CN110785355A

CN110785355A - Unmanned aerial vehicle testing method, device and storage medium

Info

Publication number: CN110785355A
Application number: CN201880037862.8A
Authority: CN
Inventors: 许珠洪; 姚川松
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-10-30
Filing date: 2018-10-30
Publication date: 2020-02-11
Also published as: WO2020087296A1

Abstract

The embodiment of the invention provides a method, equipment and a storage medium for testing an unmanned aerial vehicle, wherein the method comprises the following steps: receiving test data input by a user in the user input area for testing the test items of the unmanned aerial vehicle; when the fact that a starting test instruction is input in the user input area is determined, acquiring flight data of the unmanned aerial vehicle; analyzing the test items according to the acquired flight data of the unmanned aerial vehicle and the test data input by the user to obtain a test result; the test result display area displays the test result, the function of the unmanned aerial vehicle can be automatically tested, and the test efficiency is improved.

Description

Unmanned aerial vehicle testing method, device and storage medium

Technical Field

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

Background

With the development of flight technology, unmanned aerial vehicles become a popular research topic at present, and are widely applied to the scenes of agriculture, aerial photography, forest fire alarm monitoring and the like, so that a lot of convenience is brought to the life and work of people. In order to enable the unmanned aerial vehicle to be applied to the application scenes, the functions of the unmanned aerial vehicle are generally required to be tested, and the unmanned aerial vehicle is put into use when the function of the unmanned aerial vehicle is determined to meet the standard according to the test result. In practice, need carry out the analysis to unmanned aerial vehicle's flight data through the manual analysis mode to judge whether up to standard of unmanned aerial vehicle's function, and the method through manual analysis makes the user be difficult to obtain required result fast accurately, and in field or farmland environment, needs the artifical fact analysis consuming time and wasting power, can not satisfy user's user demand.

Disclosure of Invention

The embodiment of the invention provides a method, equipment and a storage medium for testing an unmanned aerial vehicle, which can automatically test the functions of the unmanned aerial vehicle, improve the testing efficiency, meet the requirements of users on automation and intellectualization of unmanned aerial vehicle testing and meet the requirement of analyzing various data in real time.

In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle testing method, which is applied to a testing device for testing, where the testing device is used to display a testing interface, and the testing interface includes a user input area and a testing result display area, and the method includes:

receiving test data input by a user in the user input area for testing the test items of the unmanned aerial vehicle;

when the fact that a starting test instruction is input in the user input area is determined, acquiring flight data of the unmanned aerial vehicle;

analyzing the test items according to the acquired flight data of the unmanned aerial vehicle and the test data input by the user to obtain a test result;

and displaying the test result in the test result display area.

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

the memory to store program instructions;

the processor, executing the program instructions stored by the memory, when executed, is configured to perform the steps of:

and displaying the test result in the test result display area.

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the drone testing method according to the first aspect.

and displaying the test result in the test result display area.

In the embodiment of the invention, the test equipment provides a test interface, the test interface comprises a user input area and a test result display area, and the test equipment can receive test data input by a user through the user input area and receive a test starting instruction input by the user through the user input area, so that man-machine interaction can be realized, and interaction experience is improved; the test equipment can analyze the test items according to the test data and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the test flow of the unmanned aerial vehicle is realized, manual analysis is not needed, the convenience and efficiency of the test are greatly improved, the automatic and intelligent requirements of a user on the test of the unmanned aerial vehicle can be met, and the requirements for analyzing various data in real time can be met. In addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic diagram of a network architecture for testing an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a network architecture for testing an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a method for testing an unmanned aerial vehicle according to an embodiment of the present invention;

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

FIG. 5 is a schematic diagram of another test interface provided by embodiments of the present invention;

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

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

fig. 8 is a schematic flow chart of another testing method for an unmanned aerial vehicle according to an embodiment of the present invention;

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

fig. 10 is a schematic flow chart of a further testing method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 11 is a schematic flow chart of another testing method for an unmanned aerial vehicle according to an embodiment of the present invention;

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

fig. 13 is a schematic flow chart of another testing method for an unmanned aerial vehicle according to an embodiment of the present invention;

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

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

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

fig. 17 is a schematic flowchart of a further testing method for an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 18 is a schematic illustration of yet another test interface provided by an embodiment of the present invention;

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

fig. 20 is a schematic flow chart of another testing method for a drone according to an embodiment of the present invention;

FIG. 21 is a schematic view of yet another test interface provided by an embodiment of the present invention;

FIG. 22 is a schematic illustration of yet another test interface provided by an embodiment of the present invention;

fig. 23 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to better understand the method, the device and the equipment for testing the unmanned aerial vehicle provided by the embodiment of the invention, a network framework of the embodiment of the invention is described first.

Referring to fig. 1 and 2, fig. 1 and 2 are schematic diagrams of a network architecture for testing an unmanned aerial vehicle according to an embodiment of the present invention, where the network architecture includes a sky end, a ground end and a reference end, the sky end includes a transmitter 10, the ground end includes a receiver 11 and a testing device 12, and the reference end includes a reference end 13.

Fig. 1 shows one of the communication connections, 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 may be in communication with each other, and the transmitter 10 may transmit position information data of the sky end with respect to the reference end 13 to the receiver 11. The receiver 11 and the testing device 12 can communicate in a wired or wireless manner, and transmit the received data to the testing device 12 for processing and analysis.

Fig. 2 shows another communication connection, in which the reference terminal 13 and the ground equipment 11 communicate with each other, and the reference terminal 13 transmits its position origin information to the receiver 11. The receiver 11 is also communicated with the transmitter 10 at the sky side, and the receiver 11 transmits the received information of the reference terminal 13 to the transmitter 10 and acquires the flight data at the sky side from the transmitter 10. The receiver 11 communicates with the testing device 12 in a wired or wireless manner, and transmits the received data to the testing device 12 for final processing and analysis.

It can be understood that the reference end 13 in the network architecture for testing the unmanned aerial vehicle is mainly used for providing high-precision positioning information (i.e., position origin information of the reference end) based on an RTK (Real-Time Kinematic) Real-Time dynamic differential positioning technology, and the positioning precision of the reference end can be controlled within a centimeter-level range, so that the flight data of the unmanned aerial vehicle can be further determined according to the positioning information provided by the reference end 13. In one embodiment, the network architecture of the drone test may acquire the flight data of the drone through the sensors of the transmitter, and therefore, in some embodiments, the network architecture of the drone test may not include the reference terminal 13.

This transmitter 10 detachably fixes setting on unmanned aerial vehicle. This transmitter 10 can be used for acquireing unmanned aerial vehicle's flight data to flight data sends to receiver 11, and flight data can include at least one of unmanned aerial vehicle's flight altitude, unmanned aerial vehicle in the longitude of a plurality of waypoints, latitude and the speed in the three direction, and the three direction can include unmanned aerial vehicle's direction of advance, translation direction and vertical direction. In one embodiment, at least one of a vision sensor, a laser sensor, a radar sensor, an attitude sensor, etc. may be included on the transmitter 10, and the transmitter 10 may use these sensors to obtain flight data of the drone, for example, the transmitter 10 may use the radar sensor to obtain the altitude of the radar sensor at each of a plurality of waypoints during flight of the drone, and the altitude of the drone may be determined based on the altitude of the drone at each waypoint using the altitude of the radar sensor at each waypoint as the altitude of the drone at each waypoint. Wherein, visual sensor can include monocular vision, binocular vision or many meshes vision, and laser sensor can include TOF distancer, lidar, and radar sensor can include ultrasonic radar, millimeter wave radar, and attitude sensor can include GNSS position sensor, IMU inertial measurement unit, multiaxis attitude sensor. It will be appreciated that the sensor is not limited to the above listed categories and that sensors performing the same or similar functions are possible.

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

Test equipment 12 may include a test interface that may include a user input area and a test result display area, the user input area may be used to receive user-entered test data and to receive user-entered test-related instructions, e.g., the test-related instructions may include launch test instructions or retest instructions, etc. The test result display area can be used for displaying a test result and a graph related to the flight data of the unmanned aerial vehicle; for example, a plot relating flight data may include a line plot of speed versus time of flight for each waypoint or a line plot of altitude versus time for each waypoint, and so forth. The test equipment 12 can also be used for receiving the flight data sent by the receiver 11, analyzing the test items of the unmanned aerial vehicle according to the flight data and the test data related to the test items to obtain test results, and automatically testing the functions of the unmanned aerial vehicle. The user input area and the test result display area can be switched to display, for example, when a user inputs test data, the test equipment can only display the user input area; in the testing process or at the end of the test, the testing equipment can only test the result display area; the content display modes of the user input area and the test result display area can be adjusted through instructions of a user. The testing device 12 may be a smart phone, a computer, or a server.

In an embodiment, the ground end in the network architecture may further include a control terminal of an unmanned aerial vehicle, where the control terminal may refer to a device disposed in the test equipment, and the control terminal may also be an independent device; this control terminal is used for controlling unmanned aerial vehicle's flight, and control terminal specifically can be one or more in remote controller, smart mobile phone, panel computer, laptop, ground station, wearable equipment (wrist-watch, bracelet).

Based on the network architecture, an embodiment of the present invention provides a method for testing an unmanned aerial vehicle, please refer to fig. 3, where the method may be executed by a testing device, and a specific explanation of the testing device is as described above. As shown in fig. 3, the drone testing method may include the following steps.

S301, the test equipment receives test data which are input by a user in the user input area and used for testing the test items of the unmanned aerial vehicle.

In this application embodiment, the test item may refer to testing a certain function of the unmanned aerial vehicle, and the test item may include at least one of a distance limiting function test, a speed limiting function test, a height limiting function test, an electronic fence function test, a route autonomous planning function test, and an obstacle avoidance function test. The functions to be tested for different test items are not consistent, and therefore the test data required for different test items is different, i.e. the test device may display different user input areas for non-test items. Specifically, the display interface of the test device may include a plurality of test item options, where the plurality of test item options may include a height limit function test option, a distance limit function test option, a speed limit function test option, an electronic fence function test option, an air route autonomous planning function test option, an obstacle avoidance function test option, and the like; the test equipment can receive the test items selected by the user through the test item options, display the user input areas corresponding to the test items, and receive the test data input by the user in the user input areas corresponding to the test items. For example, the test item is a limit-height functional test, the test data may include a limit-height threshold, the user input area corresponding to the limit-height functional test may include a limit-height threshold input box, and the test device may receive the limit-height threshold input by the user through the limit-height threshold input box. For another example, the test item is a speed limit function test, 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 the speed limit threshold input by the user through the speed limit threshold input box.

S302, when the testing equipment determines that the user input area inputs a starting test instruction, acquiring flight data of the unmanned aerial vehicle.

In one embodiment, in the process of flying the unmanned aerial vehicle, the transmitter 10 may directly receive the position origin information data of the reference terminal 13, the transmitter 10 calculates the position origin information data to obtain the actual flight data of the unmanned aerial vehicle, the transmitter 10 forwards the actual flight data of the unmanned aerial vehicle to the receiver 11, and the receiver 11 forwards the actual flight data of the unmanned aerial vehicle to the testing device. Accordingly, the test equipment may receive actual flight data from the receiver 11. As mentioned previously, the actual flight data of the drone may include at least one of a flight altitude of the drone, a longitude and a latitude of the drone at a plurality of waypoints, and a speed of the drone in three directions, which may include a heading, a translation, and a vertical direction of the drone.

In another embodiment, during the flight of the unmanned aerial vehicle, the receiver 11 may receive the position origin information data of the reference terminal 13, the receiver 11 forwards the position origin information data to the transmitter 10, the transmitter 10 resolves the position origin information data to obtain the actual flight data of the unmanned aerial vehicle, the transmitter 10 forwards the actual flight data of the unmanned aerial vehicle to the receiver 11, and the receiver 11 forwards the actual flight data of the unmanned aerial vehicle to the testing device. Accordingly, the test equipment may receive actual flight data from the receiver 11.

In another embodiment, during the flight of the drone, the transmitter 10 may acquire the actual flight data of the drone in real time through a sensor of the transmitter, and then send the actual flight data of the drone to the receiver 11, and then the receiver 11 sends the actual flight data to the testing device. Accordingly, the test equipment may receive actual flight data from the receiver 11.

S303, the test equipment analyzes the test item according to the acquired flight data of the unmanned aerial vehicle and the test data input by the user to obtain a test result.

In this application embodiment, test equipment can carry out the analysis to this test item according to this unmanned aerial vehicle's that acquires flight data and this user input's test data, obtains the test result to the realization is to unmanned aerial vehicle's test procedure, does not artifical the analysis, improves the convenience of efficiency of software testing and test.

And S304, the test equipment displays the test result in the test result display area.

In the embodiment of the application, in order to realize visual display of the test result, the test equipment may display the test result in the test result display area. The test results may include a test pass and a test fail. The test passing can mean that the function corresponding to the test item of the unmanned aerial vehicle reaches the standard; the failure of the test can mean that the function corresponding to the test item of the unmanned aerial vehicle does not reach the standard. For example, the test item is a distance limiting function test, and the test passing may mean that the distance limiting function of the unmanned aerial vehicle reaches the standard; the test failure can mean that the distance limiting function of the unmanned aerial vehicle does not reach the standard.

Optionally, unmanned aerial vehicle's function is up to standard indicates that unmanned aerial vehicle's function satisfies the national regulation to unmanned aerial vehicle, and unmanned aerial vehicle's function is not up to standard indicates that unmanned aerial vehicle's function does not satisfy the national regulation to unmanned aerial vehicle.

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

In one embodiment, the test apparatus may display a test status including not tested, in-test, or completed test in the test result display area, so that the user can know the progress of the test of the current test item in real time.

In one embodiment, the test device may display a modification option for the test result in the test result display area, and modify the test result after detecting a modification instruction input through the modification option. After the test is finished, the test equipment can display the modification option of the test result in the test result display area, and when the modification option is detected to be clicked or slid by a user, the modification instruction is determined to be received, the test result is modified, man-machine interaction can be achieved, and interaction experience is improved.

In one embodiment, a retest option is displayed in the test result display area, and the test items of the drone are retested after a retest instruction that passes the retest option is detected. For example, after the test is completed, in order to improve the accuracy of the test, the test equipment may display a retest option in the test result display area, and when it is detected that the user clicks or slides the retest option, it is determined that a retest instruction is received, and the test item of the unmanned aerial vehicle is retested, so that human-computer interaction may be achieved, and interaction experience is improved.

In one embodiment, the test equipment may generate a test report including the test item, the test data, and the test result, and the test report may include basic information of the test product, the test result, the test data, and the like.

In one embodiment, the test equipment may receive the site basic information input by the user and store the site basic information input by the user, wherein the test report further includes the site basic information. For example, as shown in fig. 4, the site is a crop field, and the site basic information includes a crop name, a crop height, a ground temperature, a ground humidity, a wind speed at a site, and the like.

In one embodiment, the test equipment may receive test product information input by a user, and store the test product information input by the user, wherein 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 number, the name, the number of rotors, the weight, the size of the rotors, the flight control number, and so on.

In one embodiment, the test report is displayed upon detection of a viewing instruction entered via the view test report option. For example, as shown in fig. 6, a test device displays a view test report option of a plurality of test products, and when a click operation on the view test report option of a target test product is detected, a test report of the target test product is displayed, where the target product is any one of the plurality of test products.

In one embodiment, the test report is downloaded upon detection of a download instruction entered via the download test report option. For example, as shown in fig. 7, a test report of the obstacle avoidance function test of the unmanned aerial vehicle is displayed in the test equipment, a download test report option is displayed on the test equipment, when a touch operation for the download test report option is detected, it is determined that a download instruction input through the download test report option is received, and the test report is downloaded, where the test report includes basic information of a test product, test data (obstacle information), and test results of the obstacle avoidance function test of the unmanned aerial vehicle for different types of obstacles, where the types of obstacles include trees, electric wires, electric poles, people, and the like.

In one embodiment, the test report is deleted upon detection of a delete instruction entered via the delete test report option.

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 test data input by a user through the user input area, and receive a test start instruction input by the user through the user input area, so that human-computer interaction can be realized, and interaction experience is improved; the test equipment can analyze the test items according to the test data and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the test process of the unmanned aerial vehicle is realized, manual analysis is not needed, and the convenience and efficiency of the test are greatly improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 8, fig. 8 is a schematic flowchart of another testing method for a drone, which may be executed by a testing device according to an embodiment of the present invention, where the testing device is specifically explained 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 of testing a height-limiting function of an unmanned aerial vehicle, and as shown in fig. 8, the method for testing an unmanned aerial vehicle may include the following steps.

S801, the test equipment receives test data which are input by a user in the user input area and used for testing the test items of the unmanned aerial vehicle.

In the embodiment of the present application, the test item includes a height-limiting functional test, and the test data may include a height-limiting threshold. The height limit threshold value can be the maximum height for limiting the flight of the unmanned aerial vehicle in the height limit function of the unmanned aerial vehicle; the display interface of the test equipment can comprise a plurality of test item options, the test equipment can receive the test items selected by the user through the test item options, and if the selected test items are the height-limiting function tests, the user input areas corresponding to the height-limiting function tests are displayed. As shown in fig. 9, the user input area may include a limit height threshold input box, and the test device may receive a limit height threshold input by the user in the limit height threshold input box; this user input area can also include unmanned aerial vehicle's departure point coordinate input box, and test equipment can receive the departure point coordinate of user at departure point coordinate input box input. After receiving the upper limit threshold and the flying point coordinates, the test can receive an instruction of saving information input by a user in the user input area, and save data input by the user.

S802, when the testing equipment determines that the user input area inputs a starting test instruction, acquiring the flight data of the unmanned aerial vehicle.

In one embodiment, as shown in fig. 9, during the flight of the unmanned aerial vehicle, the test device may display the current waypoint position and the departure point position of the unmanned aerial vehicle on the test result display area in real time, so that the user may know the flight height of the unmanned aerial vehicle in real time according to the current waypoint position and the departure point position of the unmanned aerial vehicle.

S803, the testing equipment analyzes the height limiting function test according to the acquired flight data of the unmanned aerial vehicle and the height limiting threshold value to obtain a test result.

In this application embodiment, test equipment can carry out the analysis to this limit for height functional test according to this unmanned aerial vehicle's that acquires flight data and this limit for height threshold value, obtains the test result to the realization is to the test procedure of unmanned aerial vehicle's limit for height function, and artifical analysis is not carried out, improves the convenience of efficiency of software testing and test.

And S804, the test equipment displays the test result in the test result display area.

To enable visualization of the test results, the test device may display the test results in the test results display area.

In one embodiment, the test device may display a line graph between the time of the unmanned aerial vehicle during the flight process and the heights of the respective waypoints in the test result display area, and may implement visual display of test data, so that a user may know the relationship between the height of the waypoint at each time point and a preset height threshold value in real time according to the line graph. For example, the test result display area displays a coordinate system formed by the height and the time, the test equipment can mark the waypoint height value corresponding to each time of the unmanned aerial vehicle in the flight process in the coordinate system, and connect the height values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle in the flight process and the height of each waypoint.

In one embodiment, the portion of the line graph where the height of the waypoint is greater than the height-limiting threshold is a first preset color and the portion of the line graph where the height of the waypoint is less than or equal to the height-limiting threshold is a second preset color.

In order to make the test result clearer, the test equipment can display the waypoints passing the test and the waypoints failing to pass the test in different colors in a line graph so as to be distinguished, wherein the waypoints passing the test are waypoints with the height less than or equal to the height limit threshold; the waypoints that fail the test are waypoints whose height is greater than the threshold height limit. For example, the first color is red, the second color is green, the height limit threshold is 12m, and the test equipment may display the portion of the line graph having waypoints with heights greater than 12m as red and the portion of the line graph having waypoints with heights less than or equal to 12m as 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 a height-limiting threshold value input by a user through the user input area, and receive a test start instruction input by the user through the user input area, so that human-computer interaction can be achieved, and interaction experience is improved; the test equipment can analyze the height-limiting function test according to the height-limiting threshold and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the flow of the height-limiting function test of the unmanned aerial vehicle is realized, manual analysis is not needed, and the convenience and the efficiency of the test are improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 10, fig. 10 is a schematic flow chart of another testing method for a drone, which may be executed by a testing device according to an embodiment of the present invention, where the testing device is specifically explained 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 a speed limit function of an unmanned aerial vehicle, and as shown in fig. 10, the method for testing an unmanned aerial vehicle may include the following steps.

And S111, the test equipment receives test data which is input by a user in the user input area and used for testing the test items of the unmanned aerial vehicle.

In the embodiment of the application, the test item includes a speed limit function test, and the test data may include a speed limit threshold. Wherein, this speed limit threshold value can be the maximum speed that restricts unmanned aerial vehicle flight in unmanned aerial vehicle's the speed limit function. The test equipment can receive the test item selected by the user through the test item option, and if the selected test item is the speed limiting function test, the user input area corresponding to the speed limiting function test is displayed. The user input area may include a speed limit threshold input box, and the test device may receive a speed limit threshold input by a user in the speed limit threshold input box; this user input area can also include unmanned aerial vehicle's departure point coordinate input box, and test equipment can receive the departure point coordinate of user at departure point coordinate input box input. After receiving the speed limit threshold and the flying point coordinates, the test can receive the instruction of saving information input by the user in the user input area, and save the data input by the user.

And S112, when the testing equipment determines that the user input area inputs a test starting instruction, acquiring the flight data of the unmanned aerial vehicle.

And S113, analyzing the speed limit function test by the test equipment according to the acquired flight data of the unmanned aerial vehicle and the speed limit threshold value to obtain a test result.

In this application embodiment, test equipment can carry out the analysis to this speed limit functional test according to this unmanned aerial vehicle's that acquires flight data and this speed limit threshold value to obtain the test result to the realization is to the test flow of unmanned aerial vehicle's speed limit function, does not artifical the analysis, improves the convenience of efficiency of software testing and test.

And S114, the test equipment displays the test result in the test result display area.

In the embodiment of the application, in order to visualize 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 graph between the time of the unmanned aerial vehicle during the flight and the integrated speed of each waypoint in the test result display area, so that the user can know the relationship between the integrated speed of the waypoint and the speed limit threshold value at each time according to the line graph. The integrated speed of a waypoint may be determined based on the speed of the waypoint in each direction. For example, the test result display area displays a coordinate system formed by speed and time, the test equipment may label a waypoint speed value corresponding to each time of the unmanned aerial vehicle in the flight process in the coordinate system, and connect the speed values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle in the flight process and the speed of each waypoint.

In one embodiment, the portion of the line graph where the integrated speed of the waypoints is greater than the speed limit threshold is a first preset color and the portion of the line graph where the integrated speed of the waypoints is less than or equal to the speed limit threshold is a second preset color.

In order to make the test result clearer, the test equipment can display the waypoints passing the test and the waypoints failing the test in a line graph by different colors so as to be distinguished, wherein the waypoints passing the test are waypoints with the speed less than or equal to the speed limit threshold; the waypoints which fail the test are waypoints with the speed greater than the speed limit threshold. Specifically, for example, the first color is red, the second color is green, the speed limit threshold is 20m/s, and the test equipment may display the portion of the line graph where the speed of the waypoint is greater than 20m/s in red and the portion of the line graph where the speed of the waypoint is less than or equal to 20m/s 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 value input by the user through the user input area, and receive the test start instruction input by the user through the user input area, so that human-computer interaction can be realized, and interaction experience is improved; the test equipment can analyze the speed-limiting function test according to the speed-limiting threshold and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the speed-limiting function test of the unmanned aerial vehicle is streamlined, manual analysis is not needed, and the convenience and the efficiency of the test are improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 11, fig. 11 is a schematic flowchart of another testing method for a drone, which may be executed by a testing device according to an embodiment of the present invention, where the testing device is specifically explained 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 a distance limiting function of an unmanned aerial vehicle, and as shown in fig. 11, the method for testing an unmanned aerial vehicle may include the following steps.

S121, the test equipment receives test data which are input by a user in the user input area and used for testing the test items of the unmanned aerial vehicle.

In this application embodiment, this test item includes range limit functional test, and this test data can include the position information and the range limit threshold value of this unmanned aerial vehicle's departure point. Wherein, this range limit threshold value can be the maximum distance that restricts unmanned aerial vehicle flight in unmanned aerial vehicle's the range limit function. The test equipment can receive the test items selected by the user through the test item options, and if the selected test items are distance limit functional tests, the user input areas corresponding to the distance limit functional tests are displayed. The user input area may include a range threshold input box, and the test device may receive a range threshold input by a user in the range threshold input box; the user input area can further comprise a flying point coordinate input box of the unmanned aerial vehicle, the testing equipment can receive the flying point coordinate input by the user in the flying point coordinate input box, and the flying point coordinate is used as the position information of the flying point. After receiving the range-limited threshold and the flying point coordinates, the test can receive an instruction of saving information input by a user in the user input area, and save data input by the user.

And S122, when the testing equipment determines that the user input area inputs a starting test instruction, acquiring the flight data of the unmanned aerial vehicle.

S123, the testing equipment analyzes the distance limiting function test according to the acquired flight data of the unmanned aerial vehicle, the distance limiting threshold and the position information of the takeoff point to obtain a test result.

In this application embodiment, test equipment can carry out the analysis to this range limit functional test according to this unmanned aerial vehicle's that acquires flight data, this range limit threshold value and the positional information of departure point, obtains the test result to the realization is to the test flow of unmanned aerial vehicle's range limit function, and artifical analysis is not carried out, improves the convenience of efficiency of software testing and test.

Wherein, the distance limit threshold may refer to a specified maximum distance for the unmanned aerial vehicle to fly.

And S124, the test equipment displays the test result in the test result display area.

In one embodiment, the electronic device may display a line graph between the time of the drone during flight and the distance of each waypoint in the test result display area, so that the user can know the relationship between the distance of the waypoint at each time and the distance limit threshold according to the line graph. The distance of a waypoint may refer to the distance between the location according to the waypoint and the location of the take-off point. For example, as shown in fig. 12, the test result display area displays a coordinate system formed by distance and time, the test device may label the height value of the waypoint corresponding to each time of the unmanned aerial vehicle during the flight in the coordinate system, and connect the height values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle during the flight and the heights of the respective waypoints. Optionally, the test device may further display a distance limit threshold in the coordinate system, where the distance limit threshold is 12m, a dotted line in fig. 12 represents the distance limit threshold, and a solid line represents a line graph between the time of the drone during flight and the distance of each waypoint.

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

In order to make the test result clearer, the test equipment can display the waypoints passing the test and the waypoints failing to pass the test in different colors in a line graph so as to be distinguished, wherein the waypoints passing the test are waypoints with the distance smaller than or equal to the distance limit threshold; the waypoints that fail the test are waypoints whose distance is greater than the distance limit threshold. Specifically, for example, as shown in fig. 12, the first color is red, the second color is green, the distance limit threshold is 12m, and the test device may display a portion of the line graph where the distance between the waypoints is greater than 12m in red and a portion of the line graph where the distance between the waypoints is less than or equal to 12m in green.

It can be seen that, by implementing the method described in fig. 11, 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 distance limit threshold and the position information of the departure point input by the user through the user input area, and receive the start test instruction input by the user through the user input area, so that human-computer interaction can be realized, and the interaction experience is improved; the test equipment can analyze the distance limit function test according to the distance limit threshold, the position information of the flying point and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the distance limit function test of the unmanned aerial vehicle is streamlined, manual analysis is not needed, and the convenience and the efficiency of the test are improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 13, fig. 13 is a schematic flowchart of another testing method for a drone, which may be executed by a testing device according to an embodiment of the present invention, where the testing device is specifically explained 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 of testing the electronic fence function of an unmanned aerial vehicle, and as shown in fig. 13, the method for testing an unmanned aerial vehicle may include the following steps.

S131, the test equipment receives test data which is input by a user in the user input area and used for testing the test items of the unmanned aerial vehicle.

In an embodiment of the 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. The preset number can be determined according to the shape of the electronic fence, and if the electronic fence is quadrilateral, the preset number is four; the electronic fence is triangular, and the number of the electronic fence is three. The test equipment can receive the test items selected by the user through the test item options, and if the selected test items are electronic fence function tests, the user input areas corresponding to the electronic fence function tests are displayed. The user input area may include a position information input box of a preset number of vertices of the electronic fence, and the test apparatus may receive position information of the preset number of vertices of the electronic fence input in the position information input box of the preset number of vertices of the electronic fence by a user. After receiving the position information of the preset number of vertexes of the electronic fence, the test can receive an instruction of saving information input by a user in the user input area, and save data input by the user. For example, as shown in fig. 14, the user input area may include a position information input box of four vertices of the electronic fence, the four vertices being a point a, B point, C point and D point, respectively, and the testing device may receive position information of the four vertices input by the user through the input box of the a point, the B point, the C point and the D point. In one embodiment, the testing device may also display in real time location information of waypoints when the drone is flying in multiple directions. As shown in fig. 14, when the unmanned aerial vehicle flies on the side AB of the electronic fence, the flying direction of the unmanned aerial vehicle is a forward direction, and the forward direction may be a direction in which the unmanned aerial vehicle faces the electronic fence with the head and continuously approaches the electronic fence; when the unmanned aerial vehicle flies on the CD side of the electronic fence, the flying direction of the unmanned aerial vehicle is a retreating direction, and the retreating direction can be a direction in which the tail of the unmanned aerial vehicle faces the electronic fence and is continuously close to the electronic fence; when the unmanned aerial vehicle flies at the AD side of the electronic fence, the flying direction of the unmanned aerial vehicle is the right translation direction, and the right translation direction can be the direction in which the right wing of the unmanned aerial vehicle faces the electronic fence and is continuously close to the electronic fence; when unmanned aerial vehicle was when the BC side flight of fence, unmanned aerial vehicle's flight direction was left translation direction, and left translation direction can be that unmanned aerial vehicle left side wing is towards fence and constantly is close to the direction of fence.

In one embodiment, the test data may further include a preset distance, so that the test device may analyze the flight data of the waypoints having a distance from the electronic fence less than the preset distance, and filter out the flight data of the waypoints having a distance from the electronic fence greater than or equal to the preset distance, thereby saving resources and improving test efficiency.

S132, when the test equipment determines that the user input area inputs a test starting instruction, acquiring the flight data of the unmanned aerial vehicle.

S133, analyzing the function test of the electronic fence by the testing equipment according to the acquired flight data of the unmanned aerial vehicle and the position information of the vertexes of the preset number of the electronic fence to obtain a test result.

In this application embodiment, test equipment can carry out the analysis to this fence functional test according to the positional information on the summit of this unmanned aerial vehicle's that should acquire flight data and this fence's the predetermined quantity to obtain the test result, to the realization is to the test flow of unmanned aerial vehicle's fence function, does not artifical the analysis, improves the convenience of efficiency of software testing and test.

And S134, the test equipment displays the test result in the test result display area.

In one embodiment, the test device may display, in the test result display area, a test state of the drone for performing the electronic fence function test in each of the plurality of directions, so that the user may know the progress of the test in time. As shown in fig. 15, the test apparatus shows that the test state in the forward direction is tested, the test state in the backward direction is in the middle of the test, the test state in the left panning direction is not tested, and the test state in the right panning direction is not tested.

In one embodiment, the test results include test results of the drone performing fence function tests for each of a plurality of directions. For example, as shown in fig. 16, the test apparatus displays in the test result display area that the test result in the forward direction is a test pass, the test result in the backward direction is a test pass, the test result in the left translation direction (i.e., sitting transverse translation) is a test fail, and the test result in the right translation direction (i.e., right transverse translation) is a test pass.

In one embodiment, the test device may receive a view instruction for a line graph of a first direction, and display, in the test result display area, a line graph between a time during which the drone is flying in the first direction, a distance of a waypoint from the electronic fence, and a combined speed of the waypoints.

For example, the testing device may include line graphs of a forward direction, a backward direction, a left translation direction, and a right translation direction, and if the first direction is the forward direction, as shown in fig. 16, the testing device may receive a viewing instruction for the line graph of the forward direction, and display, in the test result display area, line graphs between time during which the drone flies to the forward direction, a distance from a waypoint to the electronic fence, and a comprehensive speed of the waypoint.

In one embodiment, the test device can receive the test result in the electronic fence input by the user through the test result display area and store 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, and specifically, the test equipment can receive the test result in the fence input by the user through the test result display area and store the test result in the electronic fence. For example, if it is determined from the line graph shown in fig. 16 that the drone is not decelerating when flying within or near the fence, the user may set the test result within the fence to fail.

It can be seen that, by implementing the method described in fig. 13, the test device provides a test interface, where the test interface includes a user input area and a test result display area, and the test device can receive the position information of the vertices of the electronic fence, which is input by the user through the user input area, of the preset number, and receive the test start instruction input by the user through the user input area, so that human-computer interaction can be achieved, and interaction experience is improved; the test equipment can analyze the electronic fence function test according to the position information of the vertices of the preset number of the electronic fences and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the electronic fence function test of the unmanned aerial vehicle is streamlined, manual analysis is not needed, and the test convenience and efficiency are improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 17, fig. 17 is a schematic flowchart of another testing method for a drone, which may be executed by a testing device according to an embodiment of the present invention, where the testing device is specifically explained 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 an autonomous flight path planning function of an unmanned aerial vehicle, and as shown in fig. 17, the method for testing an unmanned aerial vehicle may include the following steps.

And S171, the test equipment receives test data which is input by the user in the user input area and is used for testing the test items of the unmanned aerial vehicle.

In the embodiment of the application, the test item comprises an air route autonomous planning function test, and the test data can comprise position information of a first position, position information of a second position and a spray width. Wherein, this spray width can be the spraying scope that restricts unmanned aerial vehicle and spray objects such as pesticide or water in unmanned aerial vehicle's the route is independently planned, and if spray width can be 5 m. The test equipment can receive the test items selected by the user through the test item options, and if the selected test items are the air route autonomous planning function tests, the user input areas corresponding to the air route autonomous planning function tests are displayed. As shown in fig. 18, the user input area may include a test data input box, the first position is a point a, the second position is a point B, the test equipment may receive position information of the point a and position information of the point B input in the test data input box by the user and the swath, the position information of the point a is (22.62, 113.93), the position information of the point B is (22.63, 113.93), and the swath is 5 m. Optionally, the test data may also include a flying height, such as 3m, and may also include a flying speed of 5 m/s. After receiving the test data, 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.

And S172, when the test equipment determines that the user input area inputs a test starting instruction, acquiring the flight data of the unmanned aerial vehicle.

And S173, analyzing the autonomous planning function test of the air route by the test equipment according to the acquired flight data of the unmanned aerial vehicle, the position information of the first position, the position information of the second position and the spray amplitude to obtain a test result.

The test equipment can analyze the flight data of the unmanned aerial vehicle, the position information of the first position, the position information of the second position and the spray amplitude to the autonomous planning function test of the air route to obtain a test result, so that the test process of the autonomous planning function of the air route of the unmanned aerial vehicle is realized, manual analysis is not needed, and the test efficiency and the test convenience are improved.

And S174, the test equipment displays the test result in the test result display area.

In one embodiment, the test device may display, in the test result display area, a line graph of time, distance between a waypoint and a corresponding reference line, and a comprehensive speed of the waypoint of the unmanned aerial vehicle during flight, where the reference line is determined according to the position information of the first position, the position information of the second position, and the blowing width.

The test equipment can display the time of the unmanned aerial vehicle in the flight process, the distance between the waypoint and the corresponding datum line and a line chart between the comprehensive speeds of the waypoint in the test result display area so that whether the air route autonomous planning function test of the unmanned aerial vehicle passes or not can be known according to the line chart. For example, the test result display area displays a coordinate system formed by distance, total speed and time, the test equipment can mark the synthetic speed value of the waypoint corresponding to each time of the unmanned aerial vehicle in the flight process in the coordinate system, and connect the synthetic speed values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle in the flight process and the synthetic speed of each waypoint; and marking the distance value between the waypoint of the unmanned aerial vehicle at each time in the flight process and the corresponding datum line in a coordinate system, and connecting the distance values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle in the flight process and the distance between each waypoint and the corresponding datum line.

In one embodiment, the test equipment may display, in the test result display area, a first airline track that is an actual airline track of the unmanned aerial vehicle during flight and a second airline track that is a reference airline track determined according to the position information of the first position, the position information of the second position, and the banner. Optionally, the test device may display the first course trajectory in a first color and the second course trajectory in a second color. For example, the first color is yellow, and the second color is green, and as shown in fig. 19, the trajectory displayed in yellow is the actual flight path trajectory, and the trajectory displayed in green is the reference flight path trajectory. The second flight path trajectory is a reference flight path trajectory determined according to the position information of the first position, the position information of the second position and the spray amplitude, for example, the spray amplitude is 5m, a point a is a first position, a point B is a second position, the second flight path trajectory comprises a straight line segment AB and a line segment parallel to the line segment AB, the distance between the straight line segment AB and the line segment AB is N times of the spray amplitude, and N is a positive integer.

In one embodiment, the test equipment may display, in the test result display area, the first standard deviation, a minimum distance and a maximum distance, where the first standard deviation is a standard deviation calculated according to a distance between each waypoint of the unmanned aerial vehicle during flight and the corresponding reference line, the minimum distance is a minimum distance among distances between a plurality of waypoints of the unmanned aerial vehicle during flight and the corresponding reference line, and the maximum distance is a maximum distance among distances between the plurality of waypoints of the unmanned aerial vehicle during flight and the corresponding reference line. For example, assuming that there are 1 to 10 waypoints, the test equipment may calculate the distance between each waypoint and the corresponding reference line to obtain 10 distance values, use the mean square error of the 10 distance values as the first standard deviation, and display the maximum distance and the minimum distance among the first standard deviation, the 10 distance values on the test result display area. As shown in fig. 15, the test equipment may display the first standard deviation, the minimum distance, and the maximum distance in the form of a data analysis table.

In one embodiment, the test data further includes a flight altitude, wherein the flight altitude may be a maximum altitude at which the drone is restricted from flying in the range function of the drone. The test equipment can calculate the altitude deviation between the altitude of this unmanned aerial vehicle at every waypoint in the flight process and this flying height, obtains a plurality of altitude deviations, shows in this test result display area second standard deviation, minimum altitude deviation among this a plurality of altitude deviations and the biggest altitude deviation among this a plurality of altitude deviations, and this second standard deviation is for calculating according to these a plurality of altitude deviations and obtains. For example, assuming that there are 1 to 10 waypoints and the flying height is 3m, the testing device may calculate a difference between each waypoint and 3m, take the difference as the height deviation, obtain 10 height deviation values, and take the mean square error of the 10 height deviation values as the second standard deviation; and displaying the maximum value and the minimum value of the second standard deviation and the 10 height deviation values in the test result display area. As shown in fig. 19, the test equipment may display the second standard deviation, the minimum height deviation of the plurality of height deviations, and the maximum height deviation of the plurality of height deviations in the form of a data analysis table.

In one embodiment, the test data further includes a flying speed, the test device may calculate a speed deviation between a combined speed of the drone at each waypoint during flight and the flying speed, obtain a plurality of speed deviations, and display a third standard deviation, a minimum speed deviation of the plurality of speed deviations, and a maximum speed deviation of the plurality of speed deviations in the test result display area, the third standard deviation being calculated from the plurality of speed deviations. For example, assuming that there are 1-10 waypoints and the flying speed is 5m/s, the testing device may calculate a difference between each waypoint and 5m/s, take the difference as a speed deviation to obtain 10 speed deviation values, and take a mean square error of the 10 speed deviation values as a third standard deviation; and displaying the third standard deviation, the maximum value and the minimum value of the 10 speed deviation values in the test result display area. As shown in fig. 19, the test equipment may display the third standard deviation, the minimum speed deviation of the plurality of speed deviations, and the maximum speed deviation of 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 of the first position, the position information of the second position and the spray width input by the user through the user input area, and receive the test starting instruction input by the user through the user input area, so that human-computer interaction can be realized, and interaction experience is improved; the test equipment can analyze the route autonomous planning function test according to the position information of the first position, the position information of the second position, the spray amplitude and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the route autonomous planning function test of the unmanned aerial vehicle is streamlined, manual analysis is not needed, and the convenience and the efficiency of the test are improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 20, fig. 20 is a schematic flowchart of another testing method for a drone, which may be executed by a testing device according to an embodiment of the present invention, where the testing device is specifically explained 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 an obstacle avoidance function of an unmanned aerial vehicle, and as shown in fig. 20, the method for testing an unmanned aerial vehicle may include the following steps.

S211, the test equipment receives test data which are input by a user in the user input area and used for testing the test items of the unmanned aerial vehicle.

In this application embodiment, this test item includes keeps away barrier function test, and this test data can include barrier information, this unmanned aerial vehicle's starting point coordinate and terminal point coordinate. The test equipment can receive the test items selected by the user through the test item options, and if the selected test items are the obstacle avoidance function tests, the user input areas corresponding to the obstacle avoidance function tests are displayed. This user input area can include the test data input box, and the test data box includes barrier information input box, this unmanned aerial vehicle's starting point coordinate input box and terminal point coordinate input box, and test equipment can receive barrier information, this unmanned aerial vehicle's starting point coordinate and terminal point coordinate of user's input in the test data input box. After receiving the range-limited threshold and the flying point coordinates, the test can receive an instruction of saving information input by a user in the user input area, and save data input by the user. The obstacle information includes position information of an obstacle, a radius of the obstacle, a height of the obstacle, and a type of the obstacle, which may include a tree, a house, a pole, a person, or the like. For example, as shown in fig. 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), the coordinates of the start point of the drone are the coordinates of point a (22.64, 113.93), and the coordinates of the end point of the drone are the coordinates of point B (22.64, 113.95).

S212, when the test equipment determines that the user input area inputs a test starting instruction, acquiring the flight data of the unmanned aerial vehicle.

S213, the testing equipment analyzes the obstacle avoidance function test according to the acquired flight data of the unmanned aerial vehicle, the obstacle information, the starting point coordinate and the end point coordinate of the unmanned aerial vehicle, and a test result is obtained.

In this application embodiment, test equipment can carry out the analysis to this obstacle avoidance function test according to this unmanned aerial vehicle's that acquires flight data, barrier information, this unmanned aerial vehicle's starting point coordinate and terminal point coordinate, obtains the test result to the realization is to the test procedure of unmanned aerial vehicle's obstacle avoidance function, and artifical analysis is not carried out, improves the convenience of efficiency of software testing and test.

And S214, the test equipment displays the test result in the test result display area.

In one embodiment, the test equipment may display a flight trajectory diagram of the drone and a location of the obstacle in the test result display area. As shown in fig. 21, the test equipment may mark the position of each waypoint in the process of flying the unmanned aerial vehicle in the test result display area, connect adjacent waypoints to obtain the flight trajectory diagram of the unmanned aerial vehicle, and display the position of the obstacle in the test result display area, so that the user can know the relationship between the flying position of the unmanned aerial vehicle and the position of the obstacle in real time.

In one embodiment, a line graph of the time of the unmanned aerial vehicle during flight, the distance between the waypoint and the obstacle, and the integrated speed of the waypoint is displayed in the test result display area. For example, as shown in fig. 22, the test result display area displays a coordinate system formed by speed, distance, and time, the test equipment may label a waypoint speed value corresponding to each time of the unmanned aerial vehicle during the flight process in the coordinate system, and connect speed values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle during the flight process and the speed of each waypoint; and marking the distance value between the waypoint corresponding to each time of the unmanned aerial vehicle in the flying process and the obstacle in a coordinate system, and connecting the distance values between adjacent waypoints to obtain a line graph between the time of the unmanned aerial vehicle in the flying process and the distance between each waypoint and the obstacle. Alternatively, as shown in fig. 18, the test device may display a line graph between the time the drone is in flight and the speed of each waypoint in a first color, and display a line graph between the time the drone is in flight and the distance of each waypoint from the obstacle in a second color, where 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 the obstacle information input by the user through the user input area, the start point coordinate and the end point coordinate of the unmanned aerial vehicle, and receive the start test instruction input by the user through the user input area, so that human-computer interaction can be realized, and the interaction experience is improved; the test equipment can analyze the obstacle avoidance function test according to the obstacle information, the starting point coordinate and the end point coordinate of the unmanned aerial vehicle and the acquired flight data of the unmanned aerial vehicle to obtain a test result, so that the obstacle avoidance function test of the unmanned aerial vehicle is streamlined, manual analysis is not needed, and the test convenience and efficiency are improved; in addition, the test equipment can display the test result in the test result display area, and the visual display of the test result can be realized.

Referring to fig. 23, fig. 23 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention. Specifically, the test equipment 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); memory 101 may also comprise a combination of the above types of memory. The processor 100 may be a 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 (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

In one embodiment, the memory is for storing program instructions, and the processor may call the program instructions stored in the memory for performing the steps of:

and displaying the test result in the test result display area.

Optionally, the test item includes a limit-height functional test, and the test data includes a limit-height threshold.

Optionally, the processor is further configured to perform the following steps:

and displaying a line graph between the time of the unmanned aerial vehicle in the flight process and the height of each waypoint in the test result display area.

Optionally, a portion of the line drawing where the height of the waypoint is greater than the height-limiting threshold is a first preset color, and a portion of the line drawing where the height of the waypoint is less than or equal to the height-limiting threshold is a second preset color.

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

Optionally, the processor is further configured to perform the following steps:

and displaying a line graph between the time of the unmanned aerial vehicle in the flight process and the comprehensive speed of each waypoint in the test result display area.

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

Optionally, the test items include a distance limiting function test, and the test data include position information of a departure point of the unmanned aerial vehicle and a distance limiting threshold.

Optionally, the processor is further configured to perform the following steps:

and displaying a line graph between the time of the unmanned aerial vehicle in the flight process and the distance of each waypoint in the test result display area.

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

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 further configured to perform the following steps:

and displaying the test state of the unmanned aerial vehicle for performing the electronic fence function test in each direction in the plurality of directions in the test result display area.

Optionally, the test result includes a test result of the drone performing the electronic fence function test for each of the plurality of directions.

Optionally, the processor is further configured to perform the following steps:

receiving a viewing instruction for a line graph in a first direction;

and displaying a line graph among the time, the distance from the waypoint to the electronic fence and the comprehensive speed of the waypoint in the process that the unmanned aerial vehicle flies to the first direction in the test result display area.

Optionally, the processor is further configured to perform the following steps:

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

and saving the test result in the electronic fence.

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

Optionally, the processor is further configured to perform the following steps:

and displaying a line graph among the time of the unmanned aerial vehicle in the flight process, the distance between the waypoint and the corresponding reference line and the comprehensive speed of the waypoint in the test result display area, wherein the reference line is determined according to the position information of the first position, the position information of the second position and the spray width.

Optionally, the processor is further configured to perform the following steps:

and displaying a first air route track and a second air route track in the test result display area, wherein the first air route track is an actual air route track of the unmanned aerial vehicle in the flying process, and the second air route track is a reference air route track determined according to the position information of the first position, the position information of the second position and the spray amplitude.

Optionally, the processor is further configured to perform the following steps:

and displaying the first standard deviation, a minimum distance and a maximum distance in the test result display area, wherein the first standard deviation is calculated according to the distance between each navigation point of the unmanned aerial vehicle and the corresponding reference line in the flight process, the minimum distance is the minimum distance among the distances between the plurality of navigation points and the corresponding reference line in the flight process of the unmanned aerial vehicle, and the maximum distance is the maximum distance among the distances between the plurality of navigation points and the corresponding reference line in the flight process of the unmanned aerial vehicle.

Optionally, the test data further includes a flying height, and the processor is further configured to perform the following steps:

calculating the height deviation between the height of each navigation point of the unmanned aerial vehicle in the flying process and the flying height to obtain a plurality of height deviations;

and displaying a second standard deviation, a minimum height deviation of the height deviations and a maximum height deviation of the height deviations in the test result display area, wherein the second standard deviation is calculated according to the height deviations.

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

calculating the speed deviation between the comprehensive speed of each navigation point of the unmanned aerial vehicle in the flying process and the flying speed to obtain a plurality of speed deviations;

and displaying a third standard deviation, a minimum speed deviation of the plurality of speed deviations and a maximum speed deviation of the plurality of speed deviations in the test result display area, wherein the third standard deviation is calculated according to the plurality of speed deviations.

Optionally, the test items include an obstacle avoidance function test, and the test data includes obstacle information, and a start point coordinate and an end point coordinate of the unmanned aerial vehicle.

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

Optionally, the processor is further configured to perform the following steps:

and displaying the flight path diagram of the unmanned aerial vehicle and the position of the obstacle in the test result display area.

Optionally, the processor is further configured to perform the following steps:

and displaying a line graph among the time of the unmanned aerial vehicle in the flight process, the distance between the waypoint and the obstacle and the comprehensive speed of the waypoint in the test result display area.

Optionally, the processor is further configured to perform the following steps:

and displaying a test state, wherein the test state comprises non-test, in-test or test completion.

Optionally, the processor is further configured to perform the following steps:

displaying modification options of the test results in the test result display area;

and modifying the test result after detecting a modification instruction input through the modification option.

Optionally, the processor is further configured to perform the following steps:

displaying a retest option in the test result display area;

after detecting a retest instruction that passes the retest option, retesting the test items of the drone.

Optionally, the processor is further configured to perform the following steps:

and generating a test report, wherein the test report comprises the test items, the test data and the test results.

Optionally, the processor is further configured to perform the following steps:

receiving basic site information input by a user;

saving the site basic information input by the user;

wherein the test report further comprises the site basic information.

Optionally, the processor is further configured to perform the following steps:

receiving test product information input by a user;

saving the test product information input by the user;

wherein the test report further includes the test product information.

Optionally, the processor is further configured to perform the following steps:

and when a viewing instruction input through the viewing test report option is detected, displaying the test report.

Optionally, the processor is further configured to perform the following steps:

and downloading the test report when a downloading instruction input through the downloading test report option is detected.

Optionally, the processor is further configured to perform the following steps:

and deleting the test report when a deletion instruction input by the deletion test report option is detected.

In an embodiment of the present invention, a computer-readable storage medium is further provided, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for testing an unmanned aerial vehicle described in the embodiment of the present invention is implemented, and a testing device in the embodiment of the present invention shown in fig. 23 may also be implemented, which is not described herein again.

The computer readable storage medium may be an internal storage unit of the test device according to any of the foregoing embodiments, for example, 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 apparatus, such as a plug-in hard disk provided on the device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the test equipment. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims

1. A test method for unmanned aerial vehicle function detection is applied to test equipment for testing, the test equipment is used for displaying a test interface, and the test interface comprises a user input area and a test result display area, and is characterized in that the method comprises the following steps:

and displaying the test result in the test result display area.

2. The method of claim 1, wherein the test items comprise limit of height functional tests and the test data comprises a limit of height threshold.

3. The method of claim 2, further comprising:

4. The method of claim 3, wherein the portion of the line graph having waypoints with heights greater than the threshold height limit is a first preset color and the portion of the line graph having waypoints with heights less than or equal to the threshold height limit is a second preset color.

5. The method of claim 1, wherein the test items comprise speed limiting functional tests and the test data comprises speed limiting thresholds.

6. The method of claim 5, further comprising:

7. The method of claim 6, wherein the portion of the line graph where the aggregate speed of the waypoints is greater than the speed limit threshold is a first preset color and the portion of the line graph where the aggregate speed of the waypoints is less than or equal to the speed limit threshold is a second preset color.

8. The method of claim 1, wherein the test items comprise a range function test, and the test data comprises position information of a takeoff point of the drone and a range threshold.

9. The method of claim 8, further comprising:

10. The method of claim 9, wherein the portion of the line graph having waypoints at a distance greater than the distance limit threshold is a first preset color and the portion of the line graph having waypoints at a distance less than or equal to the distance limit threshold is a second preset color.

11. The method of claim 1, wherein the test items comprise fence function tests, and the test data comprises location information of a preset number of vertices of the fence.

12. The method of claim 11, wherein the test data further comprises a preset distance.

13. The method according to claim 11 or 12, characterized in that the method further comprises:

14. The method of claim 11 or 12, wherein the test results comprise test results of the drone performing a fence function test for each of a plurality of directions.

15. The method according to claim 11 or 12, characterized in that the method further comprises:

receiving a viewing instruction for a line graph in a first direction;

16. The method according to claim 11 or 12, characterized in that the method further comprises:

and saving the test result in the electronic fence.

17. The method of claim 1, wherein the test item is an airline autopilot test, and the test data includes location information for a first location and location information for a second location and a swath.

18. The method of claim 17, further comprising:

19. The method according to claim 17 or 18, further comprising:

20. The method according to claim 17 or 18, further comprising:

21. The method of claim 17 or 18, wherein the test data further comprises a fly height, the method further comprising:

22. The method of claim 17 or 18, wherein the test data further comprises a flight speed, the method further comprising:

23. The method of claim 1, wherein the test items comprise obstacle avoidance function tests, and the test data comprises obstacle information, start coordinates and end coordinates of the drone.

24. The method of claim 23, wherein the obstacle information comprises position information of an obstacle, a radius of the obstacle, a height of the obstacle, and a type of the obstacle.

25. The method according to claim 23 or 24, further comprising:

26. The method according to claim 23 or 24, further comprising:

27. The method of claim 1, further comprising:

28. The method of claim 27, further comprising:

29. The method of claim 27 or 28, further comprising:

displaying a retest option in the test result display area;

30. The method of claim 27 or 28, further comprising:

31. The method of claim 30, wherein the method comprises:

receiving basic site information input by a user;

saving the site basic information input by the user;

wherein the test report further comprises the site basic information.

32. The method of claim 31, wherein the method comprises:

receiving test product information input by a user;

saving the test product information input by the user;

wherein the test report further includes the test product information.

33. The method of claim 31 or 32, further comprising:

34. The method of claim 31 or 32, further comprising:

35. The method of claim 31 or 32, further comprising:

36. A test device for functional testing of a drone, comprising a memory and a processor, characterized in that,

the memory to store program instructions;

and displaying the test result in the test result display area.

37. The apparatus of claim 36, wherein the test items comprise a limit high function test and the test data comprises a limit high threshold.

38. The apparatus of claim 37, wherein the processor is further configured to perform the steps of:

39. The apparatus of claim 38, wherein the portion of the line graph having the height of the waypoint greater than the height-limiting threshold is a first preset color and the portion of the line graph having the height of the waypoint less than or equal to the height-limiting threshold is a second preset color.

40. The apparatus of claim 36, wherein the test items comprise speed limit functional tests and the test data comprises speed limit thresholds.

41. The device of claim 40, wherein the processor is further configured to perform the steps of:

42. The apparatus of claim 41, wherein the portion of the line graph where the aggregate speed of the waypoints is greater than the speed limit threshold is a first preset color and the portion of the line graph where the aggregate speed of the waypoints is less than or equal to the speed limit threshold is a second preset color.

43. The apparatus of claim 36, wherein the test items comprise a range function test, and the test data comprises position information of a takeoff point of the drone and a range threshold.

44. The device of claim 43, wherein the processor is further configured to perform the steps of:

45. The device of claim 44, wherein the portion of the line graph having waypoints at a distance greater than the distance limit threshold is a first preset color and the portion of the line graph having waypoints at a distance less than or equal to the distance limit threshold is a second preset color.

46. The apparatus of claim 36, wherein the test items comprise fence function tests, and the test data comprises position information for a preset number of vertices of the fence.

47. The apparatus of claim 46, wherein the test data further comprises a preset distance.

48. The apparatus of claim 46 or 47, wherein the processor is further configured to perform the steps of:

49. The apparatus of claim 46 or 47, wherein the test results comprise test results of the drone performing a fence function test for each of a plurality of directions.

50. The apparatus of claim 46 or 47, wherein the processor is further configured to perform the steps of:

receiving a viewing instruction for a line graph in a first direction;

51. The apparatus of claim 46 or 47, wherein the processor is further configured to perform the steps of:

and saving the test result in the electronic fence.

52. The apparatus of claim 36, wherein the test item is an airline autopilot test, and the test data includes location information for a first location and location information for a second location and a swath.

53. The device of claim 52, wherein the processor is further configured to perform the steps of:

54. The apparatus of claim 52 or 53, wherein the processor is further configured to perform the steps of:

55. The apparatus of claim 52 or 53, wherein the processor is further configured to perform the steps of:

56. The apparatus of claim 52 or 53, wherein the test data further comprises a fly height, the processor further configured to perform the steps of:

57. The apparatus of claim 52 or 53, wherein the test data further comprises a flight speed, the processor being further configured to perform the steps of:

58. The apparatus of claim 36, wherein the test items comprise obstacle avoidance function tests, and the test data comprises obstacle information, start coordinates and end coordinates of the drone.

59. The apparatus of claim 58, wherein the obstacle information comprises position information of an obstacle, a radius of the obstacle, a height of the obstacle, and a type of the obstacle.

60. The apparatus of claim 58 or 59, wherein the processor is further configured to perform the steps of:

61. The apparatus of claim 58 or 59, wherein the processor is further configured to perform the steps of:

62. The apparatus of claim 36, wherein the processor is further configured to perform the steps of:

63. The device of claim 62, wherein the processor is further configured to perform the steps of:

64. The apparatus of claim 62 or 63, wherein the processor is further configured to perform the steps of:

displaying a retest option in the test result display area;

65. The apparatus of claim 62 or 63, wherein the processor is further configured to perform the steps of:

66. The device of claim 65, wherein the processor is further configured to perform the steps of:

receiving basic site information input by a user;

saving the site basic information input by the user;

wherein the test report further comprises the site basic information.

67. The device of claim 66, wherein the processor is further configured to perform the steps of:

receiving test product information input by a user;

saving the test product information input by the user;

wherein the test report further includes the test product information.

68. The apparatus of claim 66 or 67, wherein the processor is further configured to perform the steps of:

69. The apparatus of claim 66 or 67, wherein the processor is further configured to perform the steps of:

70. The apparatus of claim 66 or 67, wherein the processor is further configured to perform the steps of:

71. A computer-readable storage medium, comprising: the computer-readable storage medium stores a computer program which, when executed by a processor, is operable to perform the drone testing method of any one of claims 1 to 32.