CN111752141A - Flow control method of broadcast equipment and related device - Google Patents

Flow control method of broadcast equipment and related device Download PDF

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Publication number
CN111752141A
CN111752141A CN202010167166.8A CN202010167166A CN111752141A CN 111752141 A CN111752141 A CN 111752141A CN 202010167166 A CN202010167166 A CN 202010167166A CN 111752141 A CN111752141 A CN 111752141A
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China
Prior art keywords
flow
unit
sowing
scattering
spreading
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CN202010167166.8A
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Chinese (zh)
Inventor
陈有生
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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Priority to CN202010167166.8A priority Critical patent/CN111752141A/en
Publication of CN111752141A publication Critical patent/CN111752141A/en
Priority to PCT/CN2021/080295 priority patent/WO2021180185A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Pest Control & Pesticides (AREA)
  • Electromagnetism (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Insects & Arthropods (AREA)
  • Automation & Control Theory (AREA)
  • Sowing (AREA)

Abstract

The embodiment of the application provides a flow control method and a related device of a sowing device, and relates to the field of device control. The method is applied to a scattering device comprising a scattering unit and a radar sensor, and comprises the following steps: controlling a radar sensor to detect the spatial position of the particulate matter sprayed out of the sowing outlet; determining the spreading flow of the spreading unit according to the spatial position; and controlling the sowing unit according to the sowing flow and the preset flow so as to enable the current sowing flow of the sowing unit to be consistent with the preset flow. Because the equipment of scattering can accurately detect out the spatial position of particulate matter and the flow of scattering of unit of scattering through radar sensor, then according to scattering the flow and predetermineeing the flow and can be unanimous with predetermineeing the flow adjustment with the current flow of scattering of unit of scattering, the flow of scattering when scattering the particulate matter of unit can accurately be controlled to this application.

Description

Flow control method of broadcast equipment and related device
Technical Field
The present application relates to the field of device control, and in particular, to a flow control method and a related apparatus for a broadcast device.
Background
The society advances, science and technology is developing, and in order to reduce the cost of labor, improve production efficiency, the degree of automation that basic majority trade began to improve oneself now. For example, in the field of current plant protection work, when particulate matter is to be spread in plant protection work, it is common to deliver the particulate matter to a working device such as an unmanned aerial vehicle, an unmanned vehicle, or an unmanned ship to perform a task of spreading particulate matter.
When the current operation equipment is used for the particulate matter spreading task, the operation equipment can only actually detect whether the particulate matter falls down at a spreading outlet of the spreading unit, in other words, the operation equipment cannot detect the spreading flow of the spreading unit when the particulate matter is spread.
Because the current operating equipment can not detect the spreading flow of the spreading unit when spreading the particulate matters, the current operating equipment can not accurately control the spreading flow of the spreading unit when spreading the particulate matters.
Disclosure of Invention
The object of the present application includes, for example, providing a flow control method and related device of a scattering device, which can accurately control the scattering flow of a scattering unit when scattering particulate matter.
The embodiment of the application can be realized as follows:
in a first aspect, an embodiment provides a flow control method for a broadcast device, where the broadcast device includes a broadcast unit and a radar sensor, and the method includes: controlling the radar sensor to detect the spatial position of the particulate matter sprayed out of the spreading outlet; determining the spreading flow of the spreading unit according to the spatial position; and controlling the scattering unit according to the scattering flow and a preset flow so as to enable the current scattering flow of the scattering unit to be consistent with the preset flow.
In an optional embodiment, the step of controlling the seeding unit according to the seeding flow and a preset flow so that the current seeding flow of the seeding unit is consistent with the preset flow includes: controlling the valve according to the sowing flow and a preset flow so as to enable the current sowing flow of the sowing unit to be consistent with the preset flow; and/or controlling the accelerator according to the broadcast flow and a preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
In an optional embodiment, the step of controlling the valve according to the broadcast flow and a preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow comprises: and carrying out Proportional Integral Derivative (PID) control on the valve according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
In an optional implementation manner, the step of controlling the accelerator according to the broadcast flow and a preset flow so that a current broadcast flow of the broadcast unit is consistent with the preset flow includes: and carrying out PID control on the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
In an alternative embodiment, the radar sensor is a multiple-shot multiple-receive millimeter wave radar, and the step of controlling the radar sensor to detect the spatial location of the particulate matter ejected from the broadcast outlet comprises: controlling the multi-sending and multi-receiving millimeter wave radar to send and receive millimeter waves; and determining the spatial position of the particulate matters sprayed out of the spreading outlet according to the transmitted and received millimeter waves.
In a second aspect, an embodiment provides a method for detecting particulate matter scattering, which is applied to a scattering device, the scattering device including a scattering unit and a radar sensor, a scattering outlet of the scattering unit including a plurality of sub-scattering openings, the method including: controlling the radar sensor to detect the spatial position of the particulate matter sprayed out of the spreading outlet; determining the spreading flow of each sub-spreading port of the spreading unit according to the spatial position; and controlling the sowing unit according to the sowing flow and a preset flow so as to enable the current sowing flow of each sub-sowing port of the sowing unit to be consistent with the preset flow.
In a third aspect, an embodiment provides a flow control device for a sowing apparatus, which is applied to the sowing apparatus, where the sowing apparatus includes a sowing unit and a radar sensor, and the device includes: the control module is used for controlling the radar sensor to detect the spatial position of the particulate matters sprayed out of the spreading outlet; the detection module is used for determining the spreading flow of the spreading unit according to the spatial position; the control module is further configured to control the sowing unit according to the sowing flow and a preset flow, so that the current sowing flow of the sowing unit is consistent with the preset flow.
In an optional embodiment, the seeding unit includes a valve and an accelerator, and the control module is configured to control the valve according to the seeding flow and a preset flow, so that a current seeding flow of the seeding unit is consistent with the preset flow; and/or the control module is used for controlling the accelerator according to the broadcast flow and a preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
In an optional embodiment, the control module is configured to perform PID control on the valve according to the broadcast flow and a preset flow, so that a current broadcast flow of the broadcast unit is consistent with the preset flow.
In an optional implementation manner, the control module is configured to perform PID control on the accelerator according to the broadcast flow and a preset flow, so that the current broadcast flow of the broadcast unit is consistent with the preset flow.
In an optional embodiment, the radar sensor is a multiple-sending multiple-receiving millimeter wave radar, and the control module is configured to control the multiple-sending multiple-receiving millimeter wave radar to transmit and receive millimeter waves; the control module is also used for determining the spatial position of the particulate matters sprayed out of the spreading outlet according to the transmitted and received millimeter waves.
In a fourth aspect, an embodiment provides a flow control device of a sowing apparatus, which is applied to the sowing apparatus, the sowing apparatus includes a sowing unit and a radar sensor, a sowing outlet of the sowing unit includes a plurality of sub-sowing openings, and the device includes: the control module is used for controlling the radar sensor to detect the spatial position of the particulate matters sprayed out of the spreading outlet; the detection module is used for determining the spreading flow of each sub-spreading port of the spreading unit according to the spatial position; the control module is further configured to control the sowing unit according to the sowing flow and a preset flow, so that the current sowing flow of each sub-sowing port of the sowing unit is consistent with the preset flow.
In a fifth aspect, embodiments provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the flow control method of a seeding device according to any one of the preceding embodiments.
In a sixth aspect, an embodiment provides a broadcast device control unit, which includes a processor and a memory, where the memory stores machine-readable instructions, and the processor is configured to execute the machine-readable instructions to implement the flow control method of a broadcast device according to any one of the foregoing embodiments.
In a seventh aspect, an embodiment provides a sowing apparatus, including: a sowing unit; a radar sensor; and a broadcast device control unit comprising a processor and a memory, the memory storing machine readable instructions, the processor being configured to execute the machine readable instructions to implement the method for flow control of a broadcast device as described in any one of the preceding embodiments.
In an eighth aspect, an embodiment provides a work apparatus including: a body; the power equipment is arranged on the machine body and used for providing power for the working equipment; the sowing device comprises a sowing unit, a radar sensor and a sowing device control unit; the scattering device control unit comprises a processor and a memory, wherein the memory stores machine readable instructions, and the processor is used for executing the machine readable instructions to realize the flow control method of the scattering device as described in any one of the foregoing embodiments.
The beneficial effects of the embodiment of the application include, for example: because the radar sensor of the scattering equipment can accurately determine the spatial position of the detected object according to the time difference between the transmitted electromagnetic wave and the returned electromagnetic wave, the scattering equipment can accurately detect the spatial position of the particulate matters sprayed out of the scattering outlet of the scattering unit through the radar sensor, and further can accurately detect the scattering flow of the scattering unit according to the spatial position. And after the spreading flow of the spreading unit is detected, the spreading unit can be controlled according to the spreading flow and the preset flow, so that the current spreading flow of the spreading unit is consistent with the preset flow, and the spreading flow of the spreading unit when the particles are spread can be accurately controlled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a block diagram of a broadcast apparatus according to an embodiment of the present disclosure;
fig. 2 is a block diagram of another structure of a broadcast apparatus according to an embodiment of the present disclosure;
fig. 3 is a block diagram of a control unit of a broadcast device according to an embodiment of the present application;
fig. 4 is a block diagram of a configuration of a work apparatus according to an embodiment of the present application;
fig. 5 is a block diagram of a structure of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 6 is a flowchart of a flow control method of a broadcast apparatus according to an embodiment of the present application;
fig. 7 is a flowchart of S10 according to an embodiment of the present disclosure;
fig. 8 is another flowchart of a flow control method of a broadcast apparatus according to an embodiment of the present application;
fig. 9 is another flowchart of a flow control method of a broadcast apparatus according to an embodiment of the present application;
fig. 10 is another flowchart of a flow control method of a broadcast apparatus according to an embodiment of the present application;
fig. 11 is another flowchart of a flow control method of a broadcast apparatus according to an embodiment of the present application;
fig. 12 is a functional block diagram of a flow control device of a sowing apparatus according to an embodiment of the present application.
Icon: 100-sowing equipment; 110-a seeding unit; 111-a bin; 112-a valve; 113-an accelerator; 114-a seeding pipe; 120-a radar sensor; 130-a sowing apparatus control unit; 131-a memory; 132-a processor; 133-a bus; 134-a communication interface; 200-a working device; 210-a body; 220-a power plant; 300-unmanned aerial vehicle; 400-flow control means of the sowing apparatus; 410-a control module; 420-detection module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
In the process of implementing the technical solution of the embodiment of the present application, the inventors of the present application find that:
when current equipment of scattering is carrying out the task of scattering of particulate matter, in order to detect the state of scattering the unit, it is actually: sensors such as infrared sensors, capacitance sensors or laser sensors are embedded in the scattering pipelines of the scattering units, and whether objects in the scattering pipelines of the scattering units are detected through the sensors or not is detected through the realization of the scattering state of the scattering units.
Taking the example of detecting whether an object passes through the inside of the sowing pipe of the sowing unit by an infrared sensor, the infrared sensor usually comprises an infrared receiver and an infrared transmitter, and the infrared receiver and the infrared transmitter are embedded inside the sowing pipe of the sowing unit in an opposite arrangement mode. When scattering equipment and beginning to scatter the particulate matter, the particulate matter can be continuously scattered away through the pipeline of scattering the unit, and the particulate matter through scattering the pipeline can shelter from infrared emitter and transmit the signal for infrared receiver, consequently can detect out through the situation of change of judging the signal that infrared receiver received and whether have the particulate matter process in the pipeline of scattering, and then reach the purpose that the state of scattering to scattering the unit detects. However, the above method cannot detect data on the direction, speed, acceleration of the particles, and the amount of particles passing through the sowing pipe within a predetermined time period. That is, the prior art cannot detect the spreading flow of the spreading unit when spreading the particulate matter.
Further, it can be understood that the prior art cannot accurately control the spreading flow rate of the spreading unit when spreading the particulate matter, because the prior art cannot detect the spreading flow rate of the spreading unit when spreading the particulate matter.
In addition, because in prior art, sensors such as infrared sensor, capacitive sensor or laser sensor all are inlayed inside the pipeline of scattering of unit of scattering, and scatter equipment can arouse a large amount of dusts when scattering the particulate matter, these sensor of inlaying inside the pipeline of scattering of unit of scattering often can be covered by the dust to unable normal work, that is to say, current equipment of scattering still has the problem that can't normally detect out the state of scattering when carrying out the scattering of particulate matter.
Therefore, in order to improve the above-mentioned drawbacks, embodiments of the present application provide a flow control method and a related device for a seeding apparatus, which can accurately control a seeding flow of a seeding unit when seeding particulate matter. It should be noted that the defects of the solutions in the above prior art are the results obtained after the inventor has made practice and careful study, and therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present application in the following description should be the contribution of the inventor to the present application in the course of the present application.
In order to solve the problem that the prior art cannot accurately control the spreading flow rate of the spreading unit when spreading particulate matter, "the present application provides a spreading device, please refer to fig. 1, which is a block diagram of a structure of a spreading device 100 provided in an embodiment of the present application, and the spreading device 100 may include a spreading unit 110, a radar sensor 120, and a spreading device control unit 130. The sowing device control unit 130 may be electrically connected to the sowing unit 110 and the radar sensor 120, respectively, the sowing unit 110 may be used to sow particulate matter (e.g., wheat seeds, fertilizer particles, rice seeds, etc.), and the radar sensor 120 may be used to detect information such as spatial positions of the particulate matter sown from the sowing outlet of the sowing unit 110.
In this embodiment, when the spreading unit 110 is in a state of spreading particulate matter, the spreading device control unit 130 may control the radar sensor 120 to detect a spatial position of particulate matter ejected from the spreading outlet of the spreading unit 110, and then determine a spreading flow rate of the spreading unit 110 according to the spatial position of the particulate matter. After the spreading flow is determined, the spreading device control unit 130 may further control the spreading unit 110 according to the spreading flow and the preset flow, so that the current spreading flow of the spreading unit 110 is consistent with the preset flow, the spreading device 100 provided by the present application may achieve the purpose of accurately controlling the spreading flow of the spreading unit when the particulate matter is spread, and the flow control method of the spreading device provided by the present application is implemented, thereby solving the problems in the prior art.
In some possible embodiments, based on the sowing apparatus 100 shown in fig. 1, the present application also provides a possible structural block diagram of the sowing apparatus, please refer to fig. 2, the sowing unit 110 may include a bin 111, a valve 112, an accelerator 113, and a sowing pipe 114, the bin 111 is used for containing particulate matters (such as the above-mentioned wheat seeds, fertilizer granules, rice seeds, etc.), the valve 112 is used for controlling whether to perform the sowing of the particulate matters and controlling the sowing speed of the particulate matters, the accelerator 113 is used for accelerating the sowing speed of the particulate matters, and the sowing pipe 114 is used for controlling the area and direction of the particulate matters. That is, when the sowing apparatus 100 actually performs the sowing of the particulate matter, the sowing apparatus control unit 130 can control the valve 112 and the acceleration 113 so that the stored particulate matter in the bin 111 can be scattered out through the sowing pipe 114.
It should be understood that in the existing scattering equipment, sensors such as infrared sensors, capacitance sensors or laser sensors are embedded in the scattering pipelines of the scattering unit, and the sensors are used for detecting whether objects pass through the scattering pipelines of the scattering unit to detect the scattering state of the scattering unit, so that the problem that the scattering flow of the scattering unit when particles are scattered cannot be accurately controlled exists. As shown in fig. 2, when the radar sensor 120 is used to detect the particles sprayed from the spreading pipe 114, the spatial position of the particles sprayed from the spreading outlet can be accurately measured only by the detection area of the radar sensor 120 being larger than the spreading area of the spreading unit 110, and then the spreading flow of the spreading unit 110 is determined according to the spatial position of the particles. After the spreading flow is determined, the spreading device control unit 130 may further control the spreading unit 110 according to the spreading flow and the preset flow, so that the current spreading flow of the spreading unit 110 is consistent with the preset flow, and the problem that the spreading flow of the spreading unit when spreading particulate matters cannot be accurately controlled in the prior art is solved.
In order to further solve the problem that the existing spreading equipment cannot normally detect the spreading state when the particulate matter is spread, as shown in fig. 2, the radar sensor 120 may be disposed around the spreading outlet of the spreading unit 110, so that the probability of dust coverage caused by the sprayed particulate matter is greatly reduced, and the problem is solved.
It should also be understood that the seeding device 100 shown in fig. 2 is a schematic diagram that is presented for ease of illustration only, and that the seeding device 100 arrangements provided herein are limited to the seeding device 100 shown in fig. 2. For example, the structure of the sowing channels 114 of the sowing unit 110 may be a single-channel structure, or a multi-channel structure, and the sowing channels 114 of the sowing unit 110 of the sowing apparatus 100 may be installed in the following manner: multi-channel vertical installation, single-channel vertical installation, multi-channel horizontal installation and the like. Also, the installation position of the radar sensor 120 may be any position in any direction under the scattering pipe 114, for example, the installation position of the radar sensor 120 may be any position satisfying the condition of "the direction in which the radar wave of the radar sensor 120 is emitted and the direction in which the area of the cross section of the scattering pipe 114 of the scattering unit in the discharging direction is the largest". It should be added that, when the spreading pipe 114 is a multi-channel pipe structure, the radar sensor 120 can measure the spatial positions of the particles ejected from the multiple channels of the spreading pipe 114 at the same time as long as the condition of "the direction in which the radar wave of the radar sensor 120 is emitted and the cross section of the spreading pipe 114 in the discharging direction of the spreading unit has the largest area" is satisfied.
It should also be noted that, in some possible embodiments, the radar sensor 120 may be a millimeter-wave radar.
Referring to fig. 3, in some possible embodiments, the seeding device control unit 130 may include: memory 131, processor 132, bus 133, and communication interface 134. The memory 131, the processor 132, and the communication interface 134 communicate with each other via the bus 133, or may communicate with each other via other means such as wireless transmission, so as to realize data transmission and interaction. The memory 131 stores machine-readable instructions, and the processor 132 can call the machine-readable instructions stored in the memory 131 to execute the flow control method of the spreading device provided by the present application, that is, the processor 132 can detect information such as spatial position data of the particulate matter ejected from the spreading outlet of the spreading unit 110 by controlling the radar sensor 120, and perform flow control on the spreading device according to the data information, so as to accurately control the spreading flow of the spreading unit when spreading the particulate matter.
It should be understood that in the present application, the processor 132 may be a CPU, and the processor 132 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or any conventional processor or the like.
The memory 131 may include a read-only memory and a random access memory, and provides instructions and data to the processor 132. The memory 131 may also include non-volatile random access memory. The memory 131 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).
The bus 133 may include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. But for clarity of illustration the various buses are labeled as bus 133 in figure 3.
In practical applications, the spreading device 100 can be installed on some working devices, so that the task of spreading particulate matters by using the working devices in different application scenes is realized. For example, the sowing device 100 may be installed on an unmanned aerial vehicle or an unmanned vehicle, so as to realize sowing seeds on plain by using the unmanned aerial vehicle or the unmanned vehicle; or, the sowing device 100 can be installed on an unmanned aerial vehicle or an unmanned ship to realize the bait sowing of the unmanned aerial vehicle or the unmanned ship in the lake or the ocean area; or, the sowing device 100 can be installed on an unmanned aerial vehicle or an unmanned vehicle, so that the unmanned aerial vehicle or the unmanned vehicle can be used for pesticide sowing in an orchard forest land.
Therefore, on the basis of the sowing apparatus 100 shown in fig. 1 and fig. 2, the present application also provides a working apparatus, please refer to fig. 4, which is a block diagram of a structure of a working apparatus 200 provided in an embodiment of the present application, where the working apparatus 200 may include: a body 210, a power device 220, and the aforementioned seeding device 100.
Wherein, the power device 220 can be installed on the machine body 210, and the power device 220 can be used to provide power for the working device 200, for example, when the working device 200 adopts the unmanned aerial vehicle configuration, the power device 220 can be an unmanned aerial vehicle rotor module, providing flying power for the working device 200; when the work implement 200 is configured as an unmanned vehicle, the power implement 220 may be an unmanned vehicle drive module that provides a driving force for the work implement 200.
As previously mentioned, the sowing apparatus 100 may comprise: a scattering unit 110, a radar sensor 120 and a scattering device control unit 130. The radar sensor 120 may be disposed around a sowing outlet of the sowing unit 110, the sowing unit 110 may be used to sow particulate matter (e.g., wheat seeds, fertilizer particles, rice seeds, etc.), and the radar sensor 120 may be used to detect information such as a spatial position of the particulate matter sown by the sowing unit 110. The scattering equipment control unit 130 can be electrically connected with the scattering unit 110 and the radar sensor 120 respectively, and the scattering equipment control unit 130 can control the radar sensor 120 to detect the spatial position of the particulate matter sprayed from the scattering outlet of the scattering unit 110, and control the flow rate of the scattering equipment according to the data, so that the scattering flow rate of the scattering unit when the particulate matter is scattered can be accurately controlled, and the flow rate control method of the scattering equipment provided by the application is realized.
It should be noted that the working equipment 200 provided by the present application may adopt different structures according to the working requirements, for example, the working equipment 200 provided by the present application may adopt an unmanned aerial vehicle structure, an unmanned ship structure, various vehicle structures, and the like. In other words, the structure shown in fig. 4 is only an illustration, and the work apparatus 200 may further include more or less components than those shown in fig. 4, or have a different configuration from that shown in fig. 4, and each component shown in fig. 4 may be implemented by hardware, software, or a combination thereof.
Taking the structure of the working device 200 provided by the present application as an unmanned aerial vehicle structure as an example, please refer to fig. 5, which is a block diagram of the unmanned aerial vehicle 300 provided by the present embodiment. This unmanned aerial vehicle 300 can include: body 210, power device 220, and seeding device 100.
The power device 220 may be mounted on the body 210 for providing power to the drone 300, and the power device 220 may include at least one of a motor, a power source, and a propeller. As shown in fig. 1 and 2, the scattering device 100 may include a scattering unit 110, a radar sensor 120, and a scattering device control unit 130, and the radar sensor 120 may be disposed around a scattering outlet of the scattering unit 110.
In some possible embodiments, the spreading device control unit 130 may be electrically connected with the spreading unit 110, the radar sensor 120 and the power device 220, respectively, for controlling the flight of the drone 300 and the spreading of the particulate matter, in other words, the spreading device control unit 130 may be a flight controller of the drone 300.
In other possible embodiments, the scattering device control unit 130 may be electrically connected to the scattering unit 110, the radar sensor 120 and the flight controller of the drone 300, respectively, and the flight controller of the drone 300 is electrically connected to a scattering control instruction for controlling the flight of the drone 300 and sending the particulate matter to the scattering device control unit 130, and the scattering device control unit 130 may control the scattering unit to scatter the particulate matter according to the scattering control instruction. That is, the scattering equipment control unit 130 may control the radar sensor 120 to detect spatial position data of the particulate matter ejected from the scattering outlet of the scattering unit 110, and perform flow control of the scattering equipment according to the data, and may accurately control the scattering flow rate of the scattering unit when the particulate matter is scattered, thereby implementing the flow control method of the scattering equipment provided in the present application.
Hereinafter, for convenience of understanding, the following embodiments of the present application will take the seeding apparatus 100 shown in fig. 1 and fig. 2 as an example, and in conjunction with the accompanying drawings, specifically describe a flow control method of the seeding apparatus provided in the embodiments of the present application.
Referring to fig. 6, fig. 6 is a flowchart illustrating a flow control method of a broadcast device according to an embodiment of the present application. The flow control method of the sowing apparatus may be applied to the sowing apparatus 100 described above, and the flow control method of the sowing apparatus may include the steps of:
and S10, controlling the radar sensor to detect the spatial position of the particles sprayed from the spreading outlet.
In this embodiment, the radar sensor 120 may emit a set of electromagnetic waves, a part of the electromagnetic waves in the set of electromagnetic waves may be reflected after encountering an obstacle, and the rest of the electromagnetic waves may bypass or penetrate the obstacle to continue to travel due to diffraction and transmission characteristics of the electromagnetic waves, and a part of the electromagnetic waves may still be reflected after the electromagnetic waves bypassing or penetrating the obstacle again encounter the obstacle. The radar sensor 120 can receive the reflected electromagnetic waves, and then determine the spatial position of the particles according to the time of transmitting the set of electromagnetic waves and the time of receiving the reflected electromagnetic waves.
In other words, the radar sensor 120 can accurately determine the spatial position of the detected object according to the time difference between the transmitted electromagnetic wave and the returned electromagnetic wave, so that, compared with the existing spreading equipment (which can only detect whether particulate matter is spread out or not), the method embodiment of the present application can detect information such as the specific position of the particulate matter through the radar sensor 120. Namely: by means of the radar sensor 120, the spreading device 100 is able to accurately detect the spatial position of the particles ejected from the spreading outlet of the spreading unit 110. The radar sensor 120 can detect the position of the particulate matter in the three-dimensional space (which can be represented by x, y, z coordinates), the velocity of the particulate matter in the three-dimensional space (which can be represented by vx, vy, vz vectors), and the acceleration of the particulate matter in the three-dimensional space (which can be represented by ax, ay, az vectors), that is, the radar sensor 120 can detect the spatial state property such as the position, the velocity, the acceleration, and the like of each particulate matter.
It should be noted that the radar sensor 120 in the present application may be a MIMO (Multiple-input Multiple-Output) millimeter wave radar.
It is also understood that the radar sensor in the embodiment of the present application may be a Multiple-Input Multiple-Output (MIMO) millimeter wave radar, which may also be referred to as a two-dimensional radar. And when the radar sensor 120 is a multiple-shot millimeter wave radar, S100 may include the following steps with respect to how "to control the radar sensor to detect the spatial position of the particulate matter ejected from the scattering outlet": controlling a multi-sending and multi-receiving millimeter wave radar to send and receive millimeter waves; and determining the spatial position of the particulate matter sprayed out of the sowing outlet according to the transmitted and received millimeter waves.
For example, assume that the radar sensor 120 is a multiple-shot multiple-reception millimeter wave radar having M transmission channels and N reception channels in the horizontal direction (the configuration of the transmission channels and the reception channels of the radar sensor 120 in the vertical direction may be the same as or different from the horizontal direction, and only the horizontal direction is taken as an example here). Then' controlling the multi-sending and multi-receiving millimeter wave radar to send and receive millimeter waves; the procedure of determining the spatial position of the particulate matter ejected from the sowing outlet from the transmitted and received millimeter waves "may refer to fig. 7:
step 1, controlling the radar sensor 120 to emit signals (electromagnetic waves);
step 2, controlling the radar sensor 120 to receive the reflected signal;
since the radar sensor 120 has M transmitting channels and N receiving channels in the horizontal direction, the radar sensor 120 of the M transmitting channels and the N receiving channels at this time may be equivalent to a radar sensor of 1-transmit-R-receive (where M × N ═ R), and then the radar sensor 120 may receive R-dimensional data, and each of the R-dimensional data may collect Q data through an ADC (Analog-to-Digital Converter). When each frame spreading device 100 controls the radar sensor 120 to transmit a signal K times, K × Q data may be collected by each receiving channel of the radar sensor 120 through the ADC in each frame, and the total amount of data of the reflected signal received by the radar sensor 120 in each frame is K × Q × R data (referred to as raw data).
Step 3, after the reflected signal is obtained, performing first Fast Fourier Transform (FFT) on the data of the reflected information to obtain distance FFT data;
after the original data (i.e., K × Q × R data in one frame) is obtained, the data corresponding to each receiving channel may be used as a row vector, and row fast fourier transform of K1 points may be performed on the row vector corresponding to each receiving channel, so as to obtain distance FFT data.
Step 4, performing second fast Fourier transform on the distance FFT data to obtain Doppler FFT data, and determining the distance data and the speed data of the particles sprayed out of the spreading outlet according to the Doppler FFT data;
after the row vector corresponding to each receiving channel completes the first fast fourier transform, K2-point fast fourier transform (i.e., doppler FFT) may be performed on the column vector corresponding to each receiving channel to obtain doppler FFT data, and finally, each receiving channel obtains a corresponding distance doppler matrix of K1 × K2. The R distance Doppler matrixes are added and averaged to obtain the Doppler distance matrix. After the doppler distance matrix is obtained, the distance data and velocity data of the particles ejected from the sowing outlet can be determined by a radar target detection algorithm (e.g., fixed threshold method, Constant False-Alarm Rate (CFAR), etc.).
And 5, performing third fast Fourier transform on the Doppler FFT data to obtain angle FFT data, determining azimuth data of the particles sprayed out of the spreading outlet according to the angle FFT data, and finally determining the spatial positions of the particles according to the distance data and the azimuth data.
Further, the orientation data of the particulate matter ejected from the scattering outlet may be determined by an algorithm such as MUSIC (Multiple Signal classification) or DBF (digital beam forming).
It should be understood that although the distance data and the orientation data of the object can be detected by using radar in the prior art, the effect of the distance data and the orientation data of the object detected by using radar in the prior art is only that the spatial position of the object is actually detected. And this application detects the spatial position from broadcasting export spun particulate matter through using many more millimeter wave radars of receiving, and then determines the flow of scattering the unit and after detecting out the flow of scattering the unit, can control the unit of scattering according to the flow of scattering and predetermine the flow for the current flow of scattering of unit of scattering is unanimous with predetermineeing the flow, has reached "can accurately control the unit of scattering the flow when scattering the particulate matter" this unexpected technological effect. As would not be readily apparent to one skilled in the art.
In addition, it should also be understood that, in some possible embodiments, before performing S100 described above, the method provided by the present application may further include: and judging whether the scattering unit is in a state of scattering particulate matters.
When the sowing unit 110 is in a state of sowing the particulate matter, S10 may be performed; when the sowing unit 110 is not in a state of sowing the particulate matter, in order to ensure the integrity of the flow, the step of "determining whether the sowing unit is in a state of sowing the particulate matter" may be returned to. The manner of determining whether the sowing unit 110 is in the state of sowing the particulate matter by the sowing apparatus 100 may be: it is determined whether the valve 112 of the sowing unit 110 is opened to determine whether the sowing unit 110 is in a state of sowing the particulate matter, or whether the sowing unit 110 is in a state of sowing the particulate matter by determining whether a sowing instruction has been sent to the sowing unit 110. Further, it can be understood that when the particulate matter is scattered out of the scattering unit 110, the scattering unit 110 is in a state of scattering the particulate matter, and the application is not limited to the manner of determining whether the scattering unit 110 is in the state of scattering the particulate matter by the scattering device 100.
Referring to fig. 6 again, S11, the broadcast flow of the broadcast unit is determined according to the spatial position.
In some possible embodiments, for example, the spatial position of all the particles ejected from the spreading outlet of the spreading unit 110 during a period of time is determined, the spreading device 100 can determine the total number of the particles spread by the spreading unit 110 during the period of time according to the spatial position of all the particles, and then determine the spreading flow of the spreading unit 110 according to the total number of the particles spread by the spreading unit 110 and the length of the period of time.
In other words, when the scattering unit 110 is in a state of scattering particulate matter, the scattering device 100 may control the radar sensor 120 to detect the spatial position of all particulate matter ejected from the scattering outlet of the scattering unit 110 within a preset time period, and then determine the scattering flow rate of the scattering unit 110 within the preset time period according to the spatial position of all particulate matter and the time length of the preset time period.
And S12, controlling the sowing unit according to the sowing flow and the preset flow so that the current sowing flow of the sowing unit is consistent with the preset flow.
After determining the broadcast flow rate of the broadcast unit 110, the broadcast device 100 may obtain a pre-stored preset flow rate from a storage medium, or obtain the preset flow rate from another device through a network, and then control the broadcast unit according to a difference between the broadcast flow rate and the preset flow rate. For example, when the seeding flow rate is greater than the preset flow rate (i.e., the difference between the seeding flow rate and the preset flow rate is a positive value), the seeding apparatus 100 may control the seeding unit 110 to increase the seeding degree of the particulate matter; when the seeding flow rate is smaller than the preset flow rate (i.e. the difference between the seeding flow rate and the preset flow rate is a negative value), the seeding apparatus 100 may control the seeding unit 110 to reduce the seeding degree of the particulate matter until the current seeding flow rate of the seeding unit 110 is consistent with the preset flow rate.
It should be understood that since the radar sensor of the scattering device can accurately determine the spatial position of the detected object based on the time difference between the transmitted electromagnetic wave and the returned electromagnetic wave, the scattering device can accurately detect the spatial position of the particulate matter ejected from the scattering outlet of the scattering unit by the radar sensor, and thus can accurately detect the scattering flow rate of the scattering unit based on the spatial position. And after the spreading flow of the spreading unit is detected, the spreading unit can be controlled according to the spreading flow and the preset flow, so that the current spreading flow of the spreading unit is consistent with the preset flow, and the spreading flow of the spreading unit when the particles are spread can be accurately controlled.
In some possible embodiments, regarding how to "control the broadcast unit according to the broadcast traffic and the preset traffic so that the current broadcast traffic of the broadcast unit is consistent with the preset traffic", referring to fig. 8, S12 may include, based on fig. 6:
s12-1, controlling the valve according to the sowing flow and the preset flow so as to enable the current sowing flow of the sowing unit to be consistent with the preset flow; and/or
And controlling the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
As shown in fig. 2, the sowing unit 110 may include: a valve 112 and an accelerator 113, wherein the valve 112 is used for controlling whether the particulate matters are spread or not and controlling the spreading speed of the particulate matters, and the accelerator 113 is used for accelerating the spreading speed of the particulate matters. That is, both the valve 112 and the accelerator 113 may be used to control the particulate matter spreading rate.
Therefore, after the seeding flow of the seeding unit 110 is obtained, the seeding device 100 may control the valve 112 according to the seeding flow and the preset flow, or may control the accelerator 113 according to the seeding flow and the preset flow, so that the current seeding flow of the seeding unit 110 is consistent with the preset flow. That is, the sowing apparatus 100 can control the valve 112 according to the sowing flow and the preset flow separately, so that the current sowing flow of the sowing unit 110 is consistent with the preset flow; the scattering device 100 may also control the accelerator 113 according to the scattering flow and the preset flow separately, so that the current scattering flow of the scattering unit 110 is consistent with the preset flow; the seeding apparatus 100 may also control the valve 112 and the accelerator 113 simultaneously such that the current seeding flow of the seeding unit 110 is consistent with the preset flow.
The specific control methods of "controlling the valve according to the broadcast flow and the preset flow" and "controlling the accelerator according to the broadcast flow and the preset flow" are not limited in this application, and in practical applications, a corresponding automatic control method may be adopted and corresponding control may be performed according to actual requirements, for example, the valve 112 and the accelerator 113 may be controlled in a linear control manner, or the valve 112 and the accelerator 113 may be controlled in a manner of searching a preset control table (in which correspondence between a plurality of opening degrees of the valve 112 and the accelerator 113 and the broadcast flow is recorded).
In some possible embodiments, for how to "control the valve according to the broadcast flow and the preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow", referring to fig. 9, S12-1 may include:
S12-1A, carrying out PID (proportional-integral-derivative) control on the valve according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow; and/or
And controlling the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
For example, the degree of control of the valve 112 may be determined according to the following equation:
Figure BDA0002407857010000141
wherein u1 represents the control degree of the valve 112 (i.e. the size of u1 represents the output force of the valve 112), kp1, ki1 and kd1 are all constants greater than zero, e _ stIs the difference between the preset flow and the broadcast flow at time t (i.e., e _ s)tS2-S1, S2 is preset flow, S1 is broadcast flow), e _ St-1Is the difference between the preset flow and the broadcast flow at the time t-1.
In some possible embodiments, for how to "control the accelerator according to the broadcast flow and the preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow", referring to fig. 10, S12-1 may include:
S12-1B, performing Proportional Integral Derivative (PID) control on the valve according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow; and/or
And carrying out PID control on the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
For example, the degree of control of the accelerator 113 may be determined according to the following formula:
Figure BDA0002407857010000142
where u2 represents the degree of control of the accelerator 113 (i.e., the magnitude of u2 represents the output power of the accelerator 113), kp2, ki2, and kd2 are constants greater than zero, and e _ stIs the difference between the preset flow and the broadcast flow at time t (i.e., e _ s)tS2-S1, S2 is preset flow, S1 is broadcast flow), e _ St-1Is the difference between the preset flow and the broadcast flow at the time t-1.
It should be added that in practical application, there may be a situation that the sowing unit of the sowing device has only a valve, and at this time, PID control may be performed on the valve only according to the sowing flow and the preset flow, so that the current sowing flow of the sowing unit is consistent with the preset flow.
Since the spreading pipe 114 may be a multi-channel pipe (i.e. the spreading outlet of the spreading unit includes a plurality of sub-spreading openings), in order to enable the particulate matter spreading detection method provided in the present application to accurately and stably measure the spreading flow data of each sub-spreading opening of the spreading pipe 114, the present application also provides a particulate matter spreading detection method, please refer to fig. 11, the method may be applied to the spreading apparatus 100 described above, the spreading apparatus 100 includes a spreading unit 110 and a radar sensor 120, the radar sensor 120 is disposed around the spreading outlet of the spreading unit 110, and the spreading outlet of the spreading unit 110 includes a plurality of sub-spreading openings (i.e. the spreading pipe 114 of the spreading unit 110 includes a plurality of sub-spreading openings). The method may comprise the steps of:
s20, controlling the radar sensor to detect the spatial position of the particles sprayed out of the spreading outlet;
s21, determining the spreading flow of each sub-spreading port of the spreading unit according to the spatial position;
and S22, controlling the spreading unit according to the spreading flow and the preset flow so that the current spreading flow of each sub-spreading port of the spreading unit is consistent with the preset flow.
For the above S20, reference may be made to S10, which is not described herein again.
For S21, in a possible embodiment, for example, the sub-spreading openings of the spreading unit are determined according to the spatial positions of the individual particles, so that the spreading device 100 determines the sub-spreading openings for spreading the individual particles (i.e. the corresponding relationship between each particle and each spreading outlet is determined). After the sub-sowing openings corresponding to the particulate matters in the period of time are determined, the total number of the particulate matters scattered by each sub-sowing opening in the period of time can be determined according to the corresponding relation between each particulate matter and each sowing outlet, and then the sowing flow of each sub-sowing opening can be determined according to the total number of the particulate matters scattered by each sub-sowing opening and the length of the period of time.
For S22, in a possible embodiment, each of the sub-broadcast ports may correspond to a preset flow, and after the broadcast flow of each of the sub-broadcast ports is determined, the broadcast unit may be controlled according to the preset flow corresponding to each of the sub-broadcast ports and the broadcast flow of each of the sub-broadcast ports, respectively, so that the current broadcast flow of each of the sub-broadcast ports of the broadcast unit is consistent with the corresponding preset flow.
In other words, the preset flow rate may include a plurality of preset flow rate values, where the preset flow rate values correspond to the plurality of sub-broadcast ports one to one, and the present application may control the target broadcast unit according to the broadcast flow rate of the target sub-broadcast port and the preset flow rate value corresponding to the target sub-broadcast port, so that the current broadcast flow rate of the target sub-broadcast port of the target broadcast unit is consistent with the preset flow rate value corresponding to the target sub-broadcast port, where the target sub-broadcast port may be any one of the plurality of sub-broadcast ports. Furthermore, the device can achieve the aim of independently controlling the spreading flow of a certain sub-spreading port of the spreading unit, the effect of accurately controlling the spreading flow of the spreading unit when the particulate matters are spread is achieved, and the operation fineness of the operation equipment is improved.
In order to execute the corresponding steps in the foregoing embodiments and various possible manners, an implementation manner of the flow control device of the broadcasting device is given below, please refer to fig. 12, and fig. 12 shows a functional block diagram of the flow control device of the broadcasting device provided by the embodiment of the present application. It should be noted that the basic principle and the technical effects of the flow control device 400 of the scattering equipment provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of this embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiments. The flow control means 400 of the sowing apparatus comprises: a control module 410 and a detection module 420.
Alternatively, the modules may be stored in a memory in the form of software or Firmware (Firmware) or be fixed in an Operating System (OS) of the scattering device 100 provided herein, and may be executed by a processor in the scattering device 100. Meanwhile, data, codes of programs, and the like required to execute the above modules may be stored in the memory.
The control module 410 may be used to control the radar sensor to detect the spatial location of particulate matter ejected from the broadcast outlet.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S11, etc., and/or other processes for the techniques described herein.
The detection module 420 may be configured to determine a broadcast flow of the broadcast unit according to the spatial location.
It will be appreciated that detection module 420 may be used to support the seeding device 100 performing the above-described S12, etc., and/or other processes for the techniques described herein.
The control module 410 may be further configured to control the broadcast unit according to the broadcast flow and the preset flow, so that the current broadcast flow of the broadcast unit is consistent with the preset flow.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S13, etc., and/or other processes for the techniques described herein.
In some possible embodiments, as to how to "control the seeding unit according to the seeding flow and the preset flow so that the current seeding flow of the seeding unit is consistent with the preset flow", the control module 410 may be configured to control the valve according to the seeding flow and the preset flow so that the current seeding flow of the seeding unit is consistent with the preset flow; and/or
And controlling the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S13-1, etc., and/or other processes for the techniques described herein.
In some possible embodiments, as to how to "control the valve according to the broadcast flow and the preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow", the control module 410 may be configured to perform PID control on the valve according to the broadcast flow and the preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow; and/or
And controlling the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S13-1A, etc., and/or other processes for the techniques described herein.
In some possible embodiments, as to how to control the accelerator according to the broadcast flow rate and the preset flow rate so as to make the current broadcast flow rate of the broadcast unit consistent with the preset flow rate, the control module 410 may be configured to perform PID control on the valve according to the broadcast flow rate and the preset flow rate so as to make the current broadcast flow rate of the broadcast unit consistent with the preset flow rate; and/or
And carrying out PID control on the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S13-1B, etc., and/or other processes for the techniques described herein.
It should also be understood that in some possible embodiments, the above-mentioned spreading device may comprise a spreading unit and a radar sensor, the spreading outlet of the spreading unit may comprise a plurality of sub-spreading openings, and the flow control device 400 of the spreading device provided in this application may further perform steps S20-S22 in the above-mentioned embodiments and in various possible ways.
Wherein the control module 410 may be configured to control the radar sensor to detect a spatial position of the particulate matter ejected from the broadcast outlet.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S20, etc., and/or other processes for the techniques described herein.
The detection module 420 may be configured to determine the broadcast flow of each sub-broadcast port of the broadcast unit according to the spatial position.
It will be appreciated that detection module 420 may be used to support the seeding device 100 performing the above-described S21, etc., and/or other processes for the techniques described herein.
The control module 410 may be further configured to control the broadcast unit according to the broadcast flow and a preset flow, so that the current broadcast flow of each sub-broadcast port of the broadcast unit is consistent with the preset flow.
It will be appreciated that the control module 410 may be used to support the seeding device 100 in performing the above-described S22, etc., and/or other processes for the techniques described herein.
Based on the foregoing method embodiment, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program executes the steps of the flow control method of the broadcast device.
Specifically, the storage medium may be a general storage medium, such as a mobile disk, a hard disk, and the like, and when a computer program on the storage medium is executed, the flow control method of the scattering device may be executed, so as to solve a problem that "in the prior art, the scattering flow of the scattering unit when scattering particulate matter cannot be accurately controlled", and achieve an object of accurately controlling the scattering flow of the scattering unit when scattering particulate matter.
In summary, an embodiment of the present application provides a flow control method and a related apparatus for a broadcast device, where the method is applied to a broadcast device, the broadcast device includes a broadcast unit and a radar sensor, and the method includes: controlling a radar sensor to detect the spatial position of the particulate matter sprayed out of the sowing outlet; determining the spreading flow of the spreading unit according to the spatial position; and controlling the sowing unit according to the sowing flow and the preset flow so as to enable the current sowing flow of the sowing unit to be consistent with the preset flow. Because the radar sensor of the scattering equipment can accurately determine the spatial position of the detected object according to the time difference between the transmitted electromagnetic wave and the returned electromagnetic wave, the scattering equipment can accurately detect the spatial position of the particulate matters sprayed out of the scattering outlet of the scattering unit through the radar sensor, and further can accurately detect the scattering flow of the scattering unit according to the spatial position. And after the spreading flow of the spreading unit is detected, the spreading unit can be controlled according to the spreading flow and the preset flow, so that the current spreading flow of the spreading unit is consistent with the preset flow, and the spreading flow of the spreading unit when the particles are spread can be accurately controlled.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (16)

1. A flow control method of a scattering device is characterized by being applied to the scattering device, the scattering device comprises a scattering unit and a radar sensor, and the method comprises the following steps:
controlling the radar sensor to detect the spatial position of the particulate matter sprayed out of the spreading outlet;
determining the spreading flow of the spreading unit according to the spatial position;
and controlling the scattering unit according to the scattering flow and a preset flow so as to enable the current scattering flow of the scattering unit to be consistent with the preset flow.
2. The method of claim 1, wherein the seeding unit comprises a valve and an accelerator, and the step of controlling the seeding unit according to the seeding flow and a preset flow so that the current seeding flow of the seeding unit is consistent with the preset flow comprises:
controlling the valve according to the sowing flow and a preset flow so as to enable the current sowing flow of the sowing unit to be consistent with the preset flow; and/or
And controlling the accelerator according to the broadcast flow and a preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
3. The method of claim 2, wherein the step of controlling the valve according to the broadcast flow and a preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow comprises:
and carrying out Proportional Integral Derivative (PID) control on the valve according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
4. The method of claim 2, wherein the step of controlling the accelerator according to the broadcast flow and a preset flow so that the current broadcast flow of the broadcast unit is consistent with the preset flow comprises:
and carrying out PID control on the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
5. The method of claim 1, wherein the radar sensor is a multiple-shot multiple-receive millimeter wave radar, and wherein the step of controlling the radar sensor to detect the spatial location of the particulate matter ejected from the broadcast outlet comprises:
controlling the multi-sending and multi-receiving millimeter wave radar to send and receive millimeter waves;
and determining the spatial position of the particulate matters sprayed out of the spreading outlet according to the transmitted and received millimeter waves.
6. A method for detecting particulate matter scattering is applied to scattering equipment, the scattering equipment comprises a scattering unit and a radar sensor, a scattering outlet of the scattering unit comprises a plurality of sub-scattering openings, and the method comprises the following steps:
controlling the radar sensor to detect the spatial position of the particulate matter sprayed out of the spreading outlet;
determining the spreading flow of each sub-spreading port of the spreading unit according to the spatial position;
and controlling the sowing unit according to the sowing flow and a preset flow so as to enable the current sowing flow of each sub-sowing port of the sowing unit to be consistent with the preset flow.
7. A flow control device for a scattering apparatus, for application to a scattering apparatus comprising a scattering unit and a radar sensor, the device comprising:
the control module is used for controlling the radar sensor to detect the spatial position of the particulate matters sprayed out of the spreading outlet;
the detection module is used for determining the spreading flow of the spreading unit according to the spatial position;
the control module is further configured to control the sowing unit according to the sowing flow and a preset flow, so that the current sowing flow of the sowing unit is consistent with the preset flow.
8. The device as claimed in claim 7, wherein the seeding unit comprises a valve and an accelerator, and the control module is configured to control the valve according to the seeding flow and a preset flow, so that the current seeding flow of the seeding unit is consistent with the preset flow; and/or
The control module is used for controlling the accelerator according to the broadcast flow and the preset flow so as to enable the current broadcast flow of the broadcast unit to be consistent with the preset flow.
9. The device as claimed in claim 8, wherein the control module is configured to perform PID control on the valve according to the broadcast flow and a preset flow, so that the current broadcast flow of the broadcast unit is consistent with the preset flow.
10. The device as claimed in claim 8, wherein the control module is configured to perform PID control on the accelerator according to the broadcast flow rate and a preset flow rate, so that the current broadcast flow rate of the broadcast unit is consistent with the preset flow rate.
11. The apparatus of claim 7, wherein the radar sensor is a multiple-shot millimeter wave radar, and the control module is configured to control the multiple-shot millimeter wave radar to transmit and receive millimeter waves;
the control module is also used for determining the spatial position of the particulate matters sprayed out of the spreading outlet according to the transmitted and received millimeter waves.
12. A flow control device of a sowing apparatus, characterized in that, applied to a sowing apparatus, the sowing apparatus comprises a sowing unit and a radar sensor, a sowing outlet of the sowing unit comprises a plurality of sub-sowing openings, the device comprises:
the control module is used for controlling the radar sensor to detect the spatial position of the particulate matters sprayed out of the spreading outlet;
the detection module is used for determining the spreading flow of each sub-spreading port of the spreading unit according to the spatial position;
the control module is further configured to control the sowing unit according to the sowing flow and a preset flow, so that the current sowing flow of each sub-sowing port of the sowing unit is consistent with the preset flow.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for flow control of a scattering device as claimed in any one of claims 1-6.
14. A scattering device control unit, comprising a processor and a memory, the memory storing machine readable instructions, the processor being configured to execute the machine readable instructions to implement the method of flow control of a scattering device as claimed in any one of claims 1-6.
15. A seeding device, comprising:
a sowing unit;
a radar sensor;
and a scattering device control unit comprising a processor and a memory, the memory storing machine readable instructions, the processor being configured to execute the machine readable instructions to implement the method of flow control of a scattering device as claimed in any one of claims 1-6.
16. A work apparatus, comprising:
a body;
the power equipment is arranged on the machine body and used for providing power for the working equipment;
the sowing device comprises a sowing unit, a radar sensor and a sowing device control unit;
the scattering device control unit comprises a processor and a memory, the memory storing machine readable instructions, the processor being configured to execute the machine readable instructions to implement the method of flow control of a scattering device as claimed in any of claims 1-6.
CN202010167166.8A 2020-03-11 2020-03-11 Flow control method of broadcast equipment and related device Pending CN111752141A (en)

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PCT/CN2021/080295 WO2021180185A1 (en) 2020-03-11 2021-03-11 Sowing data processing method and apparatus, particulate material sowing detection method, flow control method of sowing device, sowing uniformity determination method and apparatus, computer-readable storage medium, sowing device control apparatus, sowing device and operation device

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