WO2022266879A1 - 植保系统的故障检测方法、装置、可移动平台及存储介质 - Google Patents

植保系统的故障检测方法、装置、可移动平台及存储介质 Download PDF

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Publication number
WO2022266879A1
WO2022266879A1 PCT/CN2021/101799 CN2021101799W WO2022266879A1 WO 2022266879 A1 WO2022266879 A1 WO 2022266879A1 CN 2021101799 W CN2021101799 W CN 2021101799W WO 2022266879 A1 WO2022266879 A1 WO 2022266879A1
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Prior art keywords
capacity
plant protection
detection sensor
flow meter
values
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PCT/CN2021/101799
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English (en)
French (fr)
Inventor
舒展
孟祥�
熊伟
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202180084780.0A priority Critical patent/CN116615637A/zh
Priority to PCT/CN2021/101799 priority patent/WO2022266879A1/zh
Publication of WO2022266879A1 publication Critical patent/WO2022266879A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F25/00—Testing or calibration of apparatus for measuring volume, volume flow or liquid level or for metering by volume

Definitions

  • the present application relates to the technical field of plant protection, in particular, to a fault detection method, device, movable platform and storage medium of a plant protection system.
  • one of the objectives of the present application is to provide a fault detection method, device, movable platform and storage medium for a plant protection system.
  • an embodiment of the present application provides a fault detection method for a plant protection system, the plant protection system is mounted on a movable platform, and the method includes:
  • the multiple capacity values of the containers of the plant protection system collected by the capacity detection sensor at different times and the volume values synchronously collected by the flow meter at the different times are obtained.
  • the embodiment of the present application provides a fault detection device for a plant protection system, the plant protection system is carried on a movable platform, and the fault detection device includes:
  • processors one or more processors
  • the one or more processors execute the executable instructions, they are individually or jointly configured to:
  • the multiple capacity values of the containers of the plant protection system collected by the capacity detection sensor at different times and the volume values synchronously collected by the flow meter at the different times are obtained.
  • the embodiment of the present application provides a mobile platform, including:
  • a power system arranged in the body, for providing power for the body
  • the plant protection system is set in the body and is used to perform plant protection tasks
  • the plant protection system includes a container for holding materials, an output device for outputting the materials, a capacity detection sensor for detecting the current capacity of the container, and a capacity detection sensor for detecting the current flow rate of the output materials output by the output device. flowmeter and fault detection device;
  • the fault detection device is communicatively connected to the capacity detection sensor and the flow meter;
  • the capacity detection sensor collects multiple capacity values of the container at different times, and the flowmeter synchronously collects multiple flow rates of the output material output by the output device at the different time points value;
  • the fault detection device is used to obtain the multiple capacity values and the multiple flow values, and determine whether the capacity detection sensor and the flow meter exist according to the multiple capacity values and the multiple flow values Fault.
  • an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method as described in the first aspect is implemented .
  • a fault detection method for a plant protection system is used for fault detection of capacity detection sensors and flow meters included in the plant protection system, wherein the plant protection system can be mounted on a movable platform, During the process that the mobile platform uses the plant protection system to perform plant protection tasks, it can obtain multiple capacity values of the containers of the plant protection system collected by the capacity detection sensor at different times and the volume values synchronously collected by the flow meter at the different times.
  • the output device of the plant protection system outputs a plurality of flow values of the material, and then according to the plurality of capacity values and the plurality of flow values, it is determined whether the capacity detection sensor and the flow meter are faulty.
  • This embodiment implements coupling fault detection based on multiple capacity values collected by the capacity detection sensor and multiple flow values collected by the flow meter, which is beneficial to improving the accuracy of fault detection results.
  • Fig. 1 is a schematic diagram of a plant protection system provided by an embodiment of the present application
  • Fig. 2 is a schematic diagram of a spraying system provided by an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a spreading system provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of an application scenario of a plant protection system provided by an embodiment of the present application.
  • Fig. 5 is a schematic flow chart of a fault detection method provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a fault detection device provided by an embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of a mobile platform provided by an embodiment of the present application.
  • sensors such as flow meters, liquid level gauges or material level gauges are applied to the plant protection system of the plant protection equipment.
  • some pesticides are easy to scale (such as mancozeb)
  • some pesticides have strong viscosity (such as abamectin ) or some solid materials are prone to dust
  • the floater of the liquid level gauge may be stuck or the level gauge may be stuck due to the specific properties of the material.
  • the probe is blocked, the liquid level gauge or material level gauge is faulty, and the capacity information cannot be collected accurately; and the flowmeter will also come into contact with the material when the plant protection equipment uses the plant protection system to perform plant protection tasks. Due to the specific properties of the material, it may cause The probe of the flowmeter is blocked, the flowmeter fails, and the flow information cannot be collected accurately.
  • the embodiment of the present application provides a fault detection method for a plant protection system, which is used for fault detection of capacity detection sensors and flow meters included in the plant protection system, wherein the plant protection system can be carried on In the movable platform, when the movable platform uses the plant protection system to perform plant protection tasks, it can obtain multiple capacity values of the containers of the plant protection system collected by the capacity detection sensor at different times and flowmeters in the plant protection system.
  • the output device of the plant protection system that is collected synchronously at different times outputs a plurality of flow values of the material, and then determines whether the capacity detection sensor and the flow meter are faulty according to the plurality of capacity values and the plurality of flow values .
  • This embodiment implements coupling fault detection based on multiple capacity values collected by the capacity detection sensor and multiple flow values collected by the flow meter, which is beneficial to improving the accuracy of fault detection results.
  • the fault detection device may be implemented by a fault detection device.
  • the fault detection device may be a computer software product integrated in a mobile platform or a plant protection system, and the computer software product includes an application program that can execute the fault detection method provided by the embodiment of the present application.
  • the fault detection device includes a processor, and the processor includes at least a chip capable of executing the fault detection method provided in this embodiment.
  • the processor can pass The execution can be performed by calling the executable program in the memory, or through a logic operation circuit.
  • the processor includes, but is not limited to, a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or an off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) and so on.
  • the fault detection device when the fault detection device executes the fault detection method, it can be performed in the background, or it can also be displayed to the user in the form of a graphical interface, or part of it can be executed in the background, and the other part can be displayed to the user.
  • the fault detection device can be completely autonomous in the process of executing the fault detection method, or it can also be partially autonomous, and the other part has manual participation.
  • the fault detection device can be installed in the plant protection system (such as integrated with the controller in the plant protection system), or installed in a movable platform equipped with the plant protection system (such as integrated with the controller of the movable platform) together), or can also be installed in a remote controller or a server, and the remote controller or server is communicatively connected with a mobile platform equipped with a plant protection system.
  • the plant protection system includes a container 11 for holding materials, an output device 12 for outputting the materials, a capacity detection sensor 13 for detecting the current capacity of the container 11, and a Detect the flow meter 14 and the fault detection device 15 of the current flow rate of the output material output by the output device 12; wherein, the fault detection device 15 is connected with the capacity detection sensor 13 and the flow meter 14 by wired or wireless communication, It is used to obtain multiple capacity values collected by the capacity detection sensor 13 and multiple flow values collected synchronously by the flow meter 14 for fault detection.
  • the fault detection device may be integrated with the controller of the plant protection system, or the fault detection method may be executed by the controller of the plant protection system.
  • the controller is communicatively connected with the output device, and is used to control the working state of the output device, that is, to control whether the output device outputs materials;
  • the output device is controlled to output materials, and the controller is also connected to the capacity detection sensor and the flow meter in communication.
  • the controller is also used to control the capacity detection device to detect The current capacity of the container and controlling the flowmeter to detect the current flow rate of the output material output by the output device, and then the controller can be based on multiple capacity values collected by the capacity detection device and multiple values collected synchronously by the flowmeter flow value to detect whether the capacity detection sensor and the flow meter are faulty.
  • the plant protection system is installed on a movable platform
  • the movable platform includes but not limited to a plant protection drone, a plant protection vehicle, a plant protection robot or a plant protection ship, etc.
  • the movable platform includes a fuselage for A power system driving the movement of the movable platform, a controller for controlling the movement of the movable platform, and the plant protection system; wherein, the fault detection device can be integrated with the controller in the movable platform , or the fault detection method may be executed by a controller in the movable platform.
  • controller of the movable platform and the controller of the plant protection system can also be integrated together, which is not limited in this embodiment.
  • the plant protection system may be a spraying system or a spreading system
  • the spraying system is used for spraying liquid materials such as liquid pesticide or water
  • the spreading system is used for spraying solid materials such as seeds or powder.
  • the spraying system is illustrated here as an example: Please refer to FIG. 2 , which shows a schematic diagram of a spraying system that can be carried on a movable platform.
  • the spraying system includes a container 11 for holding liquid materials, such as a medicine box for holding liquid pesticides; the capacity detection sensor 13 includes a liquid level gauge 131, which is arranged in the container 11, The liquid level gauge 131 is used to measure the capacity of the liquid material in the container 11; the container 11 communicates with the water pump 16 through the first pipeline 111, and the water pump 16 is used to transfer from the The liquid material is extracted in the container 11; the flow meter 14 is arranged in the first pipeline 111 for measuring the flow rate of the liquid material in the first pipeline 111 per unit time; the output device 12 includes a nozzle 121, and the water pump 16
  • the second pipeline 112 communicates with the spray head, and the water pump 16 is used to deliver the liquid material to the spray head 121 through the second pipeline 112 after the liquid material is extracted from the container 11 through the first
  • the spraying system includes a first pipeline 111 connected to the container 11, and the first pipeline 111 communicates with one or more water pumps 16 (Fig. 4 water pumps are taken as an example for illustration), the flow meter 14 is arranged in the first pipeline 111, and is used to measure the flow rate of the liquid level material in the pipeline per unit time.
  • the spraying system may also include a plurality of first pipelines 111 connected to the container 11, each first pipeline 111 communicates with a water pump 16,
  • the spraying system is also correspondingly equipped with a plurality of flowmeters 14, and each first pipeline 111 is provided with a flowmeter 14, and each flowmeter 14 is used to measure the flow rate of the liquid material in the first pipeline 111 per unit time .
  • the spraying system further includes a controller 151 (taking the fault detection device integrated in the controller as an example), the controller 151 is connected to the output device 12 by wired communication or wireless communication, for Control the working state of the output device 12; and the controller 151 is also communicatively connected with the liquid level meter 131 and the flow meter 14, for obtaining the capacity value collected by the liquid level meter 131 and the flow rate The flow value collected by the meter 14, and then the controller 151 can detect whether there is a fault in the liquid level meter 131 and the flow meter 14 according to the plurality of capacity values and the plurality of flow values.
  • the controller 151 may also be connected to the water pump 16 by wired communication or wireless communication, and is used to control the working state and the speed of the water pump 16 and the like.
  • the spreading system includes a container 11, an opening adjustment device 18, a spreading device 122, a material level meter 132, a flow meter 14 and a controller 151 (with the fault detection device and the controller 151 The controllers are integrated together as an example).
  • the material level gauge 132 is set in the container 11 for detecting the current capacity of the container 11;
  • the flow meter 14 is set between the opening adjustment device 18 and the spreading device 122, It is used to detect the flow rate value of the material spread by the spreading device.
  • the container 11 may be a box with a conical or rectangular shape (of course, boxes with other geometric shapes, such as special-shaped boxes, are not excluded).
  • a feed inlet is provided on the top of the box body, and solid materials (such as seeds or pesticides, etc.) can be added into the container 11 through the feed inlet.
  • a feed port cover is installed on the top of the feed port through detachable connections such as clamping or screwing, so that the feed port cover can be removed when adding materials and re-covered after feeding.
  • a discharge opening is provided at the bottom of the box body, so that when the discharge opening is opened, the materials contained in the box body can fall from the discharge opening under the action of gravity.
  • the opening adjustment device 18 may include: a steering gear, a baffle, and a transmission component for drivingly connecting the steering gear and the baffle.
  • the steering gear and the baffle can be arranged below or above the discharge port, and the shape of the baffle matches the shape of the discharge port.
  • the baffle is driven by the steering gear to move, and the controller 151 can directly read the information of the steering gear to obtain the real-time rotation angle of the rotating shaft of the steering gear, so as to obtain the area that the baffle covers the discharge port at the current moment, and then obtain the real-time rotation angle of the discharge port.
  • the opening degree is used to control the operation process of the spreading device 122.
  • the spreading device 122 may include: a turntable arranged below the discharge port, and a turntable motor that drives the turntable to rotate to throw materials off the turntable.
  • the upper surface of the turntable is optionally provided with a plurality of ribs along the radial direction to improve the spreading effect.
  • the turntable motor can be connected with the turntable directly or through transmission parts, so as to drive the turntable to rotate in a roughly horizontal direction, so as to throw the materials falling onto the turntable from the discharge port from the edge of the turntable to the ground, water surface, or other fixed objects. (e.g. trees, grass, etc.).
  • the controller 151 is connected in communication with the opening adjustment device 18, and can control the rotation angle of the steering gear in the opening adjustment device 18, so as to control the operation process of the spreading device 122; and the The controller 151 is also connected in communication with the material level meter 132 and the flow meter 14, and is used to obtain the capacity value collected by the material level meter 132 and the flow value collected by the flow meter 14, and then the controller 151 According to the multiple capacity values and the multiple flow values, it is possible to detect whether there is a fault in the level meter 132 and the flow meter 14; The wired communication connection or the wireless communication connection is used to control the turntable motor in the spreading device 122 to drive the turntable to rotate.
  • Figure 4 shows the usage scenario of an unmanned aerial vehicle equipped with the spraying system shown in Figure 2 Schematic diagram
  • the spraying system carried by it can be used for spraying operations, such as under the control of the controller 151 in the spraying system, the water pump 16 passes through the The first pipeline 111 extracts the liquid pesticide from the container 11 and delivers it to the spray head 121 connected to it through the second pipeline 112, and then the spray head 121 sprays the liquid pesticide through the nozzle 17 to realize the spraying process.
  • the controller 151 can also obtain multiple capacity values collected by the liquid level gauge 131 and multiple flow values synchronously collected by the flow meter 14, and then can The plurality of flow values are detected to detect whether the liquid level meter 131 and the flow meter are faulty.
  • This embodiment implements coupling fault detection based on multiple capacity values collected by the liquid level gauge 131 and multiple flow values collected by the flow meter, which is beneficial to improving the accuracy of fault detection results.
  • Figure 5 is a schematic flow chart of a fault detection method of the plant protection system provided by the embodiment of the present application.
  • the plant protection system is installed on a capacity detection sensor and a flow meter, and the method can be performed by a fault detection device, and the method includes:
  • step S101 during the process of the mobile platform using the plant protection system to perform plant protection tasks, the multiple capacity values of the containers of the plant protection system collected by the capacity detection sensor at different times and the flowmeter at the different times are obtained.
  • the output device of the plant protection system collected synchronously at all times outputs a plurality of flow values of materials.
  • step S102 according to the multiple capacity values and the multiple flow values, it is determined whether the capacity detection sensor and the flow meter are faulty.
  • the capacity detection sensor includes a liquid level gauge
  • the liquid level gauge includes but is not limited to a side-mounted magnetic flap level gauge, a bundled remote Liquid level gauges, capacitive liquid level gauges or radar level gauges, etc.; among them, due to the specific properties of some materials, such as some pesticides are easy to scale (such as mancozeb), some pesticides have strong viscosity (such as abamectin), after the liquid level gauge set in the container comes into contact with the material in the container, due to the specific properties of the material, the float of the liquid level gauge may be stuck, and the liquid level gauge fails and cannot be accurate. Collect capacity information.
  • the capacity detection sensor includes a level gauge
  • the level gauge includes but is not limited to a radar level gauge, an ultrasonic level gauge, a weight Material level gauge, capacitive material level gauge, resistance rotary type material level gauge and tuning fork type material level gauge, etc.
  • the material level gauge set in the container After contacting the material in the container, due to the specific properties of the material, the probe of the level gauge may be stuck, and the level gauge fails, unable to accurately collect capacity information.
  • the flowmeters include but are not limited to electromagnetic flowmeters, differential pressure flowmeters, rotameters, volumetric flowmeters, turbine flowmeters or ultrasonic flowmeters; among them, due to the specific properties of certain materials, such as some pesticides are easy to Scaling (such as mancozeb), some pesticides are very viscous (such as abamectin), or some solid materials are prone to dust, which may cause the probe of the flowmeter to be blocked when it contacts such materials, and the flow rate If the meter is faulty, the flow information cannot be collected accurately; for example, for a turbine flowmeter, when it is used in viscous or thick pesticides, it is very easy to have the problem of impeller sticking; Or when used in pesticides with a large consistency, there is also the problem of fouling of the measurement pipeline, which leads to the blockage of the probe or the reduction of the pipeline area, thereby inaccurately detecting the flow rate.
  • some pesticides are easy to Scaling (such as mancozeb)
  • the fault detection device can acquire multiple capacity values of the containers of the plant protection system collected at different times by the capacity detection sensor
  • the output device of the plant protection system that is collected synchronously with the flow meter at the different times outputs a plurality of flow values of the material, and then according to the capacity change value reflected by the plurality of capacity values and the value reflected by the plurality of flow values The difference between the capacity change values is used to determine whether there is a fault in the capacity detection sensor and the flow meter.
  • the multiple capacity values are the same and the multiple flow values are all positive, it indicates that the capacity detection sensor is collecting the multiple capacity values and the flowmeter is collecting During the same time period of the multiple flow values, if the capacity change value reflected by the multiple capacity values is 0 and the capacity change value reflected by the multiple flow values is greater than 0, it is determined that the capacity detection sensor may It is because the float is completely stuck or the probe is completely blocked, and the capacity detection sensor is faulty and the collected capacity value is incorrect.
  • the change of the data collected by the capacity detection sensor and the flow meter it is directly judged whether there is a fault in the two, without further processing of the collected data, which is conducive to improving the fault detection efficiency.
  • the multiple capacity values gradually decrease according to the collection time and the multiple flow values are non-positive, it indicates that the capacity detection sensor is collecting the multiple capacity values
  • the capacity change value reflected by the multiple capacity values is greater than 0 and the capacity change value reflected by the multiple flow values is less than or equal to 0
  • it is determined that there is a fault in the flowmeter for example, the probe of the flowmeter may be completely blocked, resulting in an error in the flow value collected by the flowmeter.
  • the fault detection device may also determine the first capacity change value between the different time points according to the multiple capacity values, and determine the first capacity change value between the different time points according to the multiple flow values. The second capacity change value between them, and finally determine whether the capacity detection sensor and the flow meter are faulty according to the difference between the first capacity change value and the second capacity change value.
  • mutual fault diagnosis is performed on the capacity detection sensor and the flow meter, and troubleshooting is performed in time, which is beneficial to improve the capacity detection sensor. and the reliability and service life of the flowmeter.
  • the float of the capacity detection sensor is completely blocked or the probe is completely blocked, or the probe of the flowmeter is completely blocked.
  • the capacity detection sensor may be partially stuck by the float Either the probe part is blocked, or the probe part of the flow meter is blocked.
  • the fault detection device may determine the remaining capacity according to the larger of the first capacity change value and the second capacity change value, for example, the remaining capacity is the initial capacity and the set The difference between the larger one (the larger of the first capacity change value and the second capacity change value), or according to the difference between the first capacity change value and the second capacity change value The average value determines the remaining capacity, and then it can be determined whether there is a fault in the capacity detection sensor and the flow meter according to the size of the remaining capacity.
  • the preset value may be specifically set according to an actual application scenario, which is
  • the remaining capacity when the remaining capacity is greater than the preset capacity, it indicates that the remaining capacity of the material in the container is large, and in this case the accuracy of the flowmeter is higher, then it can be determined that the capacity detector exists Fault; in the case that the remaining capacity is less than or equal to the preset capacity, it indicates that the remaining capacity of the material in the container is less, and in this case the accuracy of the capacity detection sensor is higher, then it can be determined that the flowmeter is faulty .
  • the preset capacity is less than half of the initial capacity, for example, the preset capacity is 30%, 20% or 10% of the initial capacity, etc., which is not limited in this embodiment.
  • both the first capacity change value and the second capacity change value are greater than 0, and the difference between them is less than or equal to a preset value, it is determined that the capacity detection sensor and the flow meter No failure; then the plant protection system can carry out plant protection operations according to the first capacity change value, the second capacity change value or the average value of the two, such as based on the first capacity change value, the second capacity change value
  • the change value or the mean value of the two controls the spraying speed, spraying amount, etc., which is conducive to improving the spraying accuracy in the process of plant protection operations.
  • the plant protection system can perform plant protection operations based on the data collected by the other, such as based on the other The collected data controls the spraying speed and spraying volume, so as to ensure the accurate operation of plant protection.
  • the fault detection device may output fault reminder information, so as to remind the user to clean the capacity detection sensor or the flow meter in time.
  • the rotation speed of the water pump can be increased to generate stronger pressure, thereby cleaning the flow meter.
  • the plant protection system can also be provided with a cleaning nozzle, the cleaning nozzle can be set at a position capable of flushing the capacity detection sensor, and a switching device is arranged in the cleaning nozzle; In the event of a sensor failure, the switching device may be turned on to flush the capacity detection sensor with the cleaning nozzle.
  • the cleaning nozzle can be connected to the output device (i.e. the nozzle) through a pipeline, and the cleaning nozzle is provided with a switching device, such as a solenoid valve, and the capacity detection device (that is, the liquid level gauge) works normally, the cleaning nozzle is in the closed state, and when the capacity detection device (that is, the liquid level gauge) fails, the switch device is turned on so that the cleaning nozzle is in the open state, then The liquid material in the container is delivered to the cleaning nozzle through the output device, so that the cleaning nozzle can flush the capacity detection device (ie, the liquid level gauge).
  • a switching device such as a solenoid valve
  • the cleaning nozzle can be a gas nozzle
  • the gas nozzle is connected to the air compression mechanism through an air pipeline
  • the gas nozzle is provided with a switching device, such as a solenoid valve.
  • the capacity detection device that is, the level gauge
  • the cleaning nozzle is in a closed state
  • the capacity detection device that is, the level gauge
  • the switching device is turned on so that the gas nozzle can flush the level gauge with air.
  • the embodiment of the present application also provides a fault detection device 15 of a plant protection system, the plant protection system is mounted on a movable platform, and the fault detection device 15 includes:
  • memory 153 for storing executable instructions
  • processors 154 one or more processors 154;
  • processors 154 when the one or more processors 154 execute the executable instructions, they are individually or jointly configured to:
  • the multiple capacity values of the containers of the plant protection system collected by the capacity detection sensor at different times and the volume values synchronously collected by the flow meter at the different times are obtained.
  • the processor 154 executes the executable instructions included in the memory 153, and the processor 154 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor) Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory 153 stores the executable instructions of the fault detection method, and the memory 153 can include at least one type of storage medium, and the storage medium includes flash memory, hard disk, multimedia card, card memory (for example, SD or DX memory, etc. etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic Memory, Diskettes, CDs, etc. Also, the device may cooperate with a web storage which performs a storage function of the memory through a network connection.
  • the storage 153 may be an internal storage unit of the device 15 , such as a hard disk or a memory of the device 15 .
  • Storage device 153 also can be the external storage equipment of device 15, for example the plug-in type hard disk that is equipped with on device 15, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card) Wait. Further, the storage 153 may also include both an internal storage unit of the device 15 and an external storage device.
  • the memory 153 is used to store the computer program 55 and other programs and data required by the device.
  • the memory 153 can also be used to temporarily store data that has been output or will be output.
  • Various implementations described herein can be implemented using a computer readable medium such as computer software, hardware, or any combination thereof.
  • the embodiments described herein can be implemented by using Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays ( FPGA), processors, controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein.
  • ASICs Application Specific Integrated Circuits
  • DSPs Digital Signal Processors
  • DSPDs Digital Signal Processing Devices
  • PLDs Programmable Logic Devices
  • FPGA Field Programmable Gate Arrays
  • processors controllers, microcontrollers, microprocessors, electronic units designed to perform the functions described herein.
  • an embodiment such as a procedure or a function may be implemented with a separate software module that allows at least one function or operation to be performed.
  • the software codes can be implemented by a software application (or program
  • the fault detection device 15 may include, but not limited to, a processor 154 and a memory 153 .
  • FIG. 6 is only an example of the device 15, and does not constitute a limitation to the device 15. It may include more or fewer components than shown in the figure, or combine some components, or different components, such as Devices may also include input and output devices, network access devices, buses, and so on.
  • the processor 154 is further configured to: according to the multiple capacity values, determine the first capacity change value between different times; according to the multiple flow values, determine the different The second capacity change value between time points; according to the difference between the first capacity change value and the second capacity change value, it is determined whether the capacity detection sensor and the flow meter are faulty.
  • the processor 154 is further configured to: if one of the first capacity change value and the second capacity change value is less than or equal to 0, and the other is greater than 0, determine The sensor corresponding to less than or equal to 0 is faulty.
  • the processor 154 is further configured to: if the plurality of capacity values are the same and the plurality of flow values are all positive, determine that the capacity detector has a fault.
  • the processor 154 is further configured to: if the multiple capacity values gradually decrease according to the collection time and the multiple flow values are non-positive, determine that the flowmeter has a fault .
  • the processor 154 is further configured to: if both the first capacity change value and the second capacity change value are greater than 0, and the difference between them is greater than a preset value, according to the The larger one of the first capacity change value and the second capacity change value determines the remaining capacity; and determines whether the capacity detection sensor and the flow meter are faulty according to the magnitude of the remaining capacity.
  • the processor 154 is further configured to: if the remaining capacity is greater than a preset capacity, determine that there is a fault in the capacity detector; if the remaining capacity is less than or equal to a preset capacity, case, it is determined that the flowmeter is faulty.
  • the preset capacity is less than half of the initial capacity.
  • the failure of the capacity detection sensor includes the float being stuck or the probe being blocked; and/or, the failure of the flow meter includes the probe being blocked.
  • the plant protection system is a spraying system
  • the output device is a sprinkler head
  • the capacity detection sensor is a liquid level gauge
  • the plant protection system further includes a water pump communicated with the container through a first pipeline , the water pump is also communicated with the spray head through the second pipeline; the liquid level gauge is arranged in the container, and the flowmeter is arranged in the first pipeline.
  • the plant protection system is a spreading system
  • the output device is a spreading device
  • the capacity detection sensor is a level gauge
  • the processor 154 is further configured to: increase the rotation speed of the water pump to clean the flow meter if the flow meter is faulty.
  • the plant protection system further includes a cleaning nozzle; the cleaning nozzle is arranged at a position capable of flushing the capacity detection sensor, and a switching device is arranged in the cleaning nozzle.
  • the processor 154 is further configured to: in the event of a fault in the capacity detection sensor, turn on the switching device to flush the capacity detection sensor with the cleaning nozzle.
  • the processor 154 is further configured to: if both the first capacity change value and the second capacity change value are greater than 0, and the difference between them is less than or equal to a preset value, determine Neither the capacity detection sensor nor the flow meter is faulty; the plant protection operation is performed according to the first capacity change value, the second capacity change value or the average value of both.
  • the processor 154 is further configured to: in the event that one of the capacity detection sensor and the flow meter fails, perform plant protection operations based on the data collected by the other.
  • the processor 154 is further configured to: output failure reminder information when the capacity detection sensor or the flow meter is faulty.
  • non-transitory computer-readable storage medium including instructions, such as a memory including instructions, which are executable by a processor of an apparatus to perform the above method.
  • the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • a non-transitory computer-readable storage medium when the instructions in the storage medium are executed by the processor of the terminal, the terminal can execute the above method.
  • the embodiment of the present application also provides a mobile platform 100, including:
  • the power system 102 is arranged in the body 101 and is used to provide power for the body;
  • Plant protection system 103 set in the body 101, for performing plant protection tasks
  • the plant protection system includes a container for holding materials, an output device for outputting the materials, a capacity detection sensor for detecting the current capacity of the container, and a capacity detection sensor for detecting the current flow rate of the output materials output by the output device. flowmeter and fault detection device;
  • the fault detection device is communicatively connected to the capacity detection sensor and the flow meter;
  • the capacity detection sensor collects multiple capacity values of the container at different times, and the flowmeter synchronously collects multiple flow rates of the output material output by the output device at the different time points value;
  • the fault detection device is used to obtain the multiple capacity values and the multiple flow values, and determine whether the capacity detection sensor and the flow meter exist according to the multiple capacity values and the multiple flow values Fault.
  • the mobile platform includes, but is not limited to, a plant protection drone, a plant protection vehicle, a plant protection robot, or a plant protection vessel.

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Abstract

一种植保系统的故障检测方法、装置、可移动平台及存储介质，该植保系统搭载于可移动平台中，所述方法包括：在可移动平台使用植保系统执行植保任务的过程中，获取容量检测传感器(13)在不同时刻采集的植保系统的容器(11)的多个容量值和流量计(14)在不同时刻同步采集的植保系统的输出装置输出物料的多个流量值；根据多个容量值以及多个流量值，确定容量检测传感器和流量计是否存在故障。容量检测传感器和流量计彼此相互检测。

Description

植保系统的故障检测方法、装置、可移动平台及存储介质 技术领域
本申请涉及植保技术领域，具体而言，涉及一种植保系统的故障检测方法、装置、可移动平台及存储介质。
背景技术
随着植保设备(如植保无人机、植保机器人)的逐渐推广，对植保设备执行植保任何的精度要求也越来越高。比如在物料喷洒或者播撒场景下，喷洒(或者播撒)流量偏低会造成漏喷或者防护不到位，流量偏高会造成烧苗等不利影响。为了实时掌握有效喷洒(或者播撒)信息，流量计、液位计或者料位计等传感器在植保设备的植保系统上得以应用。
然而，在实际的使用过程中，需要喷洒或者播撒的物料的种类千差万别，有些农药有很强的粘性，比如阿维菌素，有些农药容易结垢，比如代森锰锌，从而导致流量计、液位计或者料位计等传感器出现故障，使得获得的喷洒(或者播撒)信息不够准确。
发明内容
有鉴于此，本申请的目的之一是提供一种植保系统的故障检测方法、装置、可移动平台及存储介质。
第一方面，本申请实施例提供了一种植保系统的故障检测方法，所述植保系统搭载于可移动平台中，所述方法包括：
在所述可移动平台使用所述植保系统执行植保任务的过程中，获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值；
根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
第二方面，本申请实施例提供了一种植保系统的故障检测装置，所述植保系统搭 载于可移动平台中，所述故障检测装置包括：
用于存储可执行指令的存储器；
一个或多个处理器；
其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成：
在所述可移动平台使用所述植保系统执行植保任务的过程中，获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值；
根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
第三方面，本申请实施例提供了一种可移动平台，包括：
机体；
动力系统，设置于所述机体中，用于为所述机体提供动力；
植保系统，设置于所述机体中，用于执行植保任务；
其中，所述植保系统包括用于盛放物料的容器、用于输出所述物料的输出装置、用于检测所述容器当前容量的容量检测传感器、用于检测所述输出装置输出物料的当前流量的流量计以及故障检测装置；
所述故障检测装置与所述容量检测传感器以及所述流量计通信连接；
在所述植保系统执行植保任务的过程中，所述容量检测传感器采集所述容器不同时刻多个容量值，以及所述流量计在所述不同时刻同步采集所述输出装置输出物料的多个流量值；
所述故障检测装置用于获取所述多个容量值以及所述多个流量值，根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有可执行指令，所述可执行指令被处理器执行时实现如第一方面所述的方法。
本申请实施例所提供的一种植保系统的故障检测方法，用于对植保系统所包括的容量检测传感器和流量计进行故障检测，其中，所述植保系统可搭载于可移动平台中，在所述可移动平台使用所述植保系统执行植保任务的过程中，能够获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值，然后根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。本实施例实现基于容量检测传感器所采集的多个容量值与流量计所采集的多个流量值来进行耦 合故障检测，有利于提高故障检测结果的准确性。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例提供的一种植保系统的示意图；
图2是本申请一个实施例提供的一种喷洒系统的示意图；
图3是本申请一个实施例提供的一种播撒系统的示意图；
图4是本申请一个实施例提供的一种植保系统的应用场景示意图；
图5是本申请一个实施例提供的一种故障检测方法的流程示意图；
图6是本申请一个实施例提供的故障检测装置的结构示意图；
图7是本申请一个实施例提供的一种可移动平台的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在植保设备使用植保系统执行植保任务的场景中，为了实时掌握有效喷洒(或者播撒)信息，流量计、液位计或者料位计等传感器在植保设备的植保系统上得以应用。
然而，考虑到需要喷洒或者播撒的物料的种类千差万别，由于某些物料的特定性质，比如某些农药容易结垢(比如代森锰锌)、有些农药有很强的粘性(比如阿维菌素)或者有些固态物料容易产生粉尘；而设置于容器中的液位计或者料位计在接触到容器中的物料之后，由于物料的特定性质可能导致液位计的浮子被卡住或者料位计的探头被堵住，液位计或者料位计出现故障，无法准确采集容量信息；而流量计在植保设备使用植保系统执行植保任务的过程中也会接触到物料，由于物料的特定性质可能导致所述流量计的探头被堵住，流量计出现故障，无法准确采集流量信息。
针对于相关技术中的问题，本申请实施例提供了一种植保系统的故障检测方法， 用于对植保系统所包括的容量检测传感器和流量计进行故障检测，其中，所述植保系统可搭载于可移动平台中，在所述可移动平台使用所述植保系统执行植保任务的过程中，能够获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值，然后根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。本实施例实现基于容量检测传感器所采集的多个容量值与流量计所采集的多个流量值来进行耦合故障检测，有利于提高故障检测结果的准确性。
其中，所述故障检测装置可由故障检测装置来执行。
一方面，所述故障检测装置可以是集成于可移动平台或者植保系统中的计算机软件产品，该计算机软件产品包括可以执行本申请实施例提供的故障检测方法的应用程序。
另一方面，所述故障检测装置包括有处理器，所述处理器至少包括有能够执行本实施例提供的故障检测方法的芯片，在具体执行所述故障检测方法时，所述处理器可以通过调用存储器中的可执行程序进行，也可以通过逻辑运算电路进行。其中，所述处理器包括但不限于中央处理单元(Central Processing Unit，CPU)、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)或者现成可编程门阵列(Field-Programmable Gate Array，FPGA)等。
其中，所述故障检测装置在执行所述故障检测方法时可以以后台的方式进行，或者也可以以图形界面的方式向用户进行展示，或者也可以一部分在后台执行，另一部分向用户展示。而且，所述故障检测装置在执行所述故障检测方法的过程中可以完全自主进行，或者也可以部分自主进行，而另一部分有人工参与。
所述故障检测装置可以安装于植保系统中(比如与植保系统中的控制器集成在一起)，或者安装在搭载有植保系统的可移动平台中(比如与所述可移动平台的控制器集成在一起)，或者还可以安装在遥控器或者服务器中，所述遥控器或者服务器与搭载有植保系统的可移动平台通信连接。
而且，请参阅图1，所述植保系统中包括有用于盛放物料的容器11、用于输出所述物料的输出装置12、用于检测所述容器11当前容量的容量检测传感器13、用于检测所述输出装置12输出物料的当前流量的流量计14和故障检测装置15；其中，所述故障检测装置15与所述容量检测传感器13和所述流量计14通过有线或者无线通信方式连接，用于获取所述容量检测传感器13采集的多个容量值和所述流量计14同步采集的多个流量值以进行故障检测。
示例性的，所述故障检测装置可以与所述植保系统的控制器集成在一起，或者可以由所述植保系统的控制器来执行所述故障检测方法。其中，所述控制器与所述输出装置通信连接，用于控制所述输出装置的工作状态，即控制所述输出装置是否输出物料；比如所述控制器可以在接收到植保任务执行指令的情况下控制所述输出装置输出物料，并且所述控制器还与所述容量检测传感器和所述流量计通信连接，在输出物料的过程中，所述控制器还用于控制所述容量检测装置检测所述容器的当前容量以及控制所述流量计检测所述输出装置输出物料的当前流量，进而所述控制器可以根据所述容量检测装置采集的多个容量值和所述流量计同步采集的多个流量值，检测所述容量检测传感器和所述流量计是否存在故障。
示例性的，所述植保系统安装于可移动平台中，所述可移动平台包括但不限于植保无人机、植保车、植保机器人或者植保船只等，所述可移动平台包括机身，用于驱动所述可移动平台运动的动力系统，用于控制所述可移动平台运动的控制器以及所述植保系统；其中，所述故障检测装置可以与所述可移动平台中的控制器集成在一起，或者可以由所述可移动平台中的控制器来执行所述故障检测方法。
可以理解的是，所述可移动平台的控制器和所述植保系统的控制器也可以集成在一起，本实施例对此不做任何限制。
其中，所述植保系统可以是喷洒系统或者播撒系统，所述喷洒系统用于喷洒液体农药或者水等液态物料，所述播撒系统用于喷洒种子或者粉剂等固态物料。
这里对喷洒系统进行示例性说明：请参阅图2，图2示出了可搭载于可移动平台中的喷洒系统的示意图。所述喷洒系统包括有用于盛放液态物料的容器11，比如是用于盛放液体农药的药箱；所述容量检测传感器13包括液位计131，该液位计131设置于容器11中，所述液位计131用于测量所述容器11中的液态物料的容量；所述容器11通过第一管道111与水泵16连通，所述水泵16用于通过所述第一管道111从所述容器11中抽取液态物料；所述流量计14设置在第一管道111中，用于测量第一管道111中液态物料在单位时间内的流量；所述输出装置12包括喷头121，所述水泵16通过第二管道112与喷头连通，所述水泵16用于在通过所述第一管道111从所述容器11中抽取液态物料之后，通过第二管道112输送给喷头121，进而所述喷头121通过喷嘴17喷洒液态物料；示例性的，所述流量计14也可以设置在第二管道112中，用于测量第二管道112中液态物料在单位时间内的流量。
在一个例子中，请参阅图2，为了节省成本，所述喷洒系统包括有与所述容器11连接的一个第一管道111，该第一管道111与一个或多个水泵16连通(图2以4个水 泵为例进行说明)，所述流量计14设置于该第一管道111中，用于测量该管道中液位物料在单位时间内的流量。
在另一个例子中，为了适应于植保任务的更多需求，所述喷洒系统也可以包括有与所述容器11连接的多个第一管道111，每条第一管道111与一个水泵16连通，所述喷洒系统也对应安装有多个流量计14，每条第一管道111中均设置有流量计14，每个流量计14用于测量该第一管道111中液态物料在单位时间内的流量。
其中，所述喷洒系统还包括控制器151(以所述故障检测装置集成于所述控制器中为例)，所述控制器151与所述输出装置12有线通信连接或者无线通信连接，用于控制所述输出装置12的工作状态；并且所述控制器151还与所述液位计131和所述流量计14通信连接，用于获取所述液位计131采集的容量值和所述流量计14采集的流量值，进而所述控制器151可以根据所述多个容量值和所述多个流量值，检测所述液位计131和所述流量计14是否存在故障。示例性的，所述控制器151还可以与所述水泵16有线通信连接或者无线通信连接，用于控制所述水泵16的工作状态以及水泵转速等。
这里对播撒系统进行说明：请参阅图3，所述播撒系统包括容器11、开度调节装置18、播撒装置122、料位计132、流量计14以及控制器151(以所述故障检测装置与所述控制器集成在一起为例)。其中，所述料位计132设置在所述容器11中，用于检测所述容器11的当前容量；所述流量计14设置在所述开度调节装置18与所述播撒装置122之间，用于检测所述播撒装置播撒物料的流量值。
所述容器11可以是外观形状为锥形或者矩形的箱体(当然也不排除具有其他几何形状的箱体，例如异形箱体)。在箱体的顶部设置有进料口，从该进料口可以将固体物料(例如种子或者农药等)添加到容器11内。在进料口的顶部通过卡接或者螺接等可拆卸连接方式安装有进料口盖，从而可以在添加物料时将进料口盖取下并在加料以后将进料口盖重新盖上。在箱体的底部设置有出料口，从而在出料口打开时容纳在箱体内的物料可以在重力的作用下从出料口落下。
所述开度调节装置18可以包括：舵机、挡板、以及将舵机和挡板传动连接的传动部件。舵机和挡板可以设置在出料口的下方或者上方，挡板的形状与出料口的形状相匹配。由舵机驱动挡板运动，所述控制器151可以直接读取舵机的信息来获取舵机的转轴实时转动角度，从而得到挡板当前时刻遮蔽出料口的面积，进而得到出料口实时开度，以便对播撒装置122的作业过程进行控制。
所述播撒装置122可以包括：设置在出料口下方的转盘、以及驱动转盘转动以将 物料从转盘上甩出的转盘电机。转盘的上表面沿半径方向可选地设置有多条凸棱，以提高播撒效果。转盘电机可以直接或者通过传动部件与转盘传动连接，从而驱动转盘在大致水平的方向转动，以将从出料口落到转盘上的物料从转盘边缘甩出到地面、水面、或者其他定着物上(例如树木、青草等)。
其中，所述控制器151与所述开度调节装置18通信连接，可以控制所述开度调节装置18中的舵机的转轴转动角度，以便对播撒装置122的作业过程进行控制；并且所述控制器151还与所述料位计132和所述流量计14通信连接，用于获取所述料位计132采集的容量值和所述流量计14采集的流量值，进而所述控制器151可以根据所述多个容量值和所述多个流量值，检测所述料位计132和所述流量计14是否存在故障；示例性的，所述控制器151还可以与所述播撒装置122有线通信连接或者无线通信连接，用于控制所述播撒装置122中的转盘电机，以驱动所述转盘转动。
在一示例性的实施例中，以所述喷洒装置安装于植保无人机为例，如图4所示，图4示出了搭载有图2所示的喷洒系统的无人飞行器的使用场景示意图，在所述无人飞行器100在农田地块上方飞行过程中，可以使用其搭载的喷洒系统进行喷洒作业，比如在所述喷洒系统中的控制器151的控制下，所述水泵16通过所述第一管道111从所述容器11中抽取液体农药，并通过第二管道112输送给与其连接的喷头121，进而所述喷头121通过所述喷嘴17喷洒液体农药，实现喷洒作业过程。在这个过程中，所述控制器151还可以获取所述液位计131采集的多个容量值和所述流量计14同步采集的多个流量值，进而可以根据所述多个容量值和所述多个流量值，检测所述液位计131和所述流量计是否存在故障。本实施例实现基于液位计131所采集的多个容量值与流量计所采集的多个流量值来进行耦合故障检测，有利于提高故障检测结果的准确性。
接下来对本申请实施例提供的植保系统的故障检测方法进行说明：请参阅图5，为本申请实施例提供的一种植保系统的故障检测方法的流程示意图，所述植保系统可搭载在可移动平台上，所述植保系统安装于容量检测传感器和流量计，所述方法可以由故障检测装置来执行，所述方法包括：
在步骤S101中，在所述可移动平台使用所述植保系统执行植保任务的过程中，获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值。
在步骤S102中，根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
可以理解的是，本实施例对于所述容量检测传感器和所述流量计的类型不做任何 限制，可依据实际应用场景进行具体设置。
在一个例子中，如果所述植保系统为喷洒液态物料的喷洒系统，所述容量检测传感器包括液位计，所述液位计包括但不限于侧装式磁翻板液位计、捆绑式远传液位计、电容式液位计或者雷达液位计等；其中，由于某些物料的特定性质，比如某些农药容易结垢(比如代森锰锌)、有些农药有很强的粘性(比如阿维菌素)，设置于容器中的液位计在接触到容器中的物料之后，由于物料的特定性质可能导致所述液位计的浮子被卡住，液位计出现故障，无法准确采集容量信息。
在另一个例子中，如果所述植保系统为播撒固态物料的播撒系统，所述容量检测传感器包括料位计，所述料位计包括但不限于雷达料位计、超声波料位计、重锤料位计、电容式料位计、阻旋式料位计和音叉式料位计等；其中，由于某些物料的特定性质，比如有些固态物料容易产生粉尘，设置于容器中的料位计在接触到容器中的物料之后，由于物料的特定性质可能导致所述料位计的探头被卡住，料位计出现故障，无法准确采集容量信息。
所述流量计包括但不限于电磁流量计、差压式流量计、转子流量计、容积流量计、涡轮流量计或者超声波流量计等；其中，由于某些物料的特定性质，比如某些农药容易结垢(比如代森锰锌)、有些农药有很强的粘性(比如阿维菌素)或者有些固态物料容易产生粉尘，可能导致所述流量计在接触该类物料时探头被堵住，流量计出现故障，无法准确采集流量信息；比如对于涡轮流量计，在粘性或稠度较大的农药中使用时，极易出现叶轮卡转的问题；又比如对于电磁流量计或者超声波流量计，在粘性或稠度较大的农药中使用时，也存在测量管道结垢，导致探头被堵或管道面积减小，从而检测流量不准的问题。
在一些实施例中，在所述可移动平台使用所述植保系统执行植保任务的过程中，所述故障检测装置可以获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值，然后根据所述多个容量值所反映的容量变化值以及所述多个流量值所反映的容量变化值之间的差异，来确定所述容量检测传感器和所述流量计是否存在故障。
在一种可能的实施方式中，如果所述多个容量值相同且所述多个流量值均为正值，表明所述容量检测传感器在采集所述多个容量值和所述流量计在采集所述多个流量值的同一时间段内，所述多个容量值所反映的容量变化值为0而所述多个流量值所反映的容量变化值大于0，则确定所述容量检测传感器可能是浮子完全被卡住或者探头完全被堵住了，所述容量检测传感器发生故障导致采集的容量值有误。本实施例根据所 述容量检测传感器和所述流量计所采集的数据的变化情况直接判断两者是否存在故障，无需对采集数据进行进一步处理，有利于提高故障检测效率。
在一种可能的实施方式中，如果所述多个容量值按照采集时间先后逐渐减小、且所述多个流量值为非正值，表明所述容量检测传感器在采集所述多个容量值和所述流量计在采集所述多个流量值的同一时间段内，所述多个容量值所反映的容量变化值大于0而所述多个流量值所反映的容量变化值小于或等于0，则确定所述流量计存在故障，比如可能是所述流量计的探头完全被堵住，导致所述流量计采集的流量值有误。本实施例根据所述容量检测传感器和所述流量计所采集的数据的变化情况直接判断两者是否存在故障，无需对采集数据进行进一步处理，有利于提高故障检测效率。
在一种可能的实施方式中，所述故障检测装置也可以根据所述多个容量值确定所述不同时刻之间的第一容量变化值，根据所述多个流量值确定所述不同时刻之间的第二容量变化值，最后根据所述第一容量变化值与所述第二容量变化值之间的差异确定所述容量检测传感器和所述流量计是否存在故障。本实施例中根据第一容量变化值和第二容量变化值之间的差异对所述容量检测传感器和所述流量计相互进行故障诊断，及时进行故障排除，从而有利于提高所述容量检测传感器和所述流量计的可靠性和使用年限。
示例性，如果所述第一容量变化值和所述第二容量变化值中的其中一者小于或等于0、且另一者大于0，则可以确定小于或等于0所对应的传感器存在故障，比如可能是所述容量检测传感器可能是浮子完全被卡住或者探头完全被堵住了，或者是所述流量计的探头完全被堵住。
示例性的，如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值大于预设值，则可能是所述容量检测传感器可能是浮子部分被卡住或者探头部分被堵住了，或者是所述流量计的探头部分被堵住。考虑到在实际使用过程中，在容器中的物料的剩余容量较多的情况下，流量计的精度相对于容量检测传感器的精度更高，而在容器中的物料的剩余容量较少的情况下，容量检测传感器的精度相对于流量计的精度更高，因此为了进一步准确定位存在故障的传感器，在所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值大于预设值的情况下，所述故障检测装置可以根据所述第一容量变化值和所述第二容量变化值中的较大者确定剩余容量，比如所述剩余容量为初始容量与所述较大者(所述第一容量变化值和所述第二容量变化值中的较大者)之间的差值，或者根据所述第一容量变化值和所述第二容量变化值的均值确定剩余容量，接着可以根据所述剩余容量的大小确定所述容量检测传感器和所述 流量计是否存在故障。可以理解的是，所述预设值可依据实际应用场景进行具体设置，本实施例对此不做任何限制。
在一个例子中，在所述剩余容量大于预设容量的情况下，表明容器中的物料的剩余容量较多，在这种情况下流量计的精度更高，则可以确定所述容量检测器存在故障；在所述剩余容量小于或等于预设容量的情况下，表明容器中的物料的剩余容量较少，在这种情况下容量检测传感器的精度更高，则可以确定所述流量计存在故障。其中，所述预设容量小于初始容量的一半，比如所述预设容量为初始容量的30％、20％或者10％等，本实施例对此不做任何限制。
在一些实施例中，如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值小于或等于预设值，确定所述容量检测传感器和所述流量计均无故障；则所述植保系统可以根据所述第一容量变化值、所述第二容量变化值或者两者的均值进行植保作业，比如基于所述第一容量变化值、所述第二容量变化值或者两者的均值对喷洒速度、喷洒量等进行控制，从而有利于提高植保作业过程中的喷洒精度。
在一些实施例中，在所述容量检测传感器和所述流量计中的其中一者存在故障的情况下，所述植保系统可以基于另一者所采集的数据进行植保作业，比如基于另一者所采集的数据对喷洒速度、喷洒量等进行控制，从而保证植保作业准确进行。
在一些实施例中，在所述容量检测传感器或者所述流量计存在故障的情况下，所述故障检测装置可以输出故障提醒信息，以便提醒用户及时清洗所述容量检测传感器或者所述流量计。
在一实施例中，如果所述植保系统为喷洒系统，在所述流量计存在故障的情况下，可以增加所述水泵的转速，产生更强的压力，从而清洗所述流量计。
在一些实施例中，所述植保系统还可以设置有清洗喷嘴，所述清洁喷嘴可以设置在能够冲洗所述容量检测传感器的位置，且所述清洁喷嘴中设置有开关装置；在所述容量检测传感器存在故障的情况下，可以开启所述开关装置以使用所述清洁喷嘴冲洗所述容量检测传感器。
以所述植保系统为喷洒系统为例，所述清洁喷嘴可以与所述输出装置(即喷头)通过管道连接，且所述清洁喷嘴中设置有开关装置，比如电磁阀，在所述容量检测装置(即液位计)正常工作时，所述清洁喷嘴处于关闭状态，在所述容量检测装置(即液位计)出现故障时，开启所述开关装置以使得所述清洁喷嘴处于开启状态，则容器中的液态物料通过所述输出装置输送给所述清洁喷嘴，从而使得所述清洁喷嘴可以冲洗所述容量检测装置(即液位计)。
以所述植保系统为播撒系统为例，所述清洁喷嘴可以是气体喷嘴，所述气体喷嘴与空气压缩机构通过输气管连接，且所述气体喷嘴中设置有开关装置，比如电磁阀，在所述容量检测装置(即料位计)正常工作时，所述清洁喷嘴处于关闭状态，在所述容量检测装置(即料位计)出现故障时，控制所述空气压缩机构通过输气管输送气体，并且开启所述开关装置以使得所述气体喷嘴可以使用空气冲洗所述料位计。
相应地，请参阅6，本申请实施例还提供了一种植保系统的故障检测装置15，所述植保系统搭载于可移动平台中，所述故障检测装置15包括：
用于存储可执行指令的存储器153；
一个或多个处理器154；
其中，所述一个或多个处理器154执行所述可执行指令时，被单独地或共同地配置成：
在所述可移动平台使用所述植保系统执行植保任务的过程中，获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值；
根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
所述处理器154执行所述存储器153中包括的可执行指令，所述处理器154可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器153存储所述故障检测方法的可执行指令，所述存储器153可以包括至少一种类型的存储介质，存储介质包括闪存、硬盘、多媒体卡、卡型存储器(例如，SD或DX存储器等等)、随机访问存储器(RAM)、静态随机访问存储器(SRAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、可编程只读存储器(PROM)、磁性存储器、磁盘、光盘等等。而且，设备可以与通过网络连接执行存储器的存储功能的网络存储装置协作。存储器153可以是装置15的内部存储单元，例如装置15的硬盘或内存。存储器153也可以是装置15的外部存储设备，例如装置15上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，存储器153还可以既包括装置15的内部存储单 元也包括外部存储设备。存储器153用于存储计算机程序55以及设备所需的其他程序和数据。存储器153还可以用于暂时地存储已经输出或者将要输出的数据。
这里描述的各种实施方式可以使用例如计算机软件、硬件或其任何组合的计算机可读介质来实施。对于硬件实施，这里描述的实施方式可以通过使用特定用途集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理装置(DSPD)、可编程逻辑装置(PLD)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器、被设计为执行这里描述的功能的电子单元中的至少一种来实施。对于软件实施，诸如过程或功能的实施方式可以与允许执行至少一种功能或操作的单独的软件模块来实施。软件代码可以由以任何适当的编程语言编写的软件应用程序(或程序)来实施，软件代码可以存储在存储器中并且由控制器执行。
所述故障检测装置15可包括，但不仅限于，处理器154、存储器153。本领域技术人员可以理解，图6仅仅是装置15的示例，并不构成对装置15的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如设备还可以包括输入输出设备、网络接入设备、总线等。
在一实施例中，所述处理器154还被配置成：根据所述多个容量值，确定所述不同时刻之间的第一容量变化值；根据所述多个流量值，确定所述不同时刻之间的第二容量变化值；根据所述第一容量变化值与所述第二容量变化值之间的差异，确定所述容量检测传感器和所述流量计是否存在故障。
在一实施例中，所述处理器154还被配置成：如果所述第一容量变化值和所述第二容量变化值中的其中一者小于或等于0、且另一者大于0，确定小于或等于0所对应的传感器存在故障。
在一实施例中，所述处理器154还被配置成：如果所述多个容量值相同且所述多个流量值均为正值，确定所述容量检测器存在故障。
在一实施例中，所述处理器154还被配置成：如果所述多个容量值按照采集时间先后逐渐减小、且所述多个流量值为非正值，确定所述流量计存在故障。
在一实施例中，所述处理器154还被配置成：如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值大于预设值，根据所述第一容量变化值和所述第二容量变化值中的较大者确定剩余容量；根据所述剩余容量的大小确定所述容量检测传感器和所述流量计是否存在故障。
在一实施例中，所述处理器154还被配置成：在所述剩余容量大于预设容量的情况下，确定所述容量检测器存在故障，在所述剩余容量小于或等于预设容量的情况下， 确定所述流量计存在故障。
在一实施例中，所述预设容量小于初始容量的一半。
在一实施例中，所述容量检测传感器的故障包括浮子被卡住或者探头被堵住；和/或，所述流量计的故障包括探头被堵住。
在一实施例中，所述植保系统为喷洒系统，所述输出装置为喷头，所述容量检测传感器为液位计；其中，所述植保系统还包括通过第一管道与所述容器连通的水泵，所述水泵还通过第二管道与所述喷头连通；所述液位计设置在所述容器中，所述流量计设置在第一管道中。
在一实施例中，所述植保系统为播撒系统，所述输出装置为播撒装置，所述容量检测传感器为料位计。
在一实施例中，所述处理器154还被配置成：在所述流量计存在故障的情况下，增加所述水泵的转速，以清洗所述流量计。
在一实施例中，所述植保系统还包括清洁喷嘴；所述清洁喷嘴设置在能够冲洗所述容量检测传感器的位置，且所述清洁喷嘴中设置有开关装置。
所述处理器154还被配置成：在所述容量检测传感器存在故障的情况下，开启所述开关装置以使用所述清洁喷嘴冲洗所述容量检测传感器。
在一实施例中，所述处理器154还被配置成：如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值小于或等于预设值，确定所述容量检测传感器和所述流量计均无故障；根据所述第一容量变化值、所述第二容量变化值或者两者的均值进行植保作业。
在一实施例中，所述处理器154还被配置成：在所述容量检测传感器和所述流量计中的其中一者存在故障的情况下，基于另一者所采集的数据进行植保作业。
在一实施例中，所述处理器154还被配置成：在所述容量检测传感器或者所述流量计存在故障的情况下，输出故障提醒信息。
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器，上述指令可由装置的处理器执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当存储介质中的指令由终端的处理器执行时， 使得终端能够执行上述方法。
在一些实施例中，请参阅图7，本申请实施例还提供了一种可移动平台100，包括：
机体101；
动力系统102，设置于所述机体101中，用于为所述机体提供动力；
植保系统103，设置于所述机体101中，用于执行植保任务；
其中，所述植保系统包括用于盛放物料的容器、用于输出所述物料的输出装置、用于检测所述容器当前容量的容量检测传感器、用于检测所述输出装置输出物料的当前流量的流量计以及故障检测装置；
所述故障检测装置与所述容量检测传感器以及所述流量计通信连接；
在所述植保系统执行植保任务的过程中，所述容量检测传感器采集所述容器不同时刻多个容量值，以及所述流量计在所述不同时刻同步采集所述输出装置输出物料的多个流量值；
所述故障检测装置用于获取所述多个容量值以及所述多个流量值，根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
其中，关于所述植保系统以及故障检测装置的相关描述可参见上述方法。
在一些实施例中，所述可移动平台包括但不限于植保无人机、植保车、植保机器人或者植保船只等。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (34)

  1. 一种植保系统的故障检测方法，其特征在于，所述植保系统搭载于可移动平台中，所述方法包括：
    在所述可移动平台使用所述植保系统执行植保任务的过程中，获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值；
    根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述容量检测传感器和所述流量计是否存在故障包括：
    根据所述多个容量值，确定所述不同时刻之间的第一容量变化值；
    根据所述多个流量值，确定所述不同时刻之间的第二容量变化值；
    根据所述第一容量变化值与所述第二容量变化值之间的差异，确定所述容量检测传感器和所述流量计是否存在故障。
  3. 根据权利要求2所述的方法，其特征在于，所述确定所述容量检测传感器和所述流量计是否存在故障包括：
    如果所述第一容量变化值和所述第二容量变化值中的其中一者小于或等于0、且另一者大于0，确定小于或等于0所对应的传感器存在故障。
  4. 根据权利要求1所述的方法，其特征在于，所述确定所述容量检测传感器和所述流量计是否存在故障，包括：
    如果所述多个容量值相同且所述多个流量值均为正值，确定所述容量检测器存在故障。
  5. 根据权利要求1所述的方法，其特征在于，所述确定所述容量检测传感器和所述流量计是否存在故障，包括：
    如果所述多个容量值按照采集时间先后逐渐减小、且所述多个流量值为非正值，确定所述流量计存在故障。
  6. 根据权利要求2所述的方法，其特征在于，所述确定所述容量检测传感器和所述流量计是否存在故障包括：
    如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值大于预设值，根据所述第一容量变化值和所述第二容量变化值中的较大者确定剩余容量；
    根据所述剩余容量的大小确定所述容量检测传感器和所述流量计是否存在故障。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述剩余容量的大小确定所述容量检测传感器和所述流量计是否存在故障，包括：
    在所述剩余容量大于预设容量的情况下，确定所述容量检测器存在故障；
    在所述剩余容量小于或等于预设容量的情况下，确定所述流量计存在故障。
  8. 根据权利要求7所述的方法，其特征在于，所述预设容量小于初始容量的一半。
  9. 根据权利要求1所述的方法，其特征在于，所述容量检测传感器的故障包括浮子被卡住或者探头被堵住；
    和/或，所述流量计的故障包括探头被堵住。
  10. 根据权利要求1至9任意一项所述的方法，其特征在于，所述植保系统为喷洒系统，所述输出装置为喷头，所述容量检测传感器为液位计；
    其中，所述植保系统还包括通过第一管道与所述容器连通的水泵，所述水泵还通过第二管道与所述喷头连通；
    所述液位计设置在所述容器中，所述流量计设置在所述第一管道中。
  11. 根据权利要求1至9任意一项所述的方法，其特征在于，所述植保系统为播撒系统，所述输出装置为播撒装置，所述容量检测传感器为料位计。
  12. 根据权利要求10所述的方法，其特征在于，还包括：
    在所述流量计存在故障的情况下，增加所述水泵的转速，以清洗所述流量计。
  13. 根据权利要求10或11所述的方法，其特征在于，所述植保系统还包括清洁喷嘴；所述清洁喷嘴设置在能够冲洗所述容量检测传感器的位置，且所述清洁喷嘴中设置有开关装置；
    所述方法还包括：
    在所述容量检测传感器存在故障的情况下，开启所述开关装置以使用所述清洁喷嘴冲洗所述容量检测传感器。
  14. 根据权利要求2所述的方法，其特征在于，还包括：
    如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值小于或等于预设值，确定所述容量检测传感器和所述流量计均无故障；
    根据所述第一容量变化值、所述第二容量变化值或者两者的均值进行植保作业。
  15. 根据权利要求1所述的方法，其特征在于，还包括：
    在所述容量检测传感器和所述流量计中的其中一者存在故障的情况下，基于另一者所采集的数据进行植保作业。
  16. 根据权利要求1所述的方法，其特征在于，还包括：
    在所述容量检测传感器或者所述流量计存在故障的情况下，输出故障提醒信息。
  17. 一种植保系统的故障检测装置，其特征在于，所述植保系统搭载于可移动平台中，所述故障检测装置包括：
    用于存储可执行指令的存储器；
    一个或多个处理器；
    其中，所述一个或多个处理器执行所述可执行指令时，被单独地或共同地配置成：
    在所述可移动平台使用所述植保系统执行植保任务的过程中，获取容量检测传感器在不同时刻采集的所述植保系统的容器的多个容量值和流量计在所述不同时刻同步采集的所述植保系统的输出装置输出物料的多个流量值；
    根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
  18. 根据权利要求17所述的装置，其特征在于，所述处理器还被配置成：
    根据所述多个容量值，确定所述不同时刻之间的第一容量变化值；
    根据所述多个流量值，确定所述不同时刻之间的第二容量变化值；
    根据所述第一容量变化值与所述第二容量变化值之间的差异，确定所述容量检测传感器和所述流量计是否存在故障。
  19. 根据权利要求18所述的装置，其特征在于，所述处理器还被配置成：
    如果所述第一容量变化值和所述第二容量变化值中的其中一者小于或等于0、且另一者大于0，确定小于或等于0所对应的传感器存在故障。
  20. 根据权利要求17所述的装置，其特征在于，所述处理器还被配置成：如果所述多个容量值相同且所述多个流量值均为正值，确定所述容量检测器存在故障。
  21. 根据权利要求17所述的装置，其特征在于，所述处理器还被配置成：如果所述多个容量值按照采集时间先后逐渐减小、且所述多个流量值为非正值，确定所述流量计存在故障。
  22. 根据权利要求18所述的装置，其特征在于，所述处理器还被配置成：
    如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值大于预设值，根据所述第一容量变化值和所述第二容量变化值中的较大者确定剩余容量；
    根据所述剩余容量的大小确定所述容量检测传感器和所述流量计是否存在故障。
  23. 根据权利要求22所述的装置，其特征在于，所述处理器还被配置成：
    在所述剩余容量大于预设容量的情况下，确定所述容量检测器存在故障；
    在所述剩余容量小于或等于预设容量的情况下，确定所述流量计存在故障。
  24. 根据权利要求23所述的装置，其特征在于，所述预设容量小于初始容量的一半。
  25. 根据权利要求17所述的装置，其特征在于，所述容量检测传感器的故障包括浮子被卡住或者探头被堵住；
    和/或，所述流量计的故障包括探头被堵住。
  26. 根据权利要求17至25任意一项所述的装置，其特征在于，所述植保系统为喷洒系统，所述输出装置为喷头，所述容量检测传感器为液位计；
    其中，所述植保系统还包括通过第一管道与所述容器连通的水泵，所述水泵还通过第二管道与所述喷头连通；
    所述液位计设置在所述容器中，所述流量计设置在第一管道中。
  27. 根据权利要求17至25任意一项所述的装置，其特征在于，所述植保系统为播撒系统，所述输出装置为播撒装置，所述容量检测传感器为料位计。
  28. 根据权利要求26所述的装置，其特征在于，所述处理器还被配置成：在所述流量计存在故障的情况下，增加所述水泵的转速，以清洗所述流量计。
  29. 根据权利要求26或27所述的装置，其特征在于，所述植保系统还包括清洁喷嘴；所述清洁喷嘴设置在能够冲洗所述容量检测传感器的位置，且所述清洁喷嘴中设置有开关装置；
    所述处理器还被配置成：在所述容量检测传感器存在故障的情况下，开启所述开关装置以使用所述清洁喷嘴冲洗所述容量检测传感器。
  30. 根据权利要求18所述的装置，其特征在于，所述处理器还被配置成：
    如果所述第一容量变化值和所述第二容量变化值均大于0、且两者的差值小于或等于预设值，确定所述容量检测传感器和所述流量计均无故障；
    根据所述第一容量变化值、所述第二容量变化值或者两者的均值进行植保作业。
  31. 根据权利要求17所述的装置，其特征在于，所述处理器还被配置成：在所述容量检测传感器和所述流量计中的其中一者存在故障的情况下，基于另一者所采集的数据进行植保作业。
  32. 根据权利要求17所述的装置，其特征在于，所述处理器还被配置成：在所述容量检测传感器或者所述流量计存在故障的情况下，输出故障提醒信息。
  33. 一种可移动平台，其特征在于，包括：
    机体；
    动力系统，设置于所述机体中，用于为所述机体提供动力；
    植保系统，设置于所述机体中，用于执行植保任务；
    其中，所述植保系统包括用于盛放物料的容器、用于输出所述物料的输出装置、用于检测所述容器当前容量的容量检测传感器、用于检测所述输出装置输出物料的当前流量的流量计以及故障检测装置；
    所述故障检测装置与所述容量检测传感器以及所述流量计通信连接；
    在所述植保系统执行植保任务的过程中，所述容量检测传感器采集所述容器不同时刻多个容量值，以及所述流量计在所述不同时刻同步采集所述输出装置输出物料的多个流量值；
    所述故障检测装置用于获取所述多个容量值以及所述多个流量值，根据所述多个容量值以及所述多个流量值，确定所述容量检测传感器和所述流量计是否存在故障。
  34. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有可执行指令，所述可执行指令被处理器执行时实现如权利要求1至16任一项所述的方法。
PCT/CN2021/101799 2021-06-23 2021-06-23 植保系统的故障检测方法、装置、可移动平台及存储介质 WO2022266879A1 (zh)

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