WO2019232691A1 - Agricultural unmanned aerial vehicle, storage medium, spray system, and method and device for controlling same - Google Patents

Abstract

Disclosed is an agricultural unmanned aerial vehicle, a storage medium, a spray system, and a method and device for controlling the same. The method comprises: acquiring an amount of flowing liquid within a pipe of a spray system by means of a micromachined thermal flowmeter, wherein the micromachined thermal flowmeter comprises a microelectromechanical system and a measuring pipe, the microelectromechanical system comprises a thermosensitive element used to measure the temperature of the liquid, and the thermosensitive element is at least partially exposed from within the measuring pipe, so as to enable the thermosensitive element to make contact with a liquid in the measuring pipe; and controlling the spray system according to the amount of flowing liquid. The disclosed technical solutions provide the micromachined thermal flowmeter to acquire an amount of flowing liquid within a pipe of the spray system and to control the spray system according to the amount of flowing liquid, thereby effectively achieving an accurate flow-velocity measurement at a small flow rate. The micromachined thermal flowmeter also has low power consumption, is light weight and suitable for airborne measurement, enables an increase in measurement precision, and facilitates accurate flow control and replenishing of pesticides.

Description

Agricultural unmanned aerial vehicle, storage medium, spraying system and control method and device thereof Technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an agricultural unmanned aerial vehicle, a storage medium, a spraying system and a control method and device thereof.

Background technique

At present, drones are used in aerial photography, agriculture, plant protection, miniature selfies, express delivery, disaster relief, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, manufacturing romance, etc. Among them, agricultural drones have just emerged in our country, and they are developing very fast. The use of unmanned aerial vehicles for high-efficiency air defense operations and good results are important directions for agricultural development in the future. Being able to accurately control the amount of pesticide sprayed during the flight defense process is the key to achieving efficient and precise operations. Therefore, the drone agricultural spraying operation system needs to be able to accurately measure the amount of pesticides carried and the amount of pesticides sprayed in real time to ensure that the operation process is uniform, accurate, and controllable .

The existing drone flow measurement method mainly uses a turbine flowmeter. Under the action of fluid, the impeller is forced to rotate, and its speed is directly proportional to the average flow velocity of the pipeline. It is measured by measuring the number of turns the impeller has rotated. Fluid volume, measuring impeller speed, measuring fluid flow rate. However, turbine flowmeters have large errors in long-term consistency and require regular calibration by the user. For example, changes in the viscosity of the medium, corrosion of the chemical solution, and precipitation of impurities will cause measurement errors.

Summary of the Invention

The invention provides an agricultural unmanned aerial vehicle, a storage medium, a spraying system, and a control method and device thereof. When a turbine flowmeter is used to measure the flow rate in the prior art, there is a large error in the long-term consistency of the turbine flowmeter. Problems that require users to calibrate regularly.

A first aspect of the present invention is to provide a control method of a spraying system, including:

The micro-mechanical thermal flow meter is used to obtain the liquid flow in the pipeline in the spraying system, wherein the micro-mechanical thermal flow meter includes a micro-electro-mechanical system and a measurement pipeline, and the micro-electro-mechanical system includes a thermal sensor for measuring the temperature of the liquid. Element, the heat-sensitive element is at least partially leaked out of the measurement pipe, so that the heat-sensitive element can contact the liquid in the measurement pipe;

The spraying system is controlled according to the liquid flow rate.

A second aspect of the present invention is to provide a control device for a spraying system, including:

Memory for storing computer programs;

A processor for running a computer program stored in the memory to achieve: obtaining a liquid flow in a pipeline in a spraying system through a micromechanical thermal flowmeter, wherein the micromechanical thermal flowmeter includes a microelectromechanical system and A measuring pipe, the micro-electromechanical system includes a heat-sensitive element for measuring the temperature of the liquid, and the heat-sensitive element is at least partially leaked out of the measuring pipe, so that the heat-sensitive element can communicate with the inside of the measuring pipe Liquid contact; controlling the spraying system based on the liquid flow rate.

A third aspect of the present invention is to provide a spraying system, including:

A micro-mechanical thermal flow meter is disposed in a pipeline and is used to collect the liquid flow in the pipeline and send the liquid flow to a control device. The micro-mechanical thermal flow meter includes a micro-electromechanical system and a measurement pipeline. A temperature-sensitive element for measuring the temperature of a liquid, the temperature-sensitive element is at least partially leaked out of the measurement pipe so that the temperature-sensitive element can contact the liquid in the measurement pipe;

The control device includes one or more processors, which work individually or in cooperation, and the processor is configured to: be communicatively connected with the micromechanical thermal flowmeter, and receive the data obtained through the micromechanical thermal flowmeter; The liquid flow in the pipeline is controlled according to the liquid flow.

A fourth aspect of the present invention is to provide a storage medium, where the storage medium is a computer storage medium, and the computer storage medium stores program instructions that are used to implement control of the spraying system according to the first aspect. method.

A fifth aspect of the present invention is to provide an agricultural drone, including:

frame;

The spraying system is disposed on the frame and includes: a micromechanical thermal flowmeter and a control device communicatively connected with the micromechanical thermal flowmeter;

The micro-mechanical thermal flow meter is disposed in a pipeline and is used to collect the liquid flow in the pipeline and send the liquid flow to a control device, including a micro-electromechanical system and a measurement pipeline. The micro-electro-mechanical system includes A heat-sensitive element for measuring the temperature of a liquid, the heat-sensitive element being at least partially leaked out of the measuring pipe so that the heat-sensitive element can be in contact with the liquid in the measuring pipe;

The control device includes one or more processors, which work individually or in cooperation, and the processors are configured to: receive the liquid flow in the pipeline obtained by the micromechanical thermal flowmeter, and control the flow according to the liquid flow. The spraying system described above is controlled.

The agricultural unmanned aerial vehicle, the storage medium, the spraying system and the control method and device thereof provided by the invention obtain the liquid flow in the pipeline in the spraying system through the set micro-mechanical thermal flowmeter, and control the spraying system according to the liquid flow. It effectively solves the problem that the turbine flowmeter has a large error in long-term consistency when the flowmeter is used to measure the flow in the prior art, and the user needs to periodically calibrate it. Specifically, because the micromechanical thermal flowmeter is approximate Straight pipeline, no pressure loss at all, can accurately measure the flow rate at small flow rate, and the sensor has low power consumption and light weight, which is very suitable for on-board measurement. By calibrating the liquid to be measured, the measurement accuracy is improved and the spraying operation is realized. Precise flow control and accurate replenishment of the medicinal solution effectively ensure the accuracy of the use of the control method and are conducive to market promotion and application.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flowchart of a control method of a spraying system according to an embodiment of the present invention; FIG.

2 is a schematic structural framework diagram of a micromechanical thermal flowmeter according to an embodiment of the present invention;

FIG. 3 is a first schematic flowchart of obtaining a first liquid flow rate in a first pipeline through the micromechanical thermal flowmeter according to an embodiment of the present invention; FIG.

FIG. 4 is a second schematic flowchart of a process for obtaining a first liquid flow rate in a first pipeline through the micromechanical thermal flowmeter according to an embodiment of the present invention; FIG.

FIG. 5 is a first schematic flowchart of a method for obtaining a second liquid flow rate in a second pipeline through the micromechanical thermal flowmeter according to an embodiment of the present invention; FIG.

FIG. 6 is a second schematic flowchart of obtaining a second liquid flow rate in the second pipeline through the micromechanical thermal flowmeter according to an embodiment of the present invention; FIG.

7 is a schematic flow chart of obtaining a liquid flow in a pipe in a spraying system by using a micromechanical thermal flowmeter according to an embodiment of the present invention;

FIG. 8 is a schematic flowchart of determining a total liquid flow rate of the pipeline according to the feature ratio and the branch liquid flow rate according to an embodiment of the present invention; FIG.

9 is a schematic structural diagram of a control device for a spraying system according to an embodiment of the present invention;

10 is a top view of a spraying system according to an embodiment of the present invention;

11 is a side view of a spraying system according to an embodiment of the present invention;

12 is a schematic structural diagram of another spraying system according to an embodiment of the present invention;

13 is a first schematic structural diagram of an agricultural drone according to an embodiment of the present invention;

FIG. 14 is a second schematic structural diagram of an agricultural drone according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the present invention, terms such as “installation”, “connection”, and “fixation” should be understood in a broad sense. For example, “connection” may be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

It should be noted that in the description of the present invention, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicit indication. The number of technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention.

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

In the prior art, the measurement of the spray flow of a drone mainly uses a turbine flowmeter. Under the action of a fluid, the impeller is forced to rotate under the action of a fluid, and its speed is directly proportional to the average flow velocity of the pipeline. The volume of the fluid is measured by measuring the number of turns of the impeller, and the velocity of the fluid is measured by measuring the speed of the impeller. However, because of its moving parts and high requirements for structural design, it is difficult to make compact, lightweight, and reliable products for on-board flow measurement of drones, and this flow meter has long-term consistency. There is a large error in the aspect, and the user needs to perform regular calibration. For example, changes in the viscosity of the medium, corrosion of the chemical solution, and precipitation of impurities will cause measurement errors.

FIG. 1 is a schematic flowchart of a control method of a spraying system according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a micromechanical thermal flowmeter according to an embodiment of the present invention; The foregoing drawbacks, this embodiment provides a method for controlling a spraying system, which is used to precisely control the liquid filling and / or liquid spraying process of the spraying system. Specifically, the method may include:

S101: The micro-mechanical thermal flow meter is used to obtain the liquid flow in the pipeline in the spraying system. The micro-mechanical thermal flow meter includes a micro-electro-mechanical system and a measurement pipe 200. The micro-electro-mechanical system includes a thermal element for measuring the temperature of the liquid. 201. The thermal sensing element 201 is at least partially leaked out of the measuring pipe 200 so that the thermal sensing element 201 can be in contact with the liquid in the measuring pipe 200.

Among them, a micromechanical (MEMS) thermal flow meter is a sensor that measures the heat distribution of a medium in a pipe. By setting a fixed heat source and temperature measurement point in the pipe, the temperature difference between the upstream and downstream heat sources is measured, and the temperature difference signal is then measured. Amplification, conditioning, noise reduction and other processes are used to estimate the flow in the pipeline; the micro-mechanical thermal flow meter measures the liquid flow in the pipeline 200, which effectively ensures the accuracy and reliability of the measurement, and the micro-mechanical thermal flow meter does not need to be set up. The measurement results of the components are not affected by vibration, which is convenient for miniaturization and weight reduction, further improving the convenience of use. In addition, the pipeline may include an inlet pipeline and an outlet pipeline, and the liquid may be water, a medicinal solution (such as an agricultural medicinal solution or a medical medicinal solution), or other fluid liquids.

S102: Control the spraying system according to the liquid flow rate.

After the liquid flow rate is obtained, the spraying system can be controlled according to the measured liquid flow rate. Specifically, different control strategies can be set for the liquid flow rate of pipes in different positions, for example, when the pipe is a liquid entering the pipe, at this time , The measured liquid flow of the pipeline is the filling liquid flow, the filling operation of the spraying system can be controlled according to the measured liquid flow, and the liquid filling flow, filling time, etc. can be specifically controlled; and when When the pipeline is a liquid outflow pipeline, at this time, the measured liquid flow rate of the pipeline is the outflow liquid flow rate, the spraying operation of the spraying system can be controlled according to the measured liquid flow rate, and the spraying amount and spraying time of the liquid can be controlled Wait; of course, those skilled in the art can also set corresponding control strategies according to specific design requirements, as long as it can effectively ensure the accuracy and reliability of the control of the spraying system.

The method for controlling the spraying system provided in this embodiment obtains the liquid flow rate in the pipeline in the spraying system through the set micro-mechanical thermal flowmeter, and controls the spraying system according to the liquid flow rate, which effectively solves the existing problems in the prior art. When using a turbine flowmeter to measure the flow rate, there is a large error in the long-term consistency of the turbine flowmeter, which requires the user to calibrate it regularly. Specifically, because the micromechanical thermal flowmeter approximates a straight pipe, there is no pressure loss at all, and it can be accurate. Measure the flow velocity at small flow rate, and the sensor has low power consumption and light weight, which is very suitable for airborne measurement. By calibrating the liquid to be measured, the measurement accuracy is improved, and accurate flow control and accurate replenishment of the chemical liquid are achieved during spraying operations. The accuracy of the control method is effectively guaranteed, which is conducive to market promotion and application.

Based on the above embodiments, and continuing to refer to FIGS. 1-2, it can be known that the specific implementation manner of obtaining the liquid flow in the pipeline in the spraying system through the micromechanical thermal flow meter is not limited in this embodiment, and those skilled in the art It can be set according to specific design requirements. Among them, one achievable application scenario is that the measured liquid flow is spray liquid flow. At this time, it is necessary to control the flow of liquid from the water tank to the spray load, and then spray through the spray load. Out, in addition, through the micro-mechanical thermal flow meter, obtaining the liquid flow in the pipeline in the spraying system may include:

S1011: Obtain a first liquid flow rate in a first pipeline through a micro-mechanical thermal flow meter, wherein the first pipeline is disposed between a water tank in the spray system and at least one water pump, and a spray load is connected to the other side of the water pump.

The first pipe is a spray pipe, and the spray load can be one or more spray heads. Specifically, the liquid is stored in a water tank. When the water pump is pressurized, there is a negative pressure between the water pump and the water tank, and between the water pump and the spray load. The pressure is positive, so that the liquid is sucked out of the water tank and reaches the spraying load to realize the spraying process. During the spraying process, the collected first liquid flow rate can be used as a parameter to control the spraying operation.

Further, FIG. 3 is a first schematic flowchart of obtaining a first liquid flow in the first pipe through a micromechanical thermal flow meter according to an embodiment of the present invention; based on the above embodiment, it can be seen from FIG. 3 that, in order to To ensure the accuracy and reliability of the first liquid flow measurement, obtaining the first liquid flow in the first pipeline through the micromechanical thermal flow meter in this embodiment may include:

S10111: Obtain pressure information in the first pipeline;

The pressure information in the first pipe can be measured by a liquid pressure sensor provided in the first pipe.

S10112: When the pressure information is in a stable state, the first liquid flow rate in the first pipe is obtained through a micromechanical thermal flowmeter.

Since the micromechanical thermal flowmeter determines the liquid flow velocity in the pipeline by measuring the temperature difference between the upstream and downstream liquids of the heat source, it is necessary to ensure that the pressure is constant during the measurement time, and the liquid in the pipeline is full. Try to place the micromechanical thermal flowmeter horizontally in the pipeline. Low position, which ensures that the liquid can fill the pipe. Therefore, after the pressure information is obtained, the pressure information can be analyzed and processed to determine whether the pressure information is stable. Specifically, the pressure information can be analyzed and compared with a preset threshold pressure. If the pressure information is less than or equal to the threshold pressure, , It can be determined that the pressure information is in a stable state. At this time, it also indicates that the pressure between the pump and the water tank is relatively stable. At this time, collecting the first liquid flow rate can improve the accuracy of the first liquid flow rate measurement; and when the pressure information is greater than the threshold value, When pressure is applied, it can be determined that the pressure information is in an unstable state. At this time, it also indicates that the pressure between the water pump and the water tank changes greatly. At this time, accurate measurement of the first liquid flow rate is not convenient.

In order to further improve the accuracy and reliability of the pressure information judgment, the pressure information in the first pipeline can be obtained multiple times within a preset period of time, and it is further judged whether each pressure information is in a stable state, and if all are in a stable state , The first liquid flow rate can be obtained; if most of the pressure information in the multiple pressure information is in an unstable state, at this time, in order to ensure the accuracy and reliability of the first liquid flow rate measurement, it is not convenient to obtain the first liquid flow rate.

The first liquid flow rate in the first pipeline is obtained through the micro-mechanical thermal flow meter, and the first liquid flow rate can be collected only when the pressure information is in a stable state, which effectively ensures the accuracy of the first liquid flow rate acquisition, and further The accuracy and reliability of controlling the spraying operation in the spraying system according to the first liquid flow rate is improved.

FIG. 4 is a second schematic diagram of a process for obtaining a first liquid flow rate in a first pipe through a micromechanical thermal flowmeter according to an embodiment of the present invention. Based on the above embodiment, referring to FIG. 4, it can be seen that In the case of a liquid flow rate, since the first liquid flow rate is the liquid flow rate in the first pipe collected, and the first pipe is disposed between the water tank in the spray system and at least one water pump, considering that the range of the micromechanical thermal flow meter is generally It is small, and when multiple water pumps in the spraying system work at the same time, the total flow will exceed the range of the micromechanical thermal flowmeter. Therefore, in order to ensure the stability and reliability of the micromechanical thermal flowmeter, the Obtaining the first liquid flow in the first pipeline through the micro-mechanical thermal flow meter may include:

S10113: Obtain the first sub-liquid flow rate in the first pipeline when a single water pump is operating by using a micromechanical thermal flow meter;

When the first pipeline is set between the water tank in the spraying system and the multiple pumps, any one of the multiple pumps can be controlled to work. When the pump works alone, the first pipeline can be collected by a micromechanical thermal flow meter. The first sub-liquid flow of the pipe.

S10114: Obtain the first speed relationship between other water pumps and water pumps connected to the water tank in the spraying system;

Before, during, or after obtaining the first sub-liquid flow rate, the speed relationship between the water pump working alone and other water pumps in the spraying system can be obtained. In general, the speed of the water pump and the pump head, impeller diameter, and blade exit angle It is related to the number of blades, etc. Therefore, the first speed relationship between other water pumps and pumps working independently can be obtained by analyzing the above information.

S10115: Determine the first liquid flow rate of the first pipe according to the first rotation speed relationship and the first sub-liquid flow rate.

After the first speed relationship is obtained, the first liquid flow can be determined by analyzing and processing the first speed relationship and the first sub-liquid flow; for example, the motor speed for driving the water pump can be determined according to the first speed relationship. The rotation speed and / or the number of rotations, and the first liquid flow rate may be determined according to a proportional relationship between the rotation speed and / or the number of rotations of the motor and the liquid flow rate; of course, those skilled in the art may also determine the flow rate in other ways. The first liquid flow rate in the first pipeline may be as long as the accurate and reliable acquisition of the first liquid flow rate can be ensured, and details are not described herein again.

In this embodiment, by measuring the flow rate of a single pump first, and then calculating the flow rate relationship based on the actual speed relationship of multiple pumps, and then calculating the total flow rate relationship, while ensuring the safety and reliability of the micromechanical thermal flowmeter, the first The accuracy of liquid flow measurement further improves the safety and reliability of this control method.

Further, on the basis of the above embodiment, it can be known from continuing to refer to FIGS. 1-4 that after the first liquid flow rate is obtained, in order to improve the practicability of the method, the spray system is controlled according to the liquid flow rate in this embodiment. Can include:

S1021: Control the liquid spraying operation of the spraying system according to the first liquid flow rate.

Specifically, the flow rate, speed, and the like of the spraying liquid can be controlled according to the first liquid flow rate, thereby achieving precise control of the spraying liquid operation.

Based on the above embodiments, and continuing to refer to FIGS. 1-2, it can be known that, for a specific implementation manner of obtaining a liquid flow in a pipe in a spraying system through a micromechanical thermal flow meter, another achievable application scenario The measured liquid flow rate is the filling liquid flow rate. At this time, the liquid flows from the water pump to the water tank to fill the water tank. Furthermore, the micro-mechanical thermal flow meter to obtain the liquid flow in the pipeline in the spraying system can include:

S1012: Obtain the second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter, wherein the second pipeline is disposed between the liquid dispenser in the spraying system and at least one water pump, and a water tank is connected to the other side of the water pump.

Among them, the second pipe is a filling pipe, and the liquid dispenser may be a medicine tank. Specifically, the liquid is stored in the liquid dispenser. When the water pump is pressurized, there is a negative pressure between the water pump and the liquid dispenser. The time is positive pressure, so that the liquid is sucked out of the liquid dispenser and reaches the water tank to realize the liquid filling process. During the liquid filling process, the collected second liquid flow rate can be used as a parameter to control the liquid filling process.

FIG. 5 is a first schematic flowchart of obtaining a second liquid flow rate in a second pipeline through a micromechanical thermal flowmeter according to an embodiment of the present invention; based on the above embodiment, referring to FIG. 5, it can be seen that, in order to ensure the second The accuracy and reliability of the liquid flow measurement. The obtaining of the second liquid flow in the second pipeline through the micromechanical thermal flow meter in this embodiment may include:

S10121: Obtain pressure information in the second pipeline;

The pressure information in the second pipe can be measured by a liquid pressure sensor provided in the second pipe.

S10122: When the pressure information is in a stable state, obtain the second liquid flow rate in the second pipeline through the micromechanical thermal flowmeter.

After obtaining the pressure information in the second pipeline, the pressure information can be analyzed and processed to determine whether the pressure information is stable. Specifically, the pressure information can be analyzed and compared with a preset threshold pressure. If the pressure information is less than or equal to Threshold pressure, it can be determined that the pressure information is in a stable state. At this time, it also shows that the pressure between the pump and the dispenser is relatively stable. At this time, collecting the second liquid flow rate can improve the accuracy of the second liquid flow rate measurement. When the pressure information is greater than the threshold pressure, it can be determined that the pressure information is in an unstable state. At this time, it also indicates that the pressure change between the water pump and the dispenser is large, which is not convenient for accurate measurement of the second liquid flow rate.

In order to further improve the accuracy and reliability of the judgment of the pressure information, the pressure information in the second pipeline can be obtained multiple times within a preset period of time, and it is further judged whether each pressure information is in a stable state. The second liquid flow rate can be obtained; if most of the pressure information in the multiple pressure information is in an unstable state, in order to ensure the accuracy and reliability of the second liquid flow rate measurement, it is not convenient to obtain the second liquid flow rate.

The second liquid flow rate in the second pipeline is obtained through the micro-mechanical thermal flow meter, and the second liquid flow rate can be collected only when the pressure information is in a stable state, which effectively ensures the accuracy of the second liquid flow rate acquisition, and further The accuracy and reliability of controlling the spraying operation in the spraying system according to the second liquid flow rate is improved.

FIG. 6 is a second schematic diagram of a process for obtaining a second liquid flow rate in a second pipeline through a micromechanical thermal flowmeter according to an embodiment of the present invention. Based on the above embodiment, referring to FIG. 6, it can be seen that In the case of two liquid flows, since the second liquid flow is the liquid flow in the collected second pipeline, and the second pipeline is disposed between the liquid dispenser and at least one water pump, considering that the range of the micromechanical thermal flowmeter is generally small When multiple water pumps in the spraying system work at the same time, the total flow will exceed the range of the micromechanical thermal flowmeter. Therefore, in order to ensure the reliability of the micromechanical thermal flowmeter, the micromechanical The obtaining of the second liquid flow in the second pipeline by the thermal flow meter may include:

S10123: Obtain the second sub-liquid flow rate in the second pipeline when a single water pump is operating by using a micromechanical thermal flow meter;

When the second pipeline is set between the liquid feeder and at least one water pump, any one of the multiple water pumps can be controlled to work. When the water pump is working alone, the micro-mechanical thermal flowmeter can be used to collect the second pipeline. Second sub-liquid flow.

S10124: Obtain a second speed relationship between other water pumps and water pumps connected to the water tank in the spraying system;

Before, during, or after obtaining the second sub-liquid flow rate, the speed relationship between the water pump working alone and other water pumps in the spraying system can be obtained. In general, the speed of the water pump and the pump head, impeller diameter, and blade exit angle It is related to the number of blades, etc. Therefore, the second speed relationship between other water pumps and pumps that work independently can be obtained by analyzing the above information.

S10125: Determine the second liquid flow rate of the second pipeline according to the second rotation speed relationship and the second liquid flow rate.

After the second speed relationship is obtained, the second liquid speed can be determined by analyzing and processing the second speed relationship and the second sub-liquid flow; for example, the motor speed for driving the water pump can be determined according to the second speed relationship. The rotation speed and / or the number of rotations, and then the second liquid flow rate can be determined according to the proportional relationship between the rotation speed and / or the number of rotations of the motor and the liquid flow rate; of course, those skilled in the art can also determine the second liquid flow rate in other ways. The second liquid flow rate in the second pipeline may be as long as the accuracy and reliability of the second liquid flow rate acquisition can be ensured, and details are not described herein again.

In this embodiment, by measuring the flow rate of a single pump first, and then calculating the flow rate relationship based on the actual speed relationship of multiple pumps, and then calculating the total flow rate relationship, while ensuring the safety and reliability of the micromechanical thermal flowmeter, the second The accuracy of liquid flow measurement further improves the safety and reliability of this control method.

Further, based on the above embodiments, and continuing to refer to FIGS. 1-2 and 5-6, after obtaining the second liquid flow rate, in order to improve the practicability of this method, the The control of the spray system can include:

S1022: Control the liquid filling operation of the spraying system according to the second liquid flow rate.

Specifically, the flow rate, speed, and the like during the spraying and filling operation can be controlled according to the second liquid flow rate, thereby achieving precise control of the liquid filling operation.

FIG. 7 is a schematic flow chart of obtaining a liquid flow in a pipeline in a spraying system by using a micromechanical thermal flowmeter according to an embodiment of the present invention; FIG. 8 is a flow chart for determining a pipeline according to a characteristic ratio and a branch liquid flow according to an embodiment of the present invention; Schematic diagram of the total liquid flow; on the basis of the above embodiment, it can be seen that with reference to FIGS. 7-8, the pipeline in this embodiment may include a main pipeline and a branch pipeline connected to the main pipeline; at this time, Using a micro-mechanical thermal flow meter to obtain the liquid flow in the pipeline in the spray system can include:

S1013: Obtain the branch liquid flow in the branch pipeline through the micromechanical thermal flowmeter;

Because the range of the micromechanical thermal flowmeter is small, when the pipeline includes the main pipeline and the branch pipeline, in order to ensure the stable and reliable operation of the micromechanical thermal flowmeter, the branch pipeline can be obtained by the micromechanical thermal flowmeter. The liquid flow of the branch in the pipeline in order to obtain the total flow in the pipeline based on the liquid flow of the branch.

S1014: Obtain the feature ratio of the main pipeline and the branch pipeline;

Before, through, or after obtaining the branch liquid flow in the branch pipeline through the micromechanical thermal flowmeter, the characteristic ratio of the main pipeline and the branch pipeline can be obtained, and the characteristic ratio may include: the ratio of the diameter of the pipeline and the bifurcation Angle, Y-angle, transition structure setting ratio (round corner structure ratio or sharp corner structure ratio), etc.

S1015: Determine the total liquid flow of the pipeline according to the characteristic ratio and the branch liquid flow.

After obtaining the characteristic ratio, the total liquid flow of the pipeline can be determined according to the characteristic ratio and the branch liquid flow. Specifically, determining the total liquid flow of the pipeline according to the characteristic ratio and the branch liquid flow can include:

S10151: Determine the main circuit liquid flow of the main pipeline according to the branch liquid flow and the characteristic ratio;

For example, when the characteristic ratio is the ratio of the diameter of the pipeline, assuming that the ratio of the diameter of the pipeline is 3: 2, then the ratio of the liquid flow of the main circuit to the liquid flow of the branch is 3: 2, and the liquid flow of the branch is a known quantity, so Determine the main flow of liquid from the main pipeline.

S10152: Determine the total liquid flow of the pipeline according to the branch liquid flow and the main liquid flow.

After the branch liquid flow and the main liquid flow are obtained, the sum of the branch liquid flow and the main liquid flow can be determined as the total liquid flow of the pipeline, thereby ensuring the accuracy and reliability of the total liquid flow acquisition.

In this embodiment, for the design structure of the asymmetrical shunt pipe, the total pipeline flow is divided into a plurality of branch flows with a fixed proportion, and the total pipeline flow is estimated by measuring the small branch flow, which effectively ensures the total pipeline flow. The accuracy and reliability of the measurement, and also improves the safety and reliability of the micromechanical thermal flowmeter.

It should be noted that, in combination with the above-mentioned embodiments, it can be known that the present application can also design a specific pipeline under the condition of a single water pump, and the pipeline has a fixed split ratio. In combination with the single water pump operation described above, the branch liquid flow rate is measured, The total liquid flow of the pipeline is estimated by using the branch liquid flow rate, the speed relationship between the water pump and other water pumps, and the characteristic ratio of the main pipeline and the branch pipeline. The specific implementation can refer to the above statement and the above The technical solutions are combined and will not be repeated here.

In summary, the control method provided in this embodiment obtains liquid flow through a micromechanical thermal flowmeter. Because the micromechanical thermal flowmeter has the characteristics of compact structure, low power consumption, shock resistance, low pipeline resistance, and almost no pressure loss It effectively overcomes the problem of low measurement accuracy in the prior art, and is applicable to aircraft. It can achieve accurate measurement of liquid flow in a limited space and hardly increase the load, thereby improving the measurement accuracy and meeting the requirements of agriculture. During the operation, the aircraft accurately measures the amount of pesticide to ensure the effectiveness and reliability of the operation. By adopting a suitable shunt method, the shortcoming of this flowmeter can be overcome, and the stability and reliability of the control method are further improved. Conducive to market promotion and application.

FIG. 9 is a schematic structural diagram of a control device for a spraying system according to an embodiment of the present invention; referring to FIG. 9, it can be seen that this embodiment provides a control device for a spraying system, which is used to execute the foregoing control method. Specifically, the control device may include:

A memory 101 for storing a computer program;

The processor 102 is configured to run a computer program stored in the memory to implement: obtaining the liquid flow in the pipeline in the spraying system through the micromechanical thermal flowmeter, wherein the micromechanical thermal flowmeter includes a microelectromechanical system and a measurement pipeline, The micro-electro-mechanical system includes a heat-sensitive element for measuring the temperature of the liquid. The heat-sensitive element is at least partially leaked out of the measuring pipe so that the heat-sensitive element can contact the liquid in the measuring pipe. The spraying system is controlled according to the liquid flow rate.

The specific implementation process and implementation effect of the operation steps implemented by the processor 102 in this embodiment are the same as the specific implementation process and implementation effect of steps S101-S102 in the above embodiment. For details, reference may be made to the foregoing statement, and details are not described herein again.

Based on the above embodiment, and continuing to refer to FIG. 9, this embodiment does not limit the specific implementation of the processor 102 using a micromechanical thermal flow meter to obtain the liquid flow in the pipeline in the spraying system. The personnel can set it according to the specific design requirements. Among them, one achievable application scenario is that the measured liquid flow is the need to control the flow of liquid from the water tank to reach the spray load, and then the liquid flow ejected through the spray load. When the processor 102 obtains the liquid flow in the pipeline in the spraying system through the micro-mechanical thermal flow meter, it is configured as:

The first liquid flow in the first pipeline is obtained by a micromechanical thermal flowmeter, wherein the first pipeline is disposed between a water tank in the spray system and at least one water pump, and a spray load is connected to the other side of the water pump.

In order to ensure the accuracy and reliability of the first liquid flow measurement, when the processor 102 obtains the first liquid flow in the first pipe through the micromechanical thermal flowmeter, it is configured as follows:

Obtain pressure information in the first pipeline; when the pressure information is in a stable state, obtain a first liquid flow rate in the first pipeline through a micromechanical thermal flowmeter.

In addition, when the processor 102 obtains the first liquid flow rate, since the first liquid flow rate is the liquid flow rate in the collected first pipe, and the first pipe is disposed between the water tank in the spraying system and at least one water pump, The range of mechanical thermal flowmeter is generally small, and when multiple pumps in the spraying system are working at the same time, the total flow will exceed the range of the micromechanical thermal flowmeter. Therefore, in order to ensure the reliable use of the micromechanical thermal flowmeter When the processor 102 obtains the first liquid flow in the first pipeline through the micromechanical thermal flowmeter, it is configured as:

The first sub-liquid flow in the first pipeline when a single water pump is working is obtained through a micromechanical thermal flow meter; the first speed relationship between other water pumps connected to the water tank in the spray system and the water pump is obtained; according to the first speed relationship And the first sub-liquid flow rate determine a first liquid flow rate of the first pipe.

Further, when the processor 102 controls the spraying system according to the liquid flow rate, it is configured to control the liquid spraying operation of the spraying system according to the first liquid flow rate.

Based on the above embodiment, and continuing to refer to FIG. 9, this embodiment does not limit the specific implementation of the processor 102 using a micromechanical thermal flow meter to obtain the liquid flow in the pipeline in the spraying system. The personnel can set it according to the specific design requirements. Among them, another achievable application scenario is that the measured liquid flow is to control the liquid flow from the pump to the water tank, so as to fill the liquid flow in the water tank. At this time, in When the processor 102 obtains the liquid flow in the pipeline in the spraying system through the micro-mechanical thermal flow meter, it is configured as:

The second liquid flow rate in the second pipeline is obtained by a micromechanical thermal flow meter, wherein the second pipeline is disposed between the liquid dispenser in the spraying system and at least one water pump, and a water tank is connected to the other side of the water pump.

In order to ensure the accuracy and reliability of the measurement of the second liquid flow rate, when the processor obtains the second liquid flow rate in the second pipe through the micromechanical thermal flow meter, it is configured as follows:

Obtain pressure information in the second pipeline; when the pressure information is in a stable state, obtain the second liquid flow rate in the second pipeline through a micromechanical thermal flowmeter.

In addition, when the processor 102 obtains the second liquid flow rate, because the second liquid flow rate is the liquid flow rate in the collected second pipe, and the second pipe is disposed between the liquid dispenser and at least one water pump, due to micromechanical heat, The range of the flow meter is generally small, and when multiple pumps in the spray system are working at the same time, the total flow will exceed the range of the micro-mechanical thermal flow meter. Therefore, in order to ensure the reliability of the micro-mechanical thermal flow meter, In this embodiment, when the processor obtains the second liquid flow rate in the second pipeline through the micromechanical thermal flow meter, it is configured as follows:

The second sub-liquid flow rate in the second pipeline when a single water pump is working is obtained through a micromechanical thermal flow meter; the second speed relationship between other water pumps connected to the water tank in the spraying system and the water pump is obtained; according to the second speed relationship And the second liquid flow rate determine a second liquid flow rate of the second pipe.

Further, in order to improve the practicability of the method, when the processor 102 controls the spraying system according to the liquid flow rate, it is configured to control the liquid filling operation of the spraying system according to the second liquid flow rate.

On the basis of the above embodiment, it can be known that with reference to FIG. 9, the pipeline in this embodiment may include a main pipeline and a branch pipeline connected to the main pipeline; at this time, the processor 102 uses a micromechanical thermal The flow meter, when obtaining the liquid flow in the pipe in the spray system, is configured as:

The micro-mechanical thermal flowmeter is used to obtain the branch liquid flow in the branch pipeline; the characteristic ratio of the main pipeline and the branch pipeline is obtained; the total liquid flow of the pipeline is determined according to the characteristic ratio and the branch liquid flow.

Wherein, when the processor determines the total liquid flow of the pipeline according to the characteristic ratio and the branch liquid flow, it is configured to: determine the main liquid flow of the main pipeline according to the branch liquid flow and the characteristic ratio; and according to the branch liquid flow and main flow Channel liquid flow determines the total liquid flow of the pipeline.

The control device of the spraying system provided in this embodiment can be used to execute the methods corresponding to the embodiments in FIG. 2 to FIG. 8. The specific implementation manners and beneficial effects are similar, and are not repeated here.

FIG. 10 is a top view of a spraying system according to an embodiment of the present invention; FIG. 11 is a side view of a spraying system according to an embodiment of the present invention; This embodiment provides a spraying system, which is used to implement a liquid spraying operation. Specifically, the spraying system includes:

The micromechanical thermal flowmeter 301 is disposed in the pipe 304, and is used for collecting the liquid flow in the pipe 304 and sending the liquid flow to the control device; including: a micro-electromechanical system and a measurement pipeline. Temperature sensitive element, at least part of which leaks out of the measuring pipe, so that the sensitive element can contact the liquid in the measuring pipe;

The control device includes one or more processors, which work alone or in cooperation. The processors are used for: communicating with the micromechanical thermal flowmeter 301, and for receiving the liquid in the pipeline 304 obtained through the micromechanical thermal flowmeter 301. Flow, and the spray system is controlled based on the liquid flow.

The specific structure of the micromechanical thermal flowmeter 301 can be referred to FIG. 2; and the specific implementation process and effect of the operation steps performed by the micromechanical thermal flowmeter 301 and the processor in this embodiment are the same as those described above. The specific implementation process and implementation effect of steps S101-S102 in the embodiment are similar. For details, please refer to the foregoing statement, and details are not described herein again.

In a specific application, an implementable manner is that the pipe 304 in the spraying system may include a first pipe provided between the water tank 300 and at least one water pump 302, and the spraying load 303 is connected to the other end of the water pump 302. The first pipe is the output pipe 304 in the spray system.

Another practicable way is: the pipe 304 in the spraying system may include a second pipe provided between the liquid dispenser and the at least one water pump 302, and the other end of the water pump 302 is connected to the water tank 300. At this time, the second pipe It is a filling pipe 304 in the spray system.

FIG. 12 is a schematic structural diagram of another spraying system according to an embodiment of the present invention; based on the foregoing embodiment, and referring to FIG. 12, it can be seen that another implementable manner is that the pipeline 304 in this embodiment includes: The main pipeline 3041 and the branch pipeline 3042 connected to the main pipeline 3041 are arranged in the branch pipeline 3042. Among them, the characteristic ratio of the main pipeline 3041 and the branch pipeline 3042 is fixed.

Further, for the above first implementable manner, the pipeline 304 includes a first pipeline provided between the water tank 300 and at least one water pump 302, and the spray pump 303 is connected to the other end of the water pump 302, which can be implemented in an application scenario. For: The measured liquid flow rate is the spray liquid flow rate. At this time, it is necessary to control the flow of liquid from the water tank 300 to the spray load 303, and then spray out through the spray load 303. Furthermore, the processor passes the micromechanical thermal flow meter 301. When obtaining the liquid flow rate in the pipeline 304 in the spraying system, it is configured to: obtain the first liquid flow rate in the first pipeline through the micromechanical thermal flowmeter 301.

In order to ensure the accuracy and reliability of the first liquid flow measurement, when the processor obtains the first liquid flow in the first pipeline through the micromechanical thermal flowmeter 301, it is configured as follows:

Obtain pressure information in the first pipeline; when the pressure information is in a stable state, obtain the first liquid flow rate in the first pipeline through the micromechanical thermal flowmeter 301.

In addition, when the processor obtains the first liquid flow rate, since the first liquid flow rate is the liquid flow rate in the collected first pipe, and the first pipe is disposed between the water tank 300 and the at least one water pump 302 in the spray system, because The range of the micromechanical thermal flowmeter 301 is generally small. When multiple water pumps 302 in the spray system are working at the same time, the total flow will exceed the range of the micromechanical thermal flowmeter 301. Therefore, in order to ensure the micromechanical thermal flowmeter 301, The reliability of the meter 301 is configured when the processor obtains the first liquid flow in the first pipe through the micromechanical thermal flowmeter 301, and is configured as:

The first sub-liquid flow rate in the first pipeline when a single water pump 302 works is obtained through the micromechanical thermal flowmeter 301; the first speed relationship between other water pumps connected to the water tank 300 in the spray system and the water pump 302 is obtained; The first rotational speed relationship and the first sub-liquid flow rate determine a first liquid flow rate of the first pipe.

More preferably, when the processor controls the spraying system according to the liquid flow rate, it is configured to control the liquid spraying operation of the spraying system according to the first liquid flow rate.

Further, for the above-mentioned second implementable manner, the pipe 304 in the spraying system may include a second pipe provided between the liquid dispenser and the at least one water pump 302, and the other end of the water pump 302 is connected with the water tank 300, At this time, when the processor obtains the liquid flow rate in the pipeline 304 in the spraying system through the micro-mechanical thermal flow meter 301, it is configured to obtain the second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter 301.

Among them, in order to ensure the accurate and reliable measurement of the second liquid flow rate, when the processor obtains the second liquid flow rate in the second pipeline through the micromechanical thermal flowmeter 301, it is configured as follows:

Obtain pressure information in the second pipeline; when the pressure information is in a stable state, obtain the second liquid flow rate in the second pipeline through the micromechanical thermal flowmeter 301.

In addition, when the processor obtains the second liquid flow rate, because the second liquid flow rate is the liquid flow rate in the collected second pipe, and the second pipe is disposed between the liquid dispenser and the at least one water pump 302, due to micromechanical heat The range of the flow meter 301 is generally small. When multiple water pumps 302 work in the spray system at the same time, the total flow will exceed the range of the micromechanical thermal flow meter 301. Therefore, in order to ensure the use of the micromechanical thermal flow meter 301, In this embodiment, when the processor obtains the second liquid flow rate in the second pipe through the micromechanical thermal flowmeter 301, it is configured as:

The second sub-liquid flow rate in the second pipeline when a single water pump 302 works is obtained through the micromechanical thermal flowmeter 301; the second speed relationship between the other water pumps connected to the water tank 300 and the water pump 302 in the spraying system is obtained; The second speed relationship and the second liquid flow rate determine a second liquid flow rate of the second pipe.

Further, in order to improve the practicability of the method, when the processor controls the spraying system according to the liquid flow rate, it is configured to control the liquid filling operation of the spraying system according to the second liquid flow rate.

Based on the above embodiment, and continuing to refer to FIG. 12, it can be known that the pipeline 304 in this embodiment may include a main pipeline 3041 and a branch pipeline 3042 connected to the main pipeline 3041; The mechanical thermal flow meter 301 is configured to obtain the liquid flow in the pipe 304 in the spraying system:

The branch liquid flow in the branch pipeline 3042 is obtained through the micromechanical thermal flowmeter 301; the characteristic ratio of the main pipeline 3041 to the branch pipeline 3042 is obtained; the total liquid flow of the pipeline 304 is determined according to the characteristic ratio and the branch liquid flow.

Wherein, when the processor determines the total liquid flow rate of the pipeline 304 according to the characteristic ratio and the branch liquid flow rate, it is configured to: determine the liquid flow rate of the main circuit of the main pipeline 3041 according to the branch liquid flow rate and the characteristic ratio; and according to the branch liquid flow rate And the main liquid flow rate determines the total liquid flow rate of the pipe 304.

The spraying system provided in this embodiment can be used to execute the methods corresponding to the embodiments in FIG. 2 to FIG. 8. The specific implementation manners and beneficial effects are similar, and will not be repeated here.

Another aspect of the embodiments of the present invention provides a storage medium. The storage medium is a computer storage medium. The computer storage medium stores program instructions, and the program instructions are used to implement the control method of the spraying system.

FIG. 13 is a first structural schematic diagram of an agricultural drone provided by an embodiment of the present invention; FIG. 14 is a second structural schematic diagram of an agricultural drone provided by an embodiment of the present invention; Another aspect of the example provides an agricultural drone 400 including a rack 410 and a spraying system.

The spraying system is disposed on the rack 410. The spraying system includes a micromechanical thermal flowmeter and a control device communicatively connected with the micromechanical thermal flowmeter.

The micromechanical thermal flowmeter is connected with the pipeline, and is used to collect the liquid flow in the pipeline and send the liquid flow to the control device.

The micromechanical thermal flowmeter includes a microelectromechanical system and a measurement pipeline. The micro-electro-mechanical system includes a thermal element for measuring the temperature of a liquid. The heat-sensitive element is at least partially leaked out of the measuring pipe so that the heat-sensitive element can contact the liquid in the measuring pipe.

The control device includes one or more processors, which work individually or in cooperation. The processor is configured to receive the liquid flow in the pipeline obtained by the micro-mechanical thermal flow meter, and control the spraying system according to the liquid flow.

The specific structure of the micro-mechanical thermal flow meter can be referred to FIG. 2; the specific structure of the spraying system can be referred to FIG. 10-12, and the micro-mechanical thermal flow meter and processor in this embodiment are shown in FIG. The specific implementation process and implementation effect of the executed operation steps are similar to the specific implementation process and implementation effect of steps S101-S102 in the above embodiment. For details, please refer to the content of the above statement, and will not be repeated here.

Further, it can be known from continuing reference to FIGS. 13-14 that the agricultural drone 400 in this embodiment may further include a flying power unit 420, a plurality of nozzles 430, a plurality of water pumps 440, and a water tank 450;

Among them, the flying power unit 420 is installed on the rack 410 to provide flying power. A plurality of spray heads 430 are installed below the flying power unit 420. A plurality of water pumps 440 are respectively connected to the plurality of spray heads 430 and are used for conveying liquid to The spray head 430 is sprayed out through the spray head 430. The control device can also be electrically connected to the water pump 440, the water tank 450 is used for storing liquid, and multiple water pumps 440 are in communication with the water tank 450.

In specific applications, the control device can selectively control a plurality of water pumps 440, and spray through the nozzles 430 connected to the selected water pump 440, so that the spray area or spray effect can be controlled, which is beneficial to improve the spray accuracy.

In addition, the structure of the frame 410 can be designed according to different requirements. For example, in the embodiment shown in FIGS. 13-14, the frame 410 includes a center body 410a, an arm 410b, and a landing stand 410c. The arm 410b and the center The body 410a is connected to support the flying power unit 420, and the landing foot 410c is connected to the center body 410a or the arm 410b.

The flying power unit 420 may be an electric power unit. Specifically, the flying power unit 420 may include a propeller and a motor that drives the propeller to rotate. The nozzle 430 is located directly below or obliquely below the flying power unit 420. As shown in the figure, multiple nozzles 430 are installed on the arm 410b and / or the landing foot 410c. When multiple nozzles 430 are installed on the arm 410b In order to facilitate the spray head 430 to be located directly below the flying power unit 420, it is more conducive to improving the spraying power of the spray head 430.

Further, the specific positions of the plurality of spray heads 430 can also be designed according to different requirements. For example, the diurnal song spray heads 430 are respectively symmetrically arranged with respect to the roll axis of the agricultural drone 400, or the plurality of spray heads 430 are respectively compared with The pitch axis of the agricultural drone 400 is set symmetrically.

When the plurality of spray heads 430 are arranged symmetrically with respect to the roll axis of the agricultural drone 400, it is convenient to control the left and right spray heads 430 of the agricultural drone 400 for spraying. For example, if the agricultural drone 400 is clockwise in accordance with the clockwise direction, When spraying the boundary of the work area, you can control the right side spray head 430 of the agricultural drone 400 for sand blasting; if the agricultural drone 400 sprays along the boundary of the business area in a counterclockwise direction, you can control the agricultural drone The spray head 430 on the left side of the 400 sprays.

In a specific application, for a spraying system on the agricultural drone 400, an implementable manner is that the pipeline in the spraying system may include a first pipeline disposed between the water tank 450 and at least one water pump 440, The spraying load is connected to the other end of the water pump 440. At this time, the first pipeline is an output pipeline in the spraying system.

Another practicable way is: the pipe in the spraying system may include a second pipe provided between the liquid dispenser and at least one water pump 440, and the other end of the water pump 440 is connected to the water tank 450. At this time, the second pipe is Filling pipes in spray systems.

Another practicable manner is that the pipeline in this embodiment includes a main pipeline and a branch pipeline connected to the main pipeline, and a micromechanical thermal flowmeter is disposed in the branch pipeline. Among them, the characteristic ratio of the main pipeline and the branch pipeline is fixed.

Further, for the above-mentioned first implementable manner, the pipeline includes a first pipeline provided between the water tank 450 and at least one water pump 440, and the spraying load is connected to the other end of the water pump 440. The applicable application scenario is as follows: The measured liquid flow is the liquid flow that needs to be controlled from the water tank 450 to reach the spray load, and then sprayed through the spray load. At this time, the processor uses a micro-mechanical thermal flow meter to obtain the liquid in the pipeline in the spray system. When the flow rate is configured, the first liquid flow rate in the first pipe is obtained by a micromechanical thermal flow meter.

In order to ensure the accuracy and reliability of the first liquid flow measurement, when the processor obtains the first liquid flow in the first pipe through the micromechanical thermal flowmeter, it is configured as follows:

Obtain pressure information in the first pipeline; when the pressure information is in a stable state, obtain a first liquid flow rate in the first pipeline through a micromechanical thermal flowmeter.

In addition, when the processor obtains the first liquid flow rate, because the first liquid flow rate is the liquid flow rate in the collected first pipe, and the first pipe is disposed between the water tank 450 and the at least one water pump 440 in the spray system, because The range of micro-mechanical thermal flow meters is generally small. When multiple water pumps 440 in the spray system are working at the same time, the total flow will exceed the range of the micro-mechanical thermal flow meters. Therefore, in order to ensure the use of micro-mechanical thermal flow meters, When the processor obtains the first liquid flow in the first pipe through the micromechanical thermal flow meter, it is configured as:

The first sub-liquid flow in the first pipeline when a single water pump 440 is operated is obtained through a micromechanical thermal flow meter; the first speed relationship between the other water pumps 440 and the water pump 440 connected to the water tank 450 in the spraying system is obtained; The first rotational speed relationship and the first sub-liquid flow rate determine a first liquid flow rate of the first pipe.

More preferably, when the processor controls the spraying system according to the liquid flow rate, it is configured to: control the liquid spraying operation of the spraying system according to the first liquid flow rate.

Further, for the above-mentioned second implementable manner, the pipeline in the spraying system may include a second pipeline disposed between the liquid dispenser and at least one water pump 440, and the other end of the water pump 440 is connected to the water tank 450. When the processor obtains the liquid flow rate in the pipeline in the spraying system through the micro-mechanical thermal flow meter, it is configured to obtain the second liquid flow rate in the second pipeline through the micro-mechanical thermal flow meter.

In order to ensure the accuracy and reliability of the measurement of the second liquid flow rate, when the processor obtains the second liquid flow rate in the second pipe through the micromechanical thermal flow meter, it is configured as follows:

Obtain pressure information in the second pipeline; when the pressure information is in a stable state, obtain the second liquid flow rate in the second pipeline through a micromechanical thermal flowmeter.

In addition, when the processor obtains the second liquid flow rate, because the second liquid flow rate is the liquid flow rate in the collected second pipe, and the second pipe is disposed between the liquid dispenser and the at least one water pump 440, due to micromechanical heat The range of the flow meter is generally small, and when multiple water pumps 440 in the spray system work at the same time, the total flow will exceed the range of the micro-mechanical thermal flow meter. Therefore, in order to ensure the reliability of the micro-mechanical thermal flow meter, In this embodiment, when the processor obtains the second liquid flow rate in the second pipeline through the micromechanical thermal flowmeter, the processor is configured to:

The second sub-liquid flow rate in the second pipeline when a single water pump 440 is operated is obtained through a micromechanical thermal flow meter; the second speed relationship between the other water pumps 440 and the water pump 440 connected to the water tank 450 in the spraying system is obtained; The second speed relationship and the second liquid flow rate determine a second liquid flow rate of the second pipe.

Further, in order to improve the practicability of the method, when the processor controls the spraying system according to the liquid flow rate, it is configured to control the liquid filling operation of the spraying system according to the second liquid flow rate.

Based on the above embodiment, it can be known from the continued reference to FIGS. 13-14 that the pipeline in this embodiment may include a main pipeline and a branch pipeline connected to the main pipeline; at this time, when the processor passes the micromechanical heat, Type flowmeter, when obtaining the liquid flow in the pipeline in the spraying system, is configured as:

The micro-mechanical thermal flowmeter is used to obtain the branch liquid flow in the branch pipeline; the characteristic ratio of the main pipeline and the branch pipeline is obtained; the total liquid flow of the pipeline is determined according to the characteristic ratio and the branch liquid flow.

Wherein, when the processor determines the total liquid flow of the pipeline according to the characteristic ratio and the branch liquid flow, it is configured to: determine the main liquid flow of the main pipeline according to the branch liquid flow and the characteristic ratio; and according to the branch liquid flow and main flow Channel liquid flow determines the total liquid flow of the pipeline.

The agricultural drone 400 provided in this embodiment can be used to execute the methods corresponding to the embodiments in FIG. 2 to FIG. 8, and the specific implementation manners and beneficial effects thereof are similar, and are not repeated here.

The technical solutions and technical features in each of the above embodiments may be singular or combined in the case of conflict with the present invention, as long as they do not exceed the scope of knowledge of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of this application. .

In the several embodiments provided by the present invention, it should be understood that the related apparatuses and methods disclosed may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be divided. The combination can either be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention essentially or part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium , Including a number of instructions for causing a computer processor 101 (processor) to perform all or part of the steps of the method described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disk.

The above description is only an embodiment of the present invention, and thus does not limit the scope of the patent of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related technologies The same applies to the fields of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. range.

Claims (53)

A control method for a spraying system of an agricultural drone, which is characterized by comprising: The micro-mechanical thermal flow meter is used to obtain the liquid flow in the pipeline in the spraying system, wherein the micro-mechanical thermal flow meter includes a micro-electro-mechanical system and a measurement pipeline, and the micro-electro-mechanical system includes a thermal sensor for measuring the temperature of the liquid. Element, the heat-sensitive element is at least partially leaked out of the measurement pipe, so that the heat-sensitive element can contact the liquid in the measurement pipe; The spraying system is controlled according to the liquid flow rate. The method according to claim 1, wherein obtaining the liquid flow rate in the pipeline in the spraying system by using a micromechanical thermal flow meter comprises: A first liquid flow rate in a first pipeline is obtained through the micromechanical thermal flowmeter, wherein the first pipeline is disposed between a water tank in the spraying system and at least one water pump, and the other side of the water pump A spray load is connected. The method according to claim 2, wherein obtaining the first liquid flow rate in the first pipeline through the micromechanical thermal flowmeter comprises: Acquiring pressure information in the first pipeline; When the pressure information is in a stable state, a first liquid flow rate in the first pipe is obtained through the micromechanical thermal flow meter. The method according to claim 2, wherein obtaining the first liquid flow rate in the first pipeline through the micromechanical thermal flowmeter comprises: Obtaining a first sub-liquid flow rate in the first pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a first speed relationship between other water pumps connected to the water tank in the spraying system and the water pump; A first liquid flow rate of the first pipe is determined according to the first speed relationship and the first sub-liquid flow rate. The method according to claim 2, wherein controlling the spraying system according to the liquid flow rate comprises: The liquid spraying operation of the spraying system is controlled according to the first liquid flow rate. The method according to claim 1, wherein obtaining the liquid flow in the pipeline in the spraying system by using a micro-mechanical thermal flow meter comprises: A second liquid flow rate in a second pipe is obtained through the micromechanical thermal flow meter, wherein the second pipe is disposed between a liquid dispenser in the spraying system and at least one water pump, and the other of the water pump is A water tank is connected on one side. The method according to claim 6, wherein obtaining the second liquid flow rate in the second pipeline through the micromechanical thermal flowmeter comprises: Acquiring pressure information in the second pipeline; When the pressure information is in a stable state, a second liquid flow rate in the second pipe is obtained through the micromechanical thermal flow meter. The method according to claim 6, wherein obtaining the second liquid flow rate in the second pipeline through the micromechanical thermal flow meter comprises: Obtaining a second sub-liquid flow rate in the second pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a second speed relationship between the other water pumps connected to the water tank and the water pump in the spraying system; A second liquid flow rate of the second pipe is determined according to the second speed relationship and the second liquid flow rate. The method according to claim 6, wherein controlling the spraying system according to the liquid flow rate comprises: The liquid filling operation of the spraying system is controlled according to the second liquid flow rate. The method according to any one of claims 1-9, wherein the pipeline comprises a main pipeline and a branch pipeline connected to the main pipeline; and a micromechanical thermal flowmeter is used to obtain the spray system. Liquid flow in pipes, including: Obtaining a branch liquid flow in the branch pipeline through a micromechanical thermal flowmeter; Obtaining a feature ratio of the main pipeline and the branch pipeline; The total liquid flow rate of the pipeline is determined according to the characteristic ratio and the branch liquid flow rate. The method according to claim 10, wherein determining the total liquid flow rate of the pipeline according to the characteristic ratio and the branch liquid flow rate comprises: Determining the main flow of the main pipeline according to the liquid flow of the branch and the characteristic ratio; The total liquid flow of the pipeline is determined according to the branch liquid flow and the main liquid flow. A control device for a spraying system, comprising: Memory for storing computer programs; A processor for running a computer program stored in the memory to achieve: obtaining a liquid flow in a pipeline in a spraying system through a micromechanical thermal flowmeter, wherein the micromechanical thermal flowmeter includes a microelectromechanical system and A measuring pipe, the micro-electromechanical system includes a heat-sensitive element for measuring the temperature of the liquid, and the heat-sensitive element is at least partially leaked out of the measuring pipe, so that the heat-sensitive element can communicate with the inside of the measuring pipe Liquid contact; controlling the spraying system based on the liquid flow rate. The device according to claim 12, wherein when the processor obtains the liquid flow in the pipeline in the spraying system through a micromechanical thermal flow meter, it is configured to: A first liquid flow rate in a first pipeline is obtained through the micromechanical thermal flowmeter, wherein the first pipeline is disposed between a water tank in the spraying system and at least one water pump, and the other side of the water pump A spray load is connected. The device according to claim 13, wherein when the processor obtains the first liquid flow rate in the first pipe through the micromechanical thermal flow meter, the processor is configured to: Acquiring pressure information in the first pipeline; When the pressure information is in a stable state, a first liquid flow rate in the first pipe is obtained through the micromechanical thermal flow meter. The device according to claim 13, wherein when the processor obtains the first liquid flow rate in the first pipe through the micromechanical thermal flow meter, the processor is configured to: Obtaining the first sub-liquid flow rate in the first pipeline when a single water pump is operating through the micro-mechanical thermal flow meter; Obtaining a first speed relationship between other water pumps connected to the water tank in the spraying system and the water pump; A first liquid flow rate of the first pipe is determined according to the first speed relationship and the first sub-liquid flow rate. The apparatus according to claim 13, wherein when the processor controls the spraying system according to the liquid flow rate, the processor is configured to: The liquid spraying operation of the spraying system is controlled according to the first liquid flow rate. The device according to claim 12, wherein when the processor obtains the liquid flow in the pipeline in the spraying system through a micromechanical thermal flow meter, it is configured to: A second liquid flow rate in a second pipe is obtained through the micromechanical thermal flow meter, wherein the second pipe is disposed between a liquid dispenser in the spraying system and at least one water pump, and the other of the water pump is A water tank is connected on one side. The device according to claim 17, wherein when the processor obtains the second liquid flow rate in the second pipe through the micromechanical thermal flow meter, the processor is configured to: Acquiring pressure information in the second pipeline; When the pressure information is in a stable state, a second liquid flow rate in the second pipe is obtained through the micromechanical thermal flow meter. The device according to claim 17, wherein when the processor obtains the second liquid flow rate in the second pipeline through the micromechanical thermal flow meter, the processor is configured to: Obtaining a second sub-liquid flow rate in the second pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a second speed relationship between the other water pumps connected to the water tank and the water pump in the spraying system; A second liquid flow rate of the second pipe is determined according to the second speed relationship and the second liquid flow rate. The apparatus according to claim 17, wherein when the processor controls the spraying system according to the liquid flow rate, the processor is configured to: The liquid filling operation of the spraying system is controlled according to the second liquid flow rate. The device according to any one of claims 12-20, wherein the pipeline comprises a main pipeline and a branch pipeline connected to the main pipeline; and a micromechanical thermal flow meter is used in the processor. When obtaining the liquid flow in the pipeline in the spraying system, it is configured as: Obtaining a branch liquid flow in the branch pipeline through a micromechanical thermal flowmeter; Obtaining a feature ratio of the main pipeline and the branch pipeline; The total liquid flow rate of the pipeline is determined according to the characteristic ratio and the branch liquid flow rate. The apparatus according to claim 21, wherein when the processor determines the total liquid flow rate of the pipeline according to the characteristic ratio and the branch liquid flow rate, the processor is configured to: Determining the main flow of the main pipeline according to the liquid flow of the branch and the characteristic ratio; The total liquid flow of the pipeline is determined according to the branch liquid flow and the main liquid flow. A spraying system, comprising: A micromechanical thermal flowmeter is connected to the pipeline and is used to collect the liquid flow in the pipeline and send the liquid flow to a control device. The micromechanical thermal flowmeter includes a micro-electromechanical system and a measurement pipeline. The micro-electromechanical system includes a heat-sensitive element for measuring the temperature of a liquid, and the heat-sensitive element is at least partially leaked out of the measurement pipe so that the heat-sensitive element can contact the liquid in the measurement pipe. ; The control device includes one or more processors, which work individually or in cooperation, and the processor is configured to: be communicatively connected with the micromechanical thermal flowmeter, and receive the data obtained through the micromechanical thermal flowmeter; The liquid flow in the pipeline is controlled according to the liquid flow. The spraying system according to claim 23, wherein the pipeline comprises a first pipeline provided between a water tank and at least one water pump, and a spray load is connected to the other end of the water pump. The spraying system according to claim 23, wherein the pipeline comprises a second pipeline provided between the liquid dispenser and at least one water pump, and a water tank is connected to the other end of the water pump. The spraying system according to claim 23, wherein the pipeline comprises a main pipeline and a branch pipeline connected to the main pipeline, and the micromechanical thermal flowmeter is disposed in the branch pipeline. The spraying system according to claim 26, wherein a characteristic ratio of the main pipeline and the branch pipeline is fixed. The spraying system according to claim 24, wherein when the processor obtains the liquid flow in the pipeline in the spraying system through a micromechanical thermal flow meter, it is configured to: A first liquid flow rate in the first pipe is obtained through the micromechanical thermal flowmeter. The spraying system according to claim 28, wherein when the processor obtains the first liquid flow rate in the first pipe through the micromechanical thermal flow meter, the processor is configured to: Acquiring pressure information in the first pipeline; When the pressure information is in a stable state, a first liquid flow rate in the first pipe is obtained through the micromechanical thermal flow meter. The spraying system according to claim 28, wherein when the processor obtains the first liquid flow rate in the first pipe through the micromechanical thermal flow meter, the processor is configured to: Obtaining a first sub-liquid flow rate in the first pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a first speed relationship between other water pumps connected to the water tank in the spraying system and the water pump; A first liquid flow rate of the first pipe is determined according to the first speed relationship and the first sub-liquid flow rate. The spraying system according to claim 28, wherein when the processor controls the spraying system according to the liquid flow rate, it is configured to: The liquid spraying operation of the spraying system is controlled according to the first liquid flow rate. The spraying system according to claim 25, wherein when the processor obtains the liquid flow in the pipeline in the spraying system through a micromechanical thermal flow meter, it is configured to: A second liquid flow rate in the second pipe is obtained by the micromechanical thermal flow meter. The spraying system according to claim 32, wherein when the processor obtains a second liquid flow rate in a second pipe through the micromechanical thermal flow meter, the processor is configured to: Acquiring pressure information in the second pipeline; When the pressure information is in a stable state, a second liquid flow rate in the second pipe is obtained through the micromechanical thermal flow meter. The spraying system according to claim 32, wherein when the processor obtains the second liquid flow rate in the second pipe through the micromechanical thermal flow meter, the processor is configured to: Obtaining a second sub-liquid flow rate in the second pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a second speed relationship between the other water pumps connected to the water tank and the water pump in the spraying system; A second liquid flow rate of the second pipe is determined according to the second speed relationship and the second liquid flow rate. The spraying system according to claim 32, wherein when the processor controls the spraying system according to the liquid flow rate, it is configured to: The liquid filling operation of the spraying system is controlled according to the second liquid flow rate. The spraying system according to any one of claims 23 to 35, wherein the pipeline includes a main pipeline and a branch pipeline connected to the main pipeline; and a micromechanical thermal flow is passed through the processor. When calculating the liquid flow in the pipeline in the spray system, it is configured as: Obtaining a branch liquid flow in the branch pipeline through a micromechanical thermal flowmeter; Obtaining a feature ratio of the main pipeline and the branch pipeline; The total liquid flow rate of the pipeline is determined according to the characteristic ratio and the branch liquid flow rate. The spraying system according to claim 36, wherein when the processor determines the total liquid flow rate of the pipeline according to the characteristic ratio and the branch liquid flow rate, the processor is configured to: Determining the main flow of the main pipeline according to the liquid flow of the branch and the characteristic ratio; The total liquid flow of the pipeline is determined according to the branch liquid flow and the main liquid flow. A storage medium, wherein the storage medium is a computer storage medium, and the computer storage medium stores program instructions, and the program instructions are used to implement the spraying system according to any one of claims 1-11. Control Method. An agricultural drone characterized by comprising: frame; The spraying system is disposed on the frame and includes: a micromechanical thermal flowmeter and a control device communicatively connected with the micromechanical thermal flowmeter; The micro-mechanical thermal flow meter is disposed in a pipeline and is used to collect the liquid flow in the pipeline and send the liquid flow to a control device, including a micro-electromechanical system and a measurement pipeline. The micro-electro-mechanical system includes A heat-sensitive element for measuring the temperature of a liquid, the heat-sensitive element being at least partially leaked out of the measuring pipe so that the heat-sensitive element can be in contact with the liquid in the measuring pipe; The control device includes one or more processors, which work individually or in cooperation, and the processors are configured to: receive the liquid flow in the pipeline obtained by the micromechanical thermal flowmeter, and control the flow according to the liquid flow. The spraying system described above is controlled. The agricultural drone according to claim 39, wherein the pipeline includes a first pipeline provided between a water tank and at least one water pump, and a spray load is connected to the other end of the water pump. The agricultural drone according to claim 39, wherein the pipeline comprises a second pipeline provided between the liquid dispenser and at least one water pump, and a water tank is connected to the other end of the water pump. The agricultural drone according to claim 39, wherein the pipeline comprises a main pipeline and a branch pipeline connected to the main pipeline, and the micromechanical thermal flow meter is disposed on the branch pipeline Inside. The agricultural drone according to claim 42, wherein the feature ratio of the main pipeline and the branch pipeline is fixed. The agricultural drone according to claim 40, wherein when the processor obtains the liquid flow in the pipeline in the spraying system through a micro-mechanical thermal flow meter, it is configured to: A first liquid flow rate in the first pipe is obtained through the micromechanical thermal flowmeter. The agricultural drone according to claim 44, wherein when the processor obtains a first liquid flow rate in a first pipeline through the micromechanical thermal flow meter, the processor is configured to: Acquiring pressure information in the first pipeline; When the pressure information is in a stable state, a first liquid flow rate in the first pipe is obtained through the micromechanical thermal flow meter. The agricultural drone according to claim 44, wherein when the processor obtains a first liquid flow rate in a first pipeline through the micromechanical thermal flow meter, the processor is configured to: Obtaining a first sub-liquid flow rate in the first pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a first speed relationship between other water pumps connected to the water tank in the spraying system and the water pump; A first liquid flow rate of the first pipe is determined according to the first speed relationship and the first sub-liquid flow rate. The agricultural drone according to claim 44, wherein when the processor controls the spraying system according to the liquid flow rate, it is configured to: The liquid spraying operation of the spraying system is controlled according to the first liquid flow rate. The agricultural drone according to claim 41, wherein when the processor obtains the liquid flow in the pipeline in the spraying system through a micromechanical thermal flow meter, it is configured as: A second liquid flow rate in the second pipe is obtained by the micromechanical thermal flow meter. The agricultural drone according to claim 48, wherein when the processor obtains a second liquid flow rate in a second pipeline through the micromechanical thermal flow meter, the processor is configured to: Acquiring pressure information in the second pipeline; When the pressure information is in a stable state, a second liquid flow rate in the second pipe is obtained through the micromechanical thermal flow meter. The agricultural drone according to claim 48, wherein when the processor obtains a second liquid flow rate in the second pipeline through the micromechanical thermal flow meter, the processor is configured to: Obtaining a second sub-liquid flow rate in the second pipeline when a single water pump is in operation through the micromechanical thermal flow meter; Obtaining a second speed relationship between the other water pumps connected to the water tank and the water pump in the spraying system; A second liquid flow rate of the second pipe is determined according to the second speed relationship and the second liquid flow rate. The agricultural drone according to claim 48, wherein when the processor controls the spraying system according to the liquid flow rate, it is configured to: The liquid filling operation of the spraying system is controlled according to the second liquid flow rate. The agricultural drone according to any one of claims 39 to 51, wherein the pipeline includes a main pipeline and a branch pipeline connected to the main pipeline; Type flowmeter, when obtaining the liquid flow in the pipeline in the spraying system, is configured as: Obtaining a branch liquid flow in the branch pipeline through a micromechanical thermal flowmeter; Obtaining a feature ratio of the main pipeline and the branch pipeline; The total liquid flow rate of the pipeline is determined according to the characteristic ratio and the branch liquid flow rate. The agricultural drone according to claim 52, wherein when the processor determines the total liquid flow rate of the pipeline according to the characteristic ratio and the branch liquid flow rate, the processor is configured to: Determining the main flow of the main pipeline according to the liquid flow of the branch and the characteristic ratio; The total liquid flow of the pipeline is determined according to the branch liquid flow and the main liquid flow.

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