阅读说明：本技术 无人机上容器内液位的检测方法、装置、设备及介质 (Method, device, equipment and medium for detecting liquid level in container on unmanned aerial vehicle ) 是由 王飞 戴源远 于 2020-06-29 设计创作，主要内容包括：本发明实施例公开了一种无人机上容器内液位的检测方法、装置、设备及介质。该方法包括：在无人机上通过目标容器运载的待喷洒液体被喷洒时,飞行控制器实时获取目标液位检测装置的当前时刻电阻值；其中,目标液位检测装置由目标容器的顶部插入目标容器内,用于检测目标容器内待喷洒液体的液位；目标液位检测装置包括：导杆、套设于所述导杆上的磁浮球,所述导杆内设置有电路板,所述电路板上集成有由电阻模组形成的多个电阻网络；飞行控制器根据当前时刻电阻值查询与目标容器匹配的阻值液位映射关系,确定目标容器内待喷洒液体的当前时刻剩余量。上述技术方案中实现了对无人机上容器内液位的连续检测。(The embodiment of the invention discloses a method, a device, equipment and a medium for detecting liquid level in a container on an unmanned aerial vehicle. The method comprises the following steps: when liquid to be sprayed, which is carried by a target container on an unmanned aerial vehicle, is sprayed, a flight controller acquires a current moment resistance value of a target liquid level detection device in real time; the target liquid level detection device is inserted into the target container from the top of the target container and is used for detecting the liquid level of liquid to be sprayed in the target container; the target liquid level detection apparatus includes: the magnetic floating ball is sleeved on the guide rod, a circuit board is arranged in the guide rod, and a plurality of resistor networks formed by resistor modules are integrated on the circuit board; and the flight controller inquires a resistance value liquid level mapping relation matched with the target container according to the resistance value at the current moment, and determines the residual amount of the liquid to be sprayed in the target container at the current moment. Realized among the above-mentioned technical scheme the continuous detection to liquid level in the unmanned aerial vehicle last container.)

1. The utility model provides a detection method of liquid level in last container of unmanned aerial vehicle which characterized in that includes:

when liquid to be sprayed, which is carried by a target container on an unmanned aerial vehicle, is sprayed, a flight controller acquires a current moment resistance value of a target liquid level detection device in real time;

the target liquid level detection device is inserted into the target container from the top of the target container and is used for detecting the liquid level of the liquid to be sprayed in the target container; the target liquid level detection device includes: the magnetic floating ball is sleeved on the guide rod, a circuit board is arranged in the guide rod, and a plurality of resistor networks formed by resistor modules are integrated on the circuit board;

and the flight controller inquires a resistance value liquid level mapping relation matched with the target container according to the current resistance value and determines the current residual quantity of the liquid to be sprayed in the target container.

2. The method of claim 1, wherein the resistance level map is linear when the target container is a regular container.

3. The method of claim 1, wherein the flight controller queries a resistance level mapping relationship matched to the target container according to the current time resistance value, comprising:

the flight controller acquires a real-time flight inclination angle of the unmanned aerial vehicle;

and the flight controller inquires a resistance value liquid level mapping relation matched with the target container and the flight inclination angle according to the current resistance value.

4. The method according to any one of claims 1 to 3, wherein the flight controller queries a resistance value liquid level mapping relation matched with the target container according to the current-time resistance value to determine the current-time residual amount of the liquid to be sprayed in the target container, and comprises the following steps:

the flight controller inquires a resistance value liquid level mapping relation matched with the target container according to the current resistance value;

if the target liquid amount corresponding to the current-time resistance value exists in the resistance value liquid level mapping relation, the flight controller takes the target liquid amount as the current-time residual amount of the liquid to be sprayed in the target container;

if the target liquid amount corresponding to the current-time resistance value does not exist in the resistance value liquid level mapping relation, the flight controller determines the current-time remaining amount of the liquid to be sprayed in the target container according to the historical-time remaining amount of the liquid to be sprayed and the sprayed amount of the liquid to be sprayed determined by the flow meter from the historical time to the current time;

the flow meter is arranged at a liquid outlet of the target container and used for counting the real-time spraying total amount of the liquid to be sprayed in the target container.

5. The method of claim 4, wherein the historical time remaining amount of liquid to be sprayed is determined from the resistance level map.

6. The method of claim 4, further comprising:

and when the flying controller determines that preset flow meter calibration conditions are met in the process of spraying the liquid to be sprayed, calibrating the flow meter.

7. The method of claim 6, wherein the flight controller calibrates the flow meter upon determining that a preset flow meter calibration condition is met, comprising:

the flight controller obtains a first real-time total spraying amount of the liquid to be sprayed counted by the flow meter when the liquid level of the liquid to be sprayed reaches a first preset calibration line according to the current moment resistance value of the target liquid level detection device;

if the flight controller determines that the flight inclination angle of the unmanned aerial vehicle is within a preset range, acquiring a second real-time spraying total amount of the liquid to be sprayed counted by the flow meter when the liquid level of the liquid to be sprayed reaches a second preset calibration line according to the current moment resistance value of the target liquid level detection device;

the flight controller calculates the difference value of the second real-time spraying total amount and the first real-time spraying total amount and the error of the difference value and the calibration value of the flow meter; the calibration value of the flow meter is determined according to the liquid level of the liquid to be sprayed corresponding to the first preset calibration line and the second preset calibration line;

and if the flight controller determines that the error is larger than a set error threshold value, determining a calibration coefficient of the flow meter according to the flow meter calibration value and the difference value, and calibrating the flow meter by using the calibration coefficient.

8. The utility model provides a detection apparatus for liquid level in last container of unmanned aerial vehicle, its characterized in that includes:

the resistance value acquisition module is used for acquiring the current resistance value of the target liquid level detection device in real time by the flight controller when the liquid to be sprayed, which is carried by the target container on the unmanned aerial vehicle, is sprayed;

the target liquid level detection device is inserted into the target container from the top of the target container and is used for detecting the liquid level of the liquid to be sprayed in the target container; the target liquid level detection device includes: the magnetic floating ball is sleeved on the guide rod, a circuit board is arranged in the guide rod, and a plurality of resistor networks formed by resistor modules are integrated on the circuit board;

and the liquid surplus determining module is used for inquiring a resistance value liquid level mapping relation matched with the target container according to the current resistance value by the flight controller and determining the current surplus of the liquid to be sprayed in the target container.

9. A flight controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a method, a device, equipment and a medium for detecting liquid level in a container on an unmanned aerial vehicle.

Background

With the rapid development of the unmanned aerial vehicle industry, the application of the unmanned aerial vehicle is more and more extensive. Utilize unmanned aerial vehicle to spray the pesticide, not only can use manpower and materials sparingly, can also remote control operation, avoid spraying the danger that the operation personnel exposed in the pesticide, not only improved the security of plant protection operation, still improved the spraying efficiency of pesticide. In order to facilitate the unmanned aerial vehicle independently spout the medicine better, improve the work efficiency when unmanned aerial vehicle carries out the plant protection operation, need monitor the liquid medicine surplus in the medical kit to in time supply the liquid medicine in to the medical kit.

Currently, a float level gauge or a surface mount level switch is commonly used to monitor the amount of liquid remaining in the container. The floating ball type liquid level meter is composed of a floating ball, an inserting rod and the like, the floating ball is inserted into the container from the top of the container through a connecting flange, floats on the liquid level, moves up and down along with the floating ball when the liquid level in the container changes, and due to the magnetic action, a dry spring of the floating ball type liquid level meter can be attracted by magnetism, changes the position of the liquid level into an electric signal and sends the electric signal to the flight controller, and the actual position of the liquid is displayed through a ground station display instrument, so that the remote detection of the liquid level of the medicine box is realized. The surface-mounted liquid level switch is suitable for containers of various sizes and shapes, is not influenced by the color and transparency of the containers, and the surface of the induction head of the surface-mounted liquid level switch is provided with an adhesive which can be torn and pasted immediately and can be attached to any position outside the containers, so that the liquid level detection of the high, medium and low points of the medicine box is realized.

Although floating ball type level gauge and SMD level switch can be used to the remaining liquid medicine volume in the control unmanned aerial vehicle medical kit, the liquid level of certain specific position can only be detected to these two kinds of modes, can't realize the continuous detection to liquid level in the container.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a medium for detecting the liquid level in a container on an unmanned aerial vehicle, so as to realize continuous detection of the liquid level in the container on the unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a method for detecting a liquid level in a container on an unmanned aerial vehicle, including:

when liquid to be sprayed, which is carried by a target container on an unmanned aerial vehicle, is sprayed, a flight controller acquires a current moment resistance value of a target liquid level detection device in real time;

the target liquid level detection device is inserted into the target container from the top of the target container and is used for detecting the liquid level of the liquid to be sprayed in the target container; the target liquid level detection device includes: the magnetic floating ball is sleeved on the guide rod, a circuit board is arranged in the guide rod, and a plurality of resistor networks formed by resistor modules are integrated on the circuit board;

and the flight controller inquires a resistance value liquid level mapping relation matched with the target container according to the current resistance value and determines the current residual quantity of the liquid to be sprayed in the target container.

In a second aspect, an embodiment of the present invention further provides a device for detecting a liquid level in a container on an unmanned aerial vehicle, including:

the resistance value acquisition module is used for acquiring the current resistance value of the target liquid level detection device in real time by the flight controller when the liquid to be sprayed, which is carried by the target container on the unmanned aerial vehicle, is sprayed;

the target liquid level detection device is inserted into the target container from the top of the target container and is used for detecting the liquid level of the liquid to be sprayed in the target container; the target liquid level detection device includes: the magnetic floating ball is sleeved on the guide rod, a circuit board is arranged in the guide rod, and a plurality of resistor networks formed by resistor modules are integrated on the circuit board;

and the liquid surplus determining module is used for inquiring a resistance value liquid level mapping relation matched with the target container according to the current resistance value by the flight controller and determining the current surplus of the liquid to be sprayed in the target container.

In a third aspect, an embodiment of the present invention further provides a flight controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the program, implements the method for detecting a liquid level in a container on a drone according to any embodiment of the present invention.

In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for detecting a liquid level in a container on a drone according to any of the embodiments of the present invention.

According to the technical scheme provided by the embodiment of the invention, the target liquid level detection device is inserted into a target container carrying liquid to be sprayed and is used for detecting the liquid level of the liquid to be sprayed in the target container, the resistance value of the target liquid detection device can also change along with the change of the liquid level of the liquid to be sprayed in the target container, and the flight controller acquires the current-time resistance value of the target liquid level detection device in real time in the spraying process of the liquid to be sprayed, inquires the resistance value liquid level mapping relation matched with the target container according to the current-time resistance value and further determines the current-time residual quantity of the liquid to be sprayed in the target container. In the technical scheme, the residual amount of the liquid to be sprayed is determined in real time by inquiring the resistance value liquid level mapping relation, and continuous detection of the liquid level in the container on the unmanned aerial vehicle is realized.

Drawings

Fig. 1 is a flowchart of a method for detecting a liquid level in a container on an unmanned aerial vehicle according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a target liquid level detection device according to a first embodiment of the present invention;

FIG. 3 is an exemplary diagram of an irregular target container in accordance with one embodiment of the invention;

fig. 4 is a flowchart of a method for detecting a liquid level in a container on an unmanned aerial vehicle according to a second embodiment of the present invention;

fig. 5 is a flowchart of a method for detecting a liquid level in a container on an unmanned aerial vehicle according to a third embodiment of the present invention;

FIG. 6 is an exemplary illustration of a preset calibration line on a target container in a third embodiment of the present invention;

fig. 7 is a schematic structural diagram of a device for detecting a liquid level in a container on an unmanned aerial vehicle according to a fourth embodiment of the present invention;

fig. 8 is a schematic hardware configuration diagram of a flight controller in the fifth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.

It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.