WO2021189391A1

WO2021189391A1 - Mixing device, mixing control method and movable platform

Info

Publication number: WO2021189391A1
Application number: PCT/CN2020/081535
Authority: WO
Inventors: 常子敬; 何纲; 胡德琪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2021-09-30
Also published as: CN112654418A

Abstract

Disclosed are a mixing device (10) and a mixing control method. The mixing device (10) comprises a controller (11), a mixer (13) and at least two liquid extraction units (12), wherein the types of liquids extracted by different liquid extraction units (12) are different; the controller (11) determines, according to the proportion of different types of liquids, the target flow velocity of the various liquid extraction units (12) during liquid extraction; the at least two liquid extraction units (12) extract, according to the target flow velocity corresponding thereto, the corresponding types of liquids; and the mixer (13) is used for mixing different types of liquids extracted by the various liquid extraction units (12), so to obtain a target liquid. The process of automatically preparing the target liquid is achieved without manual intervention, and accurate proportioning of the target liquid is guaranteed.

Description

Mixing device, mixing control method and movable platform

Technical field

This application relates to the field of liquid mixing equipment, in particular to a mixing device, a mixing control method and a movable platform.

Background technique

With the continuous innovation of industrial technology, mixing of multiple liquids is an indispensable process in oil refining, chemical, pharmaceutical or agricultural industries. In some operating scenarios, users need to manually measure the amount of liquid and manually mix multiple liquids. The manual measurement process may cause liquid dosage measurement errors, and due to the characteristics of certain liquids (such as certain irritation) Odor or certain toxicity), the manual mixing process may also have safety risks.

Summary of the invention

In view of this, one of the objectives of the embodiments of the present application is to provide a hybrid device, a hybrid control method, and a movable platform.

First, according to the first aspect of the embodiments of the present application, a mixing device is provided, which includes a controller, a mixer, and at least two liquid extraction units; the types of liquids extracted by different liquid extraction units are different;

The controller is configured to: determine the target flow rate of each liquid extraction unit when extracting liquid according to the ratio between different types of liquids;

The at least two liquid extraction units are used to: extract a corresponding type of liquid according to the target flow rate corresponding to itself;

The mixer is used to mix different types of liquids extracted by each of the liquid extraction units to obtain a target liquid.

According to a second aspect of the embodiments of the present application, a mixing control method is provided, which is applied to a mixing device, the mixing device includes: a mixer and at least two liquid extraction units; different types of liquids extracted by different liquid extraction units ；

The method includes:

Determine the target flow rate of each liquid extraction unit when extracting liquid according to the ratio between different types of liquids;

For each liquid extraction unit, controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself;

The different types of liquids extracted by each of the liquid extraction units are mixed by a mixer to obtain the target liquid.

According to a third aspect of the embodiments of the present application, a movable platform is provided, including a fuselage;

The power system is arranged in the fuselage and is used to control the movement of the movable platform; and, the mixing device as described in the first aspect.

The embodiments of the present application have the following beneficial effects:

In the embodiment of the present application, the liquid extraction unit automatically extracts the liquid and the mixer performs the liquid mixing process by itself, without manual participation in the liquid extraction and mixing process, avoiding potential safety hazards and ensuring personal safety.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a schematic structural diagram of a first type of mixing device according to an exemplary embodiment of the present application.

Fig. 2 is a schematic structural diagram of a second type of mixing device according to an exemplary embodiment of the present application.

Fig. 3 is a schematic structural diagram of a third mixing device according to an exemplary embodiment of the present application.

Fig. 4 is a schematic structural diagram of a fourth type of mixing device according to an exemplary embodiment of the present application.

Fig. 5 is a schematic structural diagram of a fifth type of mixing device according to an exemplary embodiment of the present application.

Fig. 6 is a schematic structural diagram of a sixth type of mixing device according to an exemplary embodiment of the present application.

Fig. 7 is a schematic structural diagram of a seventh mixing device according to an exemplary embodiment of the present application.

Fig. 8 is a schematic structural diagram of an eighth mixing device according to an exemplary embodiment of the present application.

Fig. 9 is a schematic flowchart of a hybrid control method according to an exemplary embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

In response to a problem in the related art, an embodiment of the present application provides a mixing device 10. Please refer to FIG. 1, which is a schematic structural diagram of a first type of mixing device 10 according to an exemplary embodiment of the present application. The mixing device 10 can be applied to fields such as oil refining, chemical industry, pharmacy or agriculture to realize automatic mixing of at least two liquids.

In the embodiment shown in FIG. 1, the mixing device 10 includes a controller 11, a mixer 13 and at least two liquid extraction units 12. The types of liquids extracted by different liquid extraction units 12 are different. It should be noted that, in FIG. 1, the mixing device 10 includes two liquid extraction units 12 for illustration, but the number of the liquid extraction units 12 is not limited, and the number of the liquid extraction units 12 may be based on actual application scenarios. Make specific settings.

The controller 11 is used to determine the target flow rate of each liquid extraction unit 12 when extracting liquid according to the ratio between different types of liquids.

The at least two liquid extraction units 12 are used for: extracting corresponding types of liquids according to the target flow rate corresponding to themselves. Wherein, the liquid extraction unit 12 is connected to the container containing the corresponding type of liquid through a pipeline, so that the liquid extraction unit 12 extracts the liquid from the container containing the corresponding type of liquid through the pipeline.

The mixer 13 is used to mix different types of liquids extracted by each of the liquid extraction units 12 to obtain a target liquid.

In one embodiment, the controller 11 accurately determines the target flow rate of each liquid extraction unit 12 when extracting liquid based on the ratio between different types of liquids, and then based on the target flow rate corresponding to each liquid extraction unit 12 The target flow rate controls the corresponding liquid extraction unit 12 to extract a corresponding type of liquid, and the target liquid is obtained after being mixed by the mixer 13. In this embodiment, since the target flow rate corresponding to each liquid extraction unit 12 is determined based on the ratio between different types of liquids, it is ensured that the target liquid mixed by the mixer 13 always maintains an accurate ratio, so that all The target liquid meets the requirements; and under the control of the controller 11, the liquid extraction unit 12 automatically extracts the liquid and the mixer 13 performs the liquid mixing process by itself, without manual participation in the liquid extraction and mixing process, so as to avoid potential safety hazards, Ensure personal safety.

In an example, after the controller 11 determines the target flow rate of each of the liquid extraction units 12 when extracting liquid, it may generate a flow rate corresponding to each of the liquids according to the target flow rate corresponding to each of the liquid extraction units 12 The control signal of the extraction unit 12 is then fed back to each of the liquid extraction units 12, and the liquid extraction unit 12 is controlled by the control signal to extract a corresponding type of liquid according to the target flow rate corresponding to itself.

It can be understood that the embodiment of the present application does not impose any restriction on the specific type of the controller 11, and specific descriptions may be made according to actual application scenarios. In an example, the controller 11 may be a combinational logic controller (for example, a programmable logic device), or a microprogram controller (for example, a micro control unit MCU).

Wherein, the liquid extraction unit 12 and the mixer 13 are connected through a pipeline, so that the corresponding type of liquid extracted by the liquid extraction unit 12 enters the mixer 13 through the pipeline, and the mixer 13 performs liquid mixing. This embodiment does not require the user to manually participate in the liquid extraction and mixing liquid process, and realizes the automatic liquid extraction and mixing liquid process. The user does not need to directly touch the liquid, ensuring personal safety. At the same time, the automated process also improves the liquid extraction and mixing liquid process. efficient.

In one example, the liquid extraction unit 12 may be fixedly installed in the mixing device 10 so as to mix a specified amount of liquids of different types (for example, mixing two liquids of different types); in another example, the The liquid extraction unit 12 is installed in the mixing device 10, and the liquid extraction unit 12 is detachable, so that the user can flexibly select the liquid extraction unit 12 that needs to be used according to the actual situation, so that an unlimited number of different types can be mixed Liquids (for example, you can mix 3 kinds of liquids or 4 kinds of liquids of different types, etc.) to further facilitate the user's use and optimize the user's experience.

In an embodiment, please refer to FIG. 2, which is a schematic structural diagram of a second mixing device 10 according to an exemplary embodiment of this application. The mixing device 10 further includes an input unit 14; the input unit 14 is used to obtain the ratio between the different types of liquid input by the user and the type of the liquid extracted by each of the liquid extraction units 12, and communicate through designated The ratio between different types of liquid and the type of the liquid extracted by each of the liquid extraction units 12 are fed back to the controller 11, so that the controller 11 can be based on the ratio between the different types of liquid and each of the types of liquids. The type of the liquid extracted by the liquid extraction unit 12 is determined, and the target flow rate of each of the liquid extraction units 12 when extracting the corresponding type of liquid is accurately determined. In this embodiment, when performing the liquid mixing process, the user only needs to input relevant information into the input unit 14. The related liquid mixing process is executed by the mixing device 10, and the user does not need to touch the liquid or manually participate in the liquid withdrawal. And the process of mixing liquids to avoid potential safety hazards and ensure personal safety.

In the first example, the input unit 14 may provide input devices such as a touch screen, virtual buttons, physical buttons, light pens, or a mouse. As an example, the input unit may include an interactive interface set on a mobile terminal, that is, The interactive interface is displayed on the touch display screen, so that the user can enter the following information based on the interactive interface: the ratio between different types of liquids and the type of liquid extracted by each of the liquid extraction units 12. In this embodiment, the user only needs to input relevant information in the input unit 14, and the subsequent liquid taking and liquid mixing process is executed by the mixing device 10. The user does not need to touch the liquid, nor does it need to manually participate in liquid taking and mixing. The liquid process avoids potential safety hazards and ensures personal safety.

In the second example, the input unit 14 can also provide a voice collection device such as a microphone, and the user can speak words that include the following information: the ratio between different types of liquids and the amount extracted by each of the liquid extraction units 12 The type of liquid belongs to, and then the input unit 14 collects the user’s voice signal through a voice collection device, and recognizes the voice signal to obtain a voice recognition result. According to the voice recognition result, the following relevant information is obtained: the ratio between different types of liquids and The type of liquid extracted by each of the liquid extraction units 12 belongs to; in this embodiment, while ensuring personal safety, the relevant information is obtained through voice, which further reduces the user's operation steps and is beneficial to improve the user's experience.

In the third example, the input unit 14 may also provide shooting equipment such as a video camera, a camera, or a scanner, etc., and the ratio between different types of liquids and the ratio of each liquid extraction unit 12 can be obtained through the imaging device. The image of the relevant information of the type of the extracted liquid, and then the following relevant information is obtained through image recognition technology: the ratio between the different types of liquid and the type of the liquid extracted by each of the liquid extraction units 12; or a scanner is used to specify Objects (including relevant information: the ratio between different types of liquids and the type of liquid extracted by each of the liquid extraction units 12) are scanned to obtain relevant information: the ratio between different types of liquids and each of the liquid extraction units 12 The type of the liquid to be drawn. In this embodiment, while personal safety is ensured, information about related parameters is acquired through a photographing method or a scanning method, which further reduces the user's operation steps, which is beneficial to improve the user's use experience.

Wherein, the designated communication mode can be specifically set according to actual application scenarios; in an example, the input unit 14 is installed on the controller 11, and the input unit 14 is connected to the controller 11 in a wired manner For example, it is connected via a serial port cable or a parallel port cable; in another example, the input unit 14 is independent of the controller 11, and the input unit 14 may be a remote control, a smart phone, a computer, a personal tablet or a smart phone. Wearable devices, etc., the input unit 14 and the controller 11 are connected through a wireless network. It can be understood that the communication technology applied by the wireless network connection includes but is not limited to: short-range wireless communication technology or mobile communication protocol technology The short-range wireless communication technology may be infrared technology, WiFi technology, Bluetooth technology, UWB technology, or ZigBee technology, etc., and the mobile communication protocol technology may be 3G communication technology, 4G communication technology, GSM communication technology, or GPRS communication technology, etc. .

Here is an example to illustrate: assuming that the input unit 14 is a remote control, the remote control and the controller 11 are connected through Bluetooth technology, when the target liquid needs to be configured, the user can first set up each liquid extraction unit 12 The container 15 corresponding to the liquid extraction pipe for holding the corresponding type of liquid, and then input the following information on the input unit 14: the ratio between the different types of liquid and the liquid extracted by each of the liquid extraction units 12 Belonging to the category. Further, the input unit 14 may also be provided with a control. When it is detected that the control is triggered, it indicates that the user wants to start the liquid mixing process. At this time, the input unit 14 compares the different types of liquid input by the user. The ratio between different types of liquids and the types of liquids extracted by each of the liquid extraction units 12 are sent to the controller 11 via Bluetooth connection, so that the controller 11 receives the following information: the ratios between different types of liquids and the types of liquids Describe the type of liquid extracted by the liquid extraction unit 12, and proceed to the next steps. In this embodiment, the user only needs to input relevant information in the input unit 14, and the subsequent liquid taking and liquid mixing process is executed by the mixing device 10, and the user does not need to touch the liquid or manually participate in liquid taking and mixing. The liquid process avoids potential safety hazards and ensures personal safety.

Further, the input unit 14 may store the following information input by the user: the ratio between the different types of liquids and the type of the liquids extracted by each of the liquid extraction units 12, so as to be in the same configuration scene (the same type of liquid and The information can be used for configuration under the same ratio) without the need for the user to repeatedly input relevant information, which is beneficial to reduce the user's operation steps and improve the user's experience.

In a possible implementation manner, the controller 11 may pre-store the preset flow rate of the target liquid, the ratio between the different types of liquids and the extraction of each of the liquid extraction units 12 After the information of the type of the liquid belongs to, the controller 11 can determine the target flow rate of each liquid extraction unit 12 when extracting the liquid according to the ratio between the different types of liquid and the preset flow rate of the target liquid.

Here is an example to illustrate: In an exemplary application scenario, the liquids that need to be mixed include Liquid A, Liquid B, and Liquid C, where the ratio of Liquid A, Liquid B, and Liquid C is 2:3:5; The mixing device 10 includes a first liquid extraction unit 12, a second liquid extraction unit 12, and a third liquid extraction unit 12. The first liquid extraction unit 12 is used for extracting liquid A, and the second liquid extraction unit 12 is used for Liquid B is extracted. The third liquid extraction unit 12 is used to extract Liquid C. The preset flow rate of the target liquid is 5L/min. Then the target flow rate of the first liquid extraction unit 12 to extract Liquid A is

The target flow rate of the second liquid extraction unit 12 for extracting liquid B is

The target flow rate of the third liquid extraction unit 12 for extracting liquid C is

In addition, the user can also input the total amount of the target liquid to be obtained through the input unit 14. Accordingly, after the input unit 14 obtains the total amount of the target liquid, it feeds it back to the The controller 11 can also determine the total extraction time according to the total amount of the target liquid and the preset flow rate of the target liquid. The controller 11 controls each liquid extraction unit 12 according to its own In the process of extracting a corresponding type of liquid at the target flow rate, the controller 11 may control each liquid extracting unit 12 to stop extracting liquid when the total extraction time is reached, so as to achieve precise control of the required volume of the target liquid. In this embodiment, the user only needs to input relevant information into the input unit 14, and the required volume of the target liquid is precisely controlled by the mixing device 10. The user does not need to touch the liquid, ensuring personal safety, and further optimizing the user's experience.

Here is an example to illustrate: In an exemplary application scenario, the total amount of target liquid required by the user is 10L, and the preset flow rate of the target liquid is 5L/min, then the determined total extraction time is 2min ( 2min=10L÷5L/min); the controller 11 may include a timer, and when the controller 11 starts to control each liquid extraction unit 12 to extract a corresponding type of liquid at the target flow rate corresponding to itself, it may Use the timer to start timing, and when the timer reaches the total extraction time, the controller 11 can send a stop signal to each liquid extraction unit 12 to control each liquid extraction through the stop signal Unit 12 stops pumping liquid.

Further, the input unit 14 can also store information input by the user: the total amount of the target liquid, so that the information can be used for configuration under the same configuration scenario (the same type of liquid, the same ratio, and the same total amount). , Without requiring the user to repeatedly input relevant information, which helps to reduce the user’s operation steps and improve the user’s experience.

In another implementation manner, the flow rate of the target liquid can also be specifically set according to actual needs, that is, the flow rate of the target liquid can be set by the user.

In an exemplary embodiment, the user can input the total amount of the target liquid and the total extraction time through the input unit 14. After the input unit 14 obtains the total amount of the target liquid and the total extraction time, Specify the communication method to feed it back to the controller 11. The controller 11 determines the flow rate of the target liquid based on the total amount of the target liquid and the total extraction time, and then based on the ratio between the different types of liquids and the total The flow rate of the target liquid is used to determine the target flow rate of each liquid extraction unit 12 when the liquid is extracted. In this embodiment, the user can flexibly set the total amount of the desired target liquid and the total extraction time according to actual needs, and the controller 11 determines the corresponding target liquid flow rate based on the total amount of the target liquid and the total extraction time. To prevent the preset flow rate of the target liquid from being too slow or too fast to affect the user's operation, the flexible setting process is conducive to improving the user's experience.

Further, when the controller 11 controls each liquid extraction unit 12 to extract a corresponding type of liquid according to the target flow rate corresponding to itself, the controller 11 may also control each liquid extraction unit 12 when the total extraction time is reached. The liquid pumping unit 12 stops pumping liquid to achieve precise control of the required volume of the target liquid.

In addition, the input unit 14 can also store information input by the user: the total amount of the target liquid and the total length of extraction time, so that it can be used in the same configuration scenario (the same type of liquid, the same proportion, and the same total amount of the target liquid). And the same total extraction time) can use this information for configuration without the user having to repeatedly input relevant information, which is beneficial to reduce the user's operation steps and improve the user's experience.

In another exemplary embodiment, the user may input the flow rate of the target liquid through the input unit 14, and after acquiring the flow rate of the target liquid, the input unit 14 feeds it back to the The controller 11 can determine the target flow rate of each of the liquid extraction units 12 when extracting liquid based on the ratio between different types of liquids and the flow rate of the target liquid received from the input unit 14. In this embodiment, the user can flexibly set the flow rate of the corresponding target liquid according to actual needs, so as to prevent the preset flow rate of the target liquid from being too slow or too fast to affect the user's operation. The flexible setting process is conducive to improving the user's experience.

Further, the user can also input the total amount of the target liquid to be obtained through the input unit 14. Accordingly, after the input unit 14 obtains the total amount of the target liquid, it will be fed back to the target liquid through a designated communication method. The controller 11 can also determine the total extraction time according to the total amount of the target liquid and the preset flow rate of the target liquid. The controller 11 controls each liquid extraction unit 12 according to its own In the process of extracting the corresponding type of liquid at the target flow rate, the controller 11 can control each of the liquid extraction units 12 to stop extracting the liquid when the total extraction time is reached, so as to achieve precise control of the required volume of the target liquid . In this embodiment, the user only needs to input relevant information into the input unit 14, and the required volume of the target liquid is precisely controlled by the mixing device 10. The user does not need to touch the liquid, ensuring personal safety, and further optimizing the user's experience.

In addition, the input unit 14 can also store information input by the user: the flow rate of the target liquid and the total amount of the target liquid, so as to be in the same configuration scenario (the same kind of liquid, the same ratio, and the same target liquid flow rate). And the total amount of the same target liquid) can be configured using this information, without the need for the user to repeatedly input relevant information, which is beneficial to reduce the user's operation steps and improve the user's experience.

In an embodiment, please refer to FIG. 3, which is a schematic structural diagram of a third mixing device 10 according to an exemplary embodiment of this application. In the embodiment shown in FIG. 3, the at least two liquid extraction units 12 Each of them includes a water pump 121.

After determining the target flow rate of each liquid extraction unit 12 when extracting liquid, the controller 11 controls the liquid extraction unit 12 to extract a corresponding type of liquid according to its own target flow rate. Specifically, the controller 11 11 Control the designated controlled amount of the water pump 121 according to the target flow rate corresponding to the liquid extraction unit 12, so that the water pump 121 operates based on the designated controlled amount after the control, and extracts a corresponding type of liquid.

In one implementation, the controller 11 determines the specific value of the designated controlled quantity of the water pump 121 according to the target flow rate corresponding to the liquid extraction unit 12, and then generates the specific value based on the specific controlled quantity of the designated controlled quantity. The corresponding control signal is sent to the water pump 121. After receiving the control signal, the water pump 121 operates according to the specific value of the designated controlled quantity indicated by the control signal, and extracts the corresponding type of liquid.

Wherein, the specified controlled quantity includes but is not limited to the motor speed or voltage of the water pump 121.

Here, the motor speed of the water pump 121 is taken as an example for description: the controller 11 may determine the specific value of the motor speed of the water pump 121 according to the target flow rate corresponding to the liquid extraction unit 12, such as the determined water pump The specific value of the motor speed of 121 is 1200r/min. The controller 11 can generate a corresponding control signal according to the specific value of the motor speed of the water pump 121 and send it to the water pump 121. The water pump 121 includes a motor control The motor and the motor are controlled by the motor controller to control the rotation of the motor according to the specific value of the motor speed indicated by the control signal, so that the water pump 121 can pump a corresponding type of liquid.

It is understandable that the controller 11 and the water pump 121 may be connected in a wired manner, or a wireless communication module may be installed on the water pump 121, so that the controller 11 and the water pump 121 It can be connected via a wireless network, and the embodiment of the present application does not impose any restriction on this, and specific settings can be made according to actual application scenarios.

In addition, considering that due to the long service life of the water pump 121 or the wear and tear of parts, the actual flow rate that the water pump 121 can reach is often less than the target flow rate when the water pump 121 is running, resulting in the final target liquid composition. The ratio is not accurate. Based on this, please refer to FIG. 4, which is a schematic structural diagram of a fourth mixing device 10 according to an exemplary embodiment of this application. Each of the at least two liquid extraction units 12 further includes a flow meter. 122; the flow meter 122 is connected to the controller 11, the flow meter 122 is used to measure the actual flow rate of the water pump 121 in the process of pumping liquid and feed it back to the controller 11, correspondingly, the control The device 11 is also used to re-control the designated controlled amount of the water pump 121 based on the difference between the actual flow rate and the target flow rate, then the water pump 121 operates based on the designated controlled amount after the control, and extracts the corresponding type Liquid. In this embodiment, the flow meter 122 implements a closed-loop control process. The actual flow rate of the water pump 121 when pumping liquid and the corresponding difference in the target flow rate measured by the flow meter 122 in real time are used to control the designation of the water pump 121 in real time. The controlled amount realizes real-time adjustment of the actual flow rate of the water pump 121 in the process of liquid extraction, and ensures the accuracy of the final target liquid ratio.

It is understandable that the embodiment of the present application does not impose any restriction on the specific type of the flow meter 122, and specific settings can be made according to actual application scenarios. In an example, the flow meter 122 includes, but is not limited to, a differential pressure flow meter, a rotameter, a throttling flow meter, a slit flow meter, a positive displacement flow meter, or an ultrasonic flow meter.

In addition, the controller 11 and the flow meter 122 may be connected in a wired manner, or a wireless communication module may be installed on the flow meter 122, so that the controller 11 and the flow meter 122 It can be connected via a wireless network. The embodiments of this application do not impose any restriction on this, and can be specifically set according to actual application scenarios. It is understandable that the communication technology applied by the wireless network connection includes but is not limited to: Distance wireless communication technology or mobile communication protocol technology. The short-range wireless communication technology can be infrared technology, WiFi technology, Bluetooth technology, UWB technology or ZigBee technology, etc., and the mobile communication protocol technology can be 3G communication technology or 4G communication technology. , GSM communication technology or GPRS communication technology, etc.

In one embodiment, the liquid extracted by each liquid extraction unit 12 flows into the mixer 13 through a pipe, and the mixer 13 mixes different types of liquids extracted by each liquid extraction unit 12 to obtain a target liquid. Among them, the mixer 13 includes but is not limited to a static mixer 13 or a vortex mixer 13; the static mixer 13 uses a mixing unit body fixed in a cavity to change the flow state of the fluid in the tube to achieve the difference between different fluids. The purpose of good dispersion and full mixing; the specific structure of the mixing unit body can be specifically set according to actual application scenarios, for example, the static mixer 13 may be an SL-type static mixer 13. The vortex mixer 13 is an instrument that combines oscillation and vortexing, and can be applied to various mixing and vortex oscillation operations.

In an embodiment, please refer to FIG. 5, which is a schematic structural diagram of a fifth mixing device 10 according to an exemplary embodiment of this application. The mixing device 10 further includes a first container 15 which is connected to the mixer 13 by a pipe, and the target liquid mixed by the mixer 13 flows into the first container 15 through the pipe. The first container 15 contains and stores the target liquid, so that the user can use the target liquid in the first container 15 to perform other operations.

In another embodiment, it is considered that the utility of the target liquid to be mixed is relatively short (for example, the target liquid is extremely volatile), and if it is not used in time, its utility may be lost; or the user wants to immediately Use the configured target liquid; based on this, please refer to FIG. 6, which is a schematic structural diagram of a sixth mixing device 10 according to an exemplary embodiment of this application. The mixing device 10 can be arranged on the movable platform, and the mixing device is carried by the movable device to move. The mixing device 10 further includes at least two second containers 16 and one or more spray heads 17 (FIG. 6 takes the mixing device 10 including a spray head 17 as an example), the at least two second containers 16 and the at least two liquid extraction units 12 are connected by pipes, and the at least two second containers 16 are used In order to contain the corresponding type of liquid, the controller 11 is also used to control the at least two liquid extraction units 12 to extract the corresponding liquid from the at least two second containers 16 in real time according to the target flow rate corresponding to itself. Then, the corresponding type of liquid extracted by the liquid extraction unit 12 enters the mixer 13 through a pipe, and the mixer 13 performs real-time mixing to obtain the target liquid. The one or more spray heads 17 It is connected with the mixer 13 through a pipeline, and is used to eject the target liquid mixed by the mixer 13 in real time during the movement of the movable platform, so that the target liquid can act on the target object For example, the target object is a plant (flowers or crops, etc.) or a place to be disinfected. In this embodiment, after the target liquid is configured, the target liquid can be used immediately through the spray head 17, so as to achieve the purpose of ready-to-use, no storage is required, which is beneficial to prevent the effectiveness of the target liquid from disappearing, and the process of ready-to-use is also It can prevent waste caused by too much target liquid. Further, the mixing device 10 can be set on a movable platform, and the target liquid mixed by the mixer 13 can be sprayed in real time during the movement of the movable platform, which is suitable for pesticide application scenes or site disinfection scenes, etc. .

Wherein, the movable platform includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, unmanned ships, or mobile robots.

In the first exemplary application scenario, considering that for different target objects, the volume of the target liquid that may need to be sprayed is also different. For example, for crop A and crop B, it is found that there are more pests on crop B than crop A. At this time, it is necessary to apply more target liquid to crop B.

In one implementation, in the case that the speed at which the nozzle 17 ejects the target liquid is fixed, the control terminal can be used to control the movable platform where the target object needs to be increased. During the stay, the nozzle 17 continuously sprays the target liquid mixed by the mixer 13 in real time during the stay, so as to achieve the purpose of increasing the dosage.

In another implementation manner, please refer to FIG. 7, which is a schematic structural diagram of a seventh mixing device 10 according to an exemplary embodiment of this application. The controller 11 can be connected to the spray head 17, and can be controlled by The controller 11 controls the speed at which the one or more nozzles 17 eject the target liquid. For a target object that needs to increase the amount of the target liquid, the controller 11 can increase the ejection rate of the one or more nozzles 17 The speed of the target liquid increases the volume of the target liquid ejected per unit time; for the target object that needs to reduce the amount of the target liquid, the controller 11 can reduce the ejection position of the one or more nozzles 17 The speed of the target liquid is described, so that the volume of the target liquid ejected per unit time is reduced.

As an example, the input unit 14 may obtain the speed at which the one or more spray heads 17 eject the target liquid input by the user and feed it back to the controller 11, so that the controller 11 may follow the received information (The speed at which the one or more spray heads 17 eject the target liquid) The speed at which the one or more spray heads 17 eject the target liquid is controlled.

It should be noted that when the mixing device has multiple spray heads 17, the multiple spray heads 17 can be set to the same speed, or they can be set to different speeds. The embodiment of the present application does not impose any limitation on this. Make specific settings based on actual application scenarios. The controller 11 and the spray head 17 are connected in a wired manner, and a wireless communication module can also be installed on the spray head 17, so that the controller 11 and the spray head 17 can be connected through a wireless network. The embodiments of this application do not impose any restrictions on this, and can be specifically set according to actual application scenarios. Among them, it is understandable that the communication technology applied by the wireless network connection method includes but is not limited to: short-range wireless communication technology or mobile Communication protocol technology, the short-range wireless communication technology can be infrared technology, WiFi technology, Bluetooth technology, UWB technology or ZigBee technology, etc., the mobile communication protocol technology can be 3G communication technology, 4G communication technology, GSM communication technology or GPRS Communication technology, etc.

In the second exemplary application scenario, during the movement of the movable platform, different target objects may need to use different proportions of target liquids (the same kind of liquids use different proportions), then the user can According to actual needs, different configuration parameters are input through the input unit 14 at different times, and the configuration parameters include one or more of the following: the ratio between different types of liquids, and the liquids extracted by each of the liquid extraction units 12 The type, the total amount of the target liquid, the total length of extraction time, or the flow rate of the target liquid; thus, the controller 11 can determine that the at least two liquid extraction units 12 are Different target flow rates when extracting corresponding types of liquids at different times. At each time, the at least two liquid extraction units 12 extract corresponding types of liquids according to the target flow rates corresponding to themselves, and the mixer 13 mixes the various types of liquids. The different types of liquids extracted by the liquid extraction unit 12 obtain the target liquid, and the one or more spray heads 17 spray the target liquid mixed by the mixer 13 in real time during the movement of the movable platform. . In this embodiment, during the movement of the movable platform, target liquids of different proportions can be obtained through the process of ready-to-use, so as to act on different target objects, which further facilitates the user's use.

In the third exemplary application scenario, considering the target liquid used by different target objects, the type of liquid required is also different. In order to be able to perform different target objects during the movement of the movable platform Processing, based on this, please refer to FIG. 8. FIG. 8 is a schematic structural diagram of an eighth mixing device 10 according to an exemplary embodiment of the present application. Each liquid extraction unit 12 in FIG. 8 may correspond to a second container 16. It can also correspond to multiple second containers 16; it should be noted that, in the embodiment shown in FIG. 8, when one liquid extraction unit 12 corresponds to multiple second containers 16, the liquid at the same time The extraction unit 12 can only extract the corresponding type of liquid from one of the second containers 16.

In the embodiment shown in FIG. 8, the mixing device 10 further includes a switch unit 18 corresponding to each of the second containers 16; under the control of the controller 11, the switch unit 18 is used to control the The pipeline between the second container 16 and the liquid extraction unit 12 is opened or closed. In this embodiment, the user can control the switch unit 18 through the controller 11, and select the corresponding type of liquid to be mixed according to actual needs, that is, select the corresponding switch unit 18 to turn on the liquid extraction unit 12 and the container. There are pipes between the second containers 16 of the corresponding type of liquid, so that the liquid extraction unit 12 can extract the corresponding type of liquid from the selected second container 16, and then obtain a variety of different targets through the mixer 13 Liquid, a variety of different target liquids can be applied to different target objects, thereby facilitating the use of users and helping to optimize the user experience.

The controller 11 may determine one of the one or more second containers 16 corresponding to the liquid extraction unit 12 as the target second container 16 according to the type of the liquid extracted by the liquid extraction unit 12, and Control the switch unit 18 corresponding to the target second container 16 to open the pipeline between the target second container 16 and the liquid extraction unit 12; The target flow rate draws a corresponding type of liquid from the target second container 16, and is mixed by the mixer 13 to obtain the target liquid to be sprayed by the one or more spray heads 17. In this embodiment, during the movement of the movable platform, the user can select different types of liquids to mix according to actual needs, so as to obtain a variety of different target liquids, and a variety of different target liquids can be applied to different target objects. , So as to facilitate the user’s use and help optimize the user’s experience.

Wherein, the category of the liquid extracted by the liquid extraction unit 12 can be obtained by the input unit 14, and the user can input the category of the liquid extracted by the liquid extraction unit 12 on the input unit 14, so that the The input unit 14 feeds back to the controller 11.

It should be noted that the types of liquids that need to be mixed are different according to different target liquids, and the number of liquids that need to be mixed is also different. Therefore, not all liquid extraction units 12 need to extract each time the target liquid is mixed. For the corresponding type of liquid, the user can select all the liquid extraction units 12 to extract the corresponding type of liquid according to actual needs, or select some of the liquid extraction units 12 to extract the corresponding type of liquid. The embodiment of the application does not impose any restriction on this .

It can be understood that this application does not impose any restrictions on the type of the switch unit 18, and can be specifically set according to actual application scenarios. For example, the switch unit 18 may be an on-off valve or a solenoid valve.

The following description will be given by taking the application of the mixing device 10 in an agricultural scene for mixing liquid pesticides as an example:

The mixing device 10 includes an input unit 14, a controller 11, a mixer 13, and at least two liquid extraction units 12. Each liquid extraction unit 12 includes a water pump 121 and a flow meter 122. As an example, one of the liquid extraction units 12 It is used to extract water, and other liquid extraction units 12 are used to extract different types of liquid pesticides. Each liquid extraction unit 12 is connected to the mixer 13 through a pipeline, and each liquid extraction unit 12 is connected to a container and container for holding water. The containers for different types of liquid pesticides are connected by pipes.

The user can first set up the containers for the corresponding types of liquids corresponding to the pipes through which each liquid extraction unit 12 extracts liquid. In an example, for example, there are three liquid extraction units 12, the user can set the first liquid extraction The pipe of unit 12 corresponds to the container containing water, the pipe of the second liquid extraction unit 12 corresponds to the container containing liquid pesticide A, and the pipe of the third liquid extraction unit 12 corresponds to the container pipe containing liquid pesticide B. Liquid pesticide A and The liquid pesticide B is different; then, the user can input the following information on the input unit 14: the ratio between water and various liquid pesticides and the type of liquid extracted by each of the liquid extraction units 12. In this embodiment, the user only needs to input relevant information in the input unit 14, and the relevant liquid mixing process is executed by the mixing device 10. The user does not need to touch the liquid, and does not need to manually participate in the liquid extraction and mixing process, so as to avoid occurrences. Hidden safety hazards ensure personal safety.

Then, the controller 11 determines the target flow rate of each liquid extraction unit 12 when extracting the corresponding liquid based on the ratio between water and various liquid pesticides and the type of the liquid extracted by each liquid extraction unit 12. In this embodiment, by determining the target flow rate corresponding to each of the liquid extraction units 12, it is ensured that each liquid extraction unit 12 uses the target flow rate to extract the various types of liquids and the mixed target liquid ratio is accurate.

For each water pump 121 and flow meter 122 of the liquid extraction unit 12, at the beginning, the controller 11 controls the corresponding designated controlled amount of the water pump 121 according to the target flow rate corresponding to the liquid extraction unit 12 The water pump 121 operates based on the specified controlled volume after control, and extracts the corresponding type of liquid. Then, while the water pump 121 is pumping the flow, the flow meter 122 measures the water pump 121 in the process of pumping liquid in real time. The actual flow rate is fed back to the controller 11, and the controller 11 controls the designated controlled amount of the water pump 121 in real time based on the difference between the actual flow rate and the target flow rate. After the designated controlled amount runs, the corresponding type of liquid is extracted; the water or liquid pesticide drawn by the water pump 121 flows into the mixer 13 through the pipeline, and the mixer 13 mixes the liquid pesticide and water to obtain the configured Target liquid. In this embodiment, the closed-loop control process is realized by the flow meter 122, and the actual flow rate of the water pump 121 when pumping liquid and the corresponding difference in the target flow rate measured in real time by the flow meter 122 are used to control the water pump 121 in real time. The specified controlled amount of, realizes real-time adjustment of the actual flow rate of the water pump 121 in the process of liquid extraction, and ensures the accuracy of the final target liquid ratio.

In a possible implementation, the mixing device 10 further includes a first container 15, such as a medicine box, which is connected to the mixer 13 by a pipe, and the medicine box contains and stores the target. Liquid so that the user can access the target liquid when needed.

In an exemplary application scenario, take the movable platform as an unmanned aerial vehicle as an example: the hybrid device 10 can be set on the unmanned aerial vehicle, and the hybrid device can be carried by the unmanned aerial vehicle. To fly and spray pesticides, the mixing device 10 further includes at least two second containers 16 and one or more spray heads 17. The second container 16 is used to hold water or a corresponding type of liquid pesticide, and the controller 11 is also used to control the at least two liquid extraction units 12 according to the target flow rate corresponding to themselves, in real time from the at least two second The water or the corresponding type of liquid pesticide is extracted from the second container 16, and then the water or the corresponding type of liquid pesticide extracted by the liquid extraction unit 12 enters the mixer 13 through a pipeline, and the mixer 13 performs real-time mixing to obtain the result For the target liquid, the one or more spray heads 17 and the mixer 13 are connected by pipes. During the flight of the UAV, the one or more spray heads 17 can be sprayed through the mixer 13 in real time. The obtained target liquid is mixed so that the target liquid can act on crops. In this embodiment, after the target liquid is configured, the target liquid can be used immediately through the spray head 17, so as to achieve the purpose of ready-to-use, no storage is required, which is beneficial to prevent the effectiveness of the target liquid from disappearing, and the process of ready-to-use is also It can prevent waste caused by too much target liquid.

Considering that in the process of spraying the target liquid with the unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a camera, which can shoot the operation scene of the unmanned aerial vehicle in real time and send it to the corresponding control terminal, so that the user can grasp the unmanned aerial vehicle's operation in real time. Operating conditions, in a possible scenario, for example, for crop A and crop B, the user finds that there are more pests on crop B than crop A through the captured operating scenes, and the controller 11 can control the one or more The speed at which the spray head 17 ejects the target liquid. For crops B, the speed at which the one or more spray heads 17 spray the target liquid can be increased by the controller 11, so that the volume of the target liquid sprayed per unit time Increase, thereby increasing the amount of crop B.

In an embodiment, the user can input the speed of the spray head 17 through the input unit 14, and the input unit 14 feeds it back to the controller 11, wherein the input unit 14 and the control The device 11 is wirelessly connected, so that the controller can control the speed at which the spray head 17 ejects the target liquid according to the received information (the speed of the spray head 17). As an example, the input unit may be an interactive interface provided on a control terminal for controlling the unmanned aerial vehicle, so that the user can control the unmanned aerial vehicle and the hybrid device through a control terminal, which further facilitates the use of the user .

Considering that in the process of spraying the target liquid with the unmanned aerial vehicle, different crops may need to use different proportions of the target liquid (the same kind of liquid adopts different proportions). Based on this, the user can pass the target liquid at different times according to actual needs. The input unit 14 (the input unit 14 is wirelessly connected to the controller 11) inputs different configuration parameters, and the configuration parameters include one or more of the following: the ratio between different types of liquids, each of the liquids The type of liquid extracted by the extraction unit 12, the total amount of the target liquid, the total extraction time, and the flow rate of the target liquid; thus, the controller 11 can determine the at least two parameters according to different configuration parameters acquired at different times. The liquid extraction unit 12 has different target flow rates when extracting corresponding types of liquids at different times. At each time, the at least two liquid extraction units 12 extract corresponding types of liquids according to the target flow rates corresponding to themselves, and the mixing The device 13 mixes the different types of liquids extracted by each of the liquid extraction units 12 to obtain the target liquid. The one or more nozzles 17 are sprayed in real time during the flight of the UAV and mixed by the mixer 13 The target liquid. In this embodiment, during the flight of the UAV, target liquids of different proportions can be obtained through the process of ready-to-use and ready-to-use, so as to act on different crops, further facilitating the user's use.

Considering that in the process of spraying the target liquid with the unmanned aerial vehicle, the target liquid used by different crops requires different types of liquid pesticides. Based on this, each liquid extraction unit 12 corresponds to one or more The second container 16, the mixing device further includes a switch unit 18 corresponding to each of the second container 16, the controller 11 can be based on the type of liquid extracted by the liquid extraction unit 12, from the liquid One of the one or more second containers 16 corresponding to the extraction unit 12 is determined to be the target second container 16, and the switch unit 18 corresponding to the target second container 16 is controlled to turn on the target second container 16 and The pipeline between the liquid extraction unit 12; then the liquid extraction unit 12 can extract the corresponding type of liquid pesticide or water from the target second container 16 according to the target flow rate corresponding to itself, and then pass the After mixing by the mixer 13, the target liquid is sprayed through the one or more spray heads 17. In this embodiment, during the flight of the UAV, the user can select different types of liquid pesticides to mix according to actual needs, so as to obtain a variety of different target liquids, which can be applied to different crops. , So as to facilitate the user’s use and help optimize the user’s experience.

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. Ordinary technicians in this neighborhood can understand and implement without creative work.

Correspondingly, please refer to FIG. 9. An embodiment of the present application also provides a mixing control method applied to a mixing device. The mixing device includes: a mixer and at least two liquid extraction units; The type of liquid is different.

The method includes:

In step S201, the target flow rate of each liquid extraction unit when extracting liquid is determined according to the ratio between different types of liquids.

In step S202, for each liquid extraction unit, the liquid extraction unit is controlled to extract a corresponding type of liquid according to the target flow rate corresponding to the liquid extraction unit.

In step S203, the different types of liquids extracted by each of the liquid extraction units are mixed by a mixer to obtain a target liquid.

In an embodiment, each of the at least two liquid extraction units includes a water pump.

The controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself includes:

The specified controlled amount of the water pump is controlled according to the target flow rate corresponding to the liquid pumping unit, so that the water pump operates based on the controlled specified controlled amount to extract a corresponding type of liquid.

In an embodiment, each of the at least two liquid extraction units further includes a flow meter.

The method further includes: measuring the actual flow rate of the water pump in the process of pumping liquid through the flow meter;

The controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself, further includes:

Based on the difference between the actual flow rate and the target flow rate, the specified controlled amount of the water pump is controlled, so that the water pump operates based on the specified controlled amount after the control to extract a corresponding type of liquid.

In an embodiment, the specified controlled quantity includes at least one of the following: the motor speed or voltage of the water pump.

In an embodiment, before the determining the target flow rate of each of the liquid extraction units when extracting the liquid according to the ratio between the different types of liquids, the method further includes:

The ratio between the different types of liquid input by the user and the type of the liquid extracted by each liquid extraction unit are acquired.

In an embodiment, the determining the target flow rate of each of the liquid extraction units when extracting the liquid according to the ratio between the different types of liquid includes:

According to the ratio between different types of liquids and the preset flow rate of the target liquid, the target flow rate of each liquid extraction unit when extracting the liquid is determined.

In an embodiment, it further includes:

Get the total amount of target liquid entered by the user.

The total extraction time is determined according to the total amount of the target liquid and the preset flow rate of the target liquid, and each liquid extraction unit is controlled to stop extracting the liquid when the total extraction time is reached.

In an embodiment, the method further includes: obtaining the total amount of the target liquid input by the user and the total length of extraction.

The determining the target flow rate of each of the liquid extraction units when extracting the liquid according to the ratio between the different types of liquids includes:

Determining the flow rate of the target liquid according to the total amount of the target liquid and the total extraction time;

The target flow rate of each liquid extraction unit when the liquid is extracted is determined based on the ratio between the different types of liquids and the flow rate of the target liquid.

In an embodiment, the mixer and the liquid extraction unit are connected by a pipe.

In an embodiment, the mixer includes a static mixer.

In an embodiment, the mixing device further includes a container; the container and the mixer are connected by a pipe.

The method further includes storing the target liquid in the container.

In an embodiment, the mixing device is arranged on a movable platform; the mixing device further includes at least two second containers and one or more spray heads.

The liquid extraction unit is controlled to extract a corresponding type of liquid from the second container in real time according to the target flow rate corresponding to itself.

The method further includes:

During the movement of the movable platform, the target liquid mixed by the mixer is sprayed in real time through the spray head.

In an embodiment, the method further includes:

The speed at which the one or more spray heads spray the target liquid is controlled.

In an embodiment, the determining the target flow rate of each liquid extraction unit when extracting liquid according to the ratio between different types of liquids includes:

According to multiple sets of different configuration parameters acquired at different times, different target flow rates when each liquid extraction unit extracts liquid at different times are determined; the configuration parameters include the ratio between different types of liquids and each of the liquid extractions The type of liquid drawn by the unit.

In an embodiment, each of the liquid extraction units corresponds to one or more second containers; wherein, if each of the liquid extraction units corresponds to multiple second containers, at the same time, the liquid extraction unit is from A corresponding type of liquid is drawn from one of the second containers.

The mixing device further includes a switch unit corresponding to each of the second containers.

The method further includes:

The opening or closing of the pipeline between the second container and the liquid extraction unit is controlled by the switch unit.

In an embodiment, it further includes:

According to the type of the liquid extracted by the liquid extraction unit, one of the one or more second containers corresponding to the liquid extraction unit is determined as the target second container.

Controlling the switch unit corresponding to the target second container to open a pipeline between the target second container and the liquid extraction unit.

Then, controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself includes:

The liquid extraction unit is controlled to extract a corresponding type of liquid from the target second container according to the target flow rate corresponding to itself.

For the specific implementation in the method embodiment, please refer to the description in the device embodiment, which will not be repeated here.

In the embodiment of the present application, since the target flow rate corresponding to each liquid extraction unit is determined based on the ratio between different types of liquids, it is ensured that the target liquid obtained by mixing by the mixer maintains an accurate ratio at all times, so that the The target liquid meets the requirements; and under the control of the controller, the liquid extraction unit automatically extracts the liquid and the mixer performs the liquid mixing process by itself, without manual participation in the liquid extraction and mixing process, avoiding potential safety hazards and ensuring personal safety . Further, an embodiment of the present application also provides a movable platform, and the movable platform includes a fuselage.

The power system is arranged in the fuselage and is used to control the movement of the movable platform; and, the above-mentioned mixing device.

Wherein, the movable platform includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, unmanned ships, and mobile robots.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. The core idea; at the same time, for ordinary technicians in this neighborhood, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a reference to the present invention. limit.

Claims

A mixing device, characterized by comprising a controller, a mixer and at least two liquid extraction units; different liquid extraction units have different types of liquids;

The controller is configured to: determine the target flow rate of each liquid extraction unit when extracting liquid according to the ratio between different types of liquids;

The at least two liquid extraction units are used to: extract a corresponding type of liquid according to the target flow rate corresponding to itself;

The mixer is used to mix different types of liquids extracted by each of the liquid extraction units to obtain a target liquid.
The mixing device according to claim 1, wherein each of the at least two liquid extraction units includes a water pump;

The controller is further configured to: control the designated controlled amount of the water pump according to the target flow rate corresponding to the liquid extraction unit;

The water pump is used to: operate based on the designated controlled amount after control, and pump the corresponding type of liquid.
The mixing device according to claim 2, wherein each of the at least two liquid extraction units further comprises a flow meter;

The flow meter is used to measure the actual flow rate of the water pump in the process of pumping liquid and feed it back to the controller;

The controller is further configured to control the designated controlled amount of the water pump based on the difference between the actual flow rate and the target flow rate.
The mixing device according to claim 2, wherein the designated controlled quantity includes at least one of the following: a motor speed or voltage of the water pump.
The mixing device according to claim 1, further comprising an input unit;

The input unit is used to obtain the ratio between the different types of liquid input by the user and the type of the liquid extracted by each liquid extraction unit, and feed it back to the controller through a designated communication method.
The mixing device according to claim 5, wherein the input unit comprises an interactive interface provided on a mobile terminal.
The mixing device of claim 5, wherein:

The controller is specifically configured to determine the target flow rate of each liquid extraction unit when the liquid is extracted according to the ratio between different types of liquids and the preset flow rate of the target liquid.
The mixing device according to claim 7, wherein:

The input unit is also used to obtain the total amount of the target liquid input by the user and feed it back to the controller through a designated communication method;

The controller is further configured to determine the total extraction time according to the total amount of the target liquid and the preset flow rate of the target liquid, and control each of the liquid extraction units to stop extracting the liquid when the total extraction time is reached.
The mixing device of claim 5, wherein:

The input unit is also used to obtain the total amount of the target liquid input by the user and the total extraction time, and feed it back to the controller through a designated communication method;

The controller is specifically configured to: determine the flow rate of the target liquid according to the total amount of the target liquid and the total extraction time; determine each liquid extraction based on the ratio between different types of liquids and the flow rate of the target liquid The target flow rate when the unit is pumping liquid.
The mixing device according to claim 1, wherein the mixer and the liquid extraction unit are connected by a pipe.
The mixing device of claim 1, wherein the mixer comprises a static mixer.
The hybrid device according to claim 5, wherein the input unit and the controller are connected via a wireless network; or the input unit is installed on the controller.
The mixing device according to claim 1, further comprising a first container, and the first container and the mixer are connected by a pipe;

The first container is used to store the target liquid.
The mixing device according to claim 1, wherein the mixing device is arranged on a movable platform;

The mixing device also includes at least two second containers and one or more spray heads;

The at least two second containers and the at least two liquid extraction units are connected by pipes, and are used for containing corresponding types of liquids;

The controller is further configured to control the at least two liquid extraction units to extract corresponding types of liquid from the at least two second containers in real time according to the target flow rate corresponding to themselves;

The one or more spray heads are connected with the mixer through a pipeline, and are used to spray the target liquid obtained by mixing by the mixer in real time during the movement of the movable platform.
The mixing device of claim 14, wherein:

The controller is also used to control the speed at which the one or more spray heads spray the target liquid.
The mixing device of claim 14, wherein:

The mixing device is further configured to: determine different target flow rates when the at least two liquid extraction units extract liquid at different times according to different configuration parameters obtained at different times; the configuration parameters include different types of liquids. The ratio between each liquid extraction unit and the type of liquid extracted by each liquid extraction unit.
The mixing device according to claim 14, wherein each of the liquid extraction units corresponds to one or more second containers; wherein, if each of the liquid extraction units corresponds to multiple second containers, at the same time The liquid extraction unit extracts a corresponding type of liquid from one of the second containers;

The mixing device further includes a switch unit corresponding to each of the second containers; under the control of the controller, the switch unit is used to control the pipeline between the second container and the liquid extraction unit Turn on or turn off.
The mixing device of claim 17, wherein:

The controller is also used to determine one of the one or more second containers corresponding to the liquid extraction unit as the target second container according to the type of the liquid extracted by the liquid extraction unit, and control the The switch unit corresponding to the target second container opens the pipeline between the target second container and the liquid extraction unit;

The liquid extraction unit is further configured to extract a corresponding type of liquid from the target second container according to the target flow rate corresponding to itself.
A mixing control method, characterized in that it is applied to a mixing device, the mixing device comprising: a mixer and at least two liquid extraction units; the types of liquids extracted by different liquid extraction units are different;

The method includes:

Determine the target flow rate of each liquid extraction unit when extracting liquid according to the ratio between different types of liquids;

For each liquid extraction unit, controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself;

The different types of liquids extracted by each of the liquid extraction units are mixed by a mixer to obtain the target liquid.
The method of claim 19, wherein each of the at least two liquid extraction units includes a water pump;

The controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself includes:

The specified controlled amount of the water pump is controlled according to the target flow rate corresponding to the liquid pumping unit, so that the water pump operates based on the controlled specified controlled amount to extract a corresponding type of liquid.
The method according to claim 20, wherein each of the at least two liquid extraction units further comprises a flow meter;

The method also includes:

Measuring the actual flow rate of the water pump in the process of extracting liquid by the flow meter;

The controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself, further includes:

Based on the difference between the actual flow rate and the target flow rate, the specified controlled amount of the water pump is controlled, so that the water pump operates based on the specified controlled amount after the control to extract a corresponding type of liquid.
The method according to claim 20, wherein the designated controlled quantity includes at least one of the following: a motor speed or voltage of the water pump.
The method according to claim 19, characterized in that, before the determining the target flow rate of each of the liquid extraction units when extracting the liquid according to the ratio between the different types of liquids, the method further comprises:

The ratio between the different types of liquid input by the user and the type of the liquid extracted by each liquid extraction unit are acquired.
The method according to claim 23, wherein the determining the target flow rate of each of the liquid extraction units when extracting the liquid according to the ratio between different types of liquids comprises:

According to the ratio between different types of liquids and the preset flow rate of the target liquid, the target flow rate of each liquid extraction unit when extracting the liquid is determined.
The method according to claim 19, further comprising:

Obtain the total amount of target liquid input by the user;

The total extraction time is determined according to the total amount of the target liquid and the preset flow rate of the target liquid, and each liquid extraction unit is controlled to stop extracting the liquid when the total extraction time is reached.
The method according to claim 23, further comprising:

Get the total amount of the target liquid input by the user and the total length of extraction;

The determining the target flow rate of each of the liquid extraction units when extracting the liquid according to the ratio between the different types of liquids includes:

Determining the flow rate of the target liquid according to the total amount of the target liquid and the total extraction time;

The target flow rate of each liquid extraction unit when the liquid is extracted is determined based on the ratio between the different types of liquids and the flow rate of the target liquid.
The method according to claim 19, wherein the mixer and the liquid extraction unit are connected by a pipe.
The method of claim 19, wherein the mixer comprises a static mixer.
The method according to claim 19, wherein the mixing device further comprises a first container; the first container and the mixer are connected by a pipe;

The method also includes:

The target liquid is stored by the first container.
The method according to claim 19, wherein the mixing device is arranged on a movable platform; the mixing device further comprises at least two second containers and one or more spray heads;

The controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself includes:

Controlling the liquid extraction unit to extract a corresponding type of liquid from the second container in real time according to the target flow rate corresponding to itself;

The method further includes:

During the movement of the movable platform, the target liquid mixed by the mixer is sprayed in real time through the spray head.
The method according to claim 30, wherein the method further comprises:

The speed at which the one or more spray heads spray the target liquid is controlled.
The method according to claim 19, wherein the determining the target flow rate of each liquid extraction unit when extracting liquid according to the ratio between different types of liquids comprises:

According to multiple sets of different configuration parameters acquired at different times, different target flow rates when each liquid extraction unit extracts liquid at different times are determined; the configuration parameters include the ratio between different types of liquids and each of the liquid extractions The type of liquid drawn by the unit.
The method according to claim 19, wherein each of the liquid extraction units corresponds to one or more second containers; wherein, if each of the liquid extraction units corresponds to multiple second containers, they are in the same At any moment, the liquid extraction unit extracts a corresponding type of liquid from one of the second containers;

The mixing device further includes a switch unit corresponding to each of the second containers;

The method further includes:

The opening or closing of the pipeline between the second container and the liquid extraction unit is controlled by the switch unit.
The method according to claim 33, further comprising:

According to the type of the liquid extracted by the liquid extraction unit, determine one of the one or more second containers corresponding to the liquid extraction unit as the target second container;

Controlling the switch unit corresponding to the target second container to open the pipeline between the target second container and the liquid extraction unit;

Then, controlling the liquid extraction unit to extract a corresponding type of liquid according to the target flow rate corresponding to itself includes:

The liquid extraction unit is controlled to extract a corresponding type of liquid from the target second container according to the target flow rate corresponding to itself.
A movable platform, characterized in that it comprises:

body;

The power system is arranged in the fuselage and is used to control the movement of the movable platform; and,

The mixing device according to any one of claims 1 to 18.