WO2022087790A1

WO2022087790A1 - Liquid spraying apparatus and control method therefor, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2022087790A1
Application number: PCT/CN2020/123746
Authority: WO
Inventors: 常子敬; 闫光; 胡德琪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-10-26
Filing date: 2020-10-26
Publication date: 2022-05-05
Also published as: CN113557480A

Abstract

A control method for a liquid spraying apparatus, comprising: acquiring a target parameter of the liquid spraying apparatus (S110); and according to the target parameter, controlling a liquid pump to be started and stopped at intervals or be continuously started, so that a working parameter of the liquid spraying apparatus reaches the target parameter (S120). The method can achieve a good spraying effect of a spraying system. Further provided are a liquid spraying apparatus, an unmanned aerial vehicle, and a storage medium.

Description

Liquid spraying device and control method thereof, unmanned aerial vehicle and storage medium

technical field

The present application relates to the technical field of plant protection, and in particular, to a liquid spraying device and a control method thereof, an unmanned aerial vehicle and a storage medium.

Background technique

A common spraying system consists of a pressure pump, a pressure nozzle and a pipeline; the pressure pump provides a pressure source, so that the pressure in the pipeline reaches a preset value, and the liquid is sprayed from the nozzle under the action of pressure, and atomized into fine droplets, uniform. Distributed at the target position to achieve uniform spraying of the liquid medicine. The spray droplets of the pressure spraying system are uniform and the settlement effect is good, which has become the main method of the current plant protection spraying system; the pressure in the liquid pipeline of the pressure spraying system can only work normally if the pressure in the liquid pipeline meets a certain pressure range. For example, the working pressure range of common plant protection machinery is 0.2 -0.4Mpa. If the working pressure of the spraying system is too low, the atomization effect of the droplets will be poor, and the droplets will be too thick, which will affect the settlement and distribution of the droplets.

SUMMARY OF THE INVENTION

The present application provides a liquid spraying device and a control method thereof, an unmanned aerial vehicle and a storage medium, which can achieve a better spraying effect of the spraying system.

In a first aspect, an embodiment of the present application provides a method for controlling a liquid spraying device, the control method comprising:

acquiring target parameters of a liquid spray device, wherein the liquid spray device includes a pressure spray head for spraying liquid and a liquid pump for pumping liquid into the pressure spray head;

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameters, so that the working parameters of the liquid spraying device reach the target parameters.

In a second aspect, an embodiment of the present application provides a liquid spraying device, the liquid spraying device comprising:

Pressure sprinklers for spraying liquids;

a liquid pump, connected to the liquid source and the pressure spray head through a pipeline, for pumping the liquid into the pressure spray head; and

One or more processors, operating individually or collectively, to perform the steps of:

Obtain the target parameters of the liquid spraying device;

In a third aspect, the embodiments of the present application provide an unmanned aerial vehicle for agricultural plant protection, including:

frame;

A liquid spraying device is installed on the frame, the liquid spraying device includes a pressure spraying head and a liquid pump, the pressure spraying head is used for spraying liquid, the liquid pump is connected to the liquid source and the pressure spraying head through a pipeline, and for pumping liquid into the pressure jet; and

Obtain the target parameters of the liquid spraying device;

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the foregoing method.

The embodiments of the present application provide a liquid spraying device and a control method thereof, an unmanned aerial vehicle, and a storage medium. By acquiring target parameters of the liquid spraying device, the liquid pump is controlled to start and stop at intervals or continuously according to the target parameters, so as to obtain the target parameters of the liquid spraying device. The working parameters of the liquid spraying device are made to reach the target parameters. It can achieve better spraying effect of the spraying system and achieve better work adaptability.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the disclosure of the embodiments of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a control method of a liquid spray device provided by an embodiment of the present application;

2 is a schematic diagram of a liquid spraying device mounted on a movable platform in one embodiment;

Figure 3 is a schematic block diagram of a liquid spray device in one embodiment;

Figure 4 is a schematic block diagram of a liquid spray device in another embodiment;

FIG. 5 is a schematic block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Please refer to FIG. 1 . FIG. 1 is a schematic flowchart of a control method of a liquid spraying device provided by an embodiment of the present application. The control method can be applied to a liquid spraying device or a terminal device capable of communicating with the liquid spraying device, for controlling the liquid spraying device to perform processes such as liquid spraying tasks. In some embodiments, the terminal device may include at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device, a remote control, and the like.

In some embodiments, the liquid spraying device can be mounted on a movable platform. Exemplarily, the movable platform may include at least one of an unmanned aerial vehicle, a cloud platform, an unmanned vehicle, and the like. Further, the aircraft may be a rotary-wing UAV, such as a quad-rotor UAV, a hexa-rotor UAV, an octa-rotor UAV, or a fixed-wing UAV.

Please refer to FIG. 2 , the spraying system 1000 includes a movable platform 100 and a liquid spraying device 200 , and the liquid spraying device 200 is installed on the movable platform 100 .

In some embodiments, the spraying system 1000 is used in the agricultural industry to perform liquid spraying activities such as pesticides, water, etc. on agricultural products, forest trees, and the like.

Exemplarily, the movable platform 100 can move, rotate, flip, etc., and the movable platform 100 can drive the liquid spraying device 200 to move to different positions or different angles to perform spraying operations in a preset area.

Exemplarily, the spraying system 1000 may include an agricultural spraying vehicle, an agricultural drone, or a human-powered spraying device, etc.; or the spraying system 1000 may be one of an agricultural spraying vehicle, an agricultural drone, or a human-powered spraying device in one form, In other forms, agricultural spray vehicles, agricultural drones, or other types of human-powered spray devices.

The following description will be given by taking the example that the spraying system 1000 is an agricultural drone and the spraying liquid is a medicinal liquid. It can be understood that the specific form of the spraying system 1000 is not limited to agricultural drones, and is not limited herein.

Specifically, as shown in FIGS. 2 and 3 , the liquid spraying device 200 may include a pressure spray head 30 for spraying liquid and a liquid pump 20 for pumping liquid into the pressure spray head 30 . Exemplarily, the liquid pump 20 is connected to the liquid source 10 and the pressure spray head 30 through a pipeline, so as to pump the liquid in the liquid source 10 into the pressure spray head 30 .

It will be appreciated that the liquid source 10 may include a supply tank.

Illustratively, the liquid source 10 contains the liquid to be sprayed. Liquid pump 20 is used to draw liquid from liquid source 10 . The pressure spray head 30 is communicated with the liquid pump 20, and the liquid pump 20 delivers the liquid to the pressure spray head 30, and sprays the liquid out through the pressure spray head 30, so as to perform the spraying operation.

In some embodiments, the liquid spraying device 200 further includes a flow meter and/or a pressure gauge, the flow meter can detect the flow rate of the liquid pump 20 delivering the liquid to the pressure spray head 30 , and the pressure gauge can detect the flow rate of the liquid pump 20 delivering the liquid to the pressure spray head 30 . pressure. The flowmeter includes, for example, an electromagnetic flowmeter.

Specifically, the flow meter and/or the pressure gauge may be communicated between the liquid source 10 and the liquid pump 20 , or may be communicated between the liquid pump 20 and the pressure spray head 30 , or may be integrated with the liquid pump 20 or the pressure spray head 30 . . Exemplarily, when the liquid pump 20 draws the liquid from the liquid source 10, the liquid in the liquid source 10 flows to the liquid pump 20 through the electromagnetic flowmeter. At this time, the electromagnetic flowmeter can detect the flow rate of the liquid delivered by the liquid pump 20 to the pressure nozzle 30. and/or flow rate.

It can be understood that the number of the liquid pumps 20 can be designed according to actual requirements, such as one, two, three or more. In some embodiments, the number of liquid pumps 20 is multiple, such as two, three, four or more, and the electromagnetic flowmeter can detect the flow rate of the liquid flowing into each liquid pump 20 from the liquid source 10 and/or or flow rate. Each liquid pump 20 can work at the same time; one or several liquid pumps 20 can also be selected to work according to actual needs, and the remaining liquid pumps 20 do not work.

As shown in FIG. 1 , the control method of the liquid spraying device according to the embodiment of the present application includes steps S110 to S120.

S110. Acquire target parameters of the liquid spraying device.

Wherein, the liquid spraying device includes a pressure spray head for spraying liquid and a liquid pump for pumping liquid into the pressure spray head.

It can be understood that the target parameter is the expected value of the parameter during the operation of the liquid spraying device.

In some embodiments, the target parameters include target flow and/or target pressure.

Exemplarily, the target parameters can be preset, for example, before the spraying system takes off to perform the spraying task, the target parameters are determined according to the user's parameter setting operation, for example, the spraying system includes human-computer interaction devices, such as buttons, knobs, DIP switches, touch screen, etc., the user can set the target parameters of the liquid spraying device through the human-computer interaction device.

Exemplarily, a spraying system, such as an unmanned aerial vehicle, can be connected in communication with a terminal device, such as a remote controller, and can receive target parameters determined by the remote controller according to the user's parameter setting operation. It can be set before the spraying system takes off to perform the spraying task, or it can be set during the spraying task.

Exemplarily, task information corresponding to the current spraying task may be obtained, such as at least one of the sprayed liquid volume X per unit area, the sprayed width W, and the travel speed V during spraying. Target parameters of the liquid spraying device can be determined from the mission information. For example, the target flow rate can be determined according to the product of the sprayed width W, the traveling speed V and the sprayed chemical liquid volume X per unit area.

Exemplarily, the target parameters of the liquid spraying device may be determined according to the current working state of the spraying system based on a preset rule. For example, the target parameter may be determined from the speed of travel.

For example, when the UAV decelerates, avoids obstacles, and turns, the travel speed is reduced, and the target flow and/or target pressure is reduced.

S120. Control the liquid pump to start and stop at intervals or continuously according to the target parameters, so that the working parameters of the liquid spraying device reach the target parameters.

In some embodiments, the operating parameters include the operating flow of the liquid spray device and/or the operating pressure of the liquid spray device. It can be understood that the working parameter may be a parameter detected in real time when the liquid spraying device is running, or an average value of the parameter detected in the current time period.

Exemplarily, the working flow of the liquid spraying device and/or the working pressure of the liquid spraying device may be obtained through a flow meter and/or a pressure gauge of the liquid spraying device.

Wherein, when the liquid pump is continuously started, the working parameters of the liquid spraying device, such as the flow rate, can be kept stable, such as stable within a small range, the difference between the maximum working parameter and the minimum working parameter is small or the ratio is close to 1. Exemplarily, the continuous startup of the liquid pump includes that the continuous operation time of the liquid pump is greater than or equal to a duration threshold, and the duration threshold is, for example, 0.05 seconds to 1 second.

The greater the pressure in the pipeline, the greater the ejected flow, so the pressure range also determines the flow range. The flow rate of a set of liquid spraying devices determined by the structure is proportional to the pressure, and the lower flow rate of the liquid spraying device corresponds to the lower pressure. . When the liquid pump is continuously started, if the flow rate of the liquid pump to the pressure nozzle is lower than the flow rate corresponding to the lower limit of the pressure threshold (which can be called the lower limit of the flow threshold), the droplet atomization effect will be poor, and the droplets will be too thick, which will affect the For the sedimentation and distribution of droplets, the lower limit of the pressure threshold can be, for example, 0.2-0.4Mpa.

In some embodiments, the controlling the interval start-stop or continuous startup of the liquid pump according to the target parameter includes: controlling the interval start/stop of the liquid pump according to the target parameter and the lower limit of the parameter threshold of the liquid spray device Or start continuously.

Exemplarily, if the target parameter is greater than the lower limit of the parameter threshold of the liquid spraying device, the liquid pump is controlled to start continuously.

It can be understood that when the working flow of the liquid spraying device is not lower than the lower limit of the flow threshold, and/or the working pressure of the liquid spraying device is not lower than the lower limit of the pressure threshold, if the liquid pump is continuously started, the liquid pump will deliver the flow rate of the liquid to the pressure nozzle. Larger, higher pressure, droplet atomization effect can meet the requirements.

In some embodiments, the lower limit of the parameter threshold may be determined according to the lower limit of the working parameter that enables the liquid to be sprayed uniformly in the working area when the liquid pump is continuously started. For example, the lower limit of the parameter threshold is 0.9 to 1.2 times the lower limit of the working parameter.

Exemplarily, the lower limit of the parameter threshold includes a lower limit of the flow threshold, and the lower limit of the flow threshold is determined according to the lower limit of the working flow that enables the liquid to be uniformly sprayed in the working area when the liquid pump is continuously started.

Exemplarily, the lower limit of the parameter threshold includes a lower limit of the pressure threshold, and the lower limit of the pressure threshold is determined according to the lower limit of the working pressure capable of uniformly spraying the liquid in the working area when the liquid pump is continuously started.

The flow rate of a set of structurally determined liquid spraying devices is proportional to the pressure, and it can be understood that the lower limit of the working flow can be determined according to the lower limit of the working pressure.

Exemplarily, it may be determined according to the rotational speed when the liquid pump provides the lower limit working pressure.

For example, according to the rotational speed when the liquid pump reaches the lower limit working pressure, the flow rate of liquid delivered by the liquid pump to the pressure nozzle at the rotational speed can be determined as the lower limit of the working flow through measurement or calculation.

Exemplarily, if the target parameter is not greater than the lower limit of the parameter threshold of the liquid spraying device, the liquid pump is controlled to start and stop at intervals.

When the liquid pump starts and stops at intervals, the liquid spraying device sprays the medicinal liquid intermittently.

Exemplarily, when the liquid pump starts and stops at intervals, the liquid pump is controlled so that the working parameter of the liquid spraying device is not less than the lower limit of the parameter threshold of the liquid spraying device when the liquid pump is started. Exemplarily, when the working pressure is not less than the lower limit of the pressure threshold, the sprayed droplets are all generated within the normal pressure range, which can make the spraying of the liquid fully atomized, the droplet particle size meets the requirements, and the spraying effect is good, ensuring that work effect. Moreover, by spraying the medicinal liquid intermittently, the average value of the working parameters of the liquid spraying device can reach the target parameter within a period of time, for example, the average value of the working flow rate can be lower than the lower limit of the flow rate threshold.

In some embodiments, the liquid spraying device is mounted on an unmanned aerial vehicle. When spraying the liquid medicine intermittently, the spray droplets generated by the spraying are affected by the wind field of the propeller, and the distribution will become uniform, and serious spray leakage will not occur.

In some embodiments, the liquid pump may be controlled to start and stop at intervals or continuously start according to the target parameters based on the preset target parameters and the corresponding relationship between the interval start-stop mode or the continuous start mode.

Exemplarily, target parameters within a certain range are preset to correspond to the interval start-stop mode, and target parameters of other ranges correspond to the continuous start mode, and the corresponding working mode can be determined according to the range of the current target parameter.

Exemplarily, based on the preset target flow rate and the corresponding relationship between the interval start-stop mode or the continuous start mode, the liquid pump may be controlled to start and stop at intervals or to start continuously according to the target flow rate. Exemplarily, based on the preset target pressure and the corresponding relationship between the interval start-stop mode or the continuous start mode, the liquid pump may be controlled to start and stop at intervals or continuously start according to the target pressure.

In some embodiments, the controlling the interval start and stop of the liquid pump according to the target parameter includes: determining, according to the target parameter, a start duration and a stop duration when the fluid pump starts and stops at intervals.

It can be understood that the working parameters of the liquid spraying device can more accurately reach the target parameters by adjusting the start-up duration and the stop-time duration when the liquid pump starts and stops at intervals.

Exemplarily, when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the target parameter. For example, the average value of the working parameters of the liquid spraying device in a period of time can be reduced by reducing the start-up duration and/or prolonging the stop-time duration to achieve a smaller target parameter; by extending the start-up duration and/or reducing the stop-time duration, the The average value of the working parameters of the liquid spraying device increases in a period of time to reach a larger target parameter.

Exemplarily, the determining according to the target parameter the start-up duration and the stop duration when the liquid pump starts and stops at intervals includes: determining the liquid pump interval according to the target parameter and the lower limit of the parameter threshold of the liquid spraying device. Start time and stop time when starting and stopping.

For example, when the difference between the target parameter and the lower limit of the parameter threshold is large, the start-up duration can be reduced and/or the stop duration can be lengthened, and when the target parameter and the parameter lower-limit differ by a small amount, the start-up duration and/or the stop duration can be shortened. When the target parameter is equal to the lower limit of the parameter threshold, the stop duration can be set to 0, and the liquid pump starts continuously.

For example, when the liquid pump is started and stopped at intervals, the start-up duration is positively correlated with the ratio of the target parameter to the lower limit of the parameter threshold; or when the liquid pump is started and stopped at intervals, the start-up duration and the target parameter It is negatively correlated with the difference of the lower threshold of the parameter.

In some embodiments, the interval start and stop of the liquid pump may include periodic start and stop of the liquid pump. It can be understood that the start duration and the stop duration include the start duration and the stop duration in one control cycle. That is, in each control cycle, including the start time and stop time, for example, in each control cycle T, the time t that the liquid pump is continuously turned on, the time t is less than the control cycle T, the stop time can be the control cycle T minus time t poor.

It can be understood that the control period is determined according to the control frequency of the liquid spraying device, and the control frequency is, for example, 10 Hz, of course, it is not limited to this.

In some embodiments, spraying can be made more uniform by increasing the frequency of control.

Exemplarily, the ratio of the start-up duration to the control period is positively correlated with the target parameter. For example, when the target flow rate is lower than the lower limit of the flow rate threshold, the start-up duration in one or more control periods may be determined according to the target flow rate and the control period.

Exemplarily, the ratio of the start-up duration to the control period is positively correlated with the ratio of the target parameter to the lower limit of the parameter threshold of the liquid spraying device. Or the ratio of the start-up duration and the control period is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold of the liquid spraying device.

For example, the closer the target parameter is to the lower limit of the parameter threshold, the closer the activation duration is to the control period. When the target flow rate is lower than the lower limit of the flow threshold, the liquid pump starts and stops at intervals, and the liquid pump can be controlled to make the flow of the liquid spray device reach the lower limit of the flow threshold when the liquid pump is started, and the start time t of the liquid pump in one control cycle can be is: the target flow is divided by the lower limit of the flow threshold and then multiplied by the control period T.

In some embodiments, the target parameters of the liquid spraying device may be determined based on the travel speed and/or spraying height of the liquid spraying device.

Exemplarily, the liquid spraying device is mounted on a movable platform. For example, the travel speed of the movable platform can be obtained, and the travel speed of the movable platform is equal to the travel speed of the liquid spraying device. The travel speed of the liquid spray device is determined according to the travel speed of the movable platform.

Exemplarily, the target parameter is positively correlated with the travel speed.

Exemplarily, the faster the travel speed, the larger the determined target flow rate and/or the target pressure, and the slower the travel speed, the smaller the determined target flow rate and/or the target pressure, which can maintain the volume of the liquid medicine sprayed per unit area. Stable, to ensure that the working liquid is evenly sprayed on the working area.

Exemplarily, the height above the ground of the movable platform may be obtained, and the spraying height of the liquid spraying device may be determined according to the height above the ground. For example, the spraying height can be determined according to the height above the ground and the distance between the pressure spray head and the height detection device of the movable platform.

Exemplarily, the target parameter is positively correlated with the spray height.

It can be understood that the higher the spraying height, the wider the spraying width. By determining a larger target parameter when the spraying height is higher, it can ensure that enough liquid medicine is sprayed on a unit area.

In some embodiments, the movable platform may be controlled to adjust the ground clearance according to a target spray width of the liquid spray device. In order to keep the spray width of the liquid spray device stable.

In the method for controlling a liquid spraying device provided by the embodiment of the present application, by acquiring target parameters of the liquid spraying device, the liquid pump is controlled to start and stop at intervals or continuously according to the target parameters, so that the working parameters of the liquid spraying device reach the the target parameter. It can achieve better spraying effect of the spraying system and achieve better work adaptability.

Please refer to FIG. 3 in conjunction with the above embodiment. FIG. 3 is a schematic block diagram of a liquid spraying device 200 provided by an embodiment of the present application.

As shown in FIGS. 2 and 3 , the liquid spraying device 200 may include a pressure spray head 30 for spraying liquid and a liquid pump 20 for pumping liquid into the pressure spray head 30 . Exemplarily, the liquid pump 20 is connected to the liquid source 10 and the pressure spray head 30 through a pipeline, so as to pump the liquid in the liquid source 10 into the pressure spray head 30 .

Specifically, as shown in FIG. 4 , the liquid spraying device 200 further includes one or more processors 201, and the one or more processors 201 work individually or together to execute the steps of the aforementioned control method of the liquid spraying device .

In some embodiments, the liquid spray device 200 also includes a reservoir 202 .

Exemplarily, the processor 201 and the memory 202 are connected through a bus 203, and the bus 203 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 201 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 202 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, or the like.

Wherein, the processor 201 is configured to run the computer program stored in the memory 202, and implement the aforementioned control method of the liquid spraying device when the computer program is executed.

Exemplarily, the processor 201 is configured to run a computer program stored in the memory 202, and implement the following steps when executing the computer program:

Obtain the target parameters of the liquid spraying device;

Exemplarily, the target parameter includes a target flow rate, and the working parameter includes a working flow rate of the liquid spraying device; and/or

The target parameter includes a target pressure, and the operating parameter includes an operating pressure of the liquid spray device.

Exemplarily, when the processor executes the controlling of the liquid pump to start and stop intermittently or continuously according to the target parameter, execute:

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameter and the lower limit of the parameter threshold of the liquid spraying device.

Exemplarily, if the target parameter is not greater than the lower limit of the parameter threshold of the liquid spraying device, the processor controls the liquid pump to start and stop at intervals.

Exemplarily, if the target parameter is greater than the lower limit of the parameter threshold of the liquid spraying device, the processor controls the liquid pump to start continuously.

Exemplarily, when the liquid pump starts and stops at intervals, the liquid pump is controlled so that the working parameter of the liquid spraying device is not less than the lower limit of the parameter threshold of the liquid spraying device when the liquid pump is started.

Exemplarily, the lower limit of the parameter threshold is determined according to the lower limit of a working parameter that enables the liquid to be sprayed uniformly in the working area when the liquid pump is continuously started.

Exemplarily, the lower limit of the parameter threshold includes a lower limit of the flow threshold, and the lower limit of the flow threshold is determined according to the lower limit of the working flow that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started; and/or

The lower limit of the parameter threshold includes the lower limit of the pressure threshold, and the lower limit of the pressure threshold is determined according to the lower limit of the working pressure that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started.

Exemplarily, the lower limit of the working flow is determined according to the rotational speed when the liquid pump provides the lower limit working pressure.

Exemplarily, when the processor executes the control of starting and stopping the liquid pump at intervals according to the target parameter, execute:

According to the target parameter, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.

Exemplarily, when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the target parameter.

Exemplarily, when the processor executes the determining according to the target parameter the start-up duration and the stop duration of the liquid pump when the liquid pump starts and stops at intervals, executes:

According to the target parameter and the lower limit of the parameter threshold of the liquid spraying device, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.

Exemplarily, when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the ratio between the target parameter and the lower limit of the parameter threshold; or

When the liquid pump starts and stops at intervals, the starting duration is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold.

Exemplarily, the start duration and stop duration include start duration and stop duration in one control cycle.

Exemplarily, the ratio of the start-up duration to the control period is positively correlated with the target parameter.

Exemplarily, the ratio of the start-up duration to the control period is positively correlated with the ratio of the target parameter to the lower limit of the parameter threshold of the liquid spray device; or the ratio of the start-up duration to the control period is related to the The difference between the target parameter and the lower parameter threshold of the liquid spray device is negatively correlated.

Exemplarily, the control period is determined according to the control frequency of the liquid spraying device.

Exemplarily, when the processor executes the acquiring the target parameter of the liquid spraying device, execute:

The target parameter of the liquid spraying device is determined according to the travel speed of the liquid spraying device.

Exemplarily, the liquid spraying device is mounted on a movable platform, and the processor is further configured to execute:

obtaining the travel speed of the movable platform;

Wherein, the travel speed of the movable platform is equal to the travel speed of the liquid spraying device.

The target parameter of the liquid spraying device is determined according to the spraying height of the liquid spraying device.

Obtain the ground clearance of the movable platform;

The spraying height of the liquid spraying device is determined according to the ground clearance.

Exemplarily, the processor is further configured to execute:

The movable platform is controlled to adjust the ground clearance according to the target spray width of the liquid spray device.

Based on the preset target parameter and the corresponding relationship between the interval start-stop mode or the continuous start mode, the liquid pump is controlled to start and stop at intervals or continuously start according to the target parameter.

The specific principles and implementation manners of the liquid spraying device provided in the embodiments of the present application are similar to the control methods of the liquid spraying device in the foregoing embodiments, which will not be repeated here.

Please refer to FIG. 5 in conjunction with the foregoing embodiments. FIG. 5 is a schematic block diagram of an unmanned aerial vehicle 300 for agricultural plant protection provided by an embodiment of the present application. The UAV 300 includes a frame 310 and a liquid spraying device, and the liquid spraying device is mounted on the frame 310 .

As shown in FIG. 5 , the liquid spraying device may include a pressure spray head 30 for spraying liquid and a liquid pump 20 for pumping liquid into the pressure spray head 30 . Exemplarily, the liquid pump 20 is connected to the liquid source 10 and the pressure spray head 30 through a pipeline, so as to pump the liquid in the liquid source 10 into the pressure spray head 30 . The liquid spraying device includes a pressure spray head and a liquid pump, the pressure spray head is used for spraying liquid, and the liquid pump is connected with a liquid source and the pressure spray head through a pipeline, and is used for pumping the liquid into the pressure spray head.

Specifically, the unmanned aerial vehicle 300 further includes one or more processors 301, and the one or more processors 301 work individually or together to execute the steps of the aforementioned control method of the liquid spraying device.

In some embodiments, UAV 300 also includes memory 302 .

Exemplarily, the processor 301 and the memory 302 are connected through a bus 303, and the bus 303 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

Wherein, the processor 301 is configured to run the computer program stored in the memory 302, and implement the aforementioned control method of the liquid spraying device when the computer program is executed.

Exemplarily, the processor 301 is configured to run a computer program stored in the memory 302, and implement the following steps when executing the computer program:

Obtain the target parameters of the liquid spraying device;

The target parameters of the liquid spray device are determined according to the travel speed of the UAV.

The target parameter of the liquid spraying device is determined according to the ground clearance of the unmanned aerial vehicle.

Exemplarily, the processor is further configured to execute:

The UAV is controlled to adjust the ground clearance according to the target spray width of the liquid spray device.

The specific principles and implementation manners of the unmanned aerial vehicle for agricultural plant protection provided by the embodiments of the present application are similar to the control methods of the liquid spraying devices in the foregoing embodiments, and will not be repeated here.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor enables the processor to implement the liquid spraying device provided by the foregoing embodiments. The steps of the control method.

The computer-readable storage medium may be the liquid spraying device described in any of the foregoing embodiments or an internal storage unit of an unmanned aerial vehicle, such as a hard disk or a memory of the liquid spraying device. The computer-readable storage medium may also be an external storage device of the liquid spraying device or the unmanned aerial vehicle, such as a plug-in hard disk equipped on the liquid spraying device, a smart memory card (Smart Media Card, SMC), a security Digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

The liquid spraying device, the unmanned aerial vehicle, and the storage medium provided in the embodiments of the present application, by acquiring target parameters of the liquid spraying device, control the liquid pump to start and stop at intervals or continuously according to the target parameters, so that the liquid spraying device working parameters to achieve the target parameters. It can achieve better spraying effect of the spraying system and achieve better work adaptability.

It should be understood that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application.

It will also be understood that, as used in this application and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A control method of a liquid spraying device, characterized in that the control method comprises:

acquiring target parameters of a liquid spray device, wherein the liquid spray device includes a pressure spray head for spraying liquid and a liquid pump for pumping liquid into the pressure spray head;

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameters, so that the working parameters of the liquid spraying device reach the target parameters.
The control method according to claim 1, wherein the target parameter includes a target flow rate, and the working parameter includes a working flow rate of the liquid spraying device; and/or

The target parameter includes a target pressure, and the operating parameter includes an operating pressure of the liquid spray device.
The control method according to claim 1 or 2, wherein the controlling the liquid pump to start and stop at intervals or continuously according to the target parameter comprises:

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameter and the lower limit of the parameter threshold of the liquid spraying device.
The control method according to claim 3, wherein if the target parameter is not greater than the lower limit of the parameter threshold of the liquid spraying device, the liquid pump is controlled to start and stop at intervals.
The control method according to claim 4, wherein if the target parameter is greater than the lower limit of the parameter threshold of the liquid spraying device, the liquid pump is controlled to start continuously.
The control method according to any one of claims 1-5, wherein when the liquid pump starts and stops at intervals, the liquid pump is controlled so that the working parameter of the liquid spraying device is not less than the The lower limit of the parameter threshold for the liquid sprinkler.
The control method according to any one of claims 3 to 6, wherein the lower limit of the parameter threshold is determined according to the lower limit of the working parameter that enables the liquid to be sprayed uniformly in the working area when the liquid pump is continuously started.
The control method according to claim 7, wherein the lower limit of the parameter threshold includes a lower limit of the flow threshold, and the lower limit of the flow threshold is based on the working flow of the liquid that can uniformly spray the liquid in the working area when the liquid pump is continuously started. lower limit is determined; and/or

The lower limit of the parameter threshold includes the lower limit of the pressure threshold, and the lower limit of the pressure threshold is determined according to the lower limit of the working pressure that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started.
The control method according to claim 8, wherein the lower limit of the working flow is determined according to the rotational speed when the liquid pump provides the lower limit working pressure.
The control method according to any one of claims 1-9, wherein the controlling the interval start and stop of the liquid pump according to the target parameter comprises:

According to the target parameter, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.
The control method according to claim 10, wherein when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the target parameter.
The control method according to claim 10, wherein the determining according to the target parameter the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals, comprising:

According to the target parameter and the lower limit of the parameter threshold of the liquid spraying device, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.
The control method according to claim 12, wherein when the liquid pump is started and stopped at intervals, the start-up duration is positively correlated with the ratio of the target parameter and the lower limit of the parameter threshold; or

When the liquid pump starts and stops at intervals, the starting duration is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold.
The control method according to any one of claims 10-13, wherein the start-up duration and the stop-over duration include the start-up duration and the stop-over duration in one control cycle.
The control method according to claim 14, wherein the ratio of the start-up duration and the control period is positively correlated with the target parameter.
The control method according to claim 15, wherein the ratio of the start-up duration to the control period is positively correlated with the ratio of the target parameter to the lower limit of the parameter threshold of the liquid spray device; or the start-up duration The ratio to the control period is negatively related to the difference between the target parameter and the lower limit of the parameter threshold of the liquid spray device.
The control method according to claim 14, wherein the control period is determined according to the control frequency of the liquid spraying device.
The control method according to any one of claims 1-17, wherein the acquiring the target parameter of the liquid spraying device comprises:

The target parameter of the liquid spraying device is determined according to the travel speed of the liquid spraying device.
The control method according to claim 18, wherein the liquid spraying device is mounted on a movable platform, and the control method further comprises:

obtaining the travel speed of the movable platform;

Wherein, the travel speed of the movable platform is equal to the travel speed of the liquid spraying device.
The control method according to claim 18, wherein the target parameter is positively correlated with the travel speed.
The control method according to any one of claims 1-20, wherein the acquiring the target parameters of the liquid spraying device comprises:

The target parameter of the liquid spraying device is determined according to the spraying height of the liquid spraying device.
The control method according to claim 21, wherein the liquid spraying device is mounted on a movable platform, and the control method further comprises:

Obtain the ground clearance of the movable platform;

The spraying height of the liquid spraying device is determined according to the ground clearance.
The control method according to claim 22, wherein the control method further comprises:

The movable platform is controlled to adjust the ground clearance according to the target spray width of the liquid spray device.
The control method according to claim 21, wherein the target parameter is positively correlated with the spraying height.
The control method according to claim 1 or 2, wherein the controlling the liquid pump to start and stop at intervals or continuously according to the target parameter comprises:

Based on the preset target parameter and the corresponding relationship between the interval start-stop mode or the continuous start mode, the liquid pump is controlled to start and stop at intervals or continuously start according to the target parameter.
A liquid spraying device, characterized in that the liquid spraying device comprises:

Pressure sprinklers for spraying liquids;

a liquid pump, connected to the liquid source and the pressure spray head through a pipeline, for pumping the liquid into the pressure spray head; and

One or more processors, operating individually or collectively, to perform the steps of:

Obtain the target parameters of the liquid spraying device;

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameters, so that the working parameters of the liquid spraying device reach the target parameters.
The liquid spray device of claim 26, wherein the target parameter includes a target flow rate, and the operating parameter includes an operating flow rate of the liquid spray device; and/or

The target parameter includes a target pressure, and the operating parameter includes an operating pressure of the liquid spray device.
The liquid spraying device according to claim 26 or 27, wherein, when the processor executes the control of the liquid pump to start and stop at intervals or continuously according to the target parameter, execute:

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameter and the lower limit of the parameter threshold of the liquid spraying device.
The liquid spraying device according to claim 28, wherein if the target parameter is not greater than the lower limit of the parameter threshold of the liquid spraying device, the processor controls the liquid pump to start and stop at intervals.
The liquid spraying device according to claim 29, wherein if the target parameter is greater than the lower limit of the parameter threshold of the liquid spraying device, the processor controls the liquid pump to start continuously.
The liquid spraying device according to any one of claims 26-30, wherein when the liquid pump is started and stopped at intervals, the liquid pump is controlled so that the working parameter of the liquid spraying device is not less than all the The lower limit of the parameter threshold for the liquid spray device.
The liquid spraying device according to any one of claims 28 to 31, wherein the lower limit of the parameter threshold is determined according to the lower limit of the working parameter that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started .
The liquid spraying device according to claim 32, wherein the lower limit of the parameter threshold includes a lower limit of the flow threshold, and the lower limit of the flow threshold is based on the working flow rate that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started. The lower limit is determined; and/or

The lower limit of the parameter threshold includes the lower limit of the pressure threshold, and the lower limit of the pressure threshold is determined according to the lower limit of the working pressure that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started.
The liquid spraying device according to claim 33, wherein the lower limit of the working flow rate is determined according to the rotational speed when the liquid pump provides the lower limit working pressure.
The liquid spraying device according to any one of claims 26-34, wherein, when the processor executes the control of the interval start and stop of the liquid pump according to the target parameter, execute:

According to the target parameter, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.
The liquid spraying device according to claim 35, wherein when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the target parameter.
The liquid spraying device according to claim 35, wherein, when the processor executes the determining according to the target parameter the start-up duration and the stop duration of the liquid pump when the liquid pump starts and stops at intervals, executes:

According to the target parameter and the lower limit of the parameter threshold of the liquid spraying device, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.
The liquid spraying device according to claim 37, wherein when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the ratio between the target parameter and the lower limit of the parameter threshold; or

When the liquid pump starts and stops at intervals, the starting duration is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold.
The liquid spraying device according to any one of claims 35-38, wherein the start-up duration and the stop-over duration include the start-up duration and the stop-over duration in one control cycle.
The liquid spraying device according to claim 39, wherein the ratio of the start-up duration and the control period is positively correlated with the target parameter.
The liquid spraying device according to claim 40, wherein the ratio of the start-up duration to the control period is positively correlated with the ratio of the target parameter to the lower limit of the parameter threshold of the liquid spraying device; or the start-up The ratio of the duration and the control period is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold of the liquid spraying device.
The liquid spraying device according to claim 39, wherein the control period is determined according to the control frequency of the liquid spraying device.
The liquid spraying device according to any one of claims 26-42, wherein when the processor executes the acquiring the target parameter of the liquid spraying device, the processor executes:

The target parameter of the liquid spraying device is determined according to the travel speed of the liquid spraying device.
The liquid spraying device according to claim 43, wherein the liquid spraying device is mounted on a movable platform, and the processor is further configured to execute:

obtaining the travel speed of the movable platform;

Wherein, the travel speed of the movable platform is equal to the travel speed of the liquid spraying device.
44. The liquid spray device of claim 43, wherein the target parameter is positively related to the travel speed.
The liquid spraying device according to any one of claims 26-45, wherein, when the processor executes the acquiring the target parameter of the liquid spraying device, it executes:

The target parameter of the liquid spraying device is determined according to the spraying height of the liquid spraying device.
The liquid spraying device according to claim 46, wherein the liquid spraying device is mounted on a movable platform, and the processor is further configured to execute:

Obtain the ground clearance of the movable platform;

The spraying height of the liquid spraying device is determined according to the ground clearance.
The liquid spray device of claim 47, wherein the processor is further configured to perform:

The movable platform is controlled to adjust the ground clearance according to the target spray width of the liquid spray device.
The liquid spray device of claim 46, wherein the target parameter is positively correlated with the spray height.
The liquid spraying device according to claim 26 or 27, wherein, when the processor executes the control of the liquid pump to start and stop at intervals or continuously according to the target parameter, execute:

Based on the preset target parameter and the corresponding relationship between the interval start-stop mode or the continuous start mode, the liquid pump is controlled to start and stop at intervals or continuously start according to the target parameter.
An unmanned aerial vehicle for agricultural plant protection, comprising:

frame;

A liquid spraying device is installed on the frame, the liquid spraying device includes a pressure spraying head and a liquid pump, the pressure spraying head is used for spraying liquid, the liquid pump is connected to the liquid source and the pressure spraying head through a pipeline, and for pumping liquid into the pressure jet; and

One or more processors, operating individually or collectively, to perform the steps of:

Obtain the target parameters of the liquid spraying device;

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameters, so that the working parameters of the liquid spraying device reach the target parameters.
The unmanned aerial vehicle of claim 51, wherein the target parameter includes a target flow rate, and the operating parameter includes a working flow rate of the liquid spray device; and/or

The target parameter includes a target pressure, and the operating parameter includes an operating pressure of the liquid spray device.
The unmanned aerial vehicle according to claim 51 or 52, is characterized in that, when described processor executes described according to described target parameter control described liquid pump interval start-stop or continuous start, executes:

The liquid pump is controlled to start and stop at intervals or continuously according to the target parameter and the lower limit of the parameter threshold of the liquid spraying device.
The unmanned aerial vehicle according to claim 53, wherein if the target parameter is not greater than the lower limit of the parameter threshold of the liquid spraying device, the processor controls the liquid pump to start and stop at intervals.
The unmanned aerial vehicle of claim 54, wherein if the target parameter is greater than the lower limit of the parameter threshold of the liquid spraying device, the processor controls the liquid pump to continuously start.
The unmanned aerial vehicle according to any one of claims 51-55, wherein when the liquid pump starts and stops at intervals, the liquid pump is controlled so that the working parameter of the liquid spraying device is not less than all the The lower limit of the parameter threshold for the liquid spray device.
The unmanned aerial vehicle according to any one of claims 53 to 56, wherein the lower limit of the parameter threshold is determined according to the lower limit of the working parameter that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started .
The unmanned aerial vehicle according to claim 57, wherein the lower limit of the parameter threshold includes a lower limit of the flow threshold, and the lower limit of the flow threshold is based on the working flow that can make the liquid evenly sprayed in the working area when the liquid pump is continuously activated The lower limit is determined; and/or

The lower limit of the parameter threshold includes the lower limit of the pressure threshold, and the lower limit of the pressure threshold is determined according to the lower limit of the working pressure that can make the liquid evenly sprayed in the working area when the liquid pump is continuously started.
The unmanned aerial vehicle according to claim 58, wherein the lower limit of the working flow is determined according to the rotational speed when the liquid pump provides the lower limit working pressure.
The unmanned aerial vehicle according to any one of claims 51-59, wherein, when the processor executes the control of starting and stopping the liquid pump at intervals according to the target parameter, executes:

According to the target parameter, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.
The unmanned aerial vehicle according to claim 60, wherein when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the target parameter.
The unmanned aerial vehicle according to claim 60, wherein when the processor executes the determining according to the target parameter the start-up duration and the stop duration of the liquid pump when the liquid pump starts and stops at intervals, executes:

According to the target parameter and the lower limit of the parameter threshold of the liquid spraying device, the start time and stop time of the liquid pump when the liquid pump starts and stops at intervals are determined.
The unmanned aerial vehicle according to claim 62, wherein when the liquid pump starts and stops at intervals, the start-up duration is positively correlated with the ratio of the target parameter and the lower limit of the parameter threshold; or

When the liquid pump starts and stops at intervals, the starting duration is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold.
The unmanned aerial vehicle according to any one of claims 60-63, wherein the start-up duration and the stop duration include the start-up duration and the stop duration in one control cycle.
The unmanned aerial vehicle of claim 64, wherein the ratio of the activation duration to the control period is positively correlated with the target parameter.
The unmanned aerial vehicle according to claim 65, wherein the ratio of the activation duration to the control period is positively correlated with the ratio of the target parameter to the lower limit of the parameter threshold of the liquid spraying device; or the activation The ratio of the duration and the control period is negatively correlated with the difference between the target parameter and the lower limit of the parameter threshold of the liquid spraying device.
The unmanned aerial vehicle of claim 64, wherein the control period is determined according to the control frequency of the liquid spraying device.
The unmanned aerial vehicle according to any one of claims 51-67, wherein when the processor executes the acquiring the target parameter of the liquid spraying device, execute:

The target parameters of the liquid spray device are determined according to the travel speed of the UAV.
68. The unmanned aerial vehicle of claim 68, wherein the target parameter is positively related to the travel speed.
The unmanned aerial vehicle according to any one of claims 51-69, wherein when the processor executes the acquiring the target parameter of the liquid spraying device, execute:

The target parameter of the liquid spraying device is determined according to the ground clearance of the unmanned aerial vehicle.
The unmanned aerial vehicle of claim 70, wherein the processor is further configured to execute:

The UAV is controlled to adjust the ground clearance according to the target spray width of the liquid spray device.
The unmanned aerial vehicle of claim 70, wherein the target parameter is positively correlated with the spray height.
The unmanned aerial vehicle according to claim 51 or 52, wherein when the processor executes the control of the liquid pump to start and stop at intervals or continuously according to the target parameter, execute:

Based on the preset target parameter and the corresponding relationship between the interval start-stop mode or the continuous start mode, the liquid pump is controlled to start and stop at intervals or continuously start according to the target parameter.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-25. the described control method.