CN109933079B - Unmanned aerial vehicle pesticide spraying flow monitoring method - Google Patents
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Abstract
The invention discloses a method for monitoring pesticide spraying flow of an unmanned aerial vehicle, which comprises the steps of storing the flight state of the unmanned aerial vehicle in the previous stage, receiving the flight state of the unmanned aerial vehicle in the current stage, and comparing the flight state of the unmanned aerial vehicle in the previous stage with the flight state in the current stage to determine whether the flight state of the unmanned aerial vehicle is adjusted or not; storing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage, and receiving the front flow state of the liquid outlet of the unmanned aerial vehicle at the current stage; whether the flow at the current outlet is adjusted or not is determined by comparing the flow state at the liquid outlet at the previous stage of the unmanned aerial vehicle with the flow state at the liquid outlet at the current stage; determining the current flow value of pesticide spraying of the unmanned aerial vehicle according to whether the current flight state of the unmanned aerial vehicle is adjusted, whether the current flow before the outlet is adjusted and whether the current flow at the outlet is adjusted; the relationship between the flight state of the unmanned aerial vehicle and the current flow can be judged; the current flow value sprayed by the unmanned aerial vehicle can be determined according to the actual conditions of the interior of the spraying pipe and the nozzle of the spraying pipe.
Description
Technical Field
The invention relates to the technical field of pesticide spraying of unmanned aerial vehicles, in particular to a method for monitoring pesticide spraying flow of an unmanned aerial vehicle.
Background
Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.
Pesticides are broadly defined as chemical synthesis or a substance or a mixture of substances derived from organisms, other natural products and applied biotechnology for preventing, killing or controlling diseases, insects, grasses and other harmful organisms which damage agriculture and forestry and for purposefully regulating, controlling and influencing the metabolic, growth, development and reproduction processes of plants and harmful organisms, and preparations thereof. In the narrow sense, the term refers to a general name of the pesticide used for killing pests, bacteria and harmful animals (or weeds) in agricultural production in order to guarantee and promote the growth of plants and crops. In particular to agricultural agents for preventing and controlling diseases and pests, regulating plant growth, weeding and the like.
Because pesticide direct contact can lead to the fact the injury to the human body inevitably, and this phenomenon has been fine avoided in the appearance of unmanned aerial vehicle, consequently, the benefit of utilizing unmanned aerial vehicle to carry out pesticide spraying is self-evident, and the real-time supervision effect to unmanned aerial vehicle spraying pesticide flow is very poor at the in-process that the pesticide sprays, like in the middle of application number N201610242942.X unmanned aerial vehicle sprays flow detection method and device, introduced and utilized non-contact revolution speed sensor to carry out the acquisition method of flow, often have following shortcoming:
firstly, the relationship between the flight state of the unmanned aerial vehicle and the current flow cannot be judged; secondly, the current flow value sprayed by the unmanned aerial vehicle cannot be determined according to the actual conditions of the interior of the spraying pipe and the nozzle of the spraying pipe; thirdly, whether the spraying pipe orifice breaks down or not can not be judged according to the environmental factors faced by the current unmanned aerial vehicle.
Disclosure of Invention
Aiming at the problems, the invention provides a method for monitoring pesticide spraying flow of an unmanned aerial vehicle, which can judge the relation between the flight state of the unmanned aerial vehicle and the current flow; the current flow value sprayed by the unmanned aerial vehicle can be determined according to the actual conditions in the spraying pipe and at the nozzle of the spraying pipe; can judge whether spray the mouth of pipe break down according to the environmental factor that current unmanned aerial vehicle faces, can effectively solve the problem in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle pesticide spraying flow monitoring method comprises
Storing the flight state of the unmanned aerial vehicle in the previous stage, receiving the flight state of the unmanned aerial vehicle in the current stage, and comparing the flight state of the unmanned aerial vehicle in the previous stage with the flight state of the unmanned aerial vehicle in the current stage to determine whether the flight state of the unmanned aerial vehicle is adjusted or not;
storing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage, receiving the front flow state of the liquid outlet of the unmanned aerial vehicle at the current stage, and comparing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage with the front flow state of the liquid outlet of the current stage to determine whether the current front flow of the liquid outlet is adjusted;
storing the flow state of the liquid outlet at the previous stage of the unmanned aerial vehicle, receiving the flow state of the liquid outlet at the current stage of the unmanned aerial vehicle, and comparing the flow state of the liquid outlet at the previous stage of the unmanned aerial vehicle with the flow state of the liquid outlet at the current stage to determine whether the flow at the current outlet is adjusted;
and determining the current flow value of pesticide spraying of the unmanned aerial vehicle through whether the current flight state of the unmanned aerial vehicle is adjusted, whether the current flow before the outlet is adjusted and whether the current flow during the outlet is adjusted.
As a preferred technical solution of the present invention, a method for determining whether the flight status of the current unmanned aerial vehicle is adjusted is:
a, setting a time interval; recording the flight state of the unmanned aerial vehicle in the time interval, comparing the flight state with the set flight state to determine whether the flight state of the unmanned aerial vehicle recorded in the time interval is normal or not, if not, giving an alarm, and if so, storing the flight state of the unmanned aerial vehicle in the time interval as the flight state of the unmanned aerial vehicle in the previous stage;
a, directly recording the flight state of the unmanned aerial vehicle in the next same time interval, and recording the flight state as the current-stage flight state of the unmanned aerial vehicle;
step A, comparing the flying state of the unmanned aerial vehicle in the previous stage stored in two adjacent same time intervals with the flying state of the unmanned aerial vehicle in the current stage, wherein the flying state comprises the flying speed and the flying inclination of the unmanned aerial vehicle; comparing the flight speeds and the flight gradients of the unmanned aerial vehicle in the previous stage and the current stage one by one, if any difference between the flight speeds and the flight gradients is larger than a corresponding set threshold value, indicating that the flight state of the unmanned aerial vehicle is adjusted, otherwise, determining that the flight state of the unmanned aerial vehicle is not adjusted;
step A, if the current-stage flight state of the unmanned aerial vehicle is compared with the currently set flight state, alarming is carried out if abnormality occurs, if the current-stage flight state of the unmanned aerial vehicle is normal, the current-stage flight state of the unmanned aerial vehicle is stored as the previous-stage flight state of the unmanned aerial vehicle, and the second step A is returned;
the method for determining whether the current flow before the outlet is adjusted comprises the following steps:
b, setting a time interval; recording the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval, comparing the pesticide flow value with the set spray flow value to determine whether the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval is normal or not, if not, alarming, and if so, storing the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval as the liquid outlet front flow state of the unmanned aerial vehicle in the previous stage;
b, directly recording the pesticide flow value state of the spraying pipe of the unmanned aerial vehicle before the spraying outlet in the next same time interval, and recording the pesticide flow value state as the liquid outlet flow state of the unmanned aerial vehicle at the current stage;
step B, comparing the flow state before the outlet of the unmanned aerial vehicle in the previous stage and the flow state before the outlet of the unmanned aerial vehicle in the current stage, which are stored in two adjacent same time intervals, wherein the flow state before the outlet comprises the flow value in the spraying pipe of the unmanned aerial vehicle and the weight value of the liquid in the spraying storage box of the unmanned aerial vehicle; comparing the flow values in the spraying pipes of the previous stage and the current stage of the unmanned aerial vehicle with the liquid weight values of the spraying storage box of the unmanned aerial vehicle one by one, if any one of the flow values in the spraying pipes and the liquid weight values of the spraying storage box of the unmanned aerial vehicle is greater than a corresponding set threshold value after being differed, indicating that the flow is adjusted before the current outlet, otherwise, determining that the flow is not adjusted;
step B, if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is compared with the flow state before the liquid outlet set currently, alarming is carried out if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is abnormal, if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is normal, the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is stored as the flow state before the liquid outlet of the unmanned aerial vehicle at the previous stage, and the flow state returns to the step B;
the method for determining whether the flow is adjusted at the current outlet comprises the following steps:
step C, setting a time interval; recording the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet in the time interval, comparing the pesticide flow value with the set spraying flow value to determine whether the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet recorded in the time interval is normal or not, if not, alarming, and if so, storing the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet in the time interval as the flow state of the liquid at the previous stage of the unmanned aerial vehicle at the outlet;
directly recording the pesticide flow value state of the spraying pipe of the unmanned aerial vehicle at a spraying outlet in the next same time interval, and recording the pesticide flow value state as the liquid outlet flow state of the unmanned aerial vehicle at the current stage;
step C, comparing the flow state at the outlet of the unmanned aerial vehicle in the previous stage stored in two adjacent same time intervals with the flow state at the outlet of the unmanned aerial vehicle in the current stage, wherein the flow state at the outlet comprises the pressure difference (internal liquid pressure-wind speed pressure born outside the outlet) and the flow value at the outlet of a spraying pipe of the unmanned aerial vehicle; comparing the pressure difference at the outlets of the spraying pipes and the flow values at the outlets of the spraying pipes in the previous stage and the current stage of the unmanned aerial vehicle one by one, and if any one of the pressure difference at the outlets of the spraying pipes and the flow values at the outlets of the spraying pipes is greater than a corresponding set threshold value after the difference is made, indicating that the flow at the current outlet is adjusted, otherwise, determining that the flow is not adjusted;
and C, if the flow state of the unmanned aerial vehicle at the current stage of the liquid outlet is compared with the flow state of the unmanned aerial vehicle at the current set liquid outlet, alarming if the flow state is abnormal, and if the flow state is normal, storing the flight state of the unmanned aerial vehicle at the current stage into the flow state of the unmanned aerial vehicle at the previous stage of the liquid outlet, and returning to the step C.
As a preferred technical scheme of the invention, the flow state at the outlet comprises that the calculation mode of the pressure difference at the outlet of the spraying pipe of the unmanned aerial vehicle is the absolute value of the pressure difference between the internal liquid pressure and the wind speed born outside the outlet.
As a preferable technical scheme, the specific step of determining the flow value of pesticide spraying of the current unmanned aerial vehicle comprises
The method comprises the steps of firstly, determining whether the flow at the current outlet is adjusted or not, and if not, determining that the flow at the current outlet is the unmanned aerial vehicle flow; if so, entering the second step;
secondly, determining whether the current flow before the outlet is adjusted, if so, entering a third step, and if not, entering a fourth step;
comparing the current outlet flow with the current outlet flow, calculating whether the absolute value of the difference between the current outlet flow and the current outlet flow is greater than a set threshold, if the difference between the current outlet flow and the current outlet flow is not greater than the set threshold, determining that the current outlet flow is the unmanned aerial vehicle flow, and if the difference between the current outlet flow and the current outlet flow is greater than the set threshold, entering the fourth step;
fourthly, determining whether the current flight state of the unmanned aerial vehicle is adjusted, and if so, determining the current flow of the unmanned aerial vehicle according to the current flight real-time state of the unmanned aerial vehicle; and if not, determining that the current outlet front flow is the unmanned aerial vehicle flow, and judging whether the current flow outlet breaks down according to the current outlet time flow state.
As a preferred technical scheme, the method for determining the current unmanned aerial vehicle flow according to the current unmanned aerial vehicle flight real-time state comprises the following steps
Calculating the current flight speed and inclination of the unmanned aerial vehicle and the wind speed pressure borne by the exterior of the spraying pipe orifice, wherein the flight speed and inclination of the unmanned aerial vehicle and the wind speed pressure borne by the exterior of the spraying pipe orifice both exceed set thresholds, determining the current flow at the current outlet as the current unmanned aerial vehicle flow, and otherwise determining the current flow before the current outlet as the current unmanned aerial vehicle flow;
the method for judging whether the current flow outlet has a fault according to the current flow state at the outlet comprises the following steps
And calculating the wind speed pressure borne by the outside of the spraying pipe orifice when the outlet is formed, if the wind speed pressure borne by the outside of the spraying pipe orifice does not exceed the set wind speed threshold, judging that the current flow outlet is failed, and otherwise, judging that the current flow outlet is not failed.
Compared with the prior art, the invention has the beneficial effects that: the relationship between the flight state of the unmanned aerial vehicle and the current flow can be judged; the current flow value sprayed by the unmanned aerial vehicle can be determined according to the actual conditions in the spraying pipe and at the nozzle of the spraying pipe; whether the spraying pipe orifice breaks down can be judged according to the environmental factors faced by the unmanned aerial vehicle at present.
Drawings
FIG. 1 is a block diagram of data reception according to the present invention;
fig. 2 is a block diagram of the work flow of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
referring to fig. 1 and fig. 2, the present invention provides a technical solution: an unmanned aerial vehicle pesticide spraying flow monitoring method comprises
Storing the flight state of the unmanned aerial vehicle in the previous stage, receiving the flight state of the unmanned aerial vehicle in the current stage, and comparing the flight state of the unmanned aerial vehicle in the previous stage with the flight state of the unmanned aerial vehicle in the current stage to determine whether the flight state of the unmanned aerial vehicle is adjusted or not;
storing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage, receiving the front flow state of the liquid outlet of the unmanned aerial vehicle at the current stage, and comparing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage with the front flow state of the liquid outlet of the current stage to determine whether the current front flow of the liquid outlet is adjusted;
storing the flow state of the liquid outlet at the previous stage of the unmanned aerial vehicle, receiving the flow state of the liquid outlet at the current stage of the unmanned aerial vehicle, and comparing the flow state of the liquid outlet at the previous stage of the unmanned aerial vehicle with the flow state of the liquid outlet at the current stage to determine whether the flow at the current outlet is adjusted;
and determining the current flow value of pesticide spraying of the unmanned aerial vehicle through whether the current flight state of the unmanned aerial vehicle is adjusted, whether the current flow before the outlet is adjusted and whether the current flow during the outlet is adjusted.
As a preferred technical solution of the present invention, a method for determining whether the flight status of the current unmanned aerial vehicle is adjusted is:
a, setting a time interval; recording the flight state of the unmanned aerial vehicle in the time interval, comparing the flight state with the set flight state to determine whether the flight state of the unmanned aerial vehicle recorded in the time interval is normal or not, if not, giving an alarm, and if so, storing the flight state of the unmanned aerial vehicle in the time interval as the flight state of the unmanned aerial vehicle in the previous stage;
a, directly recording the flight state of the unmanned aerial vehicle in the next same time interval, and recording the flight state as the current-stage flight state of the unmanned aerial vehicle;
step A, comparing the flying state of the unmanned aerial vehicle in the previous stage stored in two adjacent same time intervals with the flying state of the unmanned aerial vehicle in the current stage, wherein the flying state comprises the flying speed and the flying inclination of the unmanned aerial vehicle; comparing the flight speeds and the flight gradients of the unmanned aerial vehicle in the previous stage and the current stage one by one, if any difference between the flight speeds and the flight gradients is larger than a corresponding set threshold value, indicating that the flight state of the unmanned aerial vehicle is adjusted, otherwise, determining that the flight state of the unmanned aerial vehicle is not adjusted;
step A, if the current-stage flight state of the unmanned aerial vehicle is compared with the currently set flight state, alarming is carried out if abnormality occurs, if the current-stage flight state of the unmanned aerial vehicle is normal, the current-stage flight state of the unmanned aerial vehicle is stored as the previous-stage flight state of the unmanned aerial vehicle, and the second step A is returned;
the method for determining whether the current flow before the outlet is adjusted comprises the following steps:
b, setting a time interval; recording the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval, comparing the pesticide flow value with the set spray flow value to determine whether the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval is normal or not, if not, alarming, and if so, storing the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval as the liquid outlet front flow state of the unmanned aerial vehicle in the previous stage;
b, directly recording the pesticide flow value state of the spraying pipe of the unmanned aerial vehicle before the spraying outlet in the next same time interval, and recording the pesticide flow value state as the liquid outlet flow state of the unmanned aerial vehicle at the current stage;
step B, comparing the flow state before the outlet of the unmanned aerial vehicle in the previous stage and the flow state before the outlet of the unmanned aerial vehicle in the current stage, which are stored in two adjacent same time intervals, wherein the flow state before the outlet comprises the flow value in the spraying pipe of the unmanned aerial vehicle and the weight value of the liquid in the spraying storage box of the unmanned aerial vehicle; comparing the flow values in the spraying pipes of the previous stage and the current stage of the unmanned aerial vehicle with the liquid weight values of the spraying storage box of the unmanned aerial vehicle one by one, if any one of the flow values in the spraying pipes and the liquid weight values of the spraying storage box of the unmanned aerial vehicle is greater than a corresponding set threshold value after being differed, indicating that the flow is adjusted before the current outlet, otherwise, determining that the flow is not adjusted;
step B, if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is compared with the flow state before the liquid outlet set currently, alarming is carried out if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is abnormal, if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is normal, the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is stored as the flow state before the liquid outlet of the unmanned aerial vehicle at the previous stage, and the flow state returns to the step B;
the method for determining whether the flow is adjusted at the current outlet comprises the following steps:
step C, setting a time interval; recording the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet in the time interval, comparing the pesticide flow value with the set spraying flow value to determine whether the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet recorded in the time interval is normal or not, if not, alarming, and if so, storing the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet in the time interval as the flow state of the liquid at the previous stage of the unmanned aerial vehicle at the outlet;
directly recording the pesticide flow value state of the spraying pipe of the unmanned aerial vehicle at a spraying outlet in the next same time interval, and recording the pesticide flow value state as the liquid outlet flow state of the unmanned aerial vehicle at the current stage;
step C, comparing the flow state at the outlet of the unmanned aerial vehicle in the previous stage stored in two adjacent same time intervals with the flow state at the outlet of the unmanned aerial vehicle in the current stage, wherein the flow state at the outlet comprises the pressure difference (internal liquid pressure-wind speed pressure born outside the outlet) and the flow value at the outlet of a spraying pipe of the unmanned aerial vehicle; comparing the pressure difference at the outlets of the spraying pipes and the flow values at the outlets of the spraying pipes in the previous stage and the current stage of the unmanned aerial vehicle one by one, and if any one of the pressure difference at the outlets of the spraying pipes and the flow values at the outlets of the spraying pipes is greater than a corresponding set threshold value after the difference is made, indicating that the flow at the current outlet is adjusted, otherwise, determining that the flow is not adjusted;
and C, if the flow state of the unmanned aerial vehicle at the current stage of the liquid outlet is compared with the flow state of the unmanned aerial vehicle at the current set liquid outlet, alarming if the flow state is abnormal, and if the flow state is normal, storing the flight state of the unmanned aerial vehicle at the current stage into the flow state of the unmanned aerial vehicle at the previous stage of the liquid outlet, and returning to the step C.
As a preferred technical scheme of the invention, the flow state at the outlet comprises that the calculation mode of the pressure difference at the outlet of the spraying pipe of the unmanned aerial vehicle is the absolute value of the pressure difference between the internal liquid pressure and the wind speed born outside the outlet.
As a preferable technical scheme, the specific step of determining the flow value of pesticide spraying of the current unmanned aerial vehicle comprises
The method comprises the steps of firstly, determining whether the flow at the current outlet is adjusted or not, and if not, determining that the flow at the current outlet is the unmanned aerial vehicle flow; if so, entering the second step;
secondly, determining whether the current flow before the outlet is adjusted, if so, entering a third step, and if not, entering a fourth step;
comparing the current outlet flow with the current outlet flow, calculating whether the absolute value of the difference between the current outlet flow and the current outlet flow is greater than a set threshold, if the difference between the current outlet flow and the current outlet flow is not greater than the set threshold, determining that the current outlet flow is the unmanned aerial vehicle flow, and if the difference between the current outlet flow and the current outlet flow is greater than the set threshold, entering the fourth step;
fourthly, determining whether the current flight state of the unmanned aerial vehicle is adjusted, and if so, determining the current flow of the unmanned aerial vehicle according to the current flight real-time state of the unmanned aerial vehicle; and if not, determining that the current outlet front flow is the unmanned aerial vehicle flow, and judging whether the current flow outlet breaks down according to the current outlet time flow state.
As a preferred technical scheme, the method for determining the current unmanned aerial vehicle flow according to the current unmanned aerial vehicle flight real-time state comprises the following steps
Calculating the current flight speed and inclination of the unmanned aerial vehicle and the wind speed pressure borne by the exterior of the spraying pipe orifice, wherein the flight speed and inclination of the unmanned aerial vehicle and the wind speed pressure borne by the exterior of the spraying pipe orifice both exceed set thresholds, determining the current flow at the current outlet as the current unmanned aerial vehicle flow, and otherwise determining the current flow before the current outlet as the current unmanned aerial vehicle flow;
the method for judging whether the current flow outlet has a fault according to the current flow state at the outlet comprises the following steps
And calculating the wind speed pressure borne by the outside of the spraying pipe orifice when the outlet is formed, if the wind speed pressure borne by the outside of the spraying pipe orifice does not exceed the set wind speed threshold, judging that the current flow outlet is failed, and otherwise, judging that the current flow outlet is not failed.
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.
Claims (5)
1. An unmanned aerial vehicle pesticide spraying flow monitoring method is characterized by comprising
Storing the flight state of the unmanned aerial vehicle in the previous stage, receiving the flight state of the unmanned aerial vehicle in the current stage, and comparing the flight state of the unmanned aerial vehicle in the previous stage with the flight state of the unmanned aerial vehicle in the current stage to determine whether the flight state of the unmanned aerial vehicle is adjusted or not;
storing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage, receiving the front flow state of the liquid outlet of the unmanned aerial vehicle at the current stage, and comparing the front flow state of the liquid outlet of the unmanned aerial vehicle at the previous stage with the front flow state of the liquid outlet of the current stage to determine whether the current front flow of the liquid outlet is adjusted;
storing the flow state of the liquid outlet at the previous stage of the unmanned aerial vehicle, receiving the flow state of the liquid outlet at the current stage of the unmanned aerial vehicle, and comparing the flow state of the liquid outlet at the previous stage of the unmanned aerial vehicle with the flow state of the liquid outlet at the current stage to determine whether the flow at the current outlet is adjusted;
and determining the current flow value of pesticide spraying of the unmanned aerial vehicle through whether the current flight state of the unmanned aerial vehicle is adjusted, whether the current flow before the outlet is adjusted and whether the current flow during the outlet is adjusted.
2. The unmanned aerial vehicle pesticide spraying flow monitoring method according to claim 1, characterized in that:
the method for determining whether the current flight state of the unmanned aerial vehicle is adjusted comprises the following steps:
a, setting a time interval; recording the flight state of the unmanned aerial vehicle in the time interval, comparing the flight state with the set flight state to determine whether the flight state of the unmanned aerial vehicle recorded in the time interval is normal or not, if not, giving an alarm, and if so, storing the flight state of the unmanned aerial vehicle in the time interval as the flight state of the unmanned aerial vehicle in the previous stage;
a, directly recording the flight state of the unmanned aerial vehicle in the next same time interval, and recording the flight state as the current-stage flight state of the unmanned aerial vehicle;
step A, comparing the flying state of the unmanned aerial vehicle in the previous stage stored in two adjacent same time intervals with the flying state of the unmanned aerial vehicle in the current stage, wherein the flying state comprises the flying speed and the flying inclination of the unmanned aerial vehicle; comparing the flight speeds and the flight gradients of the unmanned aerial vehicle in the previous stage and the current stage one by one, if any difference between the flight speeds and the flight gradients is larger than a corresponding set threshold value, indicating that the flight state of the unmanned aerial vehicle is adjusted, otherwise, determining that the flight state of the unmanned aerial vehicle is not adjusted;
step A, if the current-stage flight state of the unmanned aerial vehicle is compared with the currently set flight state, alarming is carried out if abnormality occurs, if the current-stage flight state of the unmanned aerial vehicle is normal, the current-stage flight state of the unmanned aerial vehicle is stored as the previous-stage flight state of the unmanned aerial vehicle, and the second step A is returned;
the method for determining whether the current flow before the outlet is adjusted comprises the following steps:
b, setting a time interval; recording the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval, comparing the pesticide flow value with the set spray flow value to determine whether the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval is normal or not, if not, alarming, and if so, storing the pesticide flow value of the unmanned aerial vehicle spray pipe in front of the spray outlet in the time interval as the liquid outlet front flow state of the unmanned aerial vehicle in the previous stage;
b, directly recording the pesticide flow value state of the spraying pipe of the unmanned aerial vehicle before the spraying outlet in the next same time interval, and recording the pesticide flow value state as the liquid outlet flow state of the unmanned aerial vehicle at the current stage;
step B, comparing the flow state before the outlet of the unmanned aerial vehicle in the previous stage and the flow state before the outlet of the unmanned aerial vehicle in the current stage, which are stored in two adjacent same time intervals, wherein the flow state before the outlet comprises the flow value in the spraying pipe of the unmanned aerial vehicle and the weight value of the liquid in the spraying storage box of the unmanned aerial vehicle; comparing the flow values in the spraying pipes of the previous stage and the current stage of the unmanned aerial vehicle with the liquid weight values of the spraying storage box of the unmanned aerial vehicle one by one, if any one of the flow values in the spraying pipes and the liquid weight values of the spraying storage box of the unmanned aerial vehicle is greater than a corresponding set threshold value after being differed, indicating that the flow is adjusted before the current outlet, otherwise, determining that the flow is not adjusted;
step B, if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is compared with the flow state before the liquid outlet set currently, alarming is carried out if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is abnormal, if the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is normal, the flow state before the liquid outlet of the unmanned aerial vehicle at the current stage is stored as the flow state before the liquid outlet of the unmanned aerial vehicle at the previous stage, and the flow state returns to the step B;
the method for determining whether the flow is adjusted at the current outlet comprises the following steps:
step C, setting a time interval; recording the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet in the time interval, comparing the pesticide flow value with the set spraying flow value to determine whether the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet recorded in the time interval is normal or not, if not, alarming, and if so, storing the pesticide flow value of the spraying pipe of the unmanned aerial vehicle at the spraying outlet in the time interval as the flow state of the liquid at the previous stage of the unmanned aerial vehicle at the outlet;
directly recording the pesticide flow value state of the spraying pipe of the unmanned aerial vehicle at a spraying outlet in the next same time interval, and recording the pesticide flow value state as the liquid outlet flow state of the unmanned aerial vehicle at the current stage;
step C, comparing the flow state at the outlet of the unmanned aerial vehicle in the previous stage stored in two adjacent same time intervals with the flow state at the outlet of the unmanned aerial vehicle in the current stage, wherein the flow state at the outlet comprises the pressure difference and the flow value at the outlet of a spraying pipe of the unmanned aerial vehicle; comparing the pressure difference at the outlets of the spraying pipes and the flow values at the outlets of the spraying pipes in the previous stage and the current stage of the unmanned aerial vehicle one by one, and if any one of the pressure difference at the outlets of the spraying pipes and the flow values at the outlets of the spraying pipes is greater than a corresponding set threshold value after the difference is made, indicating that the flow at the current outlet is adjusted, otherwise, determining that the flow is not adjusted;
and C, if the flow state of the unmanned aerial vehicle at the current stage of the liquid outlet is compared with the flow state of the unmanned aerial vehicle at the current set liquid outlet, alarming if the flow state is abnormal, and if the flow state is normal, storing the flight state of the unmanned aerial vehicle at the current stage into the flow state of the unmanned aerial vehicle at the previous stage of the liquid outlet, and returning to the step C.
3. The unmanned aerial vehicle pesticide spraying flow monitoring method according to claim 2, characterized in that: the flow state during the export includes that the difference in pressure calculation mode of unmanned aerial vehicle's spray pipe exit is the absolute value of the inside liquid pressure and the outside wind speed pressure difference that bears in exit.
4. The unmanned aerial vehicle pesticide spraying flow monitoring method according to claim 1 or 2, characterized in that: the specific steps for determining the flow value of pesticide spraying of the current unmanned aerial vehicle comprise
The method comprises the steps of firstly, determining whether the flow at the current outlet is adjusted or not, and if not, determining that the flow at the current outlet is the unmanned aerial vehicle flow; if so, entering the second step;
secondly, determining whether the current flow before the outlet is adjusted, if so, entering a third step, and if not, entering a fourth step;
comparing the current outlet flow with the current outlet flow, calculating whether the absolute value of the difference between the current outlet flow and the current outlet flow is greater than a set threshold, if the difference between the current outlet flow and the current outlet flow is not greater than the set threshold, determining that the current outlet flow is the unmanned aerial vehicle flow, and if the difference between the current outlet flow and the current outlet flow is greater than the set threshold, entering the fourth step;
fourthly, determining whether the current flight state of the unmanned aerial vehicle is adjusted, and if so, determining the current flow of the unmanned aerial vehicle according to the current flight real-time state of the unmanned aerial vehicle; and if not, determining that the current outlet front flow is the unmanned aerial vehicle flow, and judging whether the current flow outlet breaks down according to the current outlet time flow state.
5. The unmanned aerial vehicle pesticide spraying flow monitoring method according to claim 4, characterized in that:
the method for determining the current unmanned aerial vehicle flow according to the current unmanned aerial vehicle flight real-time state comprises the following steps
Calculating the current flight speed and inclination of the unmanned aerial vehicle and the wind speed pressure borne by the exterior of the spraying pipe orifice, wherein the flight speed and inclination of the unmanned aerial vehicle and the wind speed pressure borne by the exterior of the spraying pipe orifice both exceed set thresholds, determining the current flow at the current outlet as the current unmanned aerial vehicle flow, and otherwise determining the current flow before the current outlet as the current unmanned aerial vehicle flow;
the method for judging whether the current flow outlet has a fault according to the current flow state at the outlet comprises the following steps
And calculating the wind speed pressure borne by the outside of the spraying pipe orifice when the outlet is formed, if the wind speed pressure borne by the outside of the spraying pipe orifice does not exceed the set wind speed threshold, judging that the current flow outlet is failed, and otherwise, judging that the current flow outlet is not failed.
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