WO2021078206A1 - Procédé et dispositif de correction d'écoulement et véhicule aérien sans pilote - Google Patents

Procédé et dispositif de correction d'écoulement et véhicule aérien sans pilote Download PDF

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Publication number
WO2021078206A1
WO2021078206A1 PCT/CN2020/122915 CN2020122915W WO2021078206A1 WO 2021078206 A1 WO2021078206 A1 WO 2021078206A1 CN 2020122915 W CN2020122915 W CN 2020122915W WO 2021078206 A1 WO2021078206 A1 WO 2021078206A1
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information
liquid
change information
flow
correction
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PCT/CN2020/122915
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English (en)
Chinese (zh)
Inventor
成转鹏
张辉华
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深圳市道通智能航空技术有限公司
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Publication of WO2021078206A1 publication Critical patent/WO2021078206A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F25/00—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume
    • G01F25/10—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume of flowmeters

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • a flow correction method applied to an unmanned aerial vehicle 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;
  • the current flow information is corrected.
  • 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:
  • 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.
  • 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:
  • the capacity information under each time endpoint is obtained.
  • 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.
  • the obtaining correction data according to the first capacity change information and the second capacity change information includes:
  • the calibrating the flow meter according to the calibration data includes:
  • 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.
  • 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.
  • an 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 At least one processor
  • the device can be used to perform the flow correction method described above.
  • the method for providing flow correction 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.
  • FIGS 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.
  • 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.
  • 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.
  • Fig. 1 is a schematic diagram of an application environment of a flow correction method provided by an embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the volumetric device 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.
  • 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.
  • buttons, display screens, touch screens, speakers, and remote control joysticks are examples of the remote control device 30 .
  • 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.
  • 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.
  • 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.
  • the method may include but is not limited to the following steps:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the flow rate information of the liquid within a preset time period is integrated to obtain the second volume change information of the liquid.
  • 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.
  • 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.
  • the correction data obtained according to the first capacity change information and the second capacity change information is a proportional parameter.
  • 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.
  • 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.
  • 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 method further includes the following steps:
  • the preset duration is defined by two time endpoints.
  • 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.
  • 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.
  • 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.
  • 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.
  • S211 includes the following steps:
  • S2111 Acquire liquid level information of each liquid level detection device 12 at each time endpoint.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the average liquid level information H ave (H1+H2+H3+H4+H5)/5 is obtained.
  • the capacity information V ave is the capacity information corresponding to the time endpoint T1.
  • 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.
  • the average capacity information V ave is the capacity information corresponding to the time endpoint T1.
  • S23 includes the following steps:
  • S24 includes the following steps:
  • the current flow rate information of the liquid ejected from the container device can be obtained through the flow detection device 14.
  • 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 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.
  • the embodiments of the present application provide a flow correction device.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • the correction unit is configured to use the corrected flow information to correct the current 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the flow correction method provided in the embodiment of the present invention 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.
  • 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.

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Abstract

Procédé et dispositif de correction d'écoulement et véhicule aérien sans pilote (10). Le procédé de correction d'écoulement consiste : à acquérir des premières informations de changement de capacité et des informations d'écoulement d'un liquide pendant une période prédéfinie (S21), le liquide étant stocké dans un dispositif récipient et étant pulvérisé depuis le dispositif récipient, et le dispositif récipient pouvant être transporté par le véhicule aérien sans pilote (10) ; à calculer des secondes informations de changement de capacité en fonction des informations d'écoulement du liquide pendant la période prédéfinie (S22) ; à obtenir des données de correction en fonction des premières informations de changement de capacité et des secondes informations de changement de capacité (S23) ; et à corriger des informations d'écoulement actuelles en fonction des données de correction (S24). Le processus se poursuit cycliquement de la manière décrite. Lorsque le véhicule aérien sans pilote (10) se trouve dans un environnement de vibration ou de changement de posture, les informations d'écoulement en cours peuvent être étalonnées en continu, de manière à réduire de plus en plus l'erreur des informations d'écoulement en cours afin d'atteindre le but d'une pulvérisation précise.
PCT/CN2020/122915 2019-10-22 2020-10-22 Procédé et dispositif de correction d'écoulement et véhicule aérien sans pilote WO2021078206A1 (fr)

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CN201911007387.2A CN110686760A (zh) 2019-10-22 2019-10-22 流量校正方法及装置、无人飞行器

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Cited By (1)

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CN117516671A (zh) * 2024-01-05 2024-02-06 中国航空油料有限责任公司成都分公司 一种飞机加油车流量计检定的移动标准装置

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