WO2020087296A1

WO2020087296A1 - Unmanned aerial vehicle testing method and device, and storage medium

Info

Publication number: WO2020087296A1
Application number: PCT/CN2018/112779
Authority: WO
Inventors: 许珠洪; 姚川松
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-10-30
Filing date: 2018-10-30
Publication date: 2020-05-07
Also published as: CN110785355A

Abstract

Provided in embodiments of the present invention are an unmanned aerial vehicle testing method and device, and a storage medium, the method comprising: receiving test data that is inputted by a user within an input region of the user and that is used for testing a test item of an unmanned aerial vehicle; when determined that a test start up instruction is inputted in the input region of the user, acquiring flight data of the unmanned aerial vehicle; according to the acquired flight data of the unmanned aerial vehicle and the test data inputted by the user, analyzing the test item to obtain a test result; and displaying the test result in a display region for the test result; thus, the functionality of an unmanned aerial vehicle may be automatically tested to increase testing efficiency.

Description

UAV test method, equipment and storage medium

Technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle test method, equipment and storage medium.

Background technique

With the development of flight technology, drones have become a popular research topic, and are widely used in agriculture, aerial photography, forest fire monitoring and other scenes, bringing many conveniences to people's lives and work. In order to make the drone applicable in these application scenarios, it is usually necessary to test the function of the drone. When the function of the drone is determined according to the test results, the drone is put into use. In practice, it is necessary to analyze the flight data of the drone through manual analysis to determine whether the function of the drone is up to standard, and it is difficult for the user to quickly and accurately obtain the required results through manual analysis, and in the field or farm The environment requires manual fact analysis, which is time-consuming and labor-intensive, and cannot meet the user's needs.

Summary of the invention

The embodiments of the present invention provide a drone test method, equipment and storage medium, which can automatically test the function of the drone, improve the test efficiency, meet the user's automated and intelligent requirements for drone testing, and can achieve The need to analyze multiple data in real time.

In a first aspect, an embodiment of the present invention provides a drone testing method, which is applied to a testing device for testing. The testing device is used to display a test interface, and the test interface includes a user input area and a test result display area. , The method includes:

Receiving test data input by the user in the user input area for testing the test items of the drone;

Acquiring the flight data of the drone when it is determined that the user input area inputs a start-up test instruction;

Analyzing the test items according to the acquired flight data of the drone and the test data input by the user to obtain test results;

The test result is displayed in the test result display area.

In a second aspect, an embodiment of the present invention provides a test device, including a memory and a processor;

The memory is used to store program instructions;

The processor executes the program instructions stored in the memory. When the program instructions are executed, the processor is used to perform the following steps:

The test result is displayed in the test result display area.

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and the computer program is executed by a processor to implement the drone test method of the first aspect .

The test result is displayed in the test result display area.

In the embodiment of the present invention, the test device provides a test interface. The test interface includes a user input area and a test result display area. The test device can receive test data input by the user through the user input area, and receive user input through the user input area. Test instructions can realize human-computer interaction and improve the interactive experience; test equipment can analyze test items based on test data and acquired flight data of the drone, obtain test results, and realize the test flow of the drone. There is no need for manual analysis, which greatly improves the convenience and efficiency of the test, which can meet the user's needs for automation and intelligence of UAV testing, and can meet the needs of real-time analysis of multiple data. In addition, the test equipment can display the test result in the test result display area, which can realize the visual display of the test result.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some of the present invention. For the embodiment, for those of ordinary skill in the art, without paying any creative labor, other drawings may be obtained based on these drawings.

1 is a schematic diagram of a network architecture for drone testing provided by an embodiment of the present invention;

2 is a schematic diagram of a network architecture for drone testing provided by an embodiment of the present invention;

3 is a schematic flowchart of a drone test method provided by an embodiment of the present invention;

4 is a schematic diagram of a test interface provided by an embodiment of the present invention;

5 is a schematic diagram of another test interface provided by an embodiment of the present invention;

6 is a schematic diagram of another test interface provided by an embodiment of the present invention;

7 is a schematic diagram of another test interface provided by an embodiment of the present invention;

8 is a schematic flowchart of another drone test method provided by an embodiment of the present invention;

9 is a schematic diagram of another test interface provided by an embodiment of the present invention;

10 is a schematic flowchart of yet another drone test method provided by an embodiment of the present invention;

11 is a schematic flowchart of yet another drone test method provided by an embodiment of the present invention;

12 is a schematic diagram of another test interface provided by an embodiment of the present invention;

13 is a schematic flowchart of yet another drone test method provided by an embodiment of the present invention;

14 is a schematic diagram of another test interface provided by an embodiment of the present invention;

15 is a schematic diagram of another test interface provided by an embodiment of the present invention;

16 is a schematic diagram of another test interface provided by an embodiment of the present invention;

17 is a schematic flow chart of yet another drone test method provided by an embodiment of the present invention;

18 is a schematic diagram of another test interface provided by an embodiment of the present invention;

19 is a schematic diagram of another test interface provided by an embodiment of the present invention;

20 is a schematic flowchart of yet another drone test method provided by an embodiment of the present invention;

21 is a schematic diagram of another test interface provided by an embodiment of the present invention;

22 is a schematic diagram of another test interface provided by an embodiment of the present invention;

23 is a schematic structural diagram of a test device provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

In order to better understand a drone testing method, device and equipment provided by the embodiments of the present invention, the network architecture of the embodiments of the present invention will be described below.

Please refer to FIGS. 1 and 2. FIG. 1 and FIG. 2 are schematic diagrams of a network architecture for drone testing provided by an embodiment of the present invention. The network structure includes a sky end, a ground end, and a reference end, and the sky end includes a transmitter 10. The ground end includes the receiver 11 and the test equipment 12, and the reference end includes the reference end 13.

FIG. 1 shows one of the communication connection methods. The transmitter 10 and the reference terminal 13 communicate with each other, and the transmitter 10 can obtain the position origin information of the reference terminal 13. The transmitter 10 and the receiver 11 can also communicate with each other, and the transmitter 10 can transmit the position information data of the sky end relative to the reference end 13 to the receiver 11. The receiver 11 and the test device 12 can communicate through wired or wireless means, and transmit the received data to the test device 12 for processing and analysis.

FIG. 2 shows another communication connection method. The reference terminal 13 and the ground equipment 11 communicate with each other, and the reference terminal 13 transmits the position origin information to the receiver 11. The receiver 11 also communicates with the transmitter 10 on the sky side. The receiver 11 transmits the received information of the reference terminal 13 to the transmitter 10 and obtains the flight data on the sky side from the transmitter 10. The receiver 11 and the test device 12 communicate by wire or wirelessly, and transmit the received data to the test device 12 for final processing and analysis.

It is understandable that the reference terminal 13 in the network architecture of the drone test is mainly used to provide high-precision positioning information (that is, the position origin information of the reference terminal) based on RTK (Real-Time Kinematic) real-time dynamic differential positioning technology. The positioning accuracy can be controlled within a centimeter level, so as to further determine the flight data of the drone according to the positioning information provided by the reference end 13. In one embodiment, the network architecture of the drone test can obtain the flight data of the drone through the sensors of the transmitter. Therefore, in some embodiments, the network architecture of the above drone test may not Include the reference 13.

The transmitter 10 is detachably fixed on the drone. The transmitter 10 can be used to obtain flight data of the drone and send the flight data to the receiver 11. The flight data can include the flying height of the drone, the longitude, latitude and three of the drone at multiple waypoints At least one of the speeds in the direction, the three directions may include the forward direction, the translation direction, and the vertical direction of the drone. In one embodiment, the transmitter 10 may include at least one of a visual sensor, a laser sensor, a radar sensor, an attitude sensor, etc. The transmitter 10 may use these sensors to obtain flight data of the drone, for example, the transmitter 10 You can use the radar sensor to obtain the height of each waypoint of the radar sensor during the flight of the drone, and use the height of the radar sensor at each waypoint as the height of the drone at each waypoint. The flying height of the drone can be determined according to the height of the drone at each waypoint. Among them, the visual sensor can include monocular vision, binocular vision or multi-eye vision, the laser sensor can include ToF rangefinder, lidar, the radar sensor can include ultrasonic radar, millimeter wave radar, the attitude sensor can include a GNSS position sensor, IMU inertial measurement unit, multi-axis attitude sensor. It can be understood that the sensor is not limited to the above-mentioned types, and any sensor that performs the same or similar function can be used.

The receiver 11 may be used to receive flight data sent by the transmitter 10 and forward the flight data to the test equipment 12.

The test device 12 may include a test interface, which may include a user input area and a test result display area. The user input area may be used to receive test data input by the user, and receive test-related instructions input by the user, such as test-related instructions It may include a start test command or a retest command and so on. The test result display area can be used to display the test results and graphs related to the flight data of the UAV; for example, the graphs related to the flight data can include a line graph between the speed and flight time of each waypoint or the flight altitude of each waypoint Line chart with time, etc. The test equipment 12 can also be used to receive the flight data sent by the receiver 11, and analyze the test items of the drone according to the flight data and the test data associated with the test items to obtain test results, which can automatically function test. Among them, the display can be switched between the user input area and the test result display area. For example, when the user inputs test data, the test device can only display the user input area; during the test or at the end of the test, the test device can only test the result Display area; the content display mode of user input area and test result display area can be adjusted by user's instruction. The test device 12 may be a device such as a smart phone, computer, or server.

In one embodiment, the ground terminal in the above network architecture may further include a control terminal of the drone. The control terminal may refer to a device provided in the above test equipment. The control terminal may also be an independent device; the control The terminal is used to control the flight of the drone, and the control terminal may specifically be one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a ground station, and a wearable device (watch, bracelet).

Based on the above network architecture, an embodiment of the present invention provides a drone test method. Please refer to FIG. 3, the method may be executed by a test device, and the specific explanation of the test device is as described above. As shown in FIG. 3, the UAV test method may include the following steps.

S301. The test device receives test data input by the user in the user input area to test the test item of the drone.

In the embodiment of the present application, the test item may refer to testing a certain function of the drone, and the test item may include a distance limit function test, a speed limit function test, a height limit function test, an electronic fence function test, and an independent route planning function At least one of testing and obstacle avoidance function testing. The functions to be tested in different test items are inconsistent. Therefore, the test data required for different test items are different. That is, for non-test items, the test equipment can display different user input areas. Specifically, the display interface of the test device may include multiple test item options, and the multiple test item options may include a height-limiting function test option, a distance-limiting function test option, a speed limit function test option, an electronic fence function test option, and an air route Self-planning function test options and obstacle avoidance function test options, etc .; the test equipment can receive the test items selected by the user through the test item options, display the user input area corresponding to the test item, and receive the user input area corresponding to the test item The input test data. For example, the test item is a height-limiting functional test, and the test data may include a height-limiting threshold. The user input area corresponding to the height-limiting functional test may include a height-limiting threshold input box, and the test device may receive the user input through the height-limiting threshold input box. High limit threshold. As another example, the test item is a speed limit function test, and the test data may include a speed limit threshold. The user input area corresponding to the speed limit function test may include a speed limit threshold input box, and the test device may receive a user passing the speed limit threshold input box. Enter the speed limit threshold.

S302. When the test device determines that the user input area inputs a start-up test instruction, the flight data of the drone is obtained.

In one embodiment, during the flight of the drone, the transmitter 10 can directly receive the position origin information data of the reference terminal 13, and the transmitter 10 can calculate the position origin information data to obtain the actual flight of the drone. Data, and the transmitter 10 forwards the actual flight data of the drone to the receiver 11, and the receiver 11 forwards the actual flight data of the drone to the test equipment. Accordingly, the test equipment can receive actual flight data from the receiver 11. As mentioned above, the actual flight data of the drone may include at least one of the flying height of the drone, the longitude, latitude, and speed of the drone at multiple waypoints in three directions, the three directions Can include the UAV's forward direction, translation direction and vertical direction.

In another embodiment, during the flight of the drone, the receiver 11 may receive the position origin information data of the reference terminal 13, and the receiver 11 forwards the position origin information data to the transmitter 10, and the transmitter 10 will The position origin information data is solved to obtain the actual flight data of the drone, and the actual flight data of the drone is forwarded by the transmitter 10 to the receiver 11, and the actual flight data of the drone is forwarded by the receiver 11 To test equipment. Accordingly, the test equipment can receive actual flight data from the receiver 11.

In yet another embodiment, during the flight of the drone, the transmitter 10 can obtain the actual flight data of the drone in real time through the sensors of the transmitter, and then send the actual flight data of the drone to the receiver 11. The receiver 11 then sends the actual flight data to the test equipment. Accordingly, the test equipment can receive actual flight data from the receiver 11.

S303. The test device analyzes the test item according to the acquired flight data of the drone and the test data input by the user to obtain a test result.

In the embodiment of the present application, the test equipment can analyze the test item based on the acquired flight data of the drone and the test data input by the user to obtain test results, so as to realize the test flow of the drone, without manual Analysis, improve test efficiency and test convenience.

S304. The test device displays the test result in the test result display area.

In the embodiment of the present application, in order to realize the visual display of the test result, the test device may display the test result in the test result display area. The test result may include a test passed and a test failed. Passing the test may mean that the function corresponding to the drone test item meets the standard; failing the test may mean that the function corresponding to the drone test item does not meet the standard. For example, the test item is a distance-limiting function test, and a passing test may mean that the UAV's distance-limiting function meets the standard; a test failure may mean that the UAV's distance-limiting function does not meet the standard.

Optionally, the function of the unmanned aerial vehicle means that the function of the drone meets the national regulations on the drone, and the function of the unmanned aerial vehicle means that the function of the drone does not meet the national regulations on the drone.

In one embodiment, the test result display area may also display information such as the test item name or test time.

In one embodiment, the test device may display a test status in the test result display area, where the test status includes untested, under test, or completed test, so that the user can understand the test progress of the current test item in real time.

In one embodiment, the test device may display the modification option of the test result in the test result display area, and modify the test result after detecting the modification instruction input through the modification option. After the test is completed, the test device can display the modification option of the test result in the test result display area. When it is detected that the user clicks or slides the modification option, it is determined that the modification instruction is received, and the test result is modified to realize the human Machine interaction to improve the interactive experience.

In one embodiment, the retest option is displayed in the test result display area, and after detecting the retest command that passes the retest option, the test item of the drone is retested. For example, after the test is completed, in order to improve the accuracy of the test, the test device may display a retest option in the test result display area. When it is detected that the user clicks or slides the retest option, it is determined that the retest command is received, which is The human-machine test project is re-tested to realize human-computer interaction and improve the interactive experience.

In one embodiment, the test device may generate a test report, the test report includes the test item, the test data, and the test result, and the test report may include basic information, test results, and test data of the test product.

In one embodiment, the test device may receive the basic site information input by the user and save the basic site information input by the user, where the test report further includes the basic site information. For example, as shown in FIG. 4, the site is a crop field, and the basic information of the site includes the name of the crop, the height of the crop, the temperature of the ground, the humidity of the ground, and the wind speed at the location of the site.

In one embodiment, the test device may receive the test product information input by the user, and save the test product information input by the user, where the test report further includes the test product information. For example, as shown in FIG. 5, the test product information may include the name of the company that produced the test product, the model and name of the test product, the number of rotors, the weight, the size of the rotor, the flight control number, and so on.

In one embodiment, the test report is displayed when the viewing instruction input through the viewing test report option is detected. For example, as shown in FIG. 6, the test device displays multiple test product viewing test report options. When a click operation of the target test product viewing test report option is detected, the test report of the target test product is displayed. The target The product is any one of multiple test products.

In one embodiment, when a download instruction input through the download test report option is detected, the test report is downloaded. For example, as shown in FIG. 7, the test device displays a test report of the obstacle avoidance function test of the drone, the test device displays a download test report option, and when a touch operation for the download test report option is detected, it is determined Receive the download command input through the download test report option, download the test report, the test report includes the basic information of the test product, test data (obstacle information), for different types of obstacles, obstacle avoidance for the drone The result of the functional test. The type of the obstacle includes trees, wires, poles, or people.

In one embodiment, when a delete instruction input through the delete test report option is detected, the test report is deleted.

It can be seen that by implementing the method described in FIG. 3, the test device provides a test interface. The test interface includes a user input area and a test result display area. The test device can receive the test data input by the user through the user input area and receive the user through the user. The start test command input in the input area can realize human-computer interaction and improve the interactive experience; the test equipment can analyze the test project according to the test data and the acquired flight data of the drone, obtain the test results, and realize the The testing process is streamlined, without manual analysis, which greatly improves the convenience and efficiency of the test. In addition, the test equipment can display the test result in the test result display area, which can realize the visual display of the test result.

Please refer to FIG. 8. FIG. 8 is a schematic flowchart of another drone test method provided by an embodiment of the present invention. The method may be executed by a test device, and the specific explanation of the test device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 3 is that the embodiment of the present invention is a specific application scenario of the embodiment of FIG. As shown, the UAV test method may include the following steps.

S801. The test device receives test data input by the user in the user input area to test the test item of the drone.

In the embodiment of the present application, the test item includes a height limitation function test, and the test data may include a height limitation threshold. Among them, the height limit threshold may be the maximum height of the drone in the height limit function of the drone; the display interface of the test device may include multiple test item options, and the test device may receive the user selection through the test item options Of the test items, if the selected test item is a height-limiting functional test, the user input area corresponding to the height-limiting functional test is displayed. As shown in FIG. 9, the user input area may include a height limit threshold input box, and the test device may receive the height limit threshold input by the user in the height limit threshold input box; the user input area may also include coordinates of the takeoff point of the drone In the input box, the testing device can receive the take-off point coordinates input by the user in the take-off point coordinate input box. After receiving the height limit threshold and the take-off point coordinates, the test can receive the user's instruction to save the information entered in the user input area, and save the user input data.

S802. When the test device determines that the user input area inputs a start-up test instruction, the flight data of the drone is obtained.

In one embodiment, as shown in FIG. 9, during the flight of the drone, the test equipment can display the current waypoint position and takeoff point position of the drone in real time on the test result display area, so that the user can The current waypoint position and take-off point position of the man-machine can understand the flying height of the UAV in real time.

S803. The test equipment analyzes the height-limiting functional test according to the acquired flight data of the drone and the height-limiting threshold to obtain a test result.

In the embodiment of the present application, the test equipment may analyze the height-limiting function test according to the acquired flight data of the drone and the height-limiting threshold to obtain a test result, so as to implement a test procedure for the height-limiting function of the drone Do not manually analyze, improve test efficiency and test convenience.

S804. The test device displays the test result in the test result display area.

In order to realize the visualization of the test results, the test equipment may display the test results in the test result display area.

In one embodiment, the test equipment may display a line chart between the time of the drone during the flight and the height of each waypoint in the test result display area, which can realize the visual display of the test data so that the user can The line graph can understand the relationship between the waypoint's altitude at each time point and the preset altitude threshold in real time. For example, the test result display area shows a coordinate system composed of altitude and time. The test device can mark the waypoint height value corresponding to each time of the drone in the flight system in the coordinate system, connecting adjacent waypoints. The height value between is the line chart between the time of the drone during the flight and the height of each waypoint.

In one embodiment, the part of the line graph whose height is greater than the height limit threshold is the first preset color, and the part of the line graph whose height is less than or equal to the height limit threshold is the second preset color.

In order to make the test results more clear, the test equipment can display the waypoints that passed the test and the waypoints that failed the test in different colors in a line chart for easy distinction. The waypoints that pass the test are those whose height is less than or equal to the upper limit threshold Waypoints; the waypoints that fail the test are the waypoints whose height is greater than the height limit threshold. For example, the first color is red, the second color is green, and the height limit threshold is 12m. The test device can display the portion of the line chart with a height greater than 12m as red, and the line chart with a height less than or equal to The part equal to 12m is displayed in green.

It can be seen that by implementing the method described in FIG. 8, the test device provides a test interface. The test interface includes a user input area and a test result display area. The test device can receive the height limit threshold input by the user through the user input area and receive the user pass The start test command input by the user input area can realize human-computer interaction and improve the interactive experience; the test equipment can analyze the high-limit function test according to the high-limit threshold and the acquired flight data of the drone, and obtain the test results. The high-limit functional test of the drone is streamlined without manual analysis, which improves the convenience and efficiency of the test; in addition, the test equipment can display the test result in the test result display area, which can realize the visual display of the test result.

Please refer to FIG. 10, which is a schematic flowchart of another drone test method provided by an embodiment of the present invention. The method may be executed by a test device, and the specific explanation of the test device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 3 is that the embodiment of the present invention is a specific application scenario of the embodiment of FIG. 3, which is a scenario for testing the speed limit function of the drone. The embodiment of the present invention is shown in FIG. 10 As shown, the UAV test method may include the following steps.

S111. The test device receives test data input by the user in the user input area to test the test item of the drone.

In the embodiment of the present application, the test item includes a speed limit function test, and the test data may include a speed limit threshold. Wherein, the speed limit threshold may be the maximum speed of the drone in the speed limit function of the drone. The test device can receive the test item selected by the user through the test item option. If the selected test item is a speed limit function test, the user input area corresponding to the speed limit function test is displayed. The user input area may include a speed limit threshold input box, and the test device may receive the speed limit threshold input by the user in the speed limit threshold input box; the user input area may also include a coordinate input box for the takeoff point of the drone, and the test device may Receive the take-off point coordinates entered by the user in the take-off point coordinate input box. After receiving the speed limit threshold and the coordinates of the take-off point, the test can receive instructions for saving information entered by the user in the user input area, and save the data entered by the user.

S112. When the test device determines that the user input area inputs the start-up test instruction, the flight data of the drone is obtained.

S113. The test equipment analyzes the speed limit function test according to the acquired flight data of the drone and the speed limit threshold to obtain a test result.

In the embodiment of the present application, the test device may analyze the speed limit function test according to the acquired flight data of the drone and the speed limit threshold to obtain a test result, so as to implement a test process for the speed limit function of the drone Do not manually analyze, improve test efficiency and test convenience.

S114. The test device displays the test result in the test result display area.

In the embodiment of the present application, in order to realize the visualization of the test result, the test device may display the test result in the test result display area.

In one embodiment, the electronic device may display a line chart between the time of the drone during the flight and the integrated speed of each waypoint in the test result display area, so that the user can understand the time chart according to the line chart The relationship between the integrated speed of the waypoint and the speed limit threshold. The comprehensive speed of the waypoint can be determined according to the speed of the waypoint in various directions. For example, the test result display area shows a coordinate system composed of speed and time. The test device can mark the waypoint speed value corresponding to each time of the drone in the flight system in the coordinate system, connecting adjacent waypoints. The speed value between is the line chart between the time of the UAV during flight and the speed of each waypoint.

In one embodiment, the portion of the line graph whose combined speed is greater than the speed limit threshold is the first preset color, and the portion of the line graph whose combined speed is less than or equal to the speed limit threshold is the second preset colour.

In order to make the test results more clear, the test equipment can display the waypoints that passed the test and the waypoints that failed the test in different colors in a line chart for easy distinction. The waypoints that pass the test are those whose speed is less than or equal to the speed limit threshold. Waypoints: Waypoints that fail the test are those with a speed greater than the speed limit threshold. Specifically, for example, the first color is red, the second color is green, and the speed limit threshold is 20m / s. The test device may display the portion of the line point speed greater than 20m / s as red, and the line chart The part where the speed of the midpoint is less than or equal to 20m / s is displayed in green.

It can be seen that by implementing the method described in FIG. 10, the test device provides a test interface, the test interface includes a user input area and a test result display area, the test device can receive the speed limit threshold input by the user through the user input area, and receive the user pass The start test command input by the user input area can realize human-computer interaction and improve the interactive experience; the test equipment can analyze the speed limit function test according to the speed limit threshold and the obtained flight data of the drone, and obtain the test results. The speed limit function test of the UAV is streamlined without manual analysis, which improves the convenience and efficiency of the test. In addition, the test equipment can display the test result in the test result display area, which can realize the visual display of the test result.

Referring to FIG. 11, FIG. 11 is a schematic flowchart of another drone test method provided by an embodiment of the present invention. The method may be executed by a test device, and the specific explanation of the test device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 3 is that the embodiment of the present invention is a specific application scenario of the embodiment of FIG. 3, and the application scenario is a scenario for testing the distance-limiting function of the drone. The embodiment of the present invention is shown in FIG. 11 As shown, the UAV test method may include the following steps.

S121. The test device receives test data input by the user in the user input area to test the test item of the drone.

In the embodiment of the present application, the test item includes a distance-limiting function test, and the test data may include position information and a distance-limiting threshold of the take-off point of the drone. Wherein, the distance-limiting threshold may be the maximum distance that restricts the flight of the drone in the distance-limiting function of the drone. The test equipment can receive the test item selected by the user through the test item option. If the selected test item is the distance-limiting functional test, the user input area corresponding to the distance-limiting functional test is displayed. The user input area may include a limit threshold input box, and the test device may receive a limit threshold input by the user in the limit threshold input box; the user input area may also include a coordinate input box for the take-off point of the drone, and the test device may Receive the take-off point coordinates input by the user in the take-off point coordinate input box, and use the take-off point coordinates as the take-off point position information. After receiving the distance-limiting threshold and the coordinates of the take-off point, the test can receive an instruction to save information entered by the user in the user input area, and save the data entered by the user.

S122. When the test device determines that the user input area inputs a start-up test instruction, the flight data of the drone is obtained.

S123. The testing device analyzes the distance-limiting function test according to the acquired flight data of the drone, the distance-limiting threshold, and the position information of the take-off point, to obtain a test result.

In the embodiment of the present application, the test equipment may analyze the distance-limiting function test according to the acquired flight data of the drone, the distance-limiting threshold, and the position information of the take-off point to obtain test results to achieve The testing of the distance limit function is streamlined, and no manual analysis is needed to improve test efficiency and test convenience.

The distance limit threshold may refer to a specified maximum distance for the drone to fly.

S124. The test device displays the test result in the test result display area.

In one embodiment, the electronic device may display a line chart between the time of the drone during the flight and the distance of each waypoint in the test result display area, so that the user can understand the navigation at each time according to the line chart The relationship between the distance of a point and the threshold of the distance limit. The distance of the waypoint may refer to the distance between the position of the waypoint and the position of the take-off point. For example, as shown in FIG. 12, the test result display area shows a coordinate system composed of distance and time, and the test device may mark the altitude value of the waypoint corresponding to each time of the drone in the flight system in the coordinate system In, connecting the height values between adjacent waypoints to obtain a line chart between the time of the UAV during flight and the height of each waypoint. Optionally, the test equipment can also display the distance-limit threshold in the coordinate system. For example, the distance-limit threshold is 12m. The dotted line in FIG. 12 indicates the distance-limit threshold, and the solid line indicates the time during the flight of the drone and each Line chart between distances.

In one embodiment, a portion of the line chart where the distance of the waypoint is greater than the distance limit threshold is the first preset color, and a portion of the line chart where the distance of the waypoint is less than or equal to the distance limit threshold is the second preset color.

In order to make the test results more clear, the test equipment can display the waypoints that passed the test and the waypoints that failed the test in different colors in a line chart for easy distinction. The waypoints that pass the test are those whose distance is less than or equal to the limit threshold Waypoints: Waypoints that fail the test are those with a distance greater than the threshold. Specifically, for example, as shown in FIG. 12, the first color is red, the second color is green, and the distance limit threshold is 12m. The test device may display the portion of the line chart where the distance of the waypoint is greater than 12m as red. The part of the line chart where the distance of the waypoint is less than or equal to 12m is displayed in green.

It can be seen that, by implementing the method described in FIG. 11, the test equipment provides a test interface. The test interface includes a user input area and a test result display area. The test equipment can receive the distance threshold and the take-off point input by the user through the user input area. Information, and receive the startup test command input by the user through the user input area, which can realize human-computer interaction and improve the interactive experience; the test equipment can be limited according to the distance threshold, the location information of the take-off point, and the flight data obtained by the drone Analyze the distance function test to get the test results, realize the process of the UAV's limit function test process, without manual analysis, improve the convenience and efficiency of the test; In addition, the test equipment can display the test results in the test result display area , Can realize the visual display of test results.

Please refer to FIG. 13, which is a schematic flowchart of another drone test method provided by an embodiment of the present invention. The method may be executed by a test device, and the specific explanation of the test device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 3 is that the embodiment of the present invention is a specific application scenario of the embodiment of FIG. 3, and the application scenario is a scenario of testing the electronic fence function of the drone. As shown, the UAV test method may include the following steps.

S131. The test device receives test data input by the user in the user input area to test the test item of the drone.

In the embodiment of the present application, the test item includes an electronic fence function test, and the test data may include position information of a preset number of vertices of the electronic fence. Wherein, the preset number may be determined according to the shape of the electronic fence. The shape of the electronic fence is a quadrangle, and the preset number is four; the shape of the electronic fence is a triangle, and the preset number is three. The test device can receive the test item selected by the user through the test item option. If the selected test item is an electronic fence function test, the user input area corresponding to the electronic fence function test is displayed. The user input area may include a preset number of vertex position information input boxes of the electronic fence, and the test device may receive a preset of the electronic fence input by the user in the preset number of vertex position information input boxes of the electronic fence The location information of the number of vertices. After receiving the position information of the preset number of vertices of the electronic fence, the test may receive an instruction to save information input by the user in the user input area, and save the data input by the user. For example, as shown in FIG. 14, the user input area may include position information input boxes for four vertices of the electronic fence. The four vertices are point A, point B, point C, and point D. The test device may receive the user ’s The position information of the four vertices input in the input boxes of points B, C, and D. In one embodiment, the test device can also display the position information of the waypoint when the drone is flying in multiple directions in real time. Among them, as shown in Figure 14, when the drone is flying on the AB side of the electronic fence, the flying direction of the drone is the direction of advance. The direction of advance may refer to the drone with the nose facing the electronic fence and constantly approaching the electronic fence When the drone is flying on the CD side of the electronic fence, the flying direction of the drone is the backward direction. The backward direction can refer to the direction of the tail of the drone toward the electronic fence and constantly approaching the electronic fence; when no one is there When the aircraft is flying on the AD side of the electronic fence, the flying direction of the drone is the right translation direction. The right translation direction may refer to the direction of the right wing of the drone toward the electronic fence and constantly approaching the electronic fence; When flying on the BC side of the electronic fence, the flying direction of the drone is the left translation direction. The left translation direction may refer to the direction in which the left wing of the drone faces the electronic fence and continuously approaches the electronic fence.

In one embodiment, the test data may further include a preset distance, so that the test device can analyze the flight data of the waypoint whose distance from the electronic fence is less than the preset distance, and filter out the distance from the electronic fence greater than or equal to Flight data of waypoints with preset distance can save resources and improve test efficiency.

S132. When the test device determines that the user input area inputs a start-up test instruction, the flight data of the drone is obtained.

S133. The testing device analyzes the electronic fence function test according to the acquired flight data of the drone and the position information of the preset number of vertices of the electronic fence to obtain a test result.

In the embodiment of the present application, the test device may analyze the electronic fence function test according to the acquired flight data of the drone and the position information of the preset number of vertices of the electronic fence to obtain test results to achieve The testing process of the electronic fence function of the machine is streamlined, and no manual analysis is needed to improve the testing efficiency and the convenience of testing.

S134. The test device displays the test result in the test result display area.

In one embodiment, the test device may display the test status of the electronic fence function test of the drone for each of the multiple directions in the test result display area, so that the user can timely understand the test progress. As shown in FIG. 15, the test equipment shows that the test state in the forward direction is tested, the test state in the backward direction is in test, the test state in the left translation direction is untested, and the test state in the right translation direction is untested.

In one embodiment, the test results include test results of the electronic drone function test performed by the drone for each of multiple directions. For example, as shown in FIG. 16, the test device shows in the test result display area that the test result in the forward direction is a test pass, and the test result in the backward direction is a test pass, and a test result in the left translation direction (that is, a lateral translation) To fail the test, the test result in the right translation direction (that is, the right lateral translation) is the test passed.

In one embodiment, the test device may receive a viewing instruction for the line graph in the first direction, and the test result display area displays the time and waypoint distance from the electronic during the flight of the drone in the first direction A line chart between the distance of the fence and the overall speed of the waypoint.

For example, the test equipment may include a line chart of the forward direction, the backward direction, the left translation direction, and the right translation direction. If the first direction is the forward direction, as shown in FIG. 16, the test device may receive a viewing instruction for the forward direction line graph , The test result display area displays a line graph between the time during which the drone is flying in the forward direction, the distance from the waypoint to the electronic fence, and the overall speed of the waypoint.

In one embodiment, the test device may receive the test result in the electronic fence input by the user through the test result display area, and save the test result in the electronic fence.

The user can set the test result in the fence according to the data displayed in the test result display area. Specifically, the test device can receive the test result in the fence input by the user through the test result display area and save the test result in the electronic fence. For example, according to the line chart shown in FIG. 16, it is determined that the drone does not slow down when flying in or close to the electronic fence. The user can set the test result in the electronic fence to fail.

It can be seen that by implementing the method described in FIG. 13, the test device provides a test interface including a user input area and a test result display area. The test device can receive a preset number of vertices of the electronic fence input by the user through the user input area Location information, and receive start-up test commands entered by the user through the user input area, which can realize human-computer interaction and improve the interactive experience; the test equipment can be based on the position information of the preset number of vertices of the electronic fence and the acquired drone The flight data of the aircraft is analyzed for the electronic fence function test, and the test results are obtained. The electronic fence function test for the drone is streamlined, without manual analysis, and the convenience and efficiency of the test are improved; in addition, the test equipment can display the test results The test result is displayed in the area, which can realize the visual display of the test result.

Please refer to FIG. 17, which is a schematic flowchart of another drone test method provided by an embodiment of the present invention. The method may be executed by a test device, and the specific explanation of the test device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 3 is that the embodiment of the present invention is a specific application scenario of the embodiment of FIG. As shown in 17, the UAV test method may include the following steps.

S171. The test device receives test data input by the user in the user input area to test the test item of the drone.

In the embodiment of the present application, the test item includes a route autonomous planning function test, and the test data may include the position information of the first position, the position information of the second position, and the spray amplitude. Among them, the spray width may be the spray range of the drone to spray pesticides or water and other objects in the autonomous route planning of the drone, for example, the spray width may be 5m. The test equipment can receive the test item selected by the user through the test item option. If the selected test item is a route autonomous planning functional test, the user input area corresponding to the route autonomous planning functional test is displayed. As shown in FIG. 18, the user input area may include a test data input box, the first position is point A, and the second position is point B. The test device may receive the position information of point A entered by the user in the test data input box and The position information and spray pattern of point B, the position information of point A is (22.62, 113.93), the position information of point B is (22.63, 113.93), and the spray pattern is 5m. Optionally, the test data may also include the flying height, such as 3m, and may also include a flying speed of 5m / s. After receiving the test data, the test can receive the instruction to save the information input by the user in the user input area, and save the data input by the user.

S172. When the test device determines that the user input area inputs a start-up test instruction, the flight data of the drone is obtained.

S173. The test equipment analyzes the autonomous planning function test of the route based on the acquired flight data of the drone, the position information of the first position, the position information of the second position, and the spray amplitude, and obtains the test result.

The test equipment can analyze the autonomous planning function test of the route based on the acquired flight data of the drone, the position information of the first position, the position information of the second position, and the spray amplitude to obtain the test results to realize the The testing process of the self-planning function of the route is streamlined, which does not require manual analysis, which improves the testing efficiency and the convenience of testing.

S174. The test device displays the test result in the test result display area.

In one embodiment, the test equipment may display a line graph between the time of the drone during flight, the distance between the waypoint and the corresponding reference line, and the overall speed of the waypoint in the test result display area, The reference line is determined according to the position information of the first position and the position information of the second position and the spray pattern.

The test equipment can display the line chart between the time of the drone during flight, the distance between the waypoint and the corresponding reference line, and the overall speed of the waypoint in the test result display area, so that you can understand the line chart Whether the autonomous flight planning function test of the drone passed. For example, the test result display area shows the coordinate system composed of distance, total speed, and time. The test equipment can mark the comprehensive speed value of the waypoint corresponding to each time of the drone in the coordinate system, and connect The integrated speed value between adjacent waypoints is a line chart between the time of the drone during the flight and the integrated speed of each waypoint; the waypoint of the drone at each time during the flight The distance value from the corresponding reference line is marked in the coordinate system, and the distance value between adjacent waypoints is obtained as a broken line between the time of the drone during the flight and the distance of each waypoint from the corresponding reference line Figure.

In one embodiment, the test device may display the first route trajectory and the second route trajectory in the test result display area, the first route trajectory is the actual route trajectory of the drone during flight, and the second route trajectory It is a reference route trajectory determined according to the position information of the first position, the position information of the second position, and the spray amplitude. Optionally, the test device may display the first route trajectory in a first color and the second route trajectory in a second color. For example, the first color is yellow and the second color is green. As shown in FIG. 19, the trajectory displayed in yellow is the actual route trajectory, and the trajectory displayed in green is the reference route trajectory. The second course trajectory is a reference course trajectory determined according to the position information of the first position, the position information of the second position, and the spray pattern, for example, the spray pattern is 5 m, the first position is point A, and the second position is At point B, the second route trajectory includes a straight line segment AB and a line segment parallel to the line segment AB and the distance from the line segment AB to N times the spray amplitude, where N is a positive integer.

In an embodiment, the test device may display the first standard deviation, the minimum distance, and the maximum distance in the test result display area, the first standard deviation is based on the correspondence between each waypoint of the drone during flight The calculated standard deviation of the distance between the baselines of the UAV, the minimum distance is the minimum distance of the distance between multiple waypoints and the corresponding baseline during the flight of the drone, and the maximum distance is the unmanned The maximum distance among the distances between multiple waypoints and the corresponding reference line during the flight. For example, assuming that there are 1 to 10 waypoints, the test equipment can calculate the distance between each waypoint and the corresponding reference line to obtain 10 distance values, and use the mean squared deviation of the 10 distance values as the first standard deviation. The difference, the maximum distance and the minimum distance among the 10 distance values are displayed on the test result display area. As shown in FIG. 15, the test device may display the first standard deviation, the minimum distance, and the maximum distance in the form of a data analysis table.

In an embodiment, the test data further includes a flying height, where the flying height may be the maximum height that limits the flying of the drone in the distance-limiting function of the drone. The test equipment can calculate the altitude deviation between the altitude of each waypoint and the flight altitude of the drone during flight to obtain multiple altitude deviations, and display the second standard deviation and the multiple in the test result display area The minimum height deviation among the height deviations and the maximum height deviation among the plurality of height deviations, the second standard deviation is calculated according to the plurality of height deviations. For example, assuming that there are 1 to 10 waypoints and the flight altitude is 3m, the test equipment can calculate the difference between each waypoint and 3m, and use the difference as the altitude deviation to obtain 10 altitude deviation values. The mean square deviation of the height deviation values is taken as the second standard deviation; and the second standard deviation, the maximum value and the minimum value of the ten height deviation values are displayed in the test result display area. As shown in FIG. 19, the test device may display the second standard deviation, the minimum height deviation among the plurality of height deviations, and the maximum height deviation among the plurality of height deviations in the form of a data analysis table.

In one embodiment, the test data further includes flight speed, and the test device may calculate the speed deviation between the integrated speed of each waypoint of the drone during the flight and the flight speed to obtain multiple speed deviations, The third standard deviation, the minimum speed deviation among the plurality of speed deviations, and the maximum speed deviation among the plurality of speed deviations are displayed in the test result display area. The third standard deviation is calculated based on the plurality of speed deviations. For example, assuming that there are 1 to 10 waypoints and the flight speed is 5m / s, the test equipment can calculate the difference between each waypoint and 5m / s and use the difference as the speed deviation to obtain 10 speed deviation values , Take the mean square deviation of 10 speed deviation values as the third standard deviation; and display the third standard deviation and the maximum and minimum values of the 10 speed deviation values in the test result display area. As shown in FIG. 19, the test device may display the third standard deviation, the minimum speed deviation among the plurality of speed deviations, and the maximum speed deviation among the plurality of speed deviations in the form of a data analysis table.

It can be seen that by implementing the method described in FIG. 17, the test device provides a test interface. The test interface includes a user input area and a test result display area. The test device can receive the position information and the first position input by the user through the user input area. The location information and spray pattern of the second location, and receiving the start test command input by the user through the user input area, can realize human-computer interaction and improve the interactive experience; the test equipment can be based on the location information of the first location and the location information of the second location Analyze the autonomous route planning function test by using the spray pattern and the acquired flight data of the drone to obtain the test results, and realize the process flow of the autonomous route planning function test of the drone without manual analysis, improving the convenience of the test And efficiency; In addition, the test equipment can display the test result in the test result display area, which can realize the visual display of the test result.

Please refer to FIG. 20, which is a schematic flowchart of another drone test method provided by an embodiment of the present invention. The method may be executed by a test device, and the specific explanation of the test device is as described above. The difference between the embodiment of the present invention and the embodiment of FIG. 3 is that the embodiment of the present invention is a specific application scenario of the embodiment of FIG. 3, the application scenario is a scenario for testing the obstacle avoidance function of the drone, and the embodiment of the present invention is shown in FIG. 20. As shown, the UAV test method may include the following steps.

S211. The test device receives test data input by the user in the user input area for testing the test items of the drone.

In the embodiment of the present application, the test item includes an obstacle avoidance function test, and the test data may include obstacle information, the starting point coordinates and the ending point coordinates of the drone. The test device can receive the test item selected by the user through the test item option. If the selected test item is the obstacle avoidance function test, the user input area corresponding to the obstacle avoidance function test is displayed. The user input area may include a test data input box, and the test data frame includes an obstacle information input box, a start coordinate input box and an end coordinate input box of the drone, and the test device may receive an obstacle input by the user in the test data input box Object information, the starting point coordinates and the end point coordinates of the drone. After receiving the distance-limiting threshold and the coordinates of the take-off point, the test can receive an instruction to save information entered by the user in the user input area, and save the data entered by the user. The obstacle information includes the position information of the obstacle, the radius of the obstacle, the height of the obstacle, and the type of the obstacle. The type of the obstacle may include a tree, a house, a pole, or a person. For example, as shown in Figure 17, the obstacle is a tree, the height of the obstacle is 10m, the radius of the obstacle is 123m, the position information of the obstacle is (22.62, 113.93), and the coordinates of the starting point of the drone are the coordinates of point A ( 22.64, 113.93), the end point coordinates of the UAV are the coordinates of point B (22.64, 113.95).

S212. When the test device determines that the user input area inputs the start-up test instruction, the flight data of the drone is obtained.

S213. The test device analyzes the obstacle avoidance function test according to the acquired flight data of the drone, obstacle information, the starting point coordinates and the end point coordinates of the drone, and obtains test results.

In the embodiment of the present application, the test device may analyze the obstacle avoidance function test according to the acquired flight data of the drone, obstacle information, the starting point coordinates and the end point coordinates of the drone, and obtain test results to achieve The test of the obstacle avoidance function of the UAV is streamlined, and no manual analysis is needed to improve test efficiency and test convenience.

S214. The test device displays the test result in the test result display area.

In one embodiment, the test device may display the flight path map of the drone and the position of the obstacle in the test result display area. As shown in Figure 21, the test equipment can mark the position of each waypoint during the flight of the drone in the test result display area, and connect adjacent waypoints to obtain the flight path map of the drone, and test The result display area shows the position of obstacles, so that users can understand the relationship between the flying position of the drone and the position of obstacles in real time.

In one embodiment, the test result display area displays a line graph between the time of the drone during flight, the distance between the waypoint and the obstacle, and the overall speed of the waypoint. For example, as shown in FIG. 22, the test result display area shows a coordinate system composed of speed, distance, and time. The test device can mark the waypoint speed value corresponding to each time during the flight of the drone in coordinates. In the system, connect the speed values between adjacent waypoints to obtain a line chart between the time of the drone during the flight and the speed of each waypoint; correspond to each time of the drone during the flight The distance between the waypoint and the obstacle is marked in the coordinate system, and the distance between adjacent waypoints is connected to obtain a line chart between the time of the drone during the flight and the distance of each waypoint from the obstacle . Optionally, as shown in FIG. 18, the test device may display a line chart between the time of the drone during the flight and the speed of each waypoint in the first color, and display the drone in the second color. The line chart between the time during the flight and the distance between each waypoint and the obstacle, the first color may be red, and the second color is gray.

It can be seen that by implementing the method described in FIG. 20, the test device provides a test interface, the test interface includes a user input area and a test result display area, the test device can receive obstacle information input by the user through the user input area, the drone The starting point coordinates and end point coordinates, and receiving the start test command input by the user through the user input area, can realize human-computer interaction and improve the interactive experience; the test equipment can be based on the obstacle information, the UAV starting point coordinates, end point coordinates and Obtain the flight data of the drone to analyze the obstacle avoidance function test, get the test results, realize the test flow of the obstacle avoidance function test of the drone, without manual analysis, improve the convenience and efficiency of the test; In addition, the test equipment The test result can be displayed in the test result display area, which can realize the visual display of the test result.

Please refer to FIG. 23, which is a schematic structural diagram of a test device according to an embodiment of the present invention. Specifically, the test device includes: a processor 100 and a memory 101.

The memory 101 may include a volatile memory (volatile memory); the memory 101 may also include a non-volatile memory (non-volatile memory); the memory 101 may also include a combination of the foregoing types of memories. The processor 100 may be a central processing unit (central processing unit, CPU). The processor 100 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), or any combination thereof.

In one embodiment, the memory is used to store program instructions, and the processor may call the program instructions stored in the memory to perform the following steps:

The test result is displayed in the test result display area.

Optionally, the test item includes a height limitation function test, and the test data includes a height limitation threshold.

Optionally, the processor is also used to perform the following steps:

The test result display area displays a line graph between the time of the drone during the flight and the height of each waypoint.

Optionally, a portion of the line graph whose height is greater than the height limit threshold is a first preset color, and a portion of the line graph whose height is less than or equal to the height limit threshold is a second preset colour.

Optionally, the test item includes a speed limit function test, and the test data includes a speed limit threshold.

Optionally, the processor is also used to perform the following steps:

The test result display area displays a line graph between the time during the flight of the drone and the integrated speed of each waypoint.

Optionally, the part of the line graph where the integrated speed of the waypoint is greater than the speed limit threshold is the first preset color, and the part of the line graph where the integrated speed of the waypoint is less than or equal to the speed limit threshold is the second Preset colors.

Optionally, the test item includes a distance-limiting function test, and the test data includes position information and a distance-limiting threshold of the take-off point of the drone.

Optionally, the processor is also used to perform the following steps:

The test result display area displays a line graph between the time during the flight of the drone and the distance between each waypoint.

Optionally, a portion of the line chart where the distance of the waypoint is greater than the distance limit threshold is the first preset color, and a portion of the line chart where the distance of the waypoint is less than or equal to the distance limit threshold is the second preset colour.

Optionally, the test item includes an electronic fence function test, and the test data includes position information of a preset number of vertices of the electronic fence.

Optionally, the test data further includes a preset distance.

Optionally, the processor is also used to perform the following steps:

The test result display area displays the test status of the electronic drone function test for each of the multiple directions.

Optionally, the test results include test results of the electronic drone function test performed by the drone for each of multiple directions.

Optionally, the processor is also used to perform the following steps:

Receive the viewing instruction for the line chart in the first direction;

The test result display area displays a line graph between the time during which the drone is flying in the first direction, the distance from the waypoint to the electronic fence, and the overall speed of the waypoint.

Optionally, the processor is also used to perform the following steps:

Receiving the test result in the electronic fence input by the user through the test result display area;

Save the test results in the electronic fence.

Optionally, the test item is an autonomous route planning test, and the test data includes position information of the first position, position information of the second position, and spray pattern.

Optionally, the processor is also used to perform the following steps:

The test result display area displays a line chart between the time of the drone during flight, the distance between the waypoint and the corresponding reference line, and the overall speed of the waypoint. The reference line is based on The position information of the first position and the position information of the second position and the spray pattern are determined.

Optionally, the processor is also used to perform the following steps:

Displaying a first route trajectory and a second route trajectory in the test result display area, the first route trajectory is the actual route trajectory of the UAV during flight, and the second route trajectory is based on the Position information of a position, position information of the second position, and a reference route trajectory determined by the spray pattern.

Optionally, the processor is also used to perform the following steps:

The first standard deviation, the minimum distance and the maximum distance are displayed in the test result display area, the first standard deviation is based on each waypoint of the drone in flight and the corresponding reference line The standard deviation is calculated from the distance, the minimum distance is the minimum distance among the distances between multiple waypoints and the corresponding reference line during the flight of the drone, and the maximum distance is the drone The maximum distance among the distances between multiple waypoints and corresponding reference lines during flight.

Optionally, the test data further includes flight altitude, and the processor is further configured to perform the following steps:

Calculating the altitude deviation between the altitude of each waypoint of the drone during the flight and the flying altitude to obtain multiple altitude deviations;

Displaying a second standard deviation, a minimum height deviation among the plurality of height deviations and a maximum height deviation among the plurality of height deviations in the test result display area, the second standard deviation being based on the plurality of heights The deviation is calculated.

Optionally, the test data further includes flight speed, and the processor is further configured to perform the following steps:

Calculating the speed deviation between the integrated speed of each waypoint of the drone during the flight and the flight speed to obtain multiple speed deviations;

Displaying a third standard deviation, a minimum speed deviation among the plurality of speed deviations and a maximum speed deviation among the plurality of speed deviations in the test result display area, the third standard deviation is based on the plurality of speeds The deviation is calculated.

Optionally, the test item includes an obstacle avoidance function test, and the test data includes obstacle information, the starting point coordinates and the ending point coordinates of the drone.

Optionally, the obstacle information includes position information of the obstacle, radius of the obstacle, height of the obstacle, and type of the obstacle.

Optionally, the processor is also used to perform the following steps:

The flight trajectory map of the drone and the position of the obstacle are displayed in the test result display area.

Optionally, the processor is also used to perform the following steps:

The test result display area displays a line graph between the time of the drone during flight, the distance between the waypoint and the obstacle, and the overall speed of the waypoint.

Optionally, the processor is also used to perform the following steps:

The test status is displayed. The test status includes untested, testing, or testing completed.

Optionally, the processor is also used to perform the following steps:

Display the test result modification options in the test result display area;

After detecting the modification instruction input through the modification option, the test result is modified.

Optionally, the processor is also used to perform the following steps:

Display the retest option in the test result display area;

After detecting a retest instruction that passes the retest option, the test item of the drone is retested.

Optionally, the processor is also used to perform the following steps:

Generate a test report, the test report includes the test items, the test data, and test results.

Optionally, the processor is also used to perform the following steps:

Receive basic site information entered by the user;

Save the basic information of the venue entered by the user;

Wherein, the test report also includes the basic information of the venue.

Optionally, the processor is also used to perform the following steps:

Receive test product information input by the user;

Save the test product information entered by the user;

Wherein, the test report also includes the test product information.

Optionally, the processor is also used to perform the following steps:

When a viewing instruction input through the viewing test report option is detected, the test report is displayed.

Optionally, the processor is also used to perform the following steps:

When a download instruction input through the download test report option is detected, the test report is downloaded.

Optionally, the processor is also used to perform the following steps:

When a delete instruction input through the delete test report option is detected, the test report is deleted.

In an embodiment of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the unmanned computer described in the corresponding embodiment of the present invention is implemented. The machine test method can also implement the test device of the embodiment of the invention described in FIG. 23, and details are not described herein again.

The computer-readable storage medium may be an internal storage unit of the test device described in any of the foregoing embodiments, such as a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the vehicle control device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart, Media, Card, SMC), and secure digital (SD) ) Card, flash card (Flash Card), etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the test device. The computer-readable storage medium can also be used to temporarily store data that has been or will be output.

A person of ordinary skill in the art may understand that all or part of the processes in the method of the foregoing embodiments may be completed by instructing relevant hardware through a computer program, and the program may be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the foregoing method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc. The above disclosure is only preferred embodiments of the present invention, and of course it cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A test method for unmanned aerial vehicle function detection is applied to a test device for testing. The test device is used to display a test interface. The test interface includes a user input area and a test result display area. The method includes:

Receiving test data input by the user in the user input area for testing the test items of the drone;

Acquiring the flight data of the drone when it is determined that the user input area inputs a start-up test instruction;

Analyzing the test items according to the acquired flight data of the drone and the test data input by the user to obtain test results;

The test result is displayed in the test result display area.
The method according to claim 1, wherein the test item includes a height-limiting functional test, and the test data includes a height-limiting threshold.
The method according to claim 2, wherein the method further comprises:

The test result display area displays a line graph between the time of the drone during the flight and the height of each waypoint.
The method according to claim 3, wherein a portion of the line chart whose height is greater than the height limit threshold is a first preset color, and the height of the waypoint in the line chart is less than or equal to the limit The part with the high threshold is the second preset color.
The method according to claim 1, wherein the test item includes a speed limit function test, and the test data includes a speed limit threshold.
The method according to claim 5, wherein the method further comprises:

The test result display area displays a line graph between the time during the flight of the drone and the integrated speed of each waypoint.
The method according to claim 6, characterized in that a portion of the broken line in which the integrated speed of the waypoint is greater than the speed limit threshold is a first preset color, and the combined speed of the brokenpoint in the broken line graph is less than or equal to The portion of the speed limit threshold is the second preset color.
The method according to claim 1, wherein the test item includes a distance-limiting function test, and the test data includes position information and a distance-limiting threshold of the take-off point of the drone.
The method according to claim 8, wherein the method further comprises:

The test result display area displays a line graph between the time during the flight of the drone and the distance between each waypoint.
The method according to claim 9, wherein a portion of the line chart where the distance of the waypoint is greater than the distance limit threshold is a first preset color, and the distance of the waypoint in the line chart is less than or equal to the limit The part from the threshold is the second preset color.
The method of claim 1, wherein the test item includes an electronic fence function test, and the test data includes position information of a preset number of vertices of the electronic fence.
The method according to claim 11, wherein the test data further includes a preset distance.
The method according to claim 11 or 12, wherein the method further comprises:

In the test result display area, the test status of the electronic fence function test of the drone for each of the multiple directions is displayed.
The method according to claim 11 or 12, wherein the test result comprises a test result of an electronic fence function test performed by the drone for each of multiple directions.
The method according to claim 11 or 12, wherein the method further comprises:

Receive the viewing instruction for the line chart in the first direction;

The test result display area displays a line graph between the time during which the drone is flying in the first direction, the distance from the waypoint to the electronic fence, and the overall speed of the waypoint.
The method according to claim 11 or 12, wherein the method further comprises:

Receiving the test result in the electronic fence input by the user through the test result display area;

Save the test results in the electronic fence.
The method according to claim 1, wherein the test item is an autonomous route planning test, and the test data includes position information of a first position, position information of a second position, and spray pattern.
The method of claim 17, wherein the method further comprises:

The test result display area displays a line chart between the time of the drone during flight, the distance between the waypoint and the corresponding reference line, and the overall speed of the waypoint. The reference line is based on The position information of the first position and the position information of the second position and the spray pattern are determined.
The method according to claim 17 or 18, further comprising:

Displaying a first route trajectory and a second route trajectory in the test result display area, the first route trajectory is the actual route trajectory of the UAV during flight, and the second route trajectory is based on the Position information of a position, position information of the second position, and a reference route trajectory determined by the spray pattern.
The method according to claim 17 or 18, further comprising:

The first standard deviation, the minimum distance and the maximum distance are displayed in the test result display area, the first standard deviation is based on each waypoint of the drone in flight and the corresponding reference line The standard deviation is calculated from the distance, the minimum distance is the minimum distance among the distances between multiple waypoints and the corresponding reference line during the flight of the drone, and the maximum distance is the drone The maximum distance among the distances between multiple waypoints and corresponding reference lines during flight.
The method according to claim 17 or 18, wherein the test data further includes a flight altitude, and the method further includes:

Calculating the altitude deviation between the altitude of each waypoint of the drone during the flight and the flying altitude to obtain multiple altitude deviations;

Displaying a second standard deviation, a minimum height deviation among the plurality of height deviations and a maximum height deviation among the plurality of height deviations in the test result display area, the second standard deviation being based on the plurality of heights The deviation is calculated.
The method according to claim 17 or 18, wherein the test data further includes flight speed, and the method further includes:

Calculating the speed deviation between the integrated speed of each waypoint of the drone during the flight and the flight speed to obtain multiple speed deviations;

Displaying a third standard deviation, a minimum speed deviation among the plurality of speed deviations and a maximum speed deviation among the plurality of speed deviations in the test result display area, the third standard deviation is based on the plurality of speeds The deviation is calculated.
The method according to claim 1, wherein the test item includes an obstacle avoidance function test, and the test data includes obstacle information, a starting point coordinate and an ending point coordinate of the drone.
The method according to claim 23, wherein the obstacle information includes position information of the obstacle, radius of the obstacle, height of the obstacle, and type of the obstacle.
The method according to claim 23 or 24, wherein the method further comprises:

The flight trajectory map of the drone and the position of the obstacle are displayed in the test result display area.
The method according to claim 23 or 24, wherein the method further comprises:

The test result display area displays a line graph between the time of the drone during flight, the distance between the waypoint and the obstacle, and the overall speed of the waypoint.
The method according to claim 1, wherein the method further comprises:

The test status is displayed. The test status includes untested, testing, or testing completed.
The method of claim 27, further comprising:

Display the test result modification options in the test result display area;

After detecting the modification instruction input through the modification option, the test result is modified.
The method according to claim 27 or 28, wherein the method further comprises:

Display the retest option in the test result display area;

After detecting a retest instruction that passes the retest option, the test item of the drone is retested.
The method according to claim 27 or 28, wherein the method further comprises:

Generate a test report, the test report includes the test items, the test data, and test results.
The method of claim 30, wherein the method comprises:

Receive basic site information entered by the user;

Save the basic information of the venue entered by the user;

Wherein, the test report also includes the basic information of the venue.
The method according to claim 31, wherein the method comprises:

Receive test product information input by the user;

Save the test product information entered by the user;

Wherein, the test report also includes the test product information.
The method according to claim 31 or 32, wherein the method further comprises:

When a viewing instruction input through the viewing test report option is detected, the test report is displayed.
The method according to claim 31 or 32, wherein the method further comprises:

When a download instruction input through the download test report option is detected, the test report is downloaded.
The method according to claim 31 or 32, wherein the method further comprises:

When a delete instruction input through the delete test report option is detected, the test report is deleted.
A test device for detecting the function of a drone, including a memory and a processor, characterized in that

The memory is used to store program instructions;

The processor executes the program instructions stored in the memory. When the program instructions are executed, the processor is used to perform the following steps:

Receiving test data input by the user in the user input area for testing the test items of the drone;

Acquiring the flight data of the drone when it is determined that the user input area inputs a start-up test instruction;

Analyzing the test items according to the acquired flight data of the drone and the test data input by the user to obtain test results;

The test result is displayed in the test result display area.
The apparatus according to claim 36, wherein the test item includes a height-limiting functional test, and the test data includes a height-limiting threshold.
The device according to claim 37, wherein the processor is further configured to perform the following steps:

The test result display area displays a line graph between the time of the drone during the flight and the height of each waypoint.
The apparatus according to claim 38, wherein a portion of the line graph whose height of the waypoint is greater than the height limit threshold is a first preset color, and the height of the waypoint in the line graph is less than or equal to the limit The part with the high threshold is the second preset color.
The apparatus according to claim 36, wherein the test item includes a speed limit function test, and the test data includes a speed limit threshold.
The device according to claim 40, wherein the processor is further configured to perform the following steps:

The test result display area displays a line graph between the time during the flight of the drone and the integrated speed of each waypoint.
The device according to claim 41, characterized in that a portion of the broken line in which the integrated speed of the waypoint is greater than the speed limit threshold is a first preset color, and the combined speed of the waypoint in the broken line graph is less than or equal to The portion of the speed limit threshold is the second preset color.
The apparatus according to claim 36, wherein the test item includes a distance-limiting function test, and the test data includes position information and a distance-limiting threshold of the take-off point of the drone.
The device according to claim 43, wherein the processor is further configured to perform the following steps:

The test result display area displays a line graph between the time during the flight of the drone and the distance between each waypoint.
The device according to claim 44, wherein a portion of the line chart where the distance of the waypoint is greater than the distance limit threshold is a first preset color, and the distance of the waypoint in the line chart is less than or equal to the limit The part from the threshold is the second preset color.
The device according to claim 36, wherein the test item includes an electronic fence function test, and the test data includes position information of a preset number of vertices of the electronic fence.
The apparatus according to claim 46, wherein the test data further includes a preset distance.
The device according to claim 46 or 47, wherein the processor is further configured to perform the following steps:

In the test result display area, the test status of the electronic fence function test of the drone for each of the multiple directions is displayed.
The device according to claim 46 or 47, wherein the test result includes a test result of the electronic fence function test performed by the drone for each of a plurality of directions.
The device according to claim 46 or 47, wherein the processor is further configured to perform the following steps:

Receive the viewing instruction for the line chart in the first direction;

The test result display area displays a line graph between the time during which the drone is flying in the first direction, the distance from the waypoint to the electronic fence, and the overall speed of the waypoint.
The device according to claim 46 or 47, wherein the processor is further configured to perform the following steps:

Receiving the test result in the electronic fence input by the user through the test result display area;

Save the test results in the electronic fence.
The device according to claim 36, characterized in that the test item is a route self-planning test, and the test data includes position information of a first position and position information of a second position, and a spray pattern.
The device according to claim 52, wherein the processor is further configured to perform the following steps:

The test result display area displays a line chart between the time of the drone during flight, the distance between the waypoint and the corresponding reference line, and the overall speed of the waypoint. The reference line is based on The position information of the first position and the position information of the second position and the spray pattern are determined.
The device according to claim 52 or 53, wherein the processor is further configured to perform the following steps:

Displaying a first route trajectory and a second route trajectory in the test result display area, the first route trajectory is the actual route trajectory of the UAV during flight, and the second route trajectory is based on the Position information of a position, position information of the second position, and a reference route trajectory determined by the spray pattern.
The device according to claim 52 or 53, wherein the processor is further configured to perform the following steps:

The first standard deviation, the minimum distance and the maximum distance are displayed in the test result display area, the first standard deviation is based on each waypoint of the drone in flight and the corresponding reference line The standard deviation is calculated from the distance, the minimum distance is the minimum distance among the distances between multiple waypoints and the corresponding reference line during the flight of the drone, and the maximum distance is the drone The maximum distance among the distances between multiple waypoints and corresponding reference lines during flight.
The apparatus according to claim 52 or 53, wherein the test data further includes flight altitude, and the processor is further configured to perform the following steps:

Calculating the altitude deviation between the altitude of each waypoint of the drone during the flight and the flying altitude to obtain multiple altitude deviations;

Displaying a second standard deviation, a minimum height deviation among the plurality of height deviations and a maximum height deviation among the plurality of height deviations in the test result display area, the second standard deviation being based on the plurality of heights The deviation is calculated.
The apparatus according to claim 52 or 53, wherein the test data further includes flight speed, and the processor is further configured to perform the following steps:

Calculating the speed deviation between the integrated speed of each waypoint of the drone during the flight and the flight speed to obtain multiple speed deviations;

Displaying a third standard deviation, a minimum speed deviation among the plurality of speed deviations and a maximum speed deviation among the plurality of speed deviations in the test result display area, the third standard deviation is based on the plurality of speeds The deviation is calculated.
The device according to claim 36, characterized in that the test item includes an obstacle avoidance function test, and the test data includes obstacle information, the starting point coordinates and the ending point coordinates of the drone.
The apparatus according to claim 58, wherein the obstacle information includes position information of the obstacle, radius of the obstacle, height of the obstacle, and type of the obstacle.
The device according to claim 58 or 59, wherein the processor is further configured to perform the following steps:

The flight trajectory map of the drone and the position of the obstacle are displayed in the test result display area.
The device according to claim 58 or 59, wherein the processor is further configured to perform the following steps:

The test result display area displays a line graph between the time of the drone during flight, the distance between the waypoint and the obstacle, and the overall speed of the waypoint.
The device according to claim 36, wherein the processor is further configured to perform the following steps:

The test status is displayed. The test status includes untested, testing, or testing completed.
The device according to claim 62, wherein the processor is further configured to perform the following steps:

Display the test result modification options in the test result display area;

After detecting the modification instruction input through the modification option, the test result is modified.
The device according to claim 62 or 63, wherein the processor is further configured to perform the following steps:

Display the retest option in the test result display area;

After detecting a retest instruction that passes the retest option, the test item of the drone is retested.
The device according to claim 62 or 63, wherein the processor is further configured to perform the following steps:

Generate a test report, the test report includes the test items, the test data, and test results.
The device according to claim 65, wherein the processor is further configured to perform the following steps:

Receive basic site information entered by the user;

Save the basic information of the venue entered by the user;

Wherein, the test report also includes the basic information of the venue.
The device according to claim 66, wherein the processor is further configured to perform the following steps:

Receive test product information input by the user;

Save the test product information entered by the user;

Wherein, the test report also includes the test product information.
The device according to claim 66 or 67, wherein the processor is further configured to perform the following steps:

When a viewing instruction input through the viewing test report option is detected, the test report is displayed.
The device according to claim 66 or 67, wherein the processor is further configured to perform the following steps:

When a download instruction input through the download test report option is detected, the test report is downloaded.
The device according to claim 66 or 67, wherein the processor is further configured to perform the following steps:

When a delete instruction input through the delete test report option is detected, the test report is deleted.
A computer-readable storage medium, characterized in that: the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program is used to execute a computer program according to any one of claims 1 to 32. Man-machine test method.