CN106742051B - Aircraft hovering function stability testing method and system - Google Patents
Aircraft hovering function stability testing method and system Download PDFInfo
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- CN106742051B CN106742051B CN201611064427.3A CN201611064427A CN106742051B CN 106742051 B CN106742051 B CN 106742051B CN 201611064427 A CN201611064427 A CN 201611064427A CN 106742051 B CN106742051 B CN 106742051B
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Abstract
The invention discloses a method and a system for testing the stability of a hovering function of an aircraft, wherein the method comprises the following steps: capturing images frame by frame according to a preset frequency for an aircraft flying into a test area and starting a hovering function by utilizing an image acquisition unit, and transmitting each frame of image captured by the image acquisition unit to an image processing unit in real time; the image processing unit takes a first frame image after hover test timing as a test basis, compares each frame image after the first frame image with the first frame image, and calculates offset of the aircraft in the two compared frame images frame by frame; and in the appointed test duration, if the offset of the aircraft in all the two frames of images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is not passed. The test scheme of the embodiment of the invention meets the requirements of systemization and automation, the test method is simple and intelligent, the cost is low, and the test efficiency and accuracy are also ensured to be higher.
Description
Technical Field
The invention relates to the technical field of aircraft testing, in particular to a method and a system for testing the stability of an aircraft hovering function.
Background
In recent years, along with the fire explosion of the consumer market of unmanned aerial vehicles, unmanned aerial vehicles increasingly enter our work and life. At present, the common unmanned aerial vehicle in the market is divided into two types, namely a fixed wing and a multi-rotor wing. The consumer class unmanned aerial vehicle market is more common in multi-rotor unmanned aerial vehicles, which benefits from the hover function, an extremely important feature of multi-rotor unmanned aerial vehicles. This function makes many rotor unmanned aerial vehicle can take off and land perpendicularly, need not the launching cradle, and mobility is high, is applicable to more occasions, like fields such as follow-up monitoring, outdoor exercises, sports match, electrical power system and frontier defense inspection, this is unable realization of fixed wing unmanned aerial vehicle. The final purpose of unmanned aerial vehicle use is mostly to obtain high-quality video, and hover stability also can influence the video quality to a great extent. In many cases where the requirements are high, it can be said that the stability of the hover directly determines the performance of the drone. Therefore, hover stability is also a parameter indicator for each unmanned aerial vehicle vendor to compete with each other. How to perform hover stability test on the commercially popular unmanned aerial vehicle products, no systematic and automated intelligent method is seen at present.
Disclosure of Invention
In view of the above, the present invention provides an aircraft hover functional stability testing method and system to solve the problem of insufficient systemization and automation of existing aircraft hover functional stability tests.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
in one aspect, the invention provides a method for testing stability of an aircraft hover function, controlling the aircraft to fly into a test area, and controlling the aircraft to start the hover function;
starting timing of a hover test, capturing images frame by utilizing an image acquisition unit for the aircraft in a hover state according to a preset frequency, and transmitting each frame of image captured by the image acquisition unit to an image processing unit in real time;
the image processing unit takes a first frame image after hover test timing as a test basis, compares each frame image after the first frame image with the first frame image, and calculates offset of the aircraft in the two frame images which are compared with each other frame by frame;
and in the appointed test duration, if the offset of the aircraft in all the two frames of images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is not passed.
In another aspect, the present invention also provides an aircraft hover functional stability testing system, comprising: the image processing unit is connected with the image acquisition unit;
the image acquisition unit is used for starting timing of a hover test, capturing images frame by frame according to a preset frequency for the aircraft which flies into a test area and starts a hover function, and transmitting each captured image frame to the image processing unit in real time;
the image processing unit is used for comparing each frame of image after the first frame of image with the first frame of image by taking the first frame of image in the test time period after the hover test timing as a test basis, and calculating the offset of the aircraft in the two frames of images which are compared with each other frame by frame; if the offset of the aircraft in all the two images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is not passed.
The beneficial effects of the invention are as follows: the invention provides a method and a system for testing the stability of an aircraft hovering function, which are characterized in that an image acquisition unit is used for capturing images of an aircraft in a hovering state frame by frame, the images are transmitted to an image processing unit in real time, the offset of each frame of image after a first frame of image is calculated, compared with the first frame of image, of the aircraft, and compared with the offset which is allowed to move by a preset aircraft to judge the stability of the aircraft hovering function. The test scheme of the invention meets the requirements of systemization and automation, is simple and intelligent, has low cost and ensures higher test efficiency and accuracy.
Drawings
FIG. 1 is a flow chart of an aircraft hover functional stability testing method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an aircraft hover functional stability testing system according to an embodiment of the invention;
FIG. 3 is a block diagram of an aircraft hover functional stability testing system according to embodiments of the invention.
Detailed Description
The design concept of the invention is that images of the aircraft in a hovering state are grabbed frame by an image acquisition unit, each frame of image after a first frame of image is compared with the first frame of image after the start of test timing is calculated by an image processing unit, the offset of the aircraft is compared with the offset of the preset aircraft allowed to move, the stability of the hovering function of the aircraft is judged according to the offset, and the systematic and automatic test of the hovering stability function of the aircraft is realized.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention provides a method for testing the stability of an aircraft hovering function, as shown in fig. 1, comprising the following steps:
step S110: controlling the aircraft to fly into a test area, and controlling the aircraft to start a hover function.
The test area into which the aircraft flies at the beginning of the test is an initial test area, which is preferably set as the central area range of the viewing angle of the image acquisition unit. For example, taking a resolution of 4000x3000 as an example, the center coordinate is (2000,1500), a square area with an x-direction coordinate between 1500 and 2500 and a y-direction coordinate between 1000 and 2000 can be set as the initial test area.
Step S120: and starting timing of the hover test, capturing images of the aircraft in a hover state frame by frame according to a preset frequency by utilizing an image acquisition unit, and transmitting each frame of image captured by the image acquisition unit to an image processing unit in real time.
The image acquisition unit preset frequency is preferably set to be not less than 30 frames/second. The higher the preset frequency, the easier the possible position deviation of the aircraft is grasped, and the higher the test accuracy is. Of course, the higher the preset frequency is, the larger the test operation amount is under the same condition.
Step S130: the image processing unit takes a first frame image after hover test timing as a test basis, compares each frame image after the first frame image with the first frame image, and calculates offset of the aircraft in the two frame images which are compared with each other frame by frame;
step S140: and in the appointed test duration, if the offset of the aircraft in all the two frames of images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is failed, namely if the offset of the aircraft in any one of the two frames of images which are compared is greater than the preset offset of the aircraft which is allowed to move, the test is failed.
In one embodiment of the present invention, the test area is a closed space from the viewpoint of test safety. In order to ensure good lighting conditions in the enclosed space, a lighting source is arranged in the enclosed space. The background wall of the test area is designed to be white, the aircraft in a hovering state is positioned between the white background wall and the image acquisition unit, and the distance between the white background wall and the image acquisition unit exceeds the safety distance respectively, so that unsafe factors caused by too small distance are avoided.
In one embodiment of the invention, the method further comprises:
the image acquisition unit is placed on a support with adjustable height, the height of the image acquisition unit is consistent with the height of the aircraft in a hovering state through adjusting the height of the support, and the aircraft is located in the visual angle range of the image acquisition unit through adjusting the visual angle direction of the image acquisition unit.
In an embodiment of the invention, the method further comprises:
the image data is converted into YUV gray data through a software algorithm, and then the gray value of the image is extracted. Since the background wall is white, the gray value of the background wall is theoretically zero, while the gray value of the aircraft is theoretically non-zero. And positioning the position of the aircraft according to the relation of the pixel gray values.
Specifically, the image processing unit extracts the gray value of a first frame image after hover test timing, searches the upper, lower, left and right boundary coordinates of the aircraft in the image according to the gray value and records the boundary coordinates;
and acquiring the size information of the aircraft taking the pixel as a unit through the boundary coordinates of the first frame of image, and converting the physical length corresponding to one pixel in the image according to the actual size of the aircraft.
For example, the actual length of the aircraft is 40cm, 1000 pixels are correspondingly obtained in the length direction according to the left and right boundary coordinates of the aircraft in the first frame of image, and then the physical length corresponding to one pixel is 0.4mm.
And converting the preset offset which takes the physical length as a unit and allows the aircraft to move into the offset which takes the pixel as a unit and allows the aircraft to move according to the physical length corresponding to the pixel in the image.
For example, the test requirement of hover stability is that the offset of the allowed movement of the aircraft is ±50mm, and the number of pixels 125 corresponding to 50mm is converted, namely the number of pixels of the allowed movement of the aircraft.
In step S130, the calculating the offset of the aircraft in the two images of the two frames that are compared with each other includes:
the image processing unit extracts the gray value of each frame of image after the first frame of image, and searches the boundary coordinates of the upper, lower, left and right of the aircraft in the image according to the gray value;
and comparing the boundary coordinates of each frame of image after the first frame of image with the boundary coordinates of the first frame of image frame by frame, acquiring the number of pixels for moving the boundary coordinates of the upper, lower, left and right of the aircraft in the two frames of images, and taking the acquired maximum number of pixels for moving the boundary coordinates of the upper, lower, left and right as the offset of the aircraft in the two frames of images.
It should be noted that if the aircraft makes translational motion in a plane parallel to the background wall, the number of pixels for moving the upper, lower, left and right boundary coordinates of the aircraft is the same; if the aircraft is rotated in a plane parallel to the background wall, the number of pixels for which the upper, lower, left and right boundary coordinates of the aircraft are shifted may be different, so that the maximum number of pixels for which the upper, lower, left and right boundary coordinates are shifted is taken as the offset of the aircraft in the two-frame image.
In one embodiment of the present invention, the boundary of the test range may be defined by adding the number of pixels allowed to move by the aircraft to the coordinates of the boundary of the aircraft on the upper, lower, left and right sides of the first frame of image, that is, the boundary of the test range is defined by taking the boundary of the upper, lower, left and right sides as the center of a circle and the number of pixels allowed to move by the aircraft as the radius. And testing whether the upper, lower, left and right boundaries of each frame of image aircraft after the first frame of image exceed the boundaries of the test range. If the upper, lower, left and right boundaries of the aircrafts in all the images do not exceed the boundary of the test range, the hovering function stability test of the aircrafts passes, otherwise, the test fails, namely if the upper, lower, left and right boundaries of the aircrafts in any frame of images exceed the boundary, the test fails.
In the embodiment of the invention, the image acquisition unit comprises a network camera or a USB camera, such as an IP camera or a USB camera supporting UVC, the network camera is connected with the image processing unit through a wireless network, and the USB camera is connected with the image processing unit through a USB data line. The image processing unit can be a desktop computer or a notebook computer with ordinary daily office requirements, and is provided with an independent display card, other devices without particularly high configuration, the network port or USB function is good, and the computer is provided with matched test software, such as image processing software.
The embodiment of the invention also provides a system for testing the stability of the hovering function of the aircraft, as shown in fig. 2 and 3 together, the system comprises: an image acquisition unit 100, and an image processing unit 200 connected to the image acquisition unit 100;
the image acquisition unit 100 is configured to capture images frame by frame according to a preset frequency for an aircraft 300 flying into a test area and starting a hover function when a hover test starts, and transmit each captured frame of image to the image processing unit 200 in real time;
the image processing unit 200 is configured to compare each frame of image after the first frame of image with the first frame of image by taking the first frame of image in the test time period after the hover test timing as a test basis, and calculate the offset of the aircraft in the two frames of images that are compared with each other frame by frame; if the offset of the aircraft in all the two images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is not passed.
In the embodiment of the present invention, from the viewpoint of testing safety, as shown in fig. 3, the testing area is a closed space 700. In order to ensure good lighting conditions in the enclosed space, an illumination light source 400 is provided in the enclosed space. The background wall 600 of the test area is white, and the aircraft 300 in a hovering state is located between the white background wall 600 and the image acquisition unit 100, and the distances between the white background wall 600 and the image acquisition unit, namely the distance a and the distance b in fig. 3, exceed preset safety distances respectively, so that unsafe factors caused by too small distances are avoided.
In an embodiment of the invention, the aircraft stability test system further comprises: a stand 500 with an adjustable height, such as a tripod, is used for placing the image capturing unit 100, and the height of the image capturing unit 100 is adjusted to be consistent with the height of the aircraft 300 in a hovering state.
In the embodiment of the present invention, the image processing unit 200 is further configured to extract a gray value of a first frame image after hover test timing, search for and record boundary coordinates of an upper, a lower, a left, and a right of an aircraft in the image according to the gray value, obtain size information of the aircraft in units of pixels according to the boundary coordinates of the first frame image, and convert a physical length corresponding to one pixel in the image according to an actual size of the aircraft; converting a preset offset which is allowed to move by the aircraft taking the physical length as a unit into an offset which is allowed to move by the aircraft taking the pixel as a unit according to the physical length corresponding to one pixel in the image; the method comprises the steps of,
extracting the gray value of each frame of image after the first frame of image, and searching the boundary coordinates of the upper, lower, left and right of the aircraft in the image according to the gray value; and comparing the boundary coordinates of each frame of image after the first frame of image with the boundary coordinates of the first frame of image frame by frame to obtain the number of pixels for moving the boundary coordinates of the upper, lower, left and right of the aircraft in the two frames of images, and taking the maximum number of pixels for moving the obtained boundary coordinates of the upper, lower, left and right as the offset of the aircraft in the two frames of images.
In the embodiment of the present invention, the image capturing unit 100 includes a network camera or a USB camera, such as an IP camera or a USB camera supporting UVC, where the network camera is connected to the image processing unit 200 through a wireless network, and the USB camera is connected to the image processing unit 200 through a USB data line. The image processing unit 200 can be a desktop computer or a notebook computer with an independent display card, which is not required to be configured particularly high, and has good network port or USB function, and the computer is provided with matched test software, such as image processing software.
In summary, the beneficial effects of the embodiment of the invention are that, according to the method and the system for testing the stability of the hovering function of the aircraft, the image acquisition unit is used for capturing images of the aircraft in a hovering state frame by frame, transmitting the images to the image processing unit in real time, calculating the offset of each frame of image after the first frame of image and the aircraft compared with the first frame of image, and comparing the offset with the offset allowed to move by the preset aircraft to determine the stability of the hovering function of the aircraft. The test scheme of the embodiment of the invention meets the requirements of systemization and automation, is simple and intelligent, has low cost and ensures higher test efficiency and accuracy.
The foregoing is merely a specific embodiment of the invention and other modifications and variations can be made by those skilled in the art in light of the above teachings. It is to be understood by persons skilled in the art that the foregoing detailed description is provided for the purpose of illustrating the invention more fully, and that the scope of the invention is defined by the appended claims.
Claims (10)
1. A method for testing the stability of the hovering function of an aircraft is characterized in that,
controlling the aircraft to fly into a test area, and controlling the aircraft to start a hover function;
starting timing of a hover test, capturing images frame by utilizing an image acquisition unit for the aircraft in a hover state according to a preset frequency, and transmitting each frame of image captured by the image acquisition unit to an image processing unit in real time;
the image processing unit takes a first frame image after hover test timing as a test basis, compares each frame image after the first frame image with the first frame image, and calculates offset of the aircraft in the two frame images which are compared with each other frame by frame;
and in the appointed test duration, if the offset of the aircraft in all the two frames of images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is not passed.
2. The method for testing the stability of an aircraft hover function according to claim 1,
the test area is a closed space, and an illumination light source is arranged in the closed space;
the background wall of the test area is designed to be white, and the aircraft in a hovering state is positioned between the white background wall and the image acquisition unit, and the distance between the white background wall and the image acquisition unit exceeds the safety distance respectively.
3. The aircraft hover functional stability testing method according to claim 2, wherein the method further comprises:
the image processing unit extracts the gray value of a first frame image after hover test timing, searches the upper, lower, left and right boundary coordinates of the aircraft in the image according to the gray value and records the boundary coordinates;
acquiring size information of the aircraft by taking pixels as units through the boundary coordinates of a first frame of image, and converting the physical length corresponding to one pixel in the image according to the actual size of the aircraft;
converting a preset offset which takes the physical length as a unit and allows the aircraft to move into an offset which takes the pixel as a unit and allows the aircraft to move according to the physical length corresponding to one pixel in the image;
the calculating the offset of the aircraft in the two images of the two frames of the image which are compared with each other frame by frame comprises:
the image processing unit extracts the gray value of each frame of image after the first frame of image, and searches the boundary coordinates of the upper, lower, left and right of the aircraft in the image according to the gray value;
and comparing the boundary coordinates of each frame of image after the first frame of image with the boundary coordinates of the first frame of image frame by frame, acquiring the number of pixels for moving the boundary coordinates of the upper, lower, left and right of the aircraft in the two frames of images, and taking the acquired maximum number of pixels for moving the boundary coordinates of the upper, lower, left and right as the offset of the aircraft in the two frames of images.
4. The method for testing the stability of a hover function of an aircraft according to claim 1, wherein the image acquisition unit comprises a network camera or a USB camera, the network camera is connected with the image processing unit through a wireless network, and the USB camera is connected with the image processing unit through a USB data line.
5. The aircraft hover functional stability testing method according to claim 1, wherein the method further comprises:
the image acquisition unit is placed on a support with adjustable height, and the height of the image acquisition unit is consistent with the height of the aircraft in the hovering state through adjusting the height of the support.
6. An aircraft hover functional stability testing system, comprising: the image processing unit is connected with the image acquisition unit;
the image acquisition unit is used for starting timing of a hover test, capturing images frame by frame according to a preset frequency for the aircraft which flies into a test area and starts a hover function, and transmitting each captured image frame to the image processing unit in real time;
the image processing unit is used for comparing each frame of image after the first frame of image with the first frame of image by taking the first frame of image in the test time period after the hover test timing as a test basis, and calculating the offset of the aircraft in the two frames of images which are compared with each other frame by frame; if the offset of the aircraft in all the two images which are compared is smaller than the preset offset of the aircraft which is allowed to move, the hover function stability test of the aircraft is passed, otherwise, the test is not passed.
7. The aircraft hover functional stability testing system according to claim 6, wherein,
the test area is a closed space, and an illumination light source is arranged in the closed space;
the background wall of the test area is white, and the aircraft in a hovering state is positioned between the white background wall and the image acquisition unit, and the distance between the white background wall and the image acquisition unit exceeds the safety distance respectively.
8. The aircraft hover functional stability testing system according to claim 7,
the image processing unit is also used for extracting the gray value of a first frame image after hover test timing, searching the boundary coordinates of the upper, lower, left and right of the aircraft in the image according to the gray value, recording, acquiring the size information of the aircraft taking the pixel as a unit through the boundary coordinates of the first frame image, and converting the physical length corresponding to one pixel in the image according to the actual size of the aircraft; converting a preset offset which takes the physical length as a unit and allows the aircraft to move into an offset which takes the pixel as a unit and allows the aircraft to move according to the physical length corresponding to one pixel in the image; the method comprises the steps of,
extracting the gray value of each frame of image after the first frame of image, and searching the boundary coordinates of the upper, lower, left and right of the aircraft in the image according to the gray value; and comparing the boundary coordinates of each frame of image after the first frame of image with the boundary coordinates of the first frame of image frame by frame to obtain the number of pixels for moving the boundary coordinates of the upper, lower, left and right of the aircraft in the two frames of images, and taking the obtained maximum number of pixels for moving the boundary coordinates of the upper, lower, left and right as the offset of the aircraft in the two frames of images.
9. The aircraft hover functional stability testing system according to claim 6, wherein the image acquisition unit comprises a webcam or a USB camera, the webcam being connected to the image processing unit via a wireless network, the USB camera being connected to the image processing unit via a USB data line.
10. The aircraft hover functional stability testing system according to claim 6, wherein the aircraft stability testing system further comprises: the height-adjustable support is used for placing the image acquisition unit, and the height of the image acquisition unit is enabled to be consistent with the height of the aircraft in the hovering state by adjusting the height of the image acquisition unit.
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| CN106094868A (en) * | 2016-08-01 | 2016-11-09 | 杨珊珊 | The Hovering control device of unmanned vehicle and Hovering control method thereof |
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