v n is} adjusted by the flow detection device 14 to adjust the current flow information to the corrected flow information v.

It should be noted that, in the above embodiments, there is not necessarily a certain sequence between the above steps. A person of ordinary skill in the art can understand from the description of the embodiments of the present application that in different embodiments, the above steps There can be different execution orders, that is, they can be executed in parallel, they can be executed interchangeably, and so on.

As another aspect of the embodiments of the present application, the embodiments of the present application provide a flow correction device. Referring to FIG. 7, the flow correction device is applied to the UAV 10, and the flow correction device includes: a first capacity change information acquisition module 71, a second capacity change information acquisition module 72, a correction data calculation module 73, and a correction module 74 .

The first volume change information acquisition module 71 is used to acquire the first volume change information and flow rate information of the liquid within a preset period of time. The liquid is stored in a container device and ejected through the container device. The unmanned aerial vehicle 10 can take the container device to fly.

The second volume change information acquiring module 72 is configured to calculate the second volume change information according to the flow information of the liquid within a preset time period. The second volume change information acquiring module 72 is specifically configured to integrate the flow information of the liquid within a preset time period to obtain the second volume change information of the liquid.

The correction data calculation module 73 is configured to obtain correction data according to the first capacity change information and the second capacity change information.

The correction module 74 is configured to correct current flow information according to the correction data. The correction module 74 is specifically configured to divide the first capacity change information and the second capacity change information to obtain a correction ratio parameter, and use the correction ratio parameter as the correction data.

Therefore, in this embodiment, by first obtaining the first volume change information and flow rate information of the liquid within a preset period of time, the liquid is stored in the container device and ejected through the container device, and the UAV 10 can Carry the container device to fly; then calculate the second volume change information according to the flow information of the liquid within the preset time; finally obtain the correction data of the correction current according to the first volume change information and the second volume change information Traffic information. In this reciprocating cycle, when the UAV 10 is in an environment of vibration or attitude changes, the current flow information can be continuously calibrated, thereby making the error of the current flow information smaller and smaller, and achieving the purpose of precise spraying.

Wherein, the first capacity change information acquisition module 71 includes a capacity information calculation unit and a first capacity change information calculation unit.

The capacity information calculation unit is used to calculate the capacity information under each of the time endpoints.

The first volume change information calculation unit is used to calculate the first volume change information of the liquid according to the volume information under each of the time endpoints. The first volume change information calculation unit is specifically configured to perform a difference calculation on the respective volume information under the two time endpoints to obtain the first volume change information of the liquid.

Wherein, the capacity information calculation unit includes a liquid level information acquisition subunit and a capacity information calculation subunit.

The liquid level information acquisition subunit is used to acquire the liquid level information of each liquid level detection device 12 at each time endpoint.

The capacity information calculation subunit is used to obtain the capacity information at each time endpoint according to the fluid level information of each fluid level detection device 12 at each time endpoint.

The correction module 74 includes a current flow information acquisition unit, a correction calculation unit, and a correction unit.

The current flow information obtaining unit is used to obtain current flow information.

The correction calculation unit is used for multiplying the correction ratio parameter and the current flow information to obtain corrected flow information.

FIG. 8 is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an embodiment of the present application. The unmanned aerial vehicle 10 may be any type of unmanned vehicle and can perform the flow correction method provided by the corresponding method embodiment above, or, Run the flow correction device provided by the above corresponding device embodiment. The UAV 10 includes a fuselage, an arm, a power device, a container device, a liquid level detection device, a flow detection device, at least one processor 110, a memory 120, and a communication module 130.

The arm is connected to the fuselage; the power device is provided on the arm and is used to provide power for the unmanned aerial vehicle 10 to fly;

A liquid is stored in the container device, and the liquid is ejected through the container device, and the unmanned aerial vehicle can fly the container device with it.

The liquid level detection device is used to obtain the liquid level information of the liquid in real time, and the liquid level detection device is installed on the container device.

The flow detection device is used to obtain flow information of the liquid in real time, and the flow detection device is connected to the container device.

The processor 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.

The processor 110 may be of any type, and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.

As a non-transitory computer-readable storage medium, the memory 120 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the flow correction method in the embodiment of the present invention (For example, the first capacity change information acquisition module 71, the second capacity change information acquisition module 72, the correction data calculation module 73, and the correction module 74 shown in FIG. 7). The processor 110 executes various functional applications and data processing of the flow correction device by running non-transitory software programs, instructions, and modules stored in the memory 120, that is, implements the flow correction method in any of the foregoing method embodiments.

The memory 120 may include a storage program area and a storage data area. The storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the flow correction device and the like. In addition, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 120 may optionally include a memory remotely provided with respect to the processor 110, and these remote memories may be connected to the UAV 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 120 stores instructions that can be executed by the at least one processor 110; the at least one processor 110 is used to execute the instructions to implement the flow correction method in any of the foregoing method embodiments, for example, perform the above description The method steps 21, 22, 23, 24, etc., realize the functions of the modules 71-74 in FIG. 7.

The communication module 130 is a functional module used to establish a communication connection and provide a physical channel. The communication module 130 may be any type of wireless or wired communication module 130, including but not limited to a WiFi module or a Bluetooth module.

Further, the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors. 110 is executed, for example, executed by one of the processors 110 in FIG. 8, so that the above-mentioned one or more processors 110 may execute the flow correction method in any of the above-mentioned method embodiments, for example, execute the above-described method steps 21, 22, and 23 , 24, etc., to realize the functions of modules 71-74 in Figure 7

The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above implementation manners, those of ordinary skill in the art can clearly understand that each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware by a computer program in a computer program product. The computer program can be stored in a non-transitory computer. In the read storage medium, the computer program includes program instructions, and when the program instructions are executed by a related device, the related device can execute the flow of the foregoing method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-mentioned products can execute the flow correction method provided by the embodiment of the present invention, and have the corresponding functional modules and beneficial effects for executing the flow correction method. For technical details that are not described in detail in this embodiment, refer to the flow correction method provided in the embodiment of the present invention.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so that the computer or other programmable equipment is executed The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above. For the sake of brevity, they are not provided in the details; although the present invention has been described in detail with reference to the foregoing embodiments, it is common in the art The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementations of the present invention. Examples of the scope of technical solutions.

Claims

A flow correction method applied to an unmanned aerial vehicle, characterized in that the method includes:

Acquiring first volume change information and flow rate information of the liquid within a preset period of time, the liquid being stored in a container device and sprayed out through the container device, and the unmanned aerial vehicle can carry the container device for flight;

Calculating the second volume change information according to the flow information of the liquid within the preset time period;

Obtaining correction data according to the first capacity change information and the second capacity change information;

According to the correction data, the current flow information is corrected.
The method according to claim 1, wherein the preset duration is defined by two time endpoints, and the acquiring first volume change information of the liquid within the preset duration comprises:

Calculating capacity information under each of the time endpoints;

Calculate the first volume change information of the liquid according to the volume information under each of the time endpoints.
The method according to claim 2, wherein the calculating the first volume change information of the liquid according to the volume information under each of the time endpoints comprises:

The respective volume information under the two time endpoints are subjected to a difference operation to obtain the first volume change information of the liquid.
The method according to claim 2, wherein the container device is provided with at least two liquid level detection devices, and each of the liquid level detection devices is used to detect the liquid level of the liquid in the container device. Bit information, the calculation of the capacity information under each of the time endpoints includes:

Acquiring liquid level information of each of the liquid level detection devices at each of the time endpoints;

According to the liquid level information of each liquid level detection device under each time endpoint, the capacity information under each time endpoint is obtained.
The method according to claim 2, wherein the calculating the second volume change information according to the flow information of the liquid within a preset time period comprises:

The flow rate information of the liquid in the preset time period is integrated to obtain the second volume change information of the liquid.
The method according to claim 1, wherein the obtaining correction data according to the first capacity change information and the second capacity change information comprises:

Divide the first capacity change information and the second capacity change information to obtain a correction ratio parameter, and use the correction ratio parameter as correction data.
The method according to any one of claims 1 to 6, wherein the correcting the flow meter according to the correction data comprises:

Get current traffic information;

Multiplying the correction ratio parameter and the current flow information to obtain corrected flow information;

Use the corrected flow information to correct the current flow information.
A flow correction device applied to an unmanned aerial vehicle, characterized in that it comprises:

The first volume change information acquisition module is used to acquire the first volume change information and flow information of the liquid within a preset time period;

The second volume change information acquiring module is configured to calculate the second volume change information according to the flow information of the liquid within a preset time period;

A correction data calculation module, configured to obtain correction data according to the first capacity change information and the second capacity change information;

The correction module is used to correct the current flow information according to the correction data.
The device according to claim 8, wherein the correction module comprises a current flow information acquisition unit, a correction calculation unit, and a correction unit;

The current flow information obtaining unit is used to obtain current flow information;

The correction calculation unit is configured to multiply the correction ratio parameter and the current flow information to obtain corrected flow information;

The correction unit is configured to use the corrected flow information to correct the current flow information.
An unmanned aerial vehicle, characterized in that it comprises:

body;

An arm, connected to the fuselage;

The power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;

A container device in which liquid is stored, and the liquid is sprayed out through the container device, and the unmanned aerial vehicle can carry the container device for flight;

A liquid level detection device for acquiring liquid level information of the liquid in real time, and the liquid level detection device is installed on the container device;

A flow detection device for acquiring flow information of the liquid in real time, and the flow detection device is connected to the container device;

At least one processor; and

A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor The device can be used to perform the flow correction method according to any one of claims 1-7.