WO2021258258A1

WO2021258258A1 - Flow meter calibration method, apparatus and device, and storage medium

Info

Publication number: WO2021258258A1
Application number: PCT/CN2020/097484
Authority: WO
Inventors: 胡德琪; 常子敬; 吴帆
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-12-30
Also published as: CN113795733A

Abstract

A flow meter calibration method, apparatus and device, and a storage medium. Said method comprises: acquiring the state of a fluid in a pipeline (S201), the state of the fluid comprising a non-flowing state and a flowing state; if the state of the fluid in the pipeline indicates that the fluid is in the non-flowing state, acquiring a flow value of a flow meter (14) (S202); and if the difference between the flow value of the flow meter (14) and zero exceeds a preset difference, controlling the flow meter (14) to perform zero calibration (S203). In cases where the fluid in the pipeline is stationary, it is determined whether to perform zero calibration on the flow meter (14) according to the current flow value of the flow meter (14), and in cases where the calibration is required, the flow meter (14) is controlled to perform zero calibration, so that in cases where the pipeline has no actual flow but the flow meter (14) outputs a flow value, the flow meter is controlled to perform automatic calibration in time, eliminating a flow calculation error.

Description

Calibration method, device, equipment and storage medium of flowmeter

Technical field

This application relates to the field of flow meters, and in particular to a calibration method, device, equipment and storage medium of a flow meter.

Background technique

The zero point of the flowmeter means that the output value of the flowmeter should be zero when the input value of the flowmeter is at the starting point of the range azimuth (that is, when the object to be measured has no flow, the flow should be zero). However, due to internal and external factors such as temperature, changes in the properties of the detection medium and other internal and external factors that make up the flowmeter, the true flow rate of the object to be measured is often zero, but the output value of the flowmeter is not zero. This situation is called the zero point of the flowmeter. Inaccurate, will lead to flow calculation errors.

The commonly used solution now is to use temperature compensation (or medium characteristic compensation), that is, to compensate the flowmeter by detecting the temperature change of the environment in which the flowmeter is located, so as to perform zero point calibration.

However, the temperature compensation relationship is not clear, which often leads to inaccurate calibration.

Summary of the invention

The embodiments of the application provide a flow meter calibration method, device, equipment and storage medium, so that when there is no actual flow in the pipeline, but the flow meter has a flow value output, the flow meter is controlled to perform automatic calibration in time, thereby eliminating Flow calculation error.

In a first aspect, an embodiment of the present application provides a method for calibrating a flow meter, including: acquiring the state of the fluid in the pipeline, the state of the fluid includes a non-flowing state and a flowing state; if the state of the fluid in the pipeline indicates When the fluid is in a non-flowing state, the flow value of the flow meter is obtained; if the difference between the flow value of the flow meter and the zero point exceeds a preset difference value, the flow meter is controlled to perform zero point calibration.

Optionally, the obtaining the state of the fluid in the pipeline includes: obtaining the state of the pump, the state of the pump includes a working state and a non-working state, the pump is arranged on the pipeline; if the pump If the state of indicates that the pump is currently in a non-working state, it is determined that the fluid is in a non-flowing state; if the state of the pump indicates that the pump is currently in a working state, it is determined that the fluid is in a flowing state.

Optionally, the acquiring the state of the pump includes: acquiring a first control instruction sent to the pump, the first control instruction including an opening instruction and a closing instruction; if the first control instruction is an opening instruction , It is determined that the state of the pump is a working state; if the first control instruction is a shutdown instruction, it is determined that the state of the pump is a non-working state.

Optionally, the acquiring the state of the fluid in the pipeline includes: acquiring current liquid level information of a supply device connected to the pipeline; determining the current liquid level information and the last acquired liquid level information Whether the liquid level difference of the liquid level information is within the preset liquid level difference range; if the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state; if the liquid level difference is not within the preset liquid level difference range, Assuming that the liquid level difference is within the range, it is determined that the fluid is in a flowing state.

Optionally, before the acquiring the state of the pump, the method further includes: receiving a second control instruction sent by an external device, where the second control instruction is used to control the state of the pump; The second control command controls the state of the pump.

Optionally, the second control instruction is sent by the external device every predetermined time.

Optionally, the second control instruction is sent by the external device at a predetermined time.

Optionally, the external device is a terminal device, and the second control instruction is generated according to user operation information on the terminal device.

Optionally, the acquiring the state of the fluid in the pipeline includes: acquiring current time information; determining whether the current time is a predetermined time point according to the current time information; if the current time is a predetermined time point, then Obtain the state of the fluid in the pipeline.

Optionally, the preset difference value is zero; the controlling the flow meter to perform zero point calibration includes: calibrating the current flow value of the flow meter to zero point.

Optionally, the preset difference is non-zero; the controlling the flow meter to perform zero point calibration includes: calibrating the current flow value of the flow meter so that the current flow value of the flow meter is equal to the zero point The difference of is within the preset difference range.

In a second aspect, an embodiment of the present application provides a flow meter calibration device, including: an acquisition module for acquiring the state of the fluid in the pipeline, the state of the fluid includes a non-flowing state and a flowing state; and if the tube The state of the fluid in the circuit indicates that the fluid is in a non-flowing state, and the flow value of the flow meter is obtained; the control module is used to control the flow meter if the difference between the flow value of the flow meter and the zero point exceeds a preset difference value. The flowmeter is zero-point calibrated.

Optionally, the acquiring module includes: an acquiring unit for acquiring the state of the pump, the state of the pump including a working state and a non-working state, and the pump is arranged on the pipeline; and the determining unit is configured to: If the state of indicates that the pump is currently in a non-working state, it is determined that the fluid is in a non-flowing state; and if the state of the pump indicates that the pump is currently in a working state, then it is determined that the fluid is in a flowing state.

Optionally, the acquiring module includes: an acquiring unit, configured to acquire a first control instruction sent to the pump, where the first control instruction includes an opening instruction and a shutdown instruction; and a determining unit, configured to: If it is an on instruction, it is determined that the state of the pump is an operating state; and if the first control instruction is an off instruction, it is determined that the state of the pump is a non-operating state.

Optionally, the acquiring module includes: an acquiring unit, configured to acquire current liquid level information of a supply device, which is connected to the pipeline; and a determining unit, configured to determine the current liquid level information and the last acquired liquid level information Whether the liquid level difference of the liquid level information is within the preset liquid level difference range; and if the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state; if the liquid level difference is not Within the preset liquid level difference range, it is determined that the fluid is in a flowing state.

Optionally, the device further includes: a receiving module, configured to receive a second control instruction sent by an external device, the second control instruction being used to control the state of the pump; the control module, further configured to The second control command controls the state of the pump.

Optionally, the acquiring module includes: an acquiring unit for acquiring current time information; a determining unit for determining whether the current time is a predetermined time point according to the current time information; and if the current time is a predetermined time Click to obtain the state of the fluid in the pipeline.

Optionally, the preset difference value is zero; the control module includes a calibration unit configured to calibrate the current flow value of the flow meter to a zero point.

Optionally, the preset difference value is non-zero; the control module includes: a calibration unit configured to calibrate the current flow value of the flow meter so that the current flow value of the flow meter is different from the zero point The value is within the preset difference range.

In a third aspect, an embodiment of the present application provides a flow meter calibration device, including: a processor and a memory, the memory is used to store instructions, and the processor calls the instructions stored in the memory to implement the following operations: get The state of the fluid in the pipeline, the state of the fluid includes a non-flowing state and a flowing state; and if the state of the fluid in the pipeline indicates that the fluid is in the non-flowing state, obtaining the flow rate value of the flowmeter ; If the difference between the flow value of the flowmeter and the zero point exceeds the preset difference, the flowmeter is controlled to perform zero point calibration.

Optionally, when the processor obtains the state of the fluid in the pipeline, it specifically includes: obtaining the state of the pump. The state of the pump includes a working state and a non-working state, and the pump is set at the On the pipeline; if the state of the pump indicates that the pump is currently in a non-working state, it is determined that the fluid is in a non-flowing state; if the state of the pump indicates that the pump is currently in a working state, it is determined that the fluid is in Flow state.

Optionally, when the processor obtains the working state of the pump, it specifically includes: obtaining a first control instruction sent to the pump, where the first control instruction includes an opening instruction and a closing instruction; If a control command is a start command, it is determined that the state of the pump is a working state; if the first control command is a close command, it is determined that the state of the pump is a non-working state.

Optionally, when the processor acquires the state of the fluid in the pipeline, it specifically includes: acquiring current liquid level information of a supply device connected to the pipeline; and determining the current liquid level information Whether the liquid level difference with the level information obtained last time is within the preset liquid level difference range; if the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state; If the liquid level difference is not within the preset liquid level difference range, it is determined that the fluid is in a flowing state.

Optionally, the device further includes: a communication interface for receiving a second control instruction sent by an external device, the second control instruction for instructing the processor to control the state of the pump; the processing The device is also used to control the state of the pump according to the second control instruction.

Optionally, when the processor acquires the state of the fluid in the pipeline, it specifically includes: acquiring current time information; determining whether the current time is a predetermined time point according to the current time information; if the current time is At a predetermined point in time, the state of the fluid in the pipeline is acquired.

Optionally, the preset difference value is zero; when the processor controls the flow meter to perform zero point calibration, it specifically includes: calibrating the current flow value of the flow meter to the zero point.

Optionally, the preset difference is non-zero; when the processor controls the flowmeter to perform zero-point calibration, it specifically includes: calibrating the current flow value of the flowmeter, so that the flowmeter The difference between the current flow value and the zero point is within the preset difference range.

In a fourth aspect, an embodiment of the present application provides a spraying device, including: a supply device for providing fluid used for spraying; a pump, connected to the supply device through a pipeline, for drawing fluid from the supply device , And delivered to the spray head; the spray head is used to spray the fluid; the flow meter is used to detect the flow in the pipeline; the calibration equipment as described in the third aspect is connected to the pipeline for According to the flow rate detected by the flow meter, it is determined whether the flow meter needs to be zero-point calibrated, and when the flow meter needs to be zero-point calibrated, the flow meter is controlled to perform the zero-point calibration.

In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle, which is characterized by including: a fuselage; a power system installed on the fuselage for providing flight power; the spraying device as described in the fourth aspect; flight control The system is communicatively connected with the power system, and is used to control the flight of the UAV.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.

The flow meter calibration method, device, equipment and storage medium provided in this embodiment obtain the state of the fluid in the pipeline, where the state of the fluid includes the non-flowing state and the flowing state; if the state of the fluid in the pipeline indicates that the fluid is in In the non-flowing state, the flow value of the flowmeter is obtained; if the difference between the flow value of the flowmeter and the zero point exceeds the preset difference, the flowmeter is controlled to perform zero point calibration. In this way, when there is no actual flow in the pipeline, but the flow meter has a flow value output, the flow meter is controlled to be automatically calibrated in time, thereby eliminating flow calculation errors, which is simple and easy to implement. In addition, this embodiment does not require additional hardware equipment and does not increase the cost.

Description of the drawings

Figure 1 is a schematic structural diagram of a spray device provided by an embodiment of the application;

2 is a flowchart of a flow meter calibration method provided by an embodiment of the application;

3 is a schematic structural diagram of a spray device provided by another embodiment of the application;

4 is a schematic diagram of the connection between the spraying device and the control device provided by an embodiment of the application;

FIG. 5 is a schematic diagram of a display interface of an external device provided by an embodiment of the application;

Fig. 6 is a schematic structural diagram of a flow meter calibration device provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of a flow meter calibration device provided by an embodiment of the application;

Fig. 8 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.

Reference signs:

11: supply device; 12: pump; 13: nozzle; 14: flowmeter; 15:

Control device

31: Supply device; 32: Level gauge;

41: control device; 42: external equipment; 43: pump;

51: external equipment; 52: button;

60: calibration device; 61: acquisition module; 611: acquisition unit;

612: determining unit; 62: control module; 621: calibration unit;

63: receiving module;

70: calibration equipment; 71: memory; 72: processor; 73: communication interface

80: Unmanned aerial vehicle; 81: Flight control system.

detailed description

The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

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

Fig. 1 is a schematic structural diagram of a spray device provided by an embodiment of the present application. As shown in Figure 1, the spraying device includes: a supply device 11, a pump 12, a spray head 13, a flow meter 14, and a control device 15; wherein the supply device 11, the pump 12 and the spray head 13 are connected in turn by pipelines, and the flow meter 14 is provided On the pipeline, the flow meter 14 is communicatively connected to the control device 15.

Optionally, the flow meter 14 and the control device 15 may be in a wired communication connection or a wireless communication connection, which is not specifically limited in this embodiment.

Optionally, the flow meter 14 can be arranged on the pipeline between the supply device 11 and the pump 12, but this embodiment is not limited to the arrangement of the flow meter 14 on the pipeline between the supply device 11 and the pump 12. Other positions on the pipeline, as long as the position can monitor the flow in the pipeline, are within the scope of this application.

Wherein, the supply device 11 is used to provide the fluid used for spraying; optionally, the supply device 11 includes a water tank, which is used to provide a medicament obtained by mixing water and pesticide in a certain ratio;

The pump 12 is connected to the supply device 11 and is used to extract fluid from the supply device 11 and deliver it to the spray head 13;

The nozzle 13 is used to spray fluid;

The flow meter 14 is used to detect the flow in the pipeline and send it to the control device 15;

The control device 15 is used for controlling the flow rate in the pipeline according to the flow rate detected by the flow meter 14.

In the above process, if the zero point value of the flow meter 14 has a large deviation, the flow rate detected by the flow meter 14 will be inaccurate, which will affect the control accuracy of the control device 15 on the flow in the pipeline.

In order to solve the above technical problems of the related technology, this application obtains the flow value of the flow meter 14 when there is no flow in the pipeline, and then determines whether the zero point value of the flow meter 14 is accurate according to the flow value, and if it is not accurate, control The flow meter 14 performs a zero point calibration.

The technical solutions of the present application and how the technical solutions of the present application solve the above-mentioned technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present application provides a method for calibrating a flow meter. Fig. 2 is a flowchart of a flow meter calibration method provided by an embodiment of the application. As shown in Figure 2, the method in this embodiment may include:

S201: Obtain the state of the fluid in the pipeline.

The execution subject of the method in this embodiment may be the control device as shown in FIG. 1. Among them, the state of fluid includes non-flowing state and flowing state; non-flowing state can be understood as a static state, in the non-flowing state, the actual flow rate in the pipeline is 0; in the flowing state, the actual flow rate in the pipeline is non-zero .

S202: If the state of the fluid in the pipeline indicates that the fluid is in a non-flowing state, obtain the flow rate value of the flowmeter.

After the control device obtains the state of the fluid in the pipeline, it can determine whether it is necessary to obtain the current flow value of the flowmeter according to the state of the fluid in the pipeline. If the control device determines that the fluid in the pipeline is currently in a static state according to the state of the fluid in the pipeline, the current flow value of the flowmeter is obtained from the flowmeter.

Optionally, if the control device determines that the fluid in the pipeline is currently in a flowing state according to the state of the fluid in the pipeline, the step of obtaining the current flow value may not be performed.

S203: If the difference between the flow value of the flowmeter and the zero point exceeds the preset difference, control the flowmeter to perform zero point calibration.

After obtaining the current flow value of the flow meter, the control device can determine whether the flow meter needs to be calibrated according to the current flow value. If the control device determines that the flowmeter needs to be calibrated according to the current flow value, it sends a calibration instruction to the flowmeter, and the calibration instruction is used to control the flowmeter to automatically perform zero point calibration.

During the zero-point calibration process, the flowmeter can automatically perform zero-point calibration using an existing zero-point calibration algorithm, which will not be repeated in this embodiment.

This embodiment obtains the state of the fluid in the pipeline, where the state of the fluid includes the non-flowing state and the flowing state; if the state of the fluid in the pipeline indicates that the fluid is in the non-flowing state, the flow value of the flowmeter is obtained; if the flowmeter is If the difference between the flow value and the zero point exceeds the preset difference, the flowmeter is controlled to perform zero point calibration. In this way, when there is no actual flow in the pipeline, but the flow meter has a flow value output, the flow meter is controlled to be automatically calibrated in time, thereby eliminating flow calculation errors, which is simple and easy to implement. In addition, this embodiment does not require additional hardware equipment and does not increase the cost.

Wherein, in the process of acquiring the state of the fluid in the pipeline, the control device can acquire the state of the fluid in the pipeline through the state of the components in the spraying device.

In an alternative embodiment, the component may be a pump as shown in Figure 1. The pump provides power for the spraying device in a spraying scene. When the pump is working, the fluid flows in the pipeline. When it is not working, the fluid is still in the pipeline, or there is no fluid in the pipeline. According to this principle, the control device can obtain the working state of the pump and determine the state of the fluid in the pipeline according to the working state of the pump. Among them, if the pump is in a working state, it can be determined that the fluid in the pipeline is in a flowing state at this time, and if the pump is in a non-working state, it can be determined that the fluid in the pipeline is in a static state at this time.

In this embodiment, the working state of the pump is controlled by the control device, and the control device can send a first control instruction to the pump to control the pump to turn on or off. Among them, the first control command includes an opening command and a closing command. The control device can call its own sent command to determine whether the control command sent to the pump at the nearest time from the current moment is the opening command or the closing command; if the control device sends the pump to the pump If the control command sent is a start command, the control device can determine that the state of the pump is working. On the contrary, if the control command sent by the control device to the pump is a close command, the control device can determine that the state of the pump is not working. state.

In another alternative embodiment, the component can also be a supply device as shown in FIG. 1. In the case where no fluid is injected into the supply device from the outside, if the fluid in the pipeline is in a flowing state, the supply device The fluid level will be reduced accordingly. If the fluid in the pipeline is at a standstill, the fluid level in the supply device will remain unchanged. According to this principle, the control device can obtain the liquid level information of the supply device at different times, and determine whether the liquid level of the fluid in the supply device has changed according to the liquid level information at different times, so as to determine the state of the fluid in the pipeline. Specifically, obtaining the state of the fluid in the pipeline includes:

a1. Obtain the current liquid level information of the supply device.

In this embodiment, as shown in FIG. 3, a level gauge 32 can be provided in the supply device 31 to measure the level information of the fluid in the supply device 31, and the control device 15 obtains the status of the supply device 31 from the level gauge 32. Liquid level information at different moments.

It should be noted that, in order to avoid the low flow rate of the fluid in the pipeline, resulting in slow changes in the liquid level information in the supply device, the time interval for the control device to obtain the two liquid level information can be longer. The specific time interval can be set by those skilled in the art according to actual needs, and this embodiment does not specifically limit it here.

a2. Determine whether the liquid level difference between the current liquid level information and the liquid level information obtained last time is within the preset liquid level difference range.

Among them, the current liquid level information is the liquid level information acquired at the current moment, and the liquid level information acquired last time is the liquid level information acquired at the previous moment.

Optionally, the preset liquid level difference can be set to zero. However, in practical applications, the measurement information of the liquid level gauge may have a certain deviation, or other factors may cause the liquid level information value obtained twice to be unequal in a static state, but the difference between the two is within a small range . Therefore, the preset liquid level difference can be set to a small non-zero value, such as 1. Among them, those skilled in the art can set the preset liquid level difference according to actual needs, which is not specifically limited in this embodiment.

a3. If the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state.

a4. If the liquid level difference is not within the preset liquid level difference range, it is determined that the fluid is in a flowing state.

Optionally, if the preset level difference is 0, a2-a4 includes: determining whether the level difference between the current level information and the level information obtained last time is 0; if the level difference is 0, determine the fluid In a non-flowing state; if the liquid level difference is not 0, it is determined that the fluid is in a non-flowing state.

Optionally, if the preset level difference is non-zero, a2-a4 includes: determining whether the level difference between the current level information and the level information obtained last time is less than a non-zero value; if the level difference is less than non-zero Value, it is determined that the fluid is in a non-flowing state; if the liquid level difference is greater than or equal to a non-zero value, it is determined that the fluid is in a non-flowing state.

Optionally, since the step of obtaining the flow rate value of the flowmeter in this embodiment needs to be performed when the fluid in the pipeline is in a static state, as described in the foregoing embodiment, the working state of the pump is controlled by the control device. Therefore, the control device may also send a control instruction to the pump to control the pump to be in a non-working state before acquiring the flow value of the flow meter, and then acquire the flow value of the flow meter.

Among them, the control device may send a shutdown instruction to the pump at a predetermined time point to control the fluid in the pipeline to be in a static state at the predetermined time point.

Optionally, the state of the pump can also be controlled by an external device. As shown in FIG. 4, the control device 41 receives a second control instruction sent by the external device 42, where the second control instruction is used to instruct the control device 41 to control the state of the pump 43, so that the control device 41 can control the state of the pump 43 according to the second control instruction. , Control the state of the pump 43.

Optionally, the external device 42 includes one or more of a remote control, a smart phone, a desktop computer, a laptop computer, a server, and a wearable device (watch, bracelet).

Optionally, the user may perform an operation on the external device to send the second control instruction to the control device. For example, as shown in FIG. 5, taking the external device as a smart phone as an example, a button 52 is set on the display interface of the external device 51. After the user clicks the button 52, the step of sending a second control instruction to the control device 41 is executed. .

Of course, a program can also be set inside the external device, so that the external device automatically sends the second control instruction to the control device, avoiding manual operation by the user.

In an optional implementation manner, it may be configured that the external device sends the second control instruction to the external device every predetermined time. For example, the external device can send a second control instruction to the control device every 6 hours, 12 hours, or 24 hours. After the control device receives the second control instruction, it sends a shutdown instruction to the pump to control the pump to be in a non-working state and make the pipe The fluid in the road is at rest.

In another optional implementation manner, it may also be configured that the external device sends the second control instruction to the control device at a predetermined time point. For example, the external device can send a second control instruction to the control device at 12 o'clock every evening. After the control device receives the second control instruction, it sends a shutdown instruction to the pump to control the pump to be in a non-working state and make the fluid in the pipeline be in a non-working state. Stationary state.

On the basis of the foregoing embodiment, the control device can calibrate the current flow value of the flow meter to the zero point during the process of controlling the flow meter to perform zero point calibration. However, in actual applications, the zero point of the flowmeter is affected by the environment. Generally, the zero point of the flowmeter may not be an absolute zero value. Therefore, the calibration value can be set to a non-zero value, that is, the current flow value of the flowmeter is calibrated to make the flowmeter The difference between the current flow value and the zero point is within the preset difference range.

The embodiment of the present application provides a calibration device for a flow meter. Fig. 6 is a structural diagram of a flow meter calibration device provided by an embodiment of the application. The flow meter calibration device may be the control device in the foregoing embodiment, or a component (such as a chip or a circuit) of the control device. The flow meter calibration device provided in the embodiment of the present application can execute the processing flow provided in the embodiment of the flow meter calibration method. As shown in FIG. 6, the flow meter calibration device 60 includes: an acquisition module 61 and a control module 62; The module 61 is used to obtain the state of the fluid in the pipeline, and the state of the fluid includes a non-flowing state and a flowing state; and if the state of the fluid in the pipeline indicates that the fluid is in the non-flowing state, obtain the flow meter The control module 62 is used to control the flow meter to perform zero point calibration if the difference between the flow value of the flow meter and the zero point exceeds a preset difference value.

Optionally, the acquiring module 61 includes: an acquiring unit 611, configured to acquire the state of the pump, the state of the pump including a working state and a non-working state, and the pump is arranged on the pipeline; and the determining unit 612 is configured to: If the state of the pump indicates that the pump is currently in a non-working state, it is determined that the fluid is in a non-flowing state; and if the state of the pump indicates that the pump is currently in a working state, then it is determined that the fluid is in a flowing state.

Optionally, the obtaining module 61 includes: an obtaining unit 611, configured to obtain a first control instruction sent to the pump, where the first control instruction includes an opening instruction and a closing instruction; and a determining unit 612, configured to: If a control instruction is an on instruction, it is determined that the state of the pump is a working state; and if the first control instruction is an off instruction, it is determined that the state of the pump is a non-working state.

Optionally, the acquiring module 61 includes: an acquiring unit 611, configured to acquire current liquid level information of a supply device, which is connected to the pipeline; and a determining unit 612, configured to determine the current liquid level information and the upper Whether the liquid level difference of the liquid level information obtained at one time is within the preset liquid level difference range; and if the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state; If the level difference is not within the preset level difference range, it is determined that the fluid is in a flowing state.

Optionally, the device 60 further includes: a receiving module 63, configured to receive a second control instruction sent by an external device, the second control instruction being used to control the state of the pump; the control module 62 also It is used to control the state of the pump according to the second control instruction.

Optionally, the acquiring module 61 includes: an acquiring unit 611, configured to acquire current time information; a determining unit 612, configured to determine whether the current time is a predetermined time point according to the current time information; and if the current time When it is a predetermined time point, the state of the fluid in the pipeline is acquired.

Optionally, the preset difference value is zero; the control module 62 includes: a calibration unit 621, configured to calibrate the current flow value of the flow meter to a zero point.

Optionally, the preset difference value is non-zero; the control module 62 includes: a calibration unit 621, configured to calibrate the current flow value of the flowmeter so that the current flow value of the flowmeter is equal to the zero point The difference of is within the preset difference range.

The specific principles and implementation manners of the flowmeter calibration device provided in the embodiments of the present application are similar to the foregoing embodiments, and will not be repeated here.

The embodiment of the application provides a flow meter calibration device. Fig. 7 is a structural diagram of a flow meter calibration device provided by an embodiment of the application; the flow meter calibration device may be the control device in the foregoing embodiment. The flow meter calibration device provided in the embodiment of the present application can execute the processing flow provided in the flow meter calibration method embodiment. As shown in FIG. 7, the flow meter calibration device 70 includes a memory 71 and a processor 72. 71 is used to store instructions. The processor 72 calls the instructions stored in the memory to implement the following operations: obtain the state of the fluid in the pipeline, the state of the fluid includes a non-flowing state and a flowing state; and The state of the fluid in the pipeline indicates that the fluid is in a non-flowing state, then the flow value of the flow meter is acquired; if the difference between the flow value of the flow meter and the zero point exceeds a preset difference, the flow is controlled The meter performs zero point calibration.

Optionally, when the processor 72 obtains the state of the fluid in the pipeline, it specifically includes: obtaining the state of the pump. The state of the pump includes a working state and a non-working state. On the pipeline; if the state of the pump indicates that the pump is currently in a non-working state, determine that the fluid is in a non-flowing state; if the state of the pump indicates that the pump is currently in a working state, determine the fluid In a fluid state.

Optionally, when the processor 72 acquires the working status of the pump, it specifically includes: acquiring a first control instruction sent to the pump, where the first control instruction includes an opening instruction and a closing instruction; if the If the first control instruction is an on instruction, it is determined that the state of the pump is a working state; if the first control instruction is an off instruction, it is determined that the state of the pump is a non-operating state.

Optionally, when the processor 72 acquires the state of the fluid in the pipeline, it specifically includes: acquiring current liquid level information of a supply device connected to the pipeline; and determining the current liquid level Whether the level difference between the information and the level information obtained last time is within the preset level difference range; if the level difference is within the preset level difference range, it is determined that the fluid is in a non-flowing state; If the liquid level difference is not within the preset liquid level difference range, it is determined that the fluid is in a flowing state.

Optionally, the calibration device 70 further includes: a communication interface 73, configured to receive a second control instruction sent by an external device, the second control instruction being used to instruct the processor to control the state of the pump; The processor 72 is further configured to control the state of the pump according to the second control instruction.

Optionally, when the processor 72 acquires the state of the fluid in the pipeline, it specifically includes: acquiring current time information; determining whether the current time is a predetermined time point according to the current time information; When it is a predetermined time point, the state of the fluid in the pipeline is acquired.

Optionally, the preset difference is zero; when the processor 72 controls the flow meter to perform zero point calibration, it specifically includes: calibrating the current flow value of the flow meter to the zero point.

Optionally, the preset difference is non-zero; when the processor 72 controls the flowmeter to perform zero-point calibration, it specifically includes: calibrating the current flow value of the flowmeter so that the flowmeter The difference between the current flow value and the zero point is within the preset difference range.

The specific principles and implementation manners of the flowmeter calibration device provided in the embodiment of the present application are similar to those in the embodiment shown in FIG. 2 and will not be repeated here.

The embodiment of the present application provides an unmanned aerial vehicle. FIG. 8 is a structural diagram of an unmanned aerial vehicle provided by an embodiment of the application. As shown in FIG. 8, the unmanned aerial vehicle 80 includes a fuselage, a power system, a spray device, and a flight control system 81. The power system includes at least one of the following Species: motors, propellers, and electronic governors. The power system is installed on the fuselage to provide flight power; the flight control system 81 is in communication with the power system and is used to control the flight of the unmanned aerial vehicle;

In an application scenario of the present application, the unmanned aerial vehicle may be an agricultural plant protection machine. The spraying device shown in FIG. 1 is set on the agricultural plant protection machine and is used to spray pesticides on crops at high altitude. Of course, the spraying device of this embodiment can also be applied to other scenarios with pipeline flow, such as equipment with pipeline transportation capabilities.

The unmanned aerial vehicle of the embodiment shown in FIG. 8 can be used to implement the technical solutions of the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the flowmeter calibration method described in the foregoing embodiment.

It should be noted that, in the flowmeter calibration method, device, equipment and storage medium of the present application, the device includes a spraying device, and the equipment includes a flowmeter calibration device and an unmanned aerial vehicle.

In the several embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

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 they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute the method described in the various embodiments of this application. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit it; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. Scope.

Claims

A method for calibrating a flow meter is characterized in that it comprises:

Acquiring the state of the fluid in the pipeline, and the state of the fluid includes a non-flowing state and a flowing state;

If the state of the fluid in the pipeline indicates that the fluid is in a non-flowing state, obtain the flow value of the flowmeter;

If the difference between the flow value of the flow meter and the zero point exceeds the preset difference value, the flow meter is controlled to perform zero point calibration.
The method according to claim 1, wherein said acquiring the state of the fluid in the pipeline comprises:

Acquiring the state of the pump, the state of the pump including a working state and a non-working state, and the pump is arranged on the pipeline;

If the state of the pump indicates that the pump is currently in a non-working state, determining that the fluid is in a non-flowing state;

If the state of the pump indicates that the pump is currently working, it is determined that the fluid is in a flowing state.
The method according to claim 2, wherein the acquiring the state of the pump comprises:

Acquiring a first control instruction sent to the pump, where the first control instruction includes a turn-on instruction and a turn-off instruction;

If the first control instruction is an on instruction, it is determined that the state of the pump is a working state;

If the first control instruction is a shutdown instruction, it is determined that the state of the pump is a non-working state.
The method according to claim 1, wherein said acquiring the state of the fluid in the pipeline comprises:

Acquiring current liquid level information of a supply device, which is connected to the pipeline;

Determining whether the liquid level difference between the current liquid level information and the liquid level information obtained last time is within a preset liquid level difference range;

If the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state;

If the liquid level difference is not within the preset liquid level difference range, it is determined that the fluid is in a flowing state.
The method according to claim 2 or 3, characterized in that, before the acquiring the state of the pump, the method further comprises:

Receiving a second control instruction sent by an external device, where the second control instruction is used to control the state of the pump;

According to the second control command, the state of the pump is controlled.
The method according to claim 5, wherein the second control instruction is sent by the external device every predetermined time.
The method according to claim 5, wherein the second control instruction is sent by the external device at a predetermined time.
The method according to claim 5, wherein the external device is a terminal device, and the second control instruction is generated based on user operation information on the terminal device.
The method according to any one of claims 1 to 4, wherein the acquiring the state of the fluid in the pipeline comprises:

Get current time information;

According to the current time information, determine whether the current time is a predetermined time point;

If the current time is a predetermined time point, the state of the fluid in the pipeline is acquired.
The method according to any one of claims 1 to 4, wherein the preset difference value is zero; and the controlling the flow meter to perform zero point calibration comprises:

Calibrate the current flow value of the flowmeter to zero.
The method according to claim 10, wherein the preset difference is non-zero;

The controlling the flow meter to perform zero point calibration includes:

Calibrate the current flow value of the flowmeter so that the difference between the current flow value of the flowmeter and the zero point is within the preset difference range.
A flow meter calibration device, characterized in that the device includes a processor and a memory, the memory is used to store instructions, and the processor calls the instructions stored in the memory to implement the following operations:

Acquiring the state of the fluid in the pipeline, the state of the fluid including a non-flowing state and a flowing state; and if the state of the fluid in the pipeline indicates that the fluid is in the non-flowing state, acquiring the flow value of the flowmeter;

If the difference between the flow value of the flow meter and the zero point exceeds the preset difference value, the flow meter is controlled to perform zero point calibration.
The device according to claim 12, wherein the processor is specifically configured to:

Acquiring the state of the pump, the state of the pump including a working state and a non-working state, and the pump is arranged on the pipeline;

If the state of the pump indicates that the pump is currently in a non-working state, determining that the fluid is in a non-flowing state;

If the state of the pump indicates that the pump is currently working, it is determined that the fluid is in a flowing state.
The device according to claim 13, wherein the processor is specifically configured to:

Acquiring a first control instruction sent to the pump, where the first control instruction includes a turn-on instruction and a turn-off instruction;

If the first control instruction is an on instruction, it is determined that the state of the pump is a working state;

If the first control instruction is a shutdown instruction, it is determined that the state of the pump is a non-working state.
The device according to claim 12, wherein the processor is specifically configured to:

Acquiring current liquid level information of a supply device, which is connected to the pipeline;

Determining whether the liquid level difference between the current liquid level information and the liquid level information obtained last time is within a preset liquid level difference range;

If the liquid level difference is within the preset liquid level difference range, it is determined that the fluid is in a non-flowing state;

If the liquid level difference is not within the preset liquid level difference range, it is determined that the fluid is in a flowing state.
The device according to claim 13 or 14, wherein the device further comprises:

A communication interface, configured to receive a second control instruction sent by an external device, where the second control instruction is used to instruct the processor to control the state of the pump;

The processor is further configured to control the state of the pump according to the second control instruction.
The device according to claim 16, wherein the second control instruction is sent by the external device every predetermined time.
The device according to claim 16, wherein the second control instruction is sent by the external device at a predetermined time.
The device according to claim 16, wherein the external device is a terminal device, and the second control instruction is generated based on user operation information on the terminal device.
The device according to any one of claims 12-15, wherein the processor is specifically configured to: when acquiring the state of the fluid in the pipeline:

Get current time information;

According to the current time information, determine whether the current time is a predetermined time point;

If the current time is a predetermined time point, the state of the fluid in the pipeline is acquired.
The device according to any one of claims 12-15, wherein the preset difference is zero; when the processor controls the flow meter to perform zero point calibration, it specifically includes:

Calibrate the current flow value of the flowmeter to zero.
The device according to any one of claims 12-15, wherein the preset difference is non-zero; when the processor controls the flow meter to perform zero point calibration, it is specifically configured to:

Calibrate the current flow value of the flowmeter so that the difference between the current flow value of the flowmeter and the zero point is within the preset difference range.
A spraying device, characterized in that it comprises:

The supply device is used to provide the fluid used for spraying;

A pump, connected to the supply device through a pipeline, for pumping fluid from the supply device and delivering it to the spray head;

The spray head is used to spray the fluid;

Flow meter, used to detect the flow rate in the pipeline;

The calibration device according to any one of claims 12-22, connected to a pipeline, for determining whether the flow meter needs to be zero-calibrated according to the flow rate detected by the flow meter, and when the flow meter needs to be zero-calibrated In the case of performing zero point calibration, control the flow meter to perform zero point calibration.
An unmanned aerial vehicle, characterized in that it includes:

body;

The power system is installed on the fuselage to provide flight power;

The spray device of claim 23;

The flight control system is in communication connection with the power system and is used to control the flight of the drone.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-11.