WO2021087725A1 - 一种插拔检测方法、装置及飞行器、计算机存储介质 - Google Patents

一种插拔检测方法、装置及飞行器、计算机存储介质 Download PDF

Info

Publication number
WO2021087725A1
WO2021087725A1 PCT/CN2019/115590 CN2019115590W WO2021087725A1 WO 2021087725 A1 WO2021087725 A1 WO 2021087725A1 CN 2019115590 W CN2019115590 W CN 2019115590W WO 2021087725 A1 WO2021087725 A1 WO 2021087725A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
level
detection device
detection
sensing
Prior art date
Application number
PCT/CN2019/115590
Other languages
English (en)
French (fr)
Inventor
胡德琪
石雄飞
周万仁
孟祥�
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 CN201980038389.XA priority Critical patent/CN112272760A/zh
Priority to PCT/CN2019/115590 priority patent/WO2021087725A1/zh
Publication of WO2021087725A1 publication Critical patent/WO2021087725A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/30—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats
    • G01F23/32—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats using rotatable arms or other pivotable transmission elements
    • G01F23/38—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by floats using rotatable arms or other pivotable transmission elements using magnetically actuated indicating means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • 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
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Definitions

  • the present invention relates to the technical field of computer software technology, in particular to a plug detection method, device, aircraft, and computer storage medium.
  • the embodiments of the present invention provide a plug-in detection method, device, aircraft, and computer storage medium, which can detect whether a container is inserted or pulled out of an installation part for accommodating the container.
  • the embodiment of the present invention provides a plug-in detection method, which is used to detect the insertion or removal of a container into a mounting part.
  • a plurality of sensing devices are provided on the side wall of the container, and the mounting part is provided with a plurality of detection devices.
  • the plurality of detection devices correspond to a plurality of sensing devices one-to-one; the detection device is configured to generate a level signal according to the sensing signal of the corresponding sensing device; the method includes:
  • the level signal of the detection device it is determined that the container is inserted or pulled out of the mounting part.
  • an embodiment of the present invention also provides a plug detection device, including a processor and a storage device, wherein the storage device stores program instructions, and the processor invokes the program instructions to execute the foregoing The plug detection method.
  • the embodiment of the present invention also provides a movable platform, including
  • the rack is provided with an installation part, and the installation part is provided with a plurality of detection devices;
  • the power system is installed on the frame to provide flight power
  • the container is installed on the rack for storing liquid;
  • the side wall of the container is provided with a plurality of sensing devices,
  • the mounting part is provided with a plurality of detection devices, the plurality of sensing devices and the plurality of detection devices
  • the devices have a one-to-one correspondence; the detection device is used to generate a level signal according to the sensing signal of the corresponding sensing device;
  • Storage device for storing program instructions
  • the controller calls the program instructions stored in the storage device, and is used to obtain the level signal generated by the detection device according to the induction signal of the corresponding induction device; and determine the level signal of the detection device according to the level signal of the detection device.
  • the container is inserted or pulled out of the mounting part.
  • an embodiment of the present invention also provides a computer-readable storage medium, in which program instructions are stored, and when the program instructions are executed by a processor, the above-mentioned plug detection method is implemented.
  • the detection device on the installation part and the sensing device in the container cooperate with each other, so that the insertion or withdrawal state of the container on the installation part can be conveniently and accurately, with low cost and high detection efficiency.
  • FIG. 1 is a schematic diagram of the structural relationship of a plug detection system according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a plug detection method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the electrical level during the process of inserting or pulling out the installation part of the container when the liquid level is low according to the embodiment of the present invention
  • FIG. 4 is a schematic diagram of the electrical level during the process of inserting or pulling out the installation part of the container when the liquid level is medium according to the embodiment of the present invention
  • FIG. 5 is a schematic diagram of the electrical level during the process of inserting or pulling out the installation part of the container when the liquid level is medium according to the embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a plug detection device according to an embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the container mentioned may refer to a device that contains pesticides, water and other liquids, such as pesticide tanks, water tanks, etc.
  • the mounting part is a component used to contain or fix the container.
  • the installation part can be set on the drone, and the container for liquids such as pesticides or water can be inserted into or pulled out of the installation part, so that the container can be detachably connected to the drone.
  • the installation part is a fixed iron rack, and the container containing domestic water can be inserted into the installation part and fixed at a higher position to facilitate the user to take water.
  • the container containing domestic water can also be installed from Take it out of the part, so that users can replenish domestic water.
  • the mounting part is also provided with a plurality of detection devices. These detection devices cooperate with the sensing devices provided on the container to detect whether the container is inserted into the mounting part or from the installation. The part is pulled out, and the approximate position of the liquid in the container can also be determined.
  • the detection device on the mounting part may use a Hall sensor, and the corresponding sensing device of the detection device is a device constructed based on a magnetic object such as a magnet.
  • a Hall sensor also called a Hall level gauge
  • the Hall sensor is installed on the outside of the container, and the sensing device is supported on the float.
  • the magnetic induction intensity of the magnetic field acting on the Hall sensor changes, so that it can be mounted on the Hall sensor.
  • the corresponding level can be obtained, and then the plugging state of the container on the mounting part can be determined, and the liquid level can also be measured.
  • the Hall sensor is used to detect the liquid level, because the Hall sensor is outside the liquid and is non-contact sensing, no spark is generated during the detection process, and remote measurement can be achieved. Therefore, it can be used to detect flammable and explosive .
  • the level of corrosive and toxic liquids and the liquid inventory in the container for example, it can always detect the liquid level of petroleum, chemical liquids, medical liquids, pesticide liquids, etc.
  • the Hall sensor can be a bipolar latching Hall sensor.
  • the bipolar latching Hall sensor is sensitive to both the S and N poles of the magnet. When the S pole is close to the marked surface and the magnetic field reaches At a certain intensity, the output of the Hall sensor is turned on (low level), and after the S pole is withdrawn, the output remains on; only when the N pole is close to the marked surface and the magnetic field reaches a certain strength, the output of the Hall sensor is cut off ( High level), after the N pole is evacuated, the Hall sensor remains in the cut-off state. After the magnetic field is evacuated (the magnetic field intensity is 0), the Hall remains in its original state, which is similar to the memory function of a latch.
  • this type of Hall sensor is called a bipolar latched Hall sensor.
  • the Hall sensor based on the bipolar latch can be better applied to the detection of whether the container is inserted or pulled out of the mounting part in the embodiment of the present invention, and the liquid level detection of the liquid in the container.
  • a two-stage or multi-stage detection device and a sensing device may be provided, and the structure of each sensing device and its corresponding float may be the same, and multiple sensing devices are installed on the moving axis of the water tank, and the detection device and The sensing device is correspondingly arranged to ensure that the sensing device at the bottom will pass the detector located on the upper part of the mounting part during the process of inserting and pulling out the container.
  • FIG. 1 it is a schematic diagram of the structural relationship among the mounting part 101, the container 102, the detecting device 103, and the sensing device 104 according to the embodiment of the present invention.
  • the mounting part 101 may be fixed or movably connected to a certain device.
  • the mounting part 101 may be another container for accommodating the container 102 as shown in FIG. 1.
  • the mounting part 101 It may also be a component arranged on the frame of the drone, or the mounting part 101 may be a part of the frame of the drone.
  • the container 102 may be a pesticide tank, of course, it may also be a water tank or other tank equipment.
  • the detection device 103 provided on the mounting part 101 includes two, and may also include only one or more as required.
  • the detection device 103 is the aforementioned Hall sensor.
  • the sensing device 104 can be a magnet, and the magnet can be arranged on a float 105 that can float in the liquid in the container 102.
  • the multiple detection devices 103 and the multiple sensing devices 104 correspond one-to-one.
  • the sensing device 104 is arranged on the container 102 through a float 105, and the float 105 includes a first end and a second end opposed to each other along its length.
  • the first end is rotatably connected to the inner side wall of the container 102,
  • the sensing device 104 is disposed at the first end, and the second end extends toward the container 102 and can float with the liquid level in the container 102; when the liquid level in the container 102 is equal to or higher than When the second end is the second end, the second end is floating in the liquid under the buoyancy of the liquid, and the sensing device 104 is in the first posture; in the first posture, it can be understood that the sensing device 104 is horizontal or close to In a horizontal position, the detection device 103 can sense the magnetic field of the magnet at this time.
  • FIG. 1 shows the second posture
  • the detection device 103 cannot sense the magnetic field of the magnetic field.
  • the position of the detection device 103 corresponding to the first end is fixed outside the container 102, and is mainly fixed on the mounting portion 101.
  • the detection device 103 is in the first posture or the first posture when the sensing device 104 is in the first posture or the first end. Two postures and output different sensing signals.
  • the sensing device 104 may also be a magnetic float provided with a magnetic object, and the magnetic object is provided at the first end.
  • the mounting part 101 may also be a container, such as the container shown in FIG. 1, the detection device 103 is arranged on the side wall of the mounting part 101, and the mounting part 101 is used to house the container. 102.
  • the setting position of the detecting device 103 on the side wall of the mounting portion 101 corresponds to the setting position of the first end of the sensing device 104 on the container 102.
  • Fig. 1 is only an example, and the gap between the container 102 and the mounting part 101 can be smaller, so that the container 102 can be better fixed to the mounting part 101, so that mobile platforms such as aircraft are not in motion during movement. It will cause the liquid in the container 102 to slosh.
  • the mounting part 101 can also be just a shelf, and the shelf corresponding to the position of the sensing device 104 in the container 102 is provided with a detection device, and the container 102 is fixed on a mobile platform such as an aircraft by other fixing methods.
  • FIGS. 2 to 5 again to illustrate the plug detection method according to the embodiment of the present invention with the relevant schematic diagrams of FIGS. 2 to 5.
  • FIG. 2 is a schematic flowchart of a plug-in detection method according to an embodiment of the present invention.
  • the method in this embodiment of the present invention can be executed by a dedicated control device, which is connected to the aforementioned detection device.
  • the method of the embodiment of the present invention may include the following steps
  • S201 Obtain a level signal generated by the detection device according to the sensing signal of the corresponding sensing device.
  • the detection device outputs a high level when it can sense the magnetic field of the induction device, and outputs a low level when it cannot sense the magnetic field of the induction device.
  • the detection device is the above-mentioned bipolar latching Hall sensor.
  • the S pole When the S pole is close to the marked surface and the magnetic field reaches a certain strength, the output is low. After the S pole is withdrawn, the output will remain low. ;
  • the N pole is close to the marked surface, and the magnetic field reaches a certain strength, the output is high, and after the N pole is withdrawn, the output is maintained at the high level.
  • Figure 1, Figure 3, Figure 4, Figure 5 the N pole of the sensing device is on the bottom, and the S pole is on the top. In this way, the N level is sensed by the detection device first, and the detection device will output high When the container moves within the detection range of the mounting part, it will output a low level at the same time and after passing through the S level.
  • S202 According to the level signal of the detection device, determine whether the container is inserted into or removed from the mounting part.
  • the plug-in state of the container can be determined, that is, according to the electrical
  • the flat signal can determine whether the container moves within the detection range of the detection device in the mounting part.
  • the detection device includes only one detection device
  • the sensor device on the container moves with the container, and the sensor device will pass the detection device, so that the detection device will sense the magnetic field and output The level will change to detect the plugging and unplugging state of the container in the mounting part.
  • the plurality of detection devices include a first detection device and a second detection device, and the plurality of the detection devices include a first detection device and a second detection device; the first detection device and the first detection device Corresponding to the device, the second detecting device corresponds to the second sensing device;
  • the obtaining the level signal generated by the detection device according to the induction signal of the corresponding induction device includes: obtaining the level signal generated by the first detection device according to the induction signal of the first induction device, and the second The second detecting device generates a level signal according to the sensing signal of the first sensing device.
  • the embodiment of the present invention determines the plug-in state of the container and the liquid level of the liquid in the container at least according to the level signals of the two detection devices.
  • the first sensing device is closest to the container mouth of the container, and the second sensing device is closest to the bottom of the container.
  • FIG. 3 is a schematic diagram of the electrical level during the process of inserting or pulling out the mounting part of the container when the liquid level is low in the embodiment of the present invention; during the insertion process, the second sensing device at the bottom of the container passes through the top of the mounting part.
  • the first detection device the first detection device will have a level change as shown in Figure 3, and the first sensing device located at the mouth of the container has a low liquid level in the container, so the float does not float up, and the magnetic field generated by the magnet is not It will be sensed by the first detecting device. Therefore, after the second detecting device leaves the first detecting device, the first detecting device will continue to output a low level.
  • the second sensing device still cannot sense the magnetic field of the second sensing device, and the second sensing device continues to output a low level .
  • the second sensing device will also pass through the first detection device, the first detection device will generate a high level, and the second detection device will continue to output a low level because it cannot always sense a magnetic field. .
  • the duration of the high level of the first detection device depends on the plugging speed, and the high level in FIG. 3 is only an example.
  • FIG. 4 is a schematic diagram of the electrical level during the process of inserting or unplugging the container into or out of the mounting part when the liquid level is medium in the embodiment of the present invention; during plugging and unplugging, the second sensing device also passes through the first detecting device. , The first detection device will output a high level during the passage of the second sensing device, and a low level for the rest of the time.
  • the second detection device Because the liquid level in the container is higher than that of the second sensing device The second section of the float, the float drives the first end to rotate, the second sensing device moves down in the inner wall of the container, the second detection device can sense the magnetic field of the second sensing device, and then the liquid level is higher than the first end In the case of two terminals, it can continuously output high level.
  • the second detection device can first sense the magnetic field of the second induction device and output a high level. After being pulled out to a certain height, the second detection device will not sense the second induction. The magnetic field of the device, the second detection device continuously outputs a low level.
  • FIG. 5 is a schematic diagram of the electrical level during the process of inserting or pulling out the installation part of the container at the middle liquid level in the embodiment of the present invention.
  • the second sensing device will pass through the first detecting device.
  • a detection device will generate a high level.
  • the first detection device no longer senses the magnetic field and outputs a low level.
  • the container moves to the bottom, the liquid level is higher than the first Therefore, both the first detection device and the second detection device can detect the magnetic field of the corresponding induction device, and both output a high level.
  • both the first detection device and the second detection device can detect the magnetic field of the corresponding sensing device, the output is high, but the pulling action makes the first sensing device and the second sensing device face each other.
  • neither the first detection device nor the second detection device can detect the magnetic field of the corresponding induction device, and output a low level.
  • the first detection device will briefly output a high level.
  • the first detecting device when the S pole of the sensing device is down and the N pole is up, the first detecting device has a falling edge from high to low, and when the first detecting device is at the falling edge, the second detecting device is at High level, it can be determined that the container is inserted or pulled out of the mounting part. Therefore, the following analysis and determination can be made based on the relationship between the container and the mounting part.
  • the first detecting device has a changing edge from the first level to the second level, it is determined that the container is inserted or unplugged from the installation. unit.
  • the sensing device at the mouth of the container will pass through a certain detection device, such as at least the first detection device on the upper part of the installation part.
  • the first detection device can sense the change of the magnetic field, thereby generating the change of the output level. As long as the change of the level is sensed, it can be determined that the container is inserted or pulled out of the mounting part.
  • the first level is the default level
  • the second level is the level changed from the default level. If the default level output by the detection device, that is, the first level, is a low level, the changing edge is the rising edge of the level. If the default level output by the detection device, that is, the first level, is a high level, the changing edge is the falling edge of the level.
  • the first level is low, the N pole of the sensing device faces down, and the N pole is sensed by the detection device first. If the level is high, the S pole of the sensing device faces downward, and the S pole is sensed by the detection device first.
  • the method further includes: if at least one of the first detection device and the second detection device is detected If the level is at the second level, it is determined that the container has been installed in the mounting part. After determining that the container is in the plug-in state, if it is detected that one of the two detection devices outputs a non-default level, that is, the second level, it can be considered that the container is already in place and has been installed in the mounting part.
  • the liquid level position can be further detected to determine whether to carry out further operations, such as controlling the drone to take off so as to spray pesticides.
  • the method further includes: if it is detected that the output levels of the first detection device and the second detection device are both the first level, then It is determined that the container is not installed in the mounting part. After confirming that the container is in the plug-in state, if it is detected that the two detection devices are both low, there are actually two situations at this time. One is that the container is completely pulled out, and the detectors on the mounting part all output the default voltage. The level is the first level. At this time, it can be determined that the container is not inserted into the mounting part, but pulled out; the other situation is that the liquid level in the container is low enough that no detection device can detect it. The magnetic field outputs a low level. At this time, it can also be considered that the container is not installed in the mounting part. When it is determined that the container is not installed in the installation part, no corresponding operations will be performed, and operations such as controlling the flight of the drone will not be performed.
  • the method further includes: if it is detected that the level output by the second detection device is the first level, determining the The liquid level in the container is lower than the position of the second sensing device in the container. After it is determined that the container is inserted or pulled out of the mounting part, if the level output by the second detection device is the default first level, it can also be considered that the liquid level in the container is lower than the second sensing device Position in the container. As mentioned above, if the liquid level is lower than the position of the second sensing device in the container, it can also be considered that the container is not loaded.
  • the determining that the container is inserted into or removed from the mounting part includes: when it is detected that the first detection device changes from the first level to the second level, and the second detection device changes from the first level to the second level.
  • a level changes to a second level it is determined that the container is inserted into the mounting part, and the liquid level in the container is higher than the position of the first sensing device in the container.
  • the first detecting device and the second detecting device when the first detecting device and the second detecting device generate rising edges at the same time, it can be determined that the container is inserted into the mounting portion, and the liquid level in the container is higher than that of the first sensing device Position in the container.
  • the determining that the container is inserted into or removed from the mounting portion includes: when it is detected that the first detection device changes from the second level to the first level, and the second detection device changes from When the second level changes to the first level, it is determined that the container is pulled out from the mounting portion, and the liquid level in the container is higher than the position of the first sensing device in the container.
  • the installation part when the installation part is installed on a movable platform such as a drone, a car, etc., the installation part can be inserted or pulled out according to the determined container to assist the movable platform on which the first container is mounted. control. For example, in the process of loading and installing the drone and spraying pesticide on the container, if it is detected that the container is inserted or pulled out of the installation part, it can be considered that the container is loose at the installation part, and the drone can be assisted to control the drone. , Such as sending a return signal or a temporary hovering signal, so that the drone can perform its mission safely.
  • the detection device on the mounting part and the sensing device in the container cooperate with each other, and the insertion or withdrawal state of the container on the mounting part can be conveniently and accurately achieved, and it can be realized by the cooperation of the Hall sensor and the magnet in the specific implementation. It is inexpensive, and the level signal output by the detection device can be used to further determine the approximate position of the solution in the container. Based on the determined approximate position, the user can also be reminded of the liquid level when necessary, which satisfies the user’s requirements. Automatic and intelligent requirements for liquid level position sensing; in addition, the embodiment of the present invention can use a multi-segment Hall level gauge to detect the liquid volume (liquid level), which can be used to detect whether the container is pulled out without increasing the cost and other components. Out of the installation department.
  • FIG. 6 is a schematic structural diagram of a plug-in detection device according to an embodiment of the present invention.
  • the plug-in detection device in the embodiment of the present invention can be connected to the aforementioned detection device, and the output of the detection device is identified through analysis. Level signal to achieve accurate detection of container insertion or removal from the installation part.
  • the device includes a processor 601, a storage device 602, and may also include a data interface 603, a user interface 604, and other structures.
  • the received level signal output by the detection device can be output from the detection device, so that the processor 601 can perform the corresponding plug detection.
  • the user interface 604 may be some physical buttons, for example, the plug detection device can be controlled to start or end the plug detection of the container through these physical buttons, and the user interface 604 may also be some indicator lights or displays. Indicate the plugging state detected by the plugging detection device to the user, for example, the green light is on when the plugging state is not detected, and the red light is on when the plugging state is detected.
  • the storage device 602 may include a volatile memory (volatile memory), such as random-access memory (RAM); the storage device 602 may also include a non-volatile memory (non-volatile memory), such as fast Flash memory (flash memory), solid-state drive (SSD), etc.; the storage device 602 may also include a combination of the foregoing types of memories.
  • volatile memory volatile memory
  • non-volatile memory non-volatile memory
  • flash memory flash memory
  • SSD solid-state drive
  • the processor 601 may be a central processing unit (CPU).
  • the processor 601 may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), etc.
  • the above-mentioned PLD may be a field-programmable gate array (FPGA), a general array logic (generic array logic, GAL), and the like.
  • the storage device 602 is also used to store program instructions.
  • the processor 601 may call the program instructions to implement various steps related to the plug detection method in the embodiment of the present application.
  • the processor 601 calls the program instructions stored in the storage device 602 to obtain the level signal generated by the detection device according to the induction signal of the corresponding induction device; according to the detection The level signal of the device determines whether the container is inserted or pulled out of the mounting part.
  • the plurality of detection devices include a first detection device and a second detection device, and the plurality of the detection devices include a first detection device and a second detection device; the first detection device and the first detection device Corresponding to the device, the second detection device corresponds to the second sensing device; the processor 601 is configured to obtain the level signal generated by the first detection device according to the sensing signal of the first sensing device, and the second detection device Any one or more of the level signal generated by the device according to the induction signal of the first sensing device, and the level signal generated by the first detection device according to the induction signal of the second sensing device.
  • the processor 601 is configured to: if the first detecting device has a changing edge from the first level to the second level, and when the first detecting device is at the changing edge, the second detecting device If the device is at the first level, it is determined that the container is being inserted or pulled out of the mounting part, or if the first detection device has a change edge from the first level to the second level, it is determined that the container Insert or pull out the mounting part.
  • the first sensing device is closest to the container mouth of the container, and the second sensing device is closest to the bottom of the container.
  • the processor 601 is further configured to, if it is detected that the output level of at least one of the first detection device and the second detection device is the second level, determine that the container has been loaded Into the installation part.
  • the processor 601 is further configured to determine that the container is not installed in the installation if it is detected that the output levels of the first detection device and the second detection device are both the first level. Ministry.
  • the processor 601 is further configured to determine that the liquid level in the container is lower than the second sensor if it is detected that the level output by the second detection device is the first level. The location of the device in the container.
  • the processor 601 is configured to detect that the first detection device changes from the first level to the second level, and the second detection device changes from the first level to the second level. If it is flat, it is determined that the container is inserted into the mounting portion, and the liquid level in the container is higher than the position of the first sensing device in the container.
  • the processor 601 is configured to detect that the first detection device changes from the second level to the first level, and the second detection device changes from the second level to the first level. If it is flat, it is determined that the container is pulled out from the mounting part, and the liquid level in the container is higher than the position of the first sensing device in the container.
  • the processor 601 is configured to determine that the container is pulled out from the mounting part when the first detection device and the second detection device generate a falling edge at the same time, and the The liquid level in the container is higher than the position of the first sensing device in the container.
  • the sensing device is a magnet.
  • the sensing device is arranged on the inner side wall of the container through a float, and the float includes a first end and a second end opposed to each other along the length of the float, and the first end rotates on the inner side wall of the container. Connected, the sensing device is arranged at the first end, and the second end extends toward the container and can float with the liquid level in the container.
  • the detection device is a Hall sensor.
  • the container is a pesticide box
  • the mounting part is a rack set on an unmanned aerial vehicle.
  • the processor 601 is further configured to insert or pull out the mounting part according to the determined container to perform auxiliary control on the movable platform on which the first container is mounted.
  • the beneficial effect that can be achieved based on the processor 601 of the embodiment of the present invention is that the detection device on the mounting part and the sensing device in the container cooperate with each other, so that the insertion or removal state of the container on the mounting part can be conveniently and accurately , And in specific implementation, it can be realized by the cooperation of the Hall sensor and the magnet, which is low in cost, and the level signal output by the detection device can be used to further determine the approximate position of the solution in the container, based on the determination The approximate position of the liquid level can also be reminded to the user when necessary, which meets the user's automatic and intelligent demand for liquid level position perception.
  • FIG. 7 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the movable platform in the embodiment of the present invention may be a drone or a platform such as a car.
  • the movable platform include:
  • Rack 701 the rack 701 is provided with a mounting portion 702, and the mounting portion 702 is provided with a plurality of detection devices;
  • the power system 704 is installed on the frame 701 and is used to provide flight power
  • the container 703 is installed on the rack 701 for storing liquid; the side wall of the container 703 is provided with a plurality of sensing devices, the mounting portion 702 is provided with a plurality of detection devices, and a plurality of the sensing devices One-to-one correspondence with a plurality of detection devices; the detection device is used to generate a level signal according to the induction signal of the corresponding induction device;
  • the storage device 705 is used to store program instructions
  • the controller 706 calls the program instructions stored in the storage device to obtain the level signal generated by the detection device according to the sensing signal of the corresponding sensing device; and determine the level signal of the detection device according to the level signal of the detection device.
  • the container 703 is inserted or pulled out of the mounting portion 702.
  • the storage device 705 may include a volatile memory (volatile memory), such as RAM; the storage device may also include a non-volatile memory (non-volatile memory), such as flash memory (flash memory), SSD, etc.; storage device 705 may also include a combination of the above-mentioned types of memories.
  • volatile memory volatile memory
  • non-volatile memory non-volatile memory
  • flash memory flash memory
  • SSD solid state drive
  • the controller 706 may be a CPU, and the controller 706 may further include a hardware chip.
  • the above hardware chip may be ASIC, PLD, etc.
  • the above-mentioned PLD may be FPGA, GAL, etc.
  • the plurality of detection devices include a first detection device 7021 and a second detection device 7022
  • the plurality of detection devices 7031 include a first detection device 7031 and a second detection device 7032
  • the first detection device 7031 The device 7021 corresponds to the first sensing device 7031
  • the second detection device 7022 corresponds to the second sensing device 7032
  • the controller 706 is used to obtain the sensing signal of the first detection device 7021 according to the first sensing device 7031
  • the level signal generated by the second detection device 7022 according to the induction signal of the second induction device 7032, and the level signal generated by the first detection device 7021 according to the induction signal of the second induction device 7032 Any one or more of the steps.
  • the controller 706 is configured to: if the first detecting device 7021 has a changing edge from the first level to the second level, and when the first detecting device 7021 is at the changing edge, the first If the second detection device 7022 is at the first level, it is determined that the container 703 is being inserted or removed from the mounting part 702; or, if the first detection device 7021 has a change edge from the first level to the second level , It is determined that the container 703 is inserted or pulled out of the mounting part 702.
  • the first sensing device 7031 is closest to the mouth of the container 703 of the container 703, and the second sensing device 7032 is closest to the bottom of the container 703.
  • the controller 706 is further configured to determine that the container is at a second level if the output level of at least one of the first detection device 7021 and the second detection device 7022 is detected to be the second level. 703 has been installed in the mounting part 702.
  • the controller 706 is further configured to determine that the container 703 is not loaded if it is detected that the levels output by the first detection device 7021 and the second detection device 7022 are both the first level.
  • the controller 706 is further configured to determine that the liquid level in the container 703 is lower than the first level if it is detected that the level output by the second detection device 7022 is the first level. The position of the second sensing device 7032 in the container 703.
  • the controller 706 is further configured to detect that the first detection device 7021 changes from the first level to the second level, and the second detection device 7022 changes from the first level to the second level. At the second level, it is determined that the container 703 is inserted into the mounting portion 702, and the liquid level in the container 703 is higher than the position of the first sensing device 7031 in the container 703.
  • the controller 706 is configured to detect that the first detection device 7021 changes from the second level to the first level, and the second detection device 7022 changes from the second level to the first level. A level, it is determined that the container 703 is pulled out from the mounting portion 702, and the liquid level in the container 703 is higher than the position of the first sensing device 7031 in the container 703.
  • the controller 706 is configured to determine that the container 703 is pulled out of the mounting portion 702 when the first detecting device 7021 and the second detecting device 7022 generate falling edges at the same time And the liquid level in the container 703 is higher than the position of the first sensing device 7031 in the container 703.
  • the sensing device is a magnet.
  • the sensing device is arranged on the inner side wall of the container 703 through a float, and the float includes a first end and a second end opposed to each other along the length of the float, and the first end is inside the container 703
  • the walls are connected in rotation, the sensing device is arranged at the first end, and the second end extends toward the container 703 and can float with the liquid level in the container 703.
  • the detection device is a Hall sensor.
  • the container 703 is a pesticide box
  • the mounting part 702 is a frame 701 installed on an unmanned aerial vehicle.
  • the controller 706 is further configured to insert or pull out the mounting part 702 according to the determined container 703 to perform auxiliary control on the movable platform on which the first container 703 is mounted.
  • the beneficial effect that can be achieved based on the controller of the embodiment of the present invention is that the detection device on the mounting part and the sensing device in the container cooperate with each other, and the insertion or removal state of the container on the mounting part can be conveniently and accurately.
  • the level signal output by the detection device can further determine some approximate positions of the solution in the container, based on the determined The approximate position can also send a liquid level reminder to the user when necessary, which satisfies the user's automatic and intelligent demand for liquid level position perception.
  • the embodiment of the present invention can use a multi-segment Hall level gauge to detect the drug volume (liquid level) It is used to detect whether the medicine box is pulled out of the machine frame without increasing the cost and other components.
  • the program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Water Supply & Treatment (AREA)
  • Remote Sensing (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Level Indicators Using A Float (AREA)

Abstract

一种插拔检测方法、装置及飞行器、计算机存储介质，方法用于检测一容器（102）插入或者拔出安装部（101）内，所述容器（102）的侧壁上设有多个感应装置（104），所述安装部（101）设有多个探测装置（103），多个所述探测装置（103）与多个感应装置（104）一一对应；所述探测装置（103）用于根据与其对应的感应装置（104）的感应信号而生成电平信号；所述方法包括：获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号（S201）；根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部（S202）。可以便捷且准确地检测容器（102）在安装部（101）上的插入或者拔出状态，成本低廉，检测效率高。

Description

一种插拔检测方法、装置及飞行器、计算机存储介质 技术领域
本发明涉及计算机软件技术领域技术领域，尤其涉及一种插拔检测方法、装置及飞行器、计算机存储介质。
背景技术
在当前的社会生活中，存在一些需要盛装液体进行相关作业的场景，比如在农业方面，存在喷洒农药的场景，在无人机等移动平台中装入盛有农药的容器，进行无人机喷洒农药的作业，又比如在城市绿化管理中，存在为植物洒水的场景，在汽车等移动平台中装入水箱，为城市中的花草树木浇水，又比如在农村生活用水中，固定位置的水箱中需要时常补充生活用水，以便于用户可以随时有足够的生活用水可供使用。
在上述场景在内的多种场景中，通常情况下需要检测容器中液体的液位或者说检测容器中液体的余量，以便于合理安排作业，而如何检测容器的状态以便于后续能够对容器内的液体进行检测，成为研究的热点问题。
发明内容
本发明实施例提供了一种插拔检测方法、装置及飞行器、计算机存储介质，可以检测容器是否插入或者拔出用于容置容器的安装部。
本发明实施例提供了一种插拔检测方法，用于检测一容器插入或者拔出安装部内，所述容器的侧壁上设有多个感应装置，所述安装部设有多个探测装置，多个所述探测装置与多个感应装置一一对应；所述探测装置用于根据与其对应的感应装置的感应信号而生成电平信号；所述方法包括：
获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号；
根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部。
相应地，本发明实施例还提供了一种插拔检测装置，包括处理器、存储装置，其中，所述存储装置中存储有程序指令，所述处理器调用所述程序指令，用于执行上述的插拔检测方法。
相应地，本发明实施例还提供了一种可移动平台，包括
机架；所述机架上设有安装部，所述安装部上设有多个探测装置；
动力系统，安装于所述机架，用于提供飞行动力；
容器，安装在所述机架上，用于储存液体；所述容器的侧壁上设有多个感应装置，所述安装部设有多个探测装置，多个所述感应装置与多个探测装置一一对应；所述探测装置用于根据与其对应的感应装置的感应信号而生成电平信号；
存储装置，用于存储程序指令；
控制器，调用所述存储装置中存储的程序指令，用于获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号；根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部。
相应地，本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有程序指令，该程序指令被处理器执行时，实现如上述的插拔检测方法。
通过安装部上探测装置和容器中的感应装置相互配合，可以便捷且准确地容器在安装部上的插入或者拔出状态，成本低廉，检测效率高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的插拔检测系统的结构关系示意图；
图2是本发明实施例的一种插拔检测方法的流程示意图；
图3是本发明实施例的低液位时容器插入或者拔出安装部的过程中的电平示意图；
图4是本发明实施例的中等液位时容器插入或者拔出安装部的过程中的电平示意图；
图5是本发明实施例的中等液位时容器插入或者拔出安装部的过程中的电平示意图；
图6是本发明实施例的一种插拔检测装置的结构示意图；
图7是本发明实施例的一种可移动平台的结构示意图。
具体实施方式
在本发明实施例中，所提及的容器可以是指容置农药、水等液体的装置，比如农药箱、水箱等等，安装部则是用来容置或者说固定容器的部件。比如，安装部可以设置在无人机上，盛装农药或者水等液体的容器可以插入该安装部或者从该安装部拔出，这样可以实现容器与无人机的可拆卸连接。又比如，安装部是固定设置的一个铁架子，盛装生活用水的容器可以插入该安装部中，固定在某个较高的位置上，以便于用户取水，该盛装生活用水的容器也可以从安装部中取出，以便于用户补充生活用水。
上述安装部除了用来容置或者固定容器以外，在该安装部上还设置有多个探测装置，这些探测装置与容器上设置的感应装置配合，可以用来检测容器是否插入安装部或者从安装部拔出，并且还可以确定容器内液体的大致位置。
在本发明实施例中，安装部上的探测装置可以使用霍尔传感器，而探测装置对应的感应装置则是基于磁性物体例如磁铁构建的装置。霍尔传感器(亦可称之为霍尔液位计)是利用半导体材料的霍尔效应进行测量的一种传感器。
霍尔传感器装在容器外面，感应装置支在浮子上，随着容器的插拔或者容器内液体的液位变化，作用到霍尔传感器上的磁场的磁感应强度改变，从而可以在霍尔传感器上得到相应的电平，进而可确定容器在安装部上的插拔状态，亦可测得液位。用霍尔传感器检测液位时，因霍尔传感器在液体之外，且系无接触传感，在检测过程中不产生火花，且可实现远距离测量，因此，可用来检测易燃、易爆、有腐蚀性和有毒的液体的液位和容器中的液体存量，例如可以从来检测石油、化工液体、医药液体、农药液体等等液体的液位。
在一个实施例中，霍尔传感器可以为双极锁存型霍尔传感器，双极锁存型霍尔传感器对磁铁的S，N极都敏感，当S极接近有标记的面，且磁场达到某一强度，霍尔传感器输出导通(低电平)，S极撤离后，输出保持导通状态；只有当N极接近有标记的面，且磁场达到某一强度，霍尔传感器输出截止(高电平)，N极撤离后，霍尔传感器保持截止状态。由于磁场撤离后(磁场强度为0)，霍尔保持原状态，类似锁存器的记忆功能，因此，该类型的霍尔传感 器被称之为双极锁存型霍尔传感器。基于双极锁存型霍尔传感器可以较好地应用到本发明实施例中对容器是否插入或拔出安装部的检测，以及容器内的液体的液位检测。
本发明实施例中，可以设置两段式或多段式探测装置和感应装置，各个感应装置与其对应的浮子的结构可以相同，且多个感应装置都安装于水箱的移动轴线上，而探测装置与感应装置对应设置，以此保证底部的感应装置在插拔容器的过程中会经过位于安装部上部的探测器。在一个实施例中，参考图1，是本发明实施例的安装部101、容器102、探测装置103以及感应装置104的结构关系示意图。
安装部101可以固定或者活动连接在某个设备上，在一个实施例中，所述安装部101可以为如图1所示的一个用于容纳所述容器102的另一个容器，该安装部101也可以为设置在无人机上的机架上的一个部件，或者所述安装部101可以是无人机机架的一部分。所述容器102可以为农药箱，当然也可以为水箱等其他箱体设备。设置在安装部101上的探测装置103包括两个，还可以根据需要仅包括一个或者更多个，所述探测装置103为上述提及的霍尔传感器。所述感应装置104可以为磁铁，该磁铁可以设置在浮子105上，所述浮子105可以漂浮在容器102的液体中。多个探测装置103和多个感应装置104一一对应。
所述感应装置104通过浮子105设置在容器102上，且所述浮子105沿自身长度方向包括相对置的第一端和第二端，所述第一端于所述容器102内侧壁转动连接，所述感应装置104设置于第一端，所述第二端朝向所述容器102内延伸且可随所述容器102内的液面浮动；当所述容器102内液体的液面等于或高于所述第二端时，所述第二端在液体浮力作用下漂浮于所述液体中，所述感应装置104处于第一姿态；在第一姿态下，可以理解为感应装置104处于水平或者接近水平的位置，此时探测装置103能够感应到磁铁的磁场。当所述容器102内液体的液面低于所述第二端时，所述第二端在自身重力作用下自由下垂，所述感应装置104处于第二姿态；图1示出了第二姿态的情况，在第二姿态下，探测装置103不能感应到磁场的磁场。所述探测装置103对应所述第一端的位置固定于所述容器102外，主要固定在安装部101上，所述探测装置103在所述感应装置104处于所述第一姿态或所述第二姿态而输出不同的感应 信号。
在一个实施例中，所述感应装置104也可以为设置有磁性物体的磁性浮子，所述磁性物体设置于所述第一端。
在一个实施例中，安装部101也可以为一个容器，如图1所示的容器，所述探测装置103设置在安装部101的侧壁上，所述安装部101用于容置所述容器102，所述探测装置103在所述安装部101的侧壁上的设置位置，与所述感应装置104的所述第一端在所述容器102上的设置位置相对应。
可以理解的是，图1仅为举例，容器102和安装部101之间的缝隙可以更小，以便于容器102能够更好地固定于安装部101，从而使得飞行器等移动平台在运动过程中不会引起容器102内液体的晃荡。安装部101也可以仅仅为一个架子，该架子上对应于容器102中感应装置104的位置，设置有探测装置即可，而容器102通过其他固定方式固定在飞行器等移动平台上。
在上述描述的结构的基础上，再请参见图2到图5，以图2到图5的相关示意来说明本发明实施例的插拔检测方法。
请参见图2，是本发明实施例的一种插拔检测方法的流程示意图，本发明实施例的所述方法可以由一个专用的控制设备来执行，该控制设备和上述提及的探测装置相连以实现所述插拔检测方法。本发明实施例的所述方法可以包括如下步骤
S201：获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号。
在一个简单的实施例中，探测装置在能够感测到感应装置的磁场时，输出高电平，在不能够感测到感应装置的磁场时，输出低电平。或者，该探测装置是上述提及的双极锁存型霍尔传感器，当S极接近有标记的面，且磁场达到某一强度，输出低电平，S极撤离后，保持输出低电平；当N极接近有标记的面，且磁场达到某一强度，输出高电平，N极撤离后，保持输出高电平。在此情况下，在图1、图3、图4、图5中，感应装置的N极在下，S极在上，这样一来，N级先被探测装置感测到，探测装置会输出高电平，而容器在安装部的探测范围内移动的过程中，经过S级的同时和之后，又会输出低电平。
S202：根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部。
利用在能够感测到磁场时和不能够感测到磁场时输出的电平信号，或者感应到N极和S极时或者之后输出的电平信号，能够确定容器的插拔状态，即根据电平信号，可以确定容器是否在安装部中探测装置的探测范围内移动。
在探测装置仅包括一个时，容器在插入安装部或者从安装部拔出的过程中，容器上的感应装置随着容器移动，感应装置会经过探测装置，从而使得探测装置会感应到磁场，输出的电平会发生变化，以此来检测容器在安装部的插拔状态。
在一个实施例中，多个所述探测装置包括第一探测装置和第二探测装置，多个所述感应装置包括第一感应装置和第二感应装置；所述第一探测装置与第一感应装置对应，所述第二探测装置与第二感应装置对应；
所述获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号，包括：获取所述第一探测装置根据第一感应装置的感应信号生成的电平信号，以及所述第二探测装置根据第一感应装置的感应信号生成的电平信号。本发明实施例是至少根据两个探测装置的电平信号来确定容器的插拔状态，以及容器内液体的液位。
在一个实施例中，在多个所述感应装置中，所述第一感应装置最靠近所述容器的容器口，所述第二感应装置最靠近所述容器的底部。
请参见图3，是本发明实施例的低液位时容器插入或者拔出安装部的过程中的电平示意图；在插入的过程中，位于容器底部的第二感应装置会经过位于安装部顶部的第一探测装置，第一探测装置会存在如图3所示的电平变化，而位于容器口部的第一感应装置由于容器内液位较低，浮子并未上浮，磁铁产生的磁场不会被第一探测装置感应到，因此，在第二感应装置离开第一探测装置后，第一探测装置会持续输出低电平。同时，由于液位低于第二感应装置所浮子的第二端，因此，即使在完全插入后，第二探测装置仍然感应不到第二感应装置的磁场，第二探测装置持续输出低电平。同理，所述容器拔出时，第二感应装置同样会经过第一探测装置，第一探测装置会产生高电平，而第二探测装置由于始终感应不到磁场，会持续输出低电平。第一探测装置高电平的持续时间取决于插拔的速度，图3中的高电平仅为示例。
再请参见图4，是本发明实施例的中等液位时容器插入或者拔出安装部的过程中的电平示意图；在插拔时，同样由于第二感应装置都会经过第一探测装 置，因此，第一探测装置会在第二感应装置经过的过程中输出高电平，其余时间为低电平，对于第二探测装置而言，由于容器内液体的液位高于第二感应装置所对应的浮子的第二段，浮子上浮带动第一端转动，第二感应装置在容器内壁中下移，第二探测装置能够感测到第二感应装置的磁场，进而在液位高于所述第二端时，能够持续输出高电平。而在拔出所述容器时，第二探测装置首先能够感测到第二感应装置的磁场，输出高电平，在拔出到一定高度后，第二探测装置不会感测到第二感应装置的磁场，第二探测装置持续输出低电平。
再请参见图5，是本发明实施例的中等液位时容器插入或者拔出安装部的过程中的电平示意图；在插入过程中，第二感应装置会经过第一探测装置，此时第一探测装置会产生高电平，在第二感应装置继续下移后，第一探测装置不再感应到磁场，输出低电平，当容器移动到底部后，由于液体的液位高过第一端，因此，第一探测装置和第二探测装置均能探测到对应的感应装置的磁场，均输出高电平。在容器拔出时，由于第一探测装置和第二探测装置均能探测到对应的感应装置的磁场，因此输出均为高电平，但拔出动作使得第一感应装置和第二感应装置相对于安装部上移后，第一探测装置和第二探测装置均不能探测到对应的感应装置的磁场，输出低电平，当第二感应装置在拔出的过程中经过第一探测装置时，第一探测装置会短暂输出高电平。
结合图3到图5描述的插拔过程中第一探测装置和第二探测装置输出的电平的特征，可以确定，当第一探测装置存在从低电平到高电平的上升沿或从高电平到低电平的下降沿，可确定所述容器插入或拔出所述安装部中；或，当第一探测装置存在从低电平到高电平的上升沿，且第一探测装置处于上升沿时，第二探测装置处于低电平，可确定所述容器插入或拔出所述安装部中。反之，当所述感应装置的S极在下，N极在上时，第一探测装置存在从高电平到低电平的下降沿，且第一探测装置处于下降沿时，第二探测装置处于高电平，可确定所述容器插入或拔出所述安装部中。因此，基于容器与安装部之间的关系可以进行如下的分析确定。
在一个实施例中，参考图3-图5所示，若第一探测装置存在从第一电平变化到第二电平的变化沿，且在第一探测装置在该变化沿时，第二探测装置处于第一电平，则确定所述容器在插入或者拔出所述安装部。
在另一个实施例中，参考图3-图5所示，若第一探测装置存在从第一电平 变化到第二电平的变化沿，则确定所述容器在插入或者拔出所述安装部。在插拔过程中，无论容器内的是否存在液体、或者液体的液位高或低，处于容器口的感应装置都会经过某一个探测装置，比如至少会经过在安装部上部的第一探测装置，该第一探测装置会感应到磁场的变化，从而产生输出电平的变化，只要感测到该电平变化，即可确定所述容器在插入或者拔出所述安装部。
在一个实施例中，第一电平为默认电平，第二电平为从默认电平变化后的电平。如果探测装置输出的默认电平即第一电平为低电平，则所述的变化沿即为电平上升沿。如果探测装置输出的默认电平即第一电平为高电平，则所述的变化沿即为电平的下降沿。在利用双极锁存型霍尔传感器作为探测装置的情况下，若第一电平为低电平，则感应装置的N极朝下，N极先被探测装置感测到，若第一电平为高电平，则感应装置的S极朝下，S极先被探测装置感测到。
在一个实施例中，在所述确定所述容器插入或者拔出所述安装部后，所述方法还包括：若检测到所述第一探测装置和第二探测装置中至少有一个输出的电平为第二电平，则确定所述容器已装入所述安装部中。在确定容器处于插拔状态后，如果检测到两个探测装置中有一个输出了非默认电平即第二电平，则可以认为容器已经在位，已经装入到的安装部中。可以根据进一步检测到液面位置来决定是否进一步开展作业，例如控制无人机起飞以便于喷洒农药。
在一个实施例中，所述确定所述容器插入或者拔出所述安装部后，还包括：若检测到所述第一探测装置和第二探测装置输出的电平均为第一电平，则确定所述容器未装入所述安装部中。在确定容器处于插拔状态后，如果检测到两个探测装置均为低电平，此时实际上有两种情况，一种是容器被完全拔出，安装部上的探测器均输出默认电平即第一电平，此时可以确定容器没有装入到安装部中，而是拔出了；另一种情况是容器内的液体的液位足够低，每一个探测装置都无法感测到磁场，均输出低电平，此时可也可以认为容器没有装入到安装部。在确定容器未装入安装部的情况下，均不会执行相应的作业，不会执行诸如控制无人机飞行等操作。
在一个实施例中，在确定所述容器插入或者拔出所述安装部后，所述方法还包括：若检测到所述第二探测装置输出的电平为第一电平，则确定所述容器内的液面低于所述第二感应装置在所述容器中的位置。在确定了容器插入或者拔出所述安装部之后，若第二探测装置输出的电平为默认的第一电平，则也可 以认为所述容器内的液面低于所述第二感应装置在所述容器中的位置。如前所述，液位低于第二感应装置在所述容器中的位置也可以认为没有装入容器。
在一个实施例中，所述确定所述容器插入或者拔出所述安装部包括：当检测到第一探测装置从第一电平变化到第二电平，且所述第二探测装置从第一电平变化到第二电平，则确定所述容器插入所述安装部，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
参见图5，当所述第一探测装置和第二探测装置同时产生上升沿时，则可以确定所述容器插入所述安装部，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
在另一实施例中，所述确定所述容器插入或者拔出所述安装部包括：当检测到第一探测装置从第二电平变化到第一电平，且所述第二探测装置从第二电平变化到第一电平，则确定所述容器从所述安装部中拔出，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
参见图5，当所述第一探测装置和第二探测装置同时产生下降沿时，则可以确定所述容器从所述安装部中拔出，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
另外，所述安装部设置在无人机、汽车等可移动平台上时，可以根据确定的所述容器插入或者拔出所述安装部，对挂载所述第一容器的可移动平台进行辅助控制。比如，在无人机搭载安装部、容器喷洒农药的过程中，如果检测到了所述容器插入或者拔出所述安装部，则可以认为容器在安装部有松动，可以对无人机进行辅助控制，比如发送返航信号或者暂时悬停信号，以便于无人机安全执行任务。
通过安装部上探测装置和容器中的感应装置相互配合，可以便捷且准确地容器在安装部上的插入或者拔出状态，并且在具体实现时可以通过霍尔传感器和磁铁相互配合来实现，成本低廉，并且利用探测装置输出的电平信号还可以进一步地确定出容器内溶液的所处的某些大致位置，基于确定的大致位置还可以在必要时向用户发出液面提醒，满足了用户对液面位置感知的自动化、智能化需求；另外，本发明实施例能够使用多段霍尔液位计检测液体体积(液位)，在不增加成本和其他器件的同时，用于检测容器是否被拔出安装部。
再请参见图6，是本发明实施例的一种插拔检测装置的结构示意图，本发明实施例的所述插拔检测装置可以与上述提及的探测装置相连，通过分析识别探测装置输出的电平信号来实现对容器插入或者拔出安装部进行准确检测。本发明实施例中，所述装置包括处理器601、存储装置602，并且还可以包括数据接口603，用户接口604等结构。
通过所述数据接口603，可以从探测装置出接收到的其输出的电平信号，以便于处理器601来执行相应的插拔检测。所述用户接口604可以是一些物理按键，通过这些物理按键例如可以控制插拔检测装置开始或者结束对容器的插拔检测，并且，用户接口604还可以为一些指示灯或者显示器，通过指示灯可以向用户指示插拔检测装置检测到的插拔状态，例如没有检测到插拔状态时亮绿灯，检测到插拔状态时亮红灯。
所述存储装置602可以包括易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)；存储装置602也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，固态硬盘(solid-state drive，SSD)等；存储装置602还可以包括上述种类的存储器的组合。
所述处理器601可以是中央处理器(central processing unit，CPU)。所述处理器601还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)等。上述PLD可以是现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)等。
可选地，所述存储装置602还用于存储程序指令。所述处理器601可以调用所述程序指令，实现本申请实施例中插拔检测方法中相关联的各个步骤。
在一个实施例中，所述处理器601调用所述存储装置602中存储的程序指令，用于获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号；根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部。
在一个实施例中，多个所述探测装置包括第一探测装置和第二探测装置，多个所述感应装置包括第一感应装置和第二感应装置；所述第一探测装置与第 一感应装置对应，所述第二探测装置与第二感应装置对应；所述处理器601，用于获取所述第一探测装置根据第一感应装置的感应信号生成的电平信号，所述第二探测装置根据第一感应装置的感应信号生成的电平信号，以及所述第一探测装置根据第二感应装置的感应信号生成的电平信号中的任意一个或者多个。
在一个实施例中，所述处理器601，用于若第一探测装置存在从第一电平变化到第二电平的变化沿，且在第一探测装置在该变化沿时，第二探测装置处于第一电平，则确定所述容器在插入或者拔出所述安装部，或者，若第一探测装置存在从第一电平变化到第二电平的变化沿，则确定所述容器在插入或者拔出所述安装部。
在一个实施例中，在多个所述感应装置中，所述第一感应装置最靠近所述容器的容器口，所述第二感应装置最靠近所述容器的底部。
在一个实施例中，所述处理器601，还用于若检测到所述第一探测装置和第二探测装置中至少有一个输出的电平为第二电平，则确定所述容器已装入所述安装部中。
在一个实施例中，所述处理器601，还用于若检测到所述第一探测装置和第二探测装置输出的电平均为第一电平，则确定所述容器未装入所述安装部中。
在一个实施例中，所述处理器601，还用于若检测到所述第二探测装置输出的电平为第一电平，则确定所述容器内的液面低于所述第二感应装置在所述容器中的位置。
在一个实施例中，所述处理器601，用于当检测到第一探测装置从第一电平变化到第二电平，且所述第二探测装置从第一电平变化到第二电平，则确定所述容器插入所述安装部，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
在一个实施例中，所述处理器601，用于当检测到第一探测装置从第二电平变化到第一电平，且所述第二探测装置从第二电平变化到第一电平，则确定所述容器从所述安装部中拔出，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
在一个实施例中，所述处理器601，用于当所述第一探测装置和第二探测 装置同时产生下降沿时，则可以确定所述容器从所述安装部中拔出，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
在一个实施例中，所述感应装置为磁铁。
在一个实施例中，所述感应装置通过浮子设置于容器内侧壁，且所述浮子沿自身长度方向包括相对置的第一端和第二端，所述第一端于所述容器内侧壁转动连接，所述感应装置设置于第一端，所述第二端朝向所述容器内延伸且可随所述容器内的液面浮动。
在一个实施例中，所述探测装置为霍尔传感器。
在一个实施例中，所述容器为农药箱，所述安装部为设置在无人机上的机架。
在一个实施例中，所述处理器601，还用于根据确定的所述容器插入或者拔出所述安装部，对挂载所述第一容器的可移动平台进行辅助控制。
本发明实施例的所述处理器601的具体实现可参考前述实施例中相关内容的描述，在此不赘述。并且，基于所述处理器601本发明实施例能够实现的有益效果在于：通过安装部上探测装置和容器中的感应装置相互配合，可以便捷且准确地容器在安装部上的插入或者拔出状态，并且在具体实现时可以通过霍尔传感器和磁铁相互配合来实现，成本低廉，并且利用探测装置输出的电平信号还可以进一步地确定出容器内溶液的所处的某些大致位置，基于确定的大致位置还可以在必要时向用户发出液面提醒，满足了用户对液面位置感知的自动化、智能化需求。
再请参见图7，是本发明实施例的一种可移动平台的结构示意图，本发明实施例的所述可移动平台可以是指无人机，也可以是汽车等平台，所述可移动平台包括：
机架701；所述机架701上设有安装部702，所述安装部702上设有多个探测装置；
动力系统704，安装于所述机架701，用于提供飞行动力；
容器703，安装在所述机架701上，用于储存液体；所述容器703的侧壁上设有多个感应装置，所述安装部702设有多个探测装置，多个所述感应装置与多个探测装置一一对应；所述探测装置用于根据与其对应的感应装置的感应信号而生成电平信号；
存储装置705，用于存储程序指令；
控制器706，调用所述存储装置中存储的程序指令，用于获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号；根据所述探测装置的电平信号，确定所述容器703插入或者拔出所述安装部702。
所述存储装置705可以包括易失性存储器(volatile memory)，例如RAM；存储装置也可以包括非易失性存储器(non-volatile memory)，例如快闪存储器(flash memory)，SSD等；存储装置705还可以包括上述种类的存储器的组合。
所述控制器706可以是CPU，所述控制器706还可以进一步包括硬件芯片。上述硬件芯片可以是ASIC，PLD等。上述PLD可以是FPGA，GAL等。
在一个实施例中，多个所述探测装置包括第一探测装置7021和第二探测装置7022，多个所述感应装置7031包括第一感应装置7031和第二感应装置7032；所述第一探测装置7021与第一感应装置7031对应，所述第二探测装置7022与第二感应装置7032对应；所述控制器706，用于获取所述第一探测装置7021根据第一感应装置7031的感应信号生成的电平信号，以及所述第二探测装置7022根据第二感应装置7032的感应信号生成的电平信号，以及第一探测装置7021根据第二感应装置7032的感应信号生成的电平信号中的任意一个或者多个步骤。
在一个实施例中，所述控制器706，用于若第一探测装置7021存在从第一电平变化到第二电平的变化沿，且在第一探测装置7021在该变化沿时，第二探测装置7022处于第一电平，则确定所述容器703在插入或者拔出所述安装部702；或者，若第一探测装置7021存在从第一电平变化到第二电平的变化沿，则确定所述容器703在插入或者拔出所述安装部702。
在一个实施例中，在多个所述感应装置7031中，所述第一感应装置7031最靠近所述容器703的容器703口，所述第二感应装置7032最靠近所述容器703的底部。
在一个实施例中，所述控制器706，还用于若检测到所述第一探测装置7021和第二探测装置7022中至少有一个输出的电平为第二电平，则确定所述容器703已装入所述安装部702中。
在一个实施例中，所述控制器706，还用于若检测到所述第一探测装置 7021和第二探测装置7022输出的电平均为第一电平，则确定所述容器703未装入所述安装部702中。
在一个实施例中，所述控制器706，还用于若检测到所述第二探测装置7022输出的电平为第一电平，则确定所述容器703内的液面低于所述第二感应装置7032在所述容器703中的位置。
在一个实施例中，所述控制器706，还用于当检测到第一探测装置7021从第一电平变化到第二电平，且所述第二探测装置7022从第一电平变化到第二电平，则确定所述容器703插入所述安装部702，且所述容器703内的液面高于所述第一感应装置7031在所述容器703中的位置。
在一个实施例中，所述控制器706，用于当检测到第一探测装置7021从第二电平变化到第一电平，且所述第二探测装置7022从第二电平变化到第一电平，则确定所述容器703从所述安装部702中拔出，且所述容器703内的液面高于所述第一感应装置7031在所述容器703中的位置。
在一个实施例中，所述控制器706，用于当所述第一探测装置7021和第二探测装置7022同时产生下降沿时，则可以确定所述容器703从所述安装部702中拔出，且所述容器703内的液面高于所述第一感应装置7031在所述容器703中的位置。
在一个实施例中，所述感应装置为磁铁。
在一个实施例中，所述感应装置通过浮子设置于容器703内侧壁，且所述浮子沿自身长度方向包括相对置的第一端和第二端，所述第一端于所述容器703内侧壁转动连接，所述感应装置设置于第一端，所述第二端朝向所述容器703内延伸且可随所述容器703内的液面浮动。
在一个实施例中，所述探测装置为霍尔传感器。
在一个实施例中，所述容器703为农药箱，所述安装部702为设置在无人机上的机架701。
在一个实施例中，所述控制器706，还用于根据确定的所述容器703插入或者拔出所述安装部702，对挂载所述第一容器703的可移动平台进行辅助控制。
本发明实施例的所述控制器的具体实现可参考前述实施例中相关内容的描述，在此不赘述。并且，基于所述控制器本发明实施例能够实现的有益效果 在于：通过安装部上探测装置和容器中的感应装置相互配合，可以便捷且准确地容器在安装部上的插入或者拔出状态，并且在具体实现时可以通过霍尔传感器和磁铁相互配合来实现，成本低廉，并且利用探测装置输出的电平信号还可以进一步地确定出容器内溶液的所处的某些大致位置，基于确定的大致位置还可以在必要时向用户发出液面提醒，满足了用户对液面位置感知的自动化、智能化需求另外，本发明实施例能够使用多段霍尔液位计检测药量体积(液位)，在不增加成本和其他器件的同时，用于检测药箱是否被拔出机框。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (28)

  1. 一种插拔检测方法，其特征在于，用于检测一容器插入或者拔出安装部内，所述容器的侧壁上设有多个感应装置，所述安装部设有多个探测装置，多个所述探测装置与多个感应装置一一对应；所述探测装置用于根据与其对应的感应装置的感应信号而生成电平信号；所述方法包括：
    获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号；
    根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部。
  2. 如权利要求1所述的方法，其特征在于，
    多个所述探测装置包括第一探测装置和第二探测装置，多个所述感应装置包括第一感应装置和第二感应装置；所述第一探测装置与第一感应装置对应，所述第二探测装置与第二感应装置对应；
    所述获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号，包括：
    获取所述第一探测装置根据第一感应装置的感应信号生成的电平信号，所述第二探测装置根据第二感应装置的感应信号生成的电平信号，以及所述第一探测装置根据第二感应装置的感应信号生成的电平信号中的任意一个或者多个。
  3. 如权利要求2所述的方法，其特征在于，所述根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部，包括：
    若第一探测装置存在从第一电平变化到第二电平的变化沿，且在第一探测装置在该变化沿时，第二探测装置处于第一电平，则确定所述容器在插入或者拔出所述安装部；或者，若第一探测装置存在从第一电平变化到第二电平的变化沿，则确定所述容器在插入或者拔出所述安装部。
  4. 如权利要求3所述的方法，其特征在于，在多个所述感应装置中，所述第一感应装置最靠近所述容器的容器口，所述第二感应装置最靠近所述容器 的底部。
  5. 如权利要求3或4所述的方法，其特征在于，所述确定所述容器插入或者拔出所述安装部后，还包括：
    若检测到所述第一探测装置和第二探测装置中至少有一个输出的电平为第二电平，则确定所述容器已装入所述安装部中。
  6. 如权利要求3或4所述的方法，其特征在于，所述确定所述容器插入或者拔出所述安装部后，还包括：
    若检测到所述第一探测装置和第二探测装置输出的电平均为第一电平，则确定所述容器未装入所述安装部中。
  7. 如权利要求3或4所述的方法，其特征在于，所述确定所述容器插入或者拔出所述安装部后，还包括：
    若检测到所述第二探测装置输出的电平为第一电平，则确定所述容器内的液面低于所述第二感应装置在所述容器中的位置。
  8. 如权利要求1所述的方法，其特征在于，所述确定所述容器插入或者拔出所述安装部，包括：
    当检测到第一探测装置从第一电平变化到第二电平，且所述第二探测装置从第一电平变化到第二电平，则确定所述容器插入所述安装部，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
  9. 如权利要求1-8任一项所述的方法，其特征在于，所述感应装置为磁铁。
  10. 如权利要求9所述的方法，其特征在于，所述感应装置通过浮子设置于容器内侧壁，且所述浮子沿自身长度方向包括相对置的第一端和第二端，所述第一端于所述容器内侧壁转动连接，所述感应装置设置于第一端，所述第二端朝向所述容器内延伸且可随所述容器内的液面浮动。
  11. 如权利要求1-8任一项所述的方法，其特征在于，所述探测装置为霍尔传感器。
  12. 如权利要求1-8任一项所述的方法，其特征在于，所述容器为农药箱，所述安装部为无人机的机架。
  13. 如权利要求1-12任一项所述的方法，其特征在于，还包括：
    根据确定的所述容器插入或者拔出所述安装部，对挂载所述第一容器的可移动平台进行辅助控制。
  14. 一种插拔检测装置，其特征在于，包括处理器、存储装置，其中，所述存储装置中存储有程序指令，所述处理器调用所述程序指令，用于执行如权利要求1-13任一项所述的插拔检测方法。
  15. 一种可移动平台，其特征在于，包括
    机架；所述机架上设有安装部，所述安装部上设有多个探测装置；
    动力系统，安装于所述机架，用于提供飞行动力；
    容器，安装在所述机架上，用于储存液体；所述容器的侧壁上设有多个感应装置，所述安装部设有多个探测装置，多个所述感应装置与多个探测装置一一对应；所述探测装置用于根据与其对应的感应装置的感应信号而生成电平信号；
    存储装置，用于存储程序指令；
    控制器，调用所述存储装置中存储的程序指令，用于获取所述探测装置根据与其对应的感应装置的感应信号而生成的电平信号；根据所述探测装置的电平信号，确定所述容器插入或者拔出所述安装部。
  16. 如权利要求15所述的可移动平台，其特征在于，多个所述探测装置包括第一探测装置和第二探测装置，多个所述感应装置包括第一感应装置和第二感应装置；所述第一探测装置与第一感应装置对应，所述第二探测装置与第 二感应装置对应；
    所述控制器，用于获取所述第一探测装置根据第一感应装置的感应信号生成的电平信号，所述第二探测装置根据第一感应装置的感应信号生成的电平信号，以及所述第一探测装置根据第二感应装置的感应信号生成的电平信号中的任意一个或者多个。
  17. 如权利要求16所述的可移动平台，其特征在于，所述控制器，用于若第一探测装置存在从第一电平变化到第二电平的变化沿，且在第一探测装置在该变化沿时，第二探测装置处于第一电平，则确定所述容器在插入或者拔出所述安装部；或者，若第一探测装置存在从第一电平变化到第二电平的变化沿，则确定所述容器在插入或者拔出所述安装部。
  18. 如权利要求17所述的可移动平台，其特征在于，在多个所述感应装置中，所述第一感应装置最靠近所述容器的容器口，所述第二感应装置最靠近所述容器的底部。
  19. 如权利要求17或18所述的可移动平台，其特征在于，所述控制器，还用于若检测到所述第一探测装置和第二探测装置中至少有一个输出的电平为第二电平，则确定所述容器已装入所述安装部中。
  20. 如权利要求17或18所述的可移动平台，其特征在于，所述控制器，还用于若检测到所述第一探测装置和第二探测装置输出的电平均为第一电平，则确定所述容器未装入所述安装部中。
  21. 如权利要求17或18所述的可移动平台，其特征在于，所述控制器，还用于若检测到所述第二探测装置输出的电平为第一电平，则确定所述容器内的液面低于所述第二感应装置在所述容器中的位置。
  22. 如权利要求17或18所述的可移动平台，其特征在于，所述控制器，还用于当检测到第一探测装置从第一电平变化到第二电平，且所述第二探测装 置从第一电平变化到第二电平，则确定所述容器插入所述安装部，且所述容器内的液面高于所述第一感应装置在所述容器中的位置。
  23. 如权利要求15-23任一项所述的可移动平台，其特征在于，所述感应装置为磁铁。
  24. 如权利要求23所述的可移动平台，其特征在于，所述感应装置通过浮子设置于容器内侧壁，且所述浮子沿自身长度方向包括相对置的第一端和第二端，所述第一端于所述容器内侧壁转动连接，所述感应装置设置于第一端，所述第二端朝向所述容器内延伸且可随所述容器内的液面浮动。
  25. 如权利要求15-24任一项所述的可移动平台，其特征在于，所述探测装置为霍尔传感器。
  26. 如权利要求15-24任一项所述的可移动平台，其特征在于，所述容器为农药箱，所述安装部为设置在无人机上的机架。
  27. 如权利要求15-24任一项所述的可移动平台，其特征在于，所述控制器，还用于根据确定的所述容器插入或者拔出所述安装部，对挂载所述第一容器的可移动平台进行辅助控制。
  28. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有程序指令，该程序指令被处理器执行时，实现如权利要求1-13任一项所述的方法。
PCT/CN2019/115590 2019-11-05 2019-11-05 一种插拔检测方法、装置及飞行器、计算机存储介质 WO2021087725A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980038389.XA CN112272760A (zh) 2019-11-05 2019-11-05 一种插拔检测方法、装置及飞行器、计算机存储介质
PCT/CN2019/115590 WO2021087725A1 (zh) 2019-11-05 2019-11-05 一种插拔检测方法、装置及飞行器、计算机存储介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/115590 WO2021087725A1 (zh) 2019-11-05 2019-11-05 一种插拔检测方法、装置及飞行器、计算机存储介质

Publications (1)

Publication Number Publication Date
WO2021087725A1 true WO2021087725A1 (zh) 2021-05-14

Family

ID=74349480

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/115590 WO2021087725A1 (zh) 2019-11-05 2019-11-05 一种插拔检测方法、装置及飞行器、计算机存储介质

Country Status (2)

Country Link
CN (1) CN112272760A (zh)
WO (1) WO2021087725A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101979276A (zh) * 2010-10-15 2011-02-23 农业部南京农业机械化研究所 智能施药无人直升机
CN104739231A (zh) * 2015-03-31 2015-07-01 宁波方太厨具有限公司 一种蒸箱的水箱结构
JP2017138267A (ja) * 2016-02-05 2017-08-10 株式会社デンソー 液面検出装置
CN207472384U (zh) * 2017-12-11 2018-06-08 四川雷神空天科技有限公司 无人机机载容器液位监测机构
CN110367883A (zh) * 2019-08-29 2019-10-25 深圳巴诺机器人有限公司 一种扫地机器人外接箱体检测方法和装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008052273A1 (de) * 2008-10-18 2010-04-22 Wik Far East Ltd. Filterkartuschendetektierungsverfahren sowie Einrichtung dafür
CN105486386A (zh) * 2016-01-04 2016-04-13 广东美的暖通设备有限公司 液位检测装置、方法及多联机空调器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101979276A (zh) * 2010-10-15 2011-02-23 农业部南京农业机械化研究所 智能施药无人直升机
CN104739231A (zh) * 2015-03-31 2015-07-01 宁波方太厨具有限公司 一种蒸箱的水箱结构
JP2017138267A (ja) * 2016-02-05 2017-08-10 株式会社デンソー 液面検出装置
CN207472384U (zh) * 2017-12-11 2018-06-08 四川雷神空天科技有限公司 无人机机载容器液位监测机构
CN110367883A (zh) * 2019-08-29 2019-10-25 深圳巴诺机器人有限公司 一种扫地机器人外接箱体检测方法和装置

Also Published As

Publication number Publication date
CN112272760A (zh) 2021-01-26

Similar Documents

Publication Publication Date Title
US11919637B2 (en) Automatic return method, apparatus and unmanned aerial vehicle
US11161608B2 (en) Unmanned aerial vehicle and flying control method thereof
US11246464B2 (en) Robot cleaner and method for controlling thereof
US11573576B2 (en) Method for controlling a drone, drone and system
EP3444713A1 (en) Humidifier user interaction
CN105388911B (zh) 一种无人机智能控制起飞方法
US20220055748A1 (en) Obstacle avoidance method and apparatus for unmanned aerial vehicle landing, and unmanned aerial vehilce
CN106505695A (zh) 一种充电控制方法、装置及终端
WO2014048223A1 (zh) 显示终端充电状态的方法和终端
RU2015126469A (ru) Электронное оборудование и способ его использования
CN113246126B (zh) 机器人移动控制方法、机器人移动控制装置及机器人
WO2021087725A1 (zh) 一种插拔检测方法、装置及飞行器、计算机存储介质
US20020117002A1 (en) Specific gravity measuring device
WO2020051876A1 (zh) 无人机的液位测量装置、药箱装置、加液装置及无人飞行器
KR101527211B1 (ko) 자기장 맵을 구축하는 방법 및 시스템
CN107077143A (zh) 一种无人机的线缆避障方法和系统及无人机
CN110930506A (zh) 三维地图生成方法、移动装置和计算机可读存储介质
CN207991519U (zh) 海拔高度获取电路及电子烟
CN109303953B (zh) 点滴监测方法及系统
CN105181699A (zh) 一种船载海上/车载陆地生物芯片检测系统
CN209031930U (zh) 一种电容式水位控制装置及应用该装置的饮水机
CN207542572U (zh) 一种改电箱结构
CN112561740A (zh) 一种装配式建筑构件施工智慧辅助装置及方法
CN105679170A (zh) 一种高空抛物演示科普模型
CN212133796U (zh) 一种液位检测装置及应用该液位检测装置的加湿器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19952134

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19952134

Country of ref document: EP

Kind code of ref document: A1