CN110686760A - Flow correction method and device and unmanned aerial vehicle - Google Patents
Flow correction method and device and unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention relates to a flow correction method and device and an unmanned aerial vehicle, wherein the flow correction method comprises the following steps: firstly, first volume change information and flow information of liquid within a preset time length are obtained, the liquid is stored in a container device and is sprayed out through the container device, and the unmanned aerial vehicle can carry the container device to fly; then, calculating second capacity change information according to the flow information of the liquid within a preset time length; and finally, obtaining the corrected current flow information of the correction data according to the first capacity change information and the second capacity change information. With this reciprocating cycle, under the environment that unmanned vehicles is vibrating or the gesture changes for current flow information can obtain constantly calibrating, and then makes current flow information's error littleer and more, reaches the purpose that accurate spraying.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a flow correction method and device and an unmanned aerial vehicle.
[ background of the invention ]
A flow meter is a meter that indicates the total amount of fluid in a measured flow rate over a selected time interval, and is simply a meter that measures the flow rate of fluid in a pipe or tank. The flow meter has the advantages that the flow meter is multiple in types, the existing flow meter is provided with a Chinese liquid crystal display screen, the functions are complete, the operation is simple, meanwhile, a grounding ring is not needed, and the size of the flow meter is greatly reduced, and the trouble caused in the aspect of maintenance is greatly reduced.
In unmanned vehicles's sprinkling system at present, need rely on the feedback of flowmeter to carry out the spray velocity of closed loop adjustment liquid, the data precision direct influence of flowmeter actually sprays volume and spraying density to the effect is sprayed in the influence.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems: although the flow meter can obtain the flow rate in real time, the flow rate error detected by the unmanned aerial vehicle in the environment with vibration or attitude change is large, and the spraying effect is poor.
[ summary of the invention ]
In order to solve the technical problem, embodiments of the present invention provide a flow correction method and apparatus, and an unmanned aerial vehicle, which reduce flow information errors and improve spraying effects.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a flow correction method is applied to an unmanned aerial vehicle, and comprises the following steps: acquiring first volume change information and flow information of liquid within a preset time length, wherein the liquid is stored in a container device and is sprayed out through the container device, and the unmanned aerial vehicle can carry the container device to fly;
calculating second capacity change information according to the flow information of the liquid within a preset time length;
obtaining correction data according to the first capacity change information and the second capacity change information;
and correcting the current flow information according to the correction data.
Optionally, the preset time period is defined by two time endpoints, and the acquiring first volume change information of the liquid in the preset time period includes:
calculating capacity information under each time endpoint;
and calculating first volume change information of the liquid according to the volume information under each time endpoint.
Optionally, the calculating first volume change information of the liquid according to the volume information at each of the time endpoints includes:
and performing difference operation on the respective volume information under the two time endpoints to obtain first volume change information of the liquid.
Optionally, the container device is provided with at least two liquid level detection devices, each of the liquid level detection devices is configured to detect liquid level information of the liquid in the container device, and the calculating capacity information at each of the time endpoints includes:
acquiring liquid level information of each liquid level detection device at each time endpoint;
and obtaining the capacity information of each time endpoint according to the liquid level information of each liquid level detection device at each time endpoint.
Optionally, the calculating second capacity change information according to the flow information of the liquid within a preset time period includes:
and performing integral operation on the flow information of the liquid within a preset time length to obtain second volume change information of the liquid.
Optionally, the obtaining correction data according to the first capacity change information and the second capacity change information includes:
and dividing the first capacity change information and the second capacity change information to obtain a correction proportion parameter, and taking the correction proportion parameter as correction data.
Optionally, said calibrating said flow meter based on said calibration data comprises:
acquiring current flow information;
multiplying the correction proportion parameter and the current flow information to obtain corrected flow information;
and correcting the current flow information by using the corrected flow information.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: a flow correction device. The flow rate correction device includes:
the first volume change information acquisition module is used for acquiring first volume change information and flow information of liquid within a preset time length;
the second capacity change information acquisition module is used for calculating second capacity change information according to the flow information of the liquid within a preset time length;
the correction data calculation module is used for obtaining correction data according to the first capacity change information and the second capacity change information;
and the correction module is used for correcting the current flow information according to the correction data.
Optionally, the correction module includes a current flow information obtaining unit, a correction operation unit, and a correction unit;
the current flow information acquisition unit is used for acquiring current flow information;
the correction operation unit is used for multiplying the correction proportion parameter and the current flow information to obtain corrected flow information;
the correction unit is configured to correct the current traffic information using the corrected traffic information.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes: a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a container device in which a liquid is stored, the liquid being ejected through the container device, the unmanned aerial vehicle being capable of flying with the container device;
the liquid level detection device is used for acquiring liquid level information of the liquid in real time and is arranged on the container device;
the flow detection device is used for acquiring flow information of the liquid in real time and is connected with the container device;
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the flow correction method described above.
Compared with the prior art, the flow correction method provided by the embodiment of the invention firstly obtains the first volume change information and the flow information of the liquid in the preset time length, the liquid is stored in the container device and is sprayed out through the container device, and the unmanned aerial vehicle can fly along with the container device; then, calculating second capacity change information according to the flow information of the liquid within a preset time length; and finally, obtaining the corrected current flow information of the correction data according to the first capacity change information and the second capacity change information. With this reciprocating cycle, under the environment that unmanned vehicles is vibrating or the gesture changes for current flow information can obtain constantly calibrating, and then makes current flow information's error littleer and more, reaches the purpose that accurate spraying.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIGS. 1 and 2 are schematic diagrams of an application environment of an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a flow calibration method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of S21 in FIG. 3;
fig. 5 is a schematic flow chart of S211 in fig. 4;
FIG. 6 is a schematic flow chart of S23 in FIG. 3;
fig. 7 is a block diagram of a flow correction device according to an embodiment of the present invention;
fig. 8 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
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 in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a flow correction method and device and an unmanned aerial vehicle, wherein the method firstly obtains first volume change information and flow information of liquid in a preset time length, the liquid is stored in a container device and is sprayed out through the container device, and the unmanned aerial vehicle can carry the container device to fly; then, calculating second capacity change information according to the flow information of the liquid within a preset time length; and finally, obtaining the corrected current flow information of the correction data according to the first capacity change information and the second capacity change information. With this reciprocating cycle, under the environment that unmanned vehicles is vibrating or the gesture changes for current flow information can obtain constantly calibrating, and then makes current flow information's error littleer and more, reaches the purpose that accurate spraying.
The following illustrates an application environment of the traffic correction method.
Fig. 1 is a schematic diagram of an application environment of a traffic correction method according to an embodiment of the present invention. As shown in fig. 1, the application scenario includes an unmanned aerial vehicle 10, a wireless network 20, a remote control device 30, and a user 40. The user 40 can control the unmanned aerial vehicle 10 through the wireless network 20 using the remote control device 30.
The unmanned aerial vehicle 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotor unmanned aerial vehicle 10, a fixed wing unmanned aerial vehicle 10, an umbrella wing unmanned aerial vehicle 10, a flapping wing unmanned aerial vehicle 10, a helicopter model, and the like.
The unmanned aerial vehicle 10 can have corresponding volume or power according to the needs of actual conditions, so that the loading capacity, the flight speed, the flight endurance mileage and the like which can meet the use needs are provided. One or more functional modules can be added to the unmanned aerial vehicle, so that the unmanned aerial vehicle 10 can realize corresponding functions. For example, in the present embodiment, the unmanned aerial vehicle 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor.
The unmanned aerial vehicle 10 is mounted with a container device that stores liquid and ejects the liquid through the container device, and the unmanned aerial vehicle 10 can fly while carrying the container device.
Referring to fig. 2, the unmanned aerial vehicle 10 is provided with a liquid level detection device 12 and a flow detection device 14.
The liquid level detection device 12 is used for detecting liquid level information of liquid in the container device, and further obtaining liquid volume information according to the liquid level information. In this embodiment, liquid level detection device 12 includes gauge outfit, panel board, sensor, gauge rod, float and response magnet, the sensor bottom is connected to gauge rod one end, the sensor is connected in the gauge outfit, the float cluster is on the gauge rod, the response magnet is connected at the gauge rod other end, the gauge rod has two, parallel arrangement, respectively there is a float on the every gauge rod, be provided with mounting flange on the gauge rod, be provided with two panel boards on the gauge outfit, scribble the high temperature resistant anticorrosive coating of one deck on the gauge rod. In this embodiment, the liquid level detection device 12 is provided with a feeler lever and a float, which can measure liquid level information at different positions in the container device. For example, when the capacity device is placed obliquely, the capacity information of different positions can be measured, and it can be understood that when the capacity device is placed obliquely, the liquid level information of different positions is different, then the liquid level information of different positions is subjected to averaging processing, the obtained liquid level information after averaging processing is more accurate, and further the capacity information of the liquid obtained according to the liquid level information is more accurate.
The flow rate detection device 14 is used for detecting flow rate information of the liquid sprayed out of the container device in real time. Specifically, the flow rate detecting device 14 may be a differential pressure type flow meter, a rotor flow meter, a throttle type flow meter, a slit flow meter, a volume flow meter, an electromagnetic flow meter, an ultrasonic flow meter, a turbine flow meter, or the like.
The remote control device 30 may be any type of smart device, such as a cell phone, a tablet computer, or a smart remote control, etc., for establishing a communication link with the unmanned aerial vehicle 10. The remote control device 30 may be equipped with one or more different user 40 interaction devices for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the remote control device 30 may be equipped with a touch display screen through which a remote control instruction of the user 40 to the unmanned aerial vehicle 10 is received and image information obtained by aerial photography is presented to the user 40 through the touch display screen, and the user 40 may also switch the image information currently displayed on the display screen through the remote control touch screen.
In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can further provide more intelligent services by fusing the existing image vision processing technology. For example, the unmanned aerial vehicle 10 may capture images by means of a dual-optical camera, and the images are analyzed by the remote control device 30, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
The wireless network 20 may be a wireless communication network for establishing a data transmission channel between two nodes based on any type of data transmission principle, such as a bluetooth network, a WiFi network, a wireless cellular network or a combination thereof located in different signal frequency bands.
Fig. 3 is a flowchart of an embodiment of a method for correcting traffic according to the present invention. The method may be performed by the UAV 10 of FIG. 1.
Specifically, referring to fig. 3, the method may include, but is not limited to, the following steps:
and S21, acquiring first volume change information and flow information of liquid in a preset time period, wherein the liquid is stored in a container device and is sprayed out through the container device, and the unmanned aerial vehicle 10 can carry the container device to fly.
Specifically, the preset duration is defined by two time endpoints, such as a time endpoint T1 and a time endpoint T2, and the time period T2-T1 between the time endpoint T2 and the time endpoint T1 is the preset duration.
Specifically, first capacity change information of the liquid may be acquired by the liquid level detection device 12. The first volume change information is the change of the volume of the liquid in the container device in the preset time period. Preferably, the container device is provided with at least two liquid level detection devices 12, and each liquid level detection device 12 is configured to detect liquid level information of the liquid in the container device, and then obtain the first volume change information according to the liquid level information. Preferably, when an even number of the liquid level detection devices 12 are provided, two of the container devices are oppositely arranged along the symmetry axis of the liquid level detection device 12. Therefore, when the container device is irregular or inclined, the liquid level information of different positions in the container device can be measured, it can be understood that the liquid level information of different positions is different, then the liquid level information of different positions is subjected to averaging processing, the obtained averaged liquid level information is more accurate, and further, the first capacity change information obtained according to the liquid level information is more accurate.
Specifically, the flow information may be acquired by a flow detection device 14, and the flow detection device 14 may be a differential pressure type flow meter, a rotor flow meter, a throttling type flow meter, a slit flow meter, a volume flow meter, an electromagnetic flow meter, an ultrasonic flow meter, a turbine flow meter, or the like.
And S22, calculating second volume change information according to the flow information of the liquid within the preset time.
Specifically, the flow information of the liquid within a preset time period is subjected to integral operation to obtain second volume change information of the liquid. Firstly, flow information of each time point in a preset duration is obtained respectively, then the flow information corresponding to each time point is subjected to integral operation, and second volume change information of the liquid is obtained through calculation. For example, the preset time duration includes 5 time points T1, T2, T3, T4 and T5; each time point T1, T2, T3, T4 and T5 corresponds to one flow information v1, v2, v3, v4 and v5, respectively, and then a curve is drawn according to a plurality of formed coordinates (T1, v1), (T2, v12), (T3, v4), (T4, v5) and (T1, v1), and integration operation is further performed to obtain the second capacity change information.
And S23, obtaining correction data according to the first capacity change information and the second capacity change information.
Specifically, the correction data obtained according to the first capacity variation information and the second capacity variation information is a proportional parameter. For example, the first capacity variation information and the second capacity variation information are divided to obtain a correction ratio parameter, and the correction ratio parameter is used as correction data.
And S24, correcting the current flow information according to the correction data.
The current flow information refers to the current flow information, the current flow information is firstly obtained, and then the current flow information is corrected according to the proportional parameter obtained by the first capacity change information and the second capacity change information.
The embodiment of the invention provides a flow correction method, which is characterized in that first volume change information and flow information of liquid in a preset time length are firstly acquired, the liquid is stored in a container device and is sprayed out through the container device, and the unmanned aerial vehicle 10 can fly by carrying the container device; then, calculating second capacity change information according to the flow information of the liquid within a preset time length; and finally, obtaining the corrected current flow information of the correction data according to the first capacity change information and the second capacity change information. With the reciprocating circulation, when the unmanned aerial vehicle 10 is in an environment with vibration or attitude change, the current flow information can be continuously calibrated, so that the error of the current flow information is smaller and smaller, and the purpose of accurate spraying is achieved.
In order to better obtain the first volume change information of the liquid within the preset time period, in some embodiments, referring to fig. 4, the method further includes the following steps:
and S211, calculating the capacity information under each time endpoint.
Specifically, the preset duration is defined by two time endpoints. For example, the time point T1 and the time point T2, and the time period T2-T1 between the time point T2 and the time point T1 is the preset time duration.
Specifically, the container device is provided with at least two liquid level detection devices 12, and each liquid level detection device 12 is used for detecting the liquid level information of the liquid in the container device. The liquid level information of each liquid level detection device 12 at each time end point can be obtained first, and then the capacity information at each time end point can be obtained according to the liquid level information of each liquid level detection device 12 at each time end point.
S212, calculating first volume change information of the liquid according to the volume information of each time endpoint.
Specifically, the respective volume information at the two time endpoints may be subjected to a difference operation to obtain the first volume change information of the liquid. For example, if the volume information corresponding to the time point T1 is V1, and the volume information corresponding to the time point T2 is V2, the first volume change information of the liquid is V2-V1.
For better calculation of capacity information at each of the time endpoints, in some embodiments, referring to fig. 5, S211 includes the following steps:
s2111, acquiring the liquid level information of each liquid level detection device 12 at each time endpoint.
Specifically, liquid level detection device 12 includes gauge outfit, panel board, sensor, gauge rod, float and response magnet, gauge rod one end is connected in the sensor bottom, the sensor is connected on the gauge outfit, the float chain is on the gauge rod, the response magnet is connected at the gauge rod other end. In this embodiment, when the liquid level detection device 12 is provided with an even number, two of the container devices are arranged oppositely along the symmetry axis of the liquid level detection device 12. Thus, when the container device is irregularly shaped or tilted, level information may be measured at different locations within the container device, it being understood that the level information is different at different locations.
For example, at the time point T1, the liquid level information corresponding to different positions of the container device may be obtained as H1, H2, H3, H4, and H5, and then the liquid level information corresponding to different positions of H1, H2, H3, H4, and H5 are averaged to obtain average liquid level information Have1(H1+ H2+ H3+ H4+ H5)/5. The average liquid level information Have1Namely the liquid level information corresponding to the time endpoint T1. For another example, at the time point T2, the liquid level information corresponding to different positions of the container apparatus may be obtained as H1a, H2a, H3a, H4a, and H5a, and then the liquid level information corresponding to different positions of H1a, H2a, H3a, H4a, and H5a are averaged to obtain average liquid level information Have2(H1a + H2a + H3a + H4a + H5 a)/5. The average liquid level information Have2Namely the liquid level information corresponding to the time endpoint T2.
S2112, obtaining the capacity information of each time endpoint according to the liquid level information of each liquid level detection device 12 at each time endpoint.
Specifically, the liquid level information of different positions at each time end point may be obtained first, then the liquid level information of different positions is averaged to obtain average liquid level information, and then the capacity information at the time end point is obtained according to the average liquid level information. Or first obtaining liquid level information of different positions under each time endpoint, then obtaining capacity information corresponding to different positions according to the liquid level information of different positions, and then averaging the capacity information corresponding to different positions to obtain average capacity information, wherein the average capacity information is the capacity information under each time endpoint.
For example, the time point T1 may be obtained first, the liquid level information corresponding to different positions of the container device are respectively H1, H2, H3, H4, and H5, and then the liquid level information H1, H2, H3, H4, and H5 corresponding to different positions are averaged to obtain average liquid level information Have(H1+ H2+ H3+ H4+ H5)/5. Then according to the average liquid level information HaveObtaining corresponding capacity information VaveIf the container device is a cylinder, the volume information Vave＝π(r^2)HaveWherein r is the radius of the bottom surface of the cylindrical capacity device. The capacity information VaveNamely, the capacity information corresponding to the time endpoint T1.
For another example, the time end point T1 may be obtained first, the liquid level information corresponding to different positions of the container device is respectively H1, H2, H3, H4, and H5, then the corresponding capacity information V1, V2, V3, V4, and V5 is obtained according to the liquid level information H1, H2, H3, H4, and H5, and then the average processing is performed on the capacity information corresponding to different positions to obtain the average capacity information V1ave(V1+ V2+ V3+ V4+ V5)/5. The average capacity information VaveNamely, the capacity information corresponding to the time endpoint T1.
In order to better obtain the correction data according to the first capacity variation information and the second capacity variation information, in some embodiments, S23 includes the following steps:
and dividing the first capacity change information and the second capacity change information to obtain a correction proportion parameter, and taking the correction proportion parameter as correction data.
Specifically, for example, first capacity change information △ V1 and second capacity change information △ V2 are divided by the first capacity change information △ V1 and the second capacity change information △ V2 to obtain a correction ratio parameter △ V, and the correction ratio parameter △ V is used as correction data.
In order to better correct the current traffic information according to the correction data to obtain the correction data, in some embodiments, referring to fig. 6, S24 includes the following steps:
and S241, acquiring the current flow information.
Specifically, the current flow rate information of the liquid ejected from the container device can be acquired by the flow rate detection device 14. Specifically, the flow rate detecting device 14 may be a differential pressure type flow meter, a rotor flow meter, a throttle type flow meter, a slit flow meter, a volume flow meter, an electromagnetic flow meter, an ultrasonic flow meter, a turbine flow meter, or the like.
And S242, multiplying the correction proportion parameter and the current flow information to obtain corrected flow information.
Specifically, first, the first capacity change information △ V1 and the second capacity change information △ V2 are divided, then the first capacity change information △ V1 and the second capacity change information △ V2 are divided, a correction proportion parameter △ V is obtained, the correction proportion parameter △ V is used as correction data, and then the current flow information is obtained as VnThen the correction proportion parameter △ is compared with the current flow information vnMultiplying to obtain corrected flow information v ═ vn*△v。
And S243, correcting the current flow information by using the corrected flow information.
Specifically, upon acquisitionCorrected flow information v ═ vn*△ v, the current flow information v is then adjusted by the flow sensing device 14nTo adjust the current traffic information to the corrected traffic information v.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiments of the present application, the embodiments of the present application provide a flow rate correction device. Referring to fig. 7, the flow correction device is applied to the unmanned aerial vehicle 10, and includes: a first capacity variation information acquisition module 71, a second capacity variation information acquisition module 72, a correction data calculation module 73, and a correction module 74.
The first volume change information acquiring module 71 is configured to acquire first volume change information and flow rate information of a liquid stored in a container device and ejected through the container device within a preset time period, and the unmanned aerial vehicle 10 may carry the container device to fly.
The second volume change information acquiring module 72 is configured to calculate second volume change information according to the flow information of the liquid within a preset time period. The second volume change information obtaining module 72 is specifically configured to perform an integral operation on the flow information of the liquid within a preset time period to obtain second volume change information of the liquid.
The correction data calculating module 73 is configured to obtain correction data according to the first capacity change information and the second capacity change information.
The correction module 74 is configured to correct the current flow information according to the correction data. The correction module 74 is specifically configured to perform division operation on the first capacity variation information and the second capacity variation information to obtain a correction ratio parameter, and use the correction ratio parameter as correction data.
Therefore, in the present embodiment, by first acquiring first volume change information and flow rate information of a liquid for a preset time period, the liquid being stored in and ejected through a container device, the unmanned aerial vehicle 10 can fly with the container device; then, calculating second capacity change information according to the flow information of the liquid within a preset time length; and finally, obtaining the corrected current flow information of the correction data according to the first capacity change information and the second capacity change information. With the reciprocating circulation, when the unmanned aerial vehicle 10 is in an environment with vibration or attitude change, the current flow information can be continuously calibrated, so that the error of the current flow information is smaller and smaller, and the purpose of accurate spraying is achieved.
The first capacity change information acquiring module 71 includes a capacity information calculating unit and a first capacity change information calculating unit.
The capacity information calculation unit is used for calculating the capacity information under each time endpoint.
The first volume change information calculation unit is configured to calculate first volume change information of the liquid according to the volume information at each of the time endpoints. The first volume change information calculation unit is specifically configured to perform difference operation on the respective volume information at the two time endpoints to obtain first volume change information of the liquid.
The capacity information calculation unit comprises a liquid level information acquisition subunit and a capacity information calculation subunit.
The liquid level information acquiring subunit is configured to acquire liquid level information of each of the liquid level detection devices 12 at each of the time endpoints.
The capacity information calculating subunit is configured to obtain the capacity information at each time endpoint according to the liquid level information of each liquid level detection device 12 at each time endpoint.
The correction module 74 includes a current flow information obtaining unit, a correction operation unit, and a correction unit.
The current flow information obtaining unit is used for obtaining current flow information.
And the correction operation unit is used for multiplying the correction proportion parameter and the current flow information to obtain corrected flow information.
The correction unit is configured to correct the current traffic information using the corrected traffic information.
Fig. 8 is a schematic structural diagram of an unmanned aerial vehicle 10 according to an embodiment of the present application, where the unmanned aerial vehicle 10 may be any type of unmanned vehicle, and is capable of executing the flow correction method according to the corresponding method embodiment described above, or operating the flow correction device according to the corresponding device embodiment described above. The unmanned aerial vehicle 10 includes: a body, a horn, a power device, a container device, a level detection device, a flow detection device, at least one processor 110, a memory 120, and a communication module 130.
The machine arm is connected with the machine body; the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle 10;
the container device stores liquid, the liquid is sprayed out through the container device, and the unmanned aerial vehicle can fly with the container device.
The liquid level detection device is used for acquiring the liquid level information of the liquid in real time, and the liquid level detection device is arranged on the container device.
The flow detection device is used for acquiring the flow information of the liquid in real time and is connected with the container device.
The processor 110, the memory 120 and the communication module 130 establish a communication connection therebetween by means of a bus.
The processor 110 may be of any type, including a processor 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the flow correction method in the embodiment of the present invention (for example, the first capacity variation information acquiring module 71, the second capacity variation information acquiring module 72, the correction data calculating module 73, and the correction module 74 shown in fig. 7). The processor 110 executes various functional applications and data processing of the flow correction device by executing non-transitory software programs, instructions and modules stored in the memory 120, that is, implements the flow correction method in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the flow rate correction device, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 120 optionally includes memory located remotely from the processor 110, and these remote memories may be connected to the UAV 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one processor 110; the at least one processor 110 is configured to execute the instructions to implement the traffic correction method in any of the method embodiments described above, e.g., to perform method steps 21, 22, 23, 24, etc., described above, to implement the functionality of blocks 71-74 in fig. 7.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors 110, for example, by one processor 110 in fig. 8, and can cause the one or more processors 110 to execute the flow correction method in any of the above method embodiments, for example, execute the above described method steps 21, 22, 23, 24, and so on, to implement the functions of the modules 71 to 74 in fig. 7
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the flow correction method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the flow correction method. For details of the flow correction method provided in the embodiment of the present invention, reference may be made to the following description.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A flow correction method is applied to an unmanned aerial vehicle, and is characterized by comprising the following steps:
acquiring first volume change information and flow information of liquid within a preset time length, wherein the liquid is stored in a container device and is sprayed out through the container device, and the unmanned aerial vehicle can carry the container device to fly;
calculating second capacity change information according to the flow information of the liquid within a preset time length;
obtaining correction data according to the first capacity change information and the second capacity change information;
and correcting the current flow information according to the correction data.
2. The method of claim 1, wherein the preset time period is defined by two time endpoints, and the obtaining the first volume change information of the liquid in the preset time period comprises:
calculating capacity information under each time endpoint;
and calculating first volume change information of the liquid according to the volume information under each time endpoint.
3. The method of claim 2, wherein said calculating first volume change information for said liquid from volume information at each of said time endpoints comprises:
and performing difference operation on the respective volume information under the two time endpoints to obtain first volume change information of the liquid.
4. The method of claim 2, wherein the container device is provided with at least two liquid level detection devices, each for detecting liquid level information of the liquid within the container device, and wherein the calculating of the volume information at each of the time endpoints comprises:
acquiring liquid level information of each liquid level detection device at each time endpoint;
and obtaining the capacity information of each time endpoint according to the liquid level information of each liquid level detection device at each time endpoint.
5. The method according to claim 2, wherein the calculating the second volume change information according to the flow information of the liquid for the preset time period comprises:
and performing integral operation on the flow information of the liquid within a preset time length to obtain second volume change information of the liquid.
6. The method according to claim 1, wherein obtaining correction data according to the first capacity variation information and the second capacity variation information comprises:
and dividing the first capacity change information and the second capacity change information to obtain a correction proportion parameter, and taking the correction proportion parameter as correction data.
7. The method of any of claims 1-6, wherein said calibrating said flow meter based on said calibration data comprises:
acquiring current flow information;
multiplying the correction proportion parameter and the current flow information to obtain corrected flow information;
and correcting the current flow information by using the corrected flow information.
8. A flow correction device is applied to an unmanned aerial vehicle and is characterized by comprising:
the first volume change information acquisition module is used for acquiring first volume change information and flow information of liquid within a preset time length;
the second capacity change information acquisition module is used for calculating second capacity change information according to the flow information of the liquid within a preset time length;
the correction data calculation module is used for obtaining correction data according to the first capacity change information and the second capacity change information;
and the correction module is used for correcting the current flow information according to the correction data.
9. The device according to claim 8, wherein the correction module comprises a current flow information acquisition unit, a correction operation unit and a correction unit;
the current flow information acquisition unit is used for acquiring current flow information;
the correction operation unit is used for multiplying the correction proportion parameter and the current flow information to obtain corrected flow information;
the correction unit is configured to correct the current traffic information using the corrected traffic information.
10. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a container device in which a liquid is stored, the liquid being ejected through the container device, the unmanned aerial vehicle being capable of flying with the container device;
the liquid level detection device is used for acquiring liquid level information of the liquid in real time and is arranged on the container device;
the flow detection device is used for acquiring flow information of the liquid in real time and is connected with the container device;
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the flow correction method of any one of claims 1-7.
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| CN201911007387.2A CN110686760A (en) | 2019-10-22 | 2019-10-22 | Flow correction method and device and unmanned aerial vehicle |
| PCT/CN2020/122915 WO2021078206A1 (en) | 2019-10-22 | 2020-10-22 | Flow correction method and device and unmanned aerial vehicle |
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| CN201911007387.2A CN110686760A (en) | 2019-10-22 | 2019-10-22 | Flow correction method and device and unmanned aerial vehicle |
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| CN112556801A (en) * | 2020-11-30 | 2021-03-26 | 珠海格力智能装备有限公司 | Liquid level sensor correction method and device and urea machine |
| WO2021078206A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Flow correction method and device and unmanned aerial vehicle |
| WO2022266879A1 (en) * | 2021-06-23 | 2022-12-29 | 深圳市大疆创新科技有限公司 | Fault detection method and apparatus for plant protection system, and movable platform and storage medium |
| CN116698139A (en) * | 2023-06-13 | 2023-09-05 | 西尼尔(南京)过程控制有限公司 | A flow monitoring and analysis method for filling electromagnetic flowmeter |
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| CN117516671B (en) * | 2024-01-05 | 2024-04-09 | 中国航空油料有限责任公司成都分公司 | Mobile standard device for calibrating flowmeter of aircraft fuelling vehicle |
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| WO2021078206A1 (en) | 2021-04-29 |
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