CN114148542A

CN114148542A - Unmanned aerial vehicle testing method and device and storage medium

Info

Publication number: CN114148542A
Application number: CN202010931941.2A
Authority: CN
Inventors: 马凡
Original assignee: Fengyi Technology Shenzhen Co ltd
Current assignee: Fengyi Technology Shenzhen Co ltd
Priority date: 2020-09-08
Filing date: 2020-09-08
Publication date: 2022-03-08

Abstract

The application discloses a method and a device for testing an unmanned aerial vehicle and a storage medium, wherein the method for testing the unmanned aerial vehicle comprises the following steps: acquiring first flight test data of a target unmanned aerial vehicle in a first environmental scene, wherein the first flight test data is test data of a first unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the first environmental scene; acquiring second flight test data of the target unmanned aerial vehicle in a second environmental scene, wherein the second flight test data are test data of a second unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the second environmental scene, and the first environmental scene is different from the second environmental scene; and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data and the second flight test data. This application can fully acquire unmanned aerial vehicle safe handling border, full play unmanned aerial vehicle's effect and value.

Description

Unmanned aerial vehicle testing method and device and storage medium

Technical Field

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

Background

At present, the problems of the operation of the domestic unmanned aerial vehicle mainly comprise: the operation scene is complex, and the operation risk is uncontrollable; lack of effective supervision means; relevant regulation policies (airworthiness standard and operation standard) are to be perfected; each unmanned aerial vehicle manufacturer mostly executes the self delivery standard, so that the quality of the unmanned aerial vehicles is uneven, and unnecessary obstacles are brought to the healthy development of the unmanned aerial vehicle industry.

In order to promote the establishment of an effective unmanned aerial vehicle low-altitude supervision means and promote the incubation of the technical standard, the simple airworthiness standard and the operation standard of the unmanned aerial vehicle, the exploration and popularization of unmanned aerial vehicle testing are started by part of testing and detecting mechanisms in China. The traditional unmanned plane test method comprises the following steps: 1. the environment test in the static state is used for connecting the state of the unmanned aerial vehicle in the static state and in the environments of high and low temperature, humidity, rain, snow, sand, dust and the like; 2. the flight test is that the flight state of the unmanned aerial vehicle in a real environment has certain risks, so that most manufacturers have conservative test subjects under the test condition and do not perform large-mobility and risk tests; 3. military unmanned aerial vehicles usually perform wind tunnel tests and large-scale environmental laboratory tests, and are relatively civil, strict in technical requirements and high in implementation cost, and are not beneficial to popularization of civil unmanned aerial vehicles; 4. safety margins of different degrees are reserved for various performance designs, and unmanned aerial vehicle popularization and large-scale operation are not facilitated.

During unmanned aerial vehicle test among the prior art, ordinary outfield test can only test and assess unmanned aerial vehicle performance parameter, can not understand under extreme condition and environment, unmanned aerial vehicle's safe operation boundary, if want to acquire unmanned aerial vehicle safe operation boundary, need carry out the test under extreme condition and the environment, be similar to the violence test and the destructive test of car, need pay out high cost, when unmanned aerial vehicle demand still can't reach the odd of car demand, almost no unmanned aerial vehicle enterprise is willing to undertake this ratio expense, carry out the test under complete extreme condition and the environment.

Aiming at the phenomenon, the existing unmanned aerial vehicle has enough safety margins in the design of each sub-module, each performance parameter in practical application has a moderate moment, and the application margins are reserved under the design margins, so that the function and value of the unmanned aerial vehicle cannot be fully exerted.

Disclosure of Invention

The embodiment of the application provides an unmanned aerial vehicle testing method, an unmanned aerial vehicle testing device and a storage medium, which can fully acquire the safe use boundary of the unmanned aerial vehicle, further fully play the role and the value of the unmanned aerial vehicle and provide data support for large-scale commercial operation safety of the unmanned aerial vehicle on a large scale.

In one aspect, the present application provides a method for testing an unmanned aerial vehicle, including:

acquiring first flight test data of a target unmanned aerial vehicle in a first environment scene and second flight test data of the target unmanned aerial vehicle in a second environment scene, wherein the first flight test data are test data of a first unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the first environment scene, the second flight test data are test data of a second unmanned aerial vehicle test platform aiming at the target attributes of the target unmanned aerial vehicle in the second environment scene, and the first environment scene is different from the second environment scene;

and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data and the second flight test data.

In some embodiments of the present application, the acquiring first flight test data of the target drone in a first environmental scenario and second flight test data of the target drone in a second environmental scenario includes:

acquiring first test requirement information aiming at a target unmanned aerial vehicle, wherein the first test requirement information comprises first target attribute information;

determining a first test case for testing the target unmanned aerial vehicle based on the first test requirement information and a preset test model;

sending the first test case to the target unmanned aerial vehicle to indicate the target unmanned aerial vehicle to execute the first test case to perform unmanned aerial vehicle simulation test in a first environmental scene;

and when the target unmanned aerial vehicle is in a first environment scene, acquiring first flight test data of the target unmanned aerial vehicle in the process of executing the first test case to perform unmanned aerial vehicle simulation test.

In some embodiments of the present application, the obtaining the first test requirement information for the target drone includes:

acquiring initial test demand information for the target unmanned aerial vehicle;

and carrying out requirement analysis on the initial test requirement information to obtain first test requirement information aiming at the target unmanned aerial vehicle.

In some embodiments of the present application, the performing requirement analysis on the initial test requirement information to obtain first test requirement information for a target unmanned aerial vehicle includes:

analyzing the initial test requirement information to determine whether the initial test requirement information meets a preset test environment condition;

if the initial test requirement information meets the preset test environment condition, judging whether the initial test requirement information meets a preset theoretical model;

if the initial test requirement information accords with a preset theoretical model, performing semi-physical simulation on the initial test requirement information, and verifying the correctness and feasibility of the initial test requirement information;

and if the verification is passed, using the initial test requirement information as first test requirement information for the target unmanned aerial vehicle.

In some embodiments of the present application, the determining a first test case for testing a target drone based on the first test requirement information and a preset test model includes:

acquiring initial test acquisition parameters of the target unmanned aerial vehicle based on the first test requirement information;

and inputting the initial test acquisition parameters into a preset test model to generate a first test case for testing the target unmanned aerial vehicle.

In some embodiments of the present application, when the target drone is in a first environmental scenario, during executing the first test case to perform the drone simulation test, acquiring first flight test data of the target drone, including:

acquiring environmental data in the first environmental scene;

when the target unmanned aerial vehicle is in a first environmental scene, the first test case is executed to carry out an unmanned aerial vehicle simulation test process, and performance parameter data of the target unmanned aerial vehicle before flight and flight parameter data of the target unmanned aerial vehicle when flying on the first unmanned aerial vehicle test platform are collected.

In some embodiments of the present application, the acquiring second flight test data of the target drone in a second environmental scenario includes:

acquiring second test requirement information aiming at the target unmanned aerial vehicle, wherein the second test requirement information comprises second target attribute information;

determining a second test case for testing the target unmanned aerial vehicle based on the second test requirement information and a preset test model;

sending the second test case to the target unmanned aerial vehicle to indicate the target unmanned aerial vehicle to execute the second test case to perform unmanned aerial vehicle simulation test in a second environmental scene;

and when the target unmanned aerial vehicle is in a second environmental scene, executing the second test case to carry out the unmanned aerial vehicle simulation test process, and acquiring second flight test data of the target unmanned aerial vehicle.

In some embodiments of the present application, the first flight test data includes first flight parameter data for safe use, the second flight test data includes second flight parameter data for safe use, and both the first flight parameter data and the second flight parameter data are parameter information of a target attribute;

the determining a usage boundary of the target attribute of the target drone under a general scene based on the first flight test data and the second flight test data includes:

and acquiring the first flight parameter data and the second flight parameter data, and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene.

In some embodiments of the present application, the method further comprises:

acquiring third flight test data of the target unmanned aerial vehicle in a third environment scene, wherein the third flight test data are test data of a third unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the third environment scene, and the third environment scene is different from the first environment scene and the second environment scene;

the determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data and the second flight test data includes:

and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data, the second flight test data and the third flight test data.

On the other hand, this application provides an unmanned aerial vehicle testing arrangement, unmanned aerial vehicle testing arrangement includes:

the first acquiring module is used for acquiring first flight test data of a target unmanned aerial vehicle in a first environment scene, wherein the first flight test data is test data of a target attribute of the target unmanned aerial vehicle by a first unmanned aerial vehicle test platform in the first environment scene;

a second obtaining module, configured to obtain second flight test data of the target unmanned aerial vehicle in a second environment scene, where the second flight test data is test data of a target attribute of the target unmanned aerial vehicle, of a second unmanned aerial vehicle test platform in the second environment scene, and the first environment scene is different from the second environment scene;

a determining module, configured to determine, based on the first flight test data and the second flight test data, a safe use boundary of a target attribute of the target drone in a general scene.

In some embodiments of the present application, the first obtaining module is specifically configured to:

acquiring environmental data in the first environmental scene;

In some embodiments of the present application, the second obtaining module is specifically configured to:

the determining module is specifically configured to:

In some embodiments of the present application, the apparatus further comprises a third obtaining module, configured to:

the determination module is further to:

On the other hand, the present application also provides a terminal, including:

one or more processors;

a memory; and

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the drone testing method of any one of the first aspects.

In another aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, where the computer program is loaded by a processor to execute the steps in the test method for a drone according to any one of the above.

This application is because unmanned aerial vehicle can't carry out the test under complete extreme condition and the environment among the prior art, remain again and use the surplus under the design surplus, on unable full play unmanned aerial vehicle's effect and the basis of value, through gathering the unmanned aerial vehicle flight test data of different environment scenes, under different environment scenes, confirm the safe use boundary of unmanned aerial vehicle safe operation, when unmanned aerial vehicle moves at boundary range, can regard as absolute reliable, consequently can fully acquire unmanned aerial vehicle safe use boundary, and then full play unmanned aerial vehicle's effect and value, for unmanned aerial vehicle provides data support at large-scale commercial operation safety on a large scale.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a scenario of a test system for an unmanned aerial vehicle provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of an embodiment of the test platform for the unmanned aerial vehicle provided in the embodiment of the present application;

fig. 3 is a schematic architecture diagram of an embodiment of the drone testing system provided in the embodiment of the present application;

fig. 4 is a schematic flow chart of an embodiment of a method for testing an unmanned aerial vehicle in the embodiment of the present application;

fig. 5 is a flowchart illustrating an embodiment of step 401 of the drone testing method in an embodiment of the present application;

fig. 6 is a schematic diagram of a specific scenario of testing of the drone in the embodiment of the present application;

fig. 7 is a schematic structural diagram of an embodiment of the test apparatus for unmanned aerial vehicles provided in the embodiment of the present application;

fig. 8 is a schematic structural diagram of an embodiment of a terminal provided in the embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The embodiment of the application provides an unmanned aerial vehicle testing method, an unmanned aerial vehicle testing device and a storage medium, which are respectively described in detail below.

Please refer to fig. 1, fig. 1 is a schematic view of a scene of an unmanned aerial vehicle testing system provided in an embodiment of the present application, the unmanned aerial vehicle testing system may include a terminal 100, an unmanned aerial vehicle testing apparatus is integrated in the terminal 100, for example, the terminal in fig. 1, the terminal 100 may be in communication connection with a plurality of unmanned aerial vehicle testing platforms, and the plurality of unmanned aerial vehicle testing platforms may include a first unmanned aerial vehicle testing platform and a second unmanned aerial vehicle testing platform.

It should be noted that unmanned aerial vehicle test platform can be for the rack that is used for the unmanned aerial vehicle test, and unmanned aerial vehicle test platform can test the unmanned aerial vehicle of different models through the adaptation frock of changing different models, and unmanned aerial vehicle test platform can dismantle, and the back is dismantled to unmanned aerial vehicle test platform structure, can beat the accurate package of mark, is convenient for transport, and unmanned aerial vehicle test platform can install on conventional cement ground, as shown in fig. 2 in a specific embodiment.

Because each unmanned aerial vehicle model electrical interface is different with communication protocol, can also set up a data acquisition node alone between unmanned aerial vehicle and terminal 100 in this application embodiment, carry out unified data processing at the data acquisition node, then upload to terminal (like the host computer), the terminal shows different data with the form of chart as required. The full flow operation is that the tester sends control command according to the test task on the same day, operation terminal, and data acquisition node turns into unmanned aerial vehicle's control signal with control command, directly links unmanned aerial vehicle's control brain, and Flight Management Unit (FMU) promptly controls unmanned aerial vehicle Flight state, and unmanned aerial vehicle carries out relevant Flight state's change after receiving control signal. The data recorder/data transmission interface in the unmanned aerial vehicle avionics system can also be directly connected into a data acquisition node, the flight state information of the unmanned aerial vehicle is uploaded to the data acquisition node for processing, and meanwhile, meteorological station data (wind speed, wind direction, temperature and humidity, air pressure, illumination, radiation intensity and rainfall) and force sensor data of an outfield are also connected into the data acquisition node. Fig. 3 is a schematic diagram of an architecture of another embodiment of the present application.

In the embodiment of the application, the terminal 100 is mainly used for acquiring first flight test data of the target unmanned aerial vehicle in a first environment scene, wherein the first flight test data is test data of a target attribute of the target unmanned aerial vehicle by a first unmanned aerial vehicle test platform in the first environment scene; acquiring second flight test data of the target unmanned aerial vehicle in a second environment scene, wherein the second flight test data are test data of a second unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the second environment scene, and the first environment scene is different from the second environment scene; and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data and the second flight test data.

In this embodiment, the terminal 100 may be an independent server, or may be a server network or a server cluster composed of servers, for example, the terminal 100 described in this embodiment includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud server composed of a plurality of servers. Among them, the Cloud server is constituted by a large number of computers or web servers based on Cloud Computing (Cloud Computing).

It will be appreciated that the terminal 100 used in the embodiments of the present application may also be a device that includes both receiving and transmitting hardware, i.e. a device having receiving and transmitting hardware capable of performing two-way communication over a two-way communication link. Such a device may include: a cellular or other communication device having a single line display or a multi-line display or a cellular or other communication device without a multi-line display. The terminal 100 may specifically be a desktop terminal or a mobile terminal, and the terminal 100 may also specifically be one of a mobile phone, a tablet computer, a notebook computer, and the like.

Those skilled in the art can understand that the application environment shown in fig. 1 is only one application scenario related to the present application, and does not constitute a limitation on the application scenario of the present application, and that other application environments may further include more or fewer terminals than those shown in fig. 1, for example, only 1 terminal is shown in fig. 1, and it can be understood that the drone testing system may further include one or more other services, which are not limited herein.

In addition, as shown in fig. 1, the test system for the drone may further include a memory 200, configured to store data of the drone, such as flight test data of the drone in different extreme environment scenarios, specifically, the first flight test data and the second flight test data described in this embodiment of the present application.

It should be noted that the scenario diagram of the unmanned aerial vehicle testing system shown in fig. 1 is only an example, and the unmanned aerial vehicle testing system and the scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application.

Firstly, an embodiment of the present application provides an unmanned aerial vehicle testing method, an execution main body of the unmanned aerial vehicle testing method is an unmanned aerial vehicle testing device, the unmanned aerial vehicle testing device is applied to a terminal, and the unmanned aerial vehicle testing method includes: acquiring a plurality of transportation tasks of a path to be planned in a target area; acquiring the transport capacity resource information of all logistics nodes participating in planning in the target area; counting constraint data for planning the plurality of transportation tasks according to the transportation capacity resource information; and testing a transportation plan for the plurality of transportation unmanned aerial vehicles according to the constraint data, wherein the transportation plan comprises the number of planning vehicles for executing the plurality of transportation tasks, the type of the planning vehicles and a transportation path.

As shown in fig. 4, which is a schematic flow chart of an embodiment of the test method for the unmanned aerial vehicle in the embodiment of the present application, the test method for the unmanned aerial vehicle includes the following steps 401 to 403:

401. and acquiring first flight test data of the target unmanned aerial vehicle in a first environmental scene.

Wherein, the target unmanned aerial vehicle can be the unmanned aerial vehicle that awaits measuring performance and safe convenient to use. The first flight test data is test data of a target attribute of the target unmanned aerial vehicle by a first unmanned aerial vehicle test platform in the first environment scene.

The environmental scene may be an environmental scene of a natural condition, such as an environmental scene of a plateau area, an environmental scene of a severe cold area, an environmental scene of a coastal area, an environmental scene of a high temperature area, or the like, and of course, the environmental scene may also be a simulated environmental scene, such as a certain simulated high temperature and high humidity scene, a low temperature and high humidity scene, a high pressure scene, or the like, and the specific details are not limited herein.

It can be understood that the environmental scene mentioned in the embodiment of the present application may be a preset extreme environmental scene, a safe use boundary of the target unmanned aerial vehicle is determined by one or more extreme environmental scenes, and the first environmental scene and the second environmental scene may be extreme environmental scenes, such as an highland area environmental scene, a severe cold area environmental scene, a coastal area environmental scene, a high temperature area environmental scene, and the like, and may be preset extreme environmental scenes, such as a highland area environmental scene preset in the west of China, a northeast severe cold area environmental scene, a southeast coastal area environmental scene, and the like, which is not limited herein specifically.

The first flight test data may include flight test data of the target drone under the first environmental scenario under extreme flight conditions, for example, under a severe cold area environmental scenario, assuming that the demand test speed of the target drone is 10-30 m/s, the extreme flight condition may be a maximum value of the demand test speed, such as 30 m/s.

402. And acquiring second flight test data of the target unmanned aerial vehicle in a second environmental scene.

The second flight test data is the test data of the target attribute of the target unmanned aerial vehicle under the second environment scene, and the first environment scene is different from the second environment scene. For example, the first environmental scene is an environmental scene of a plateau region, and the second environmental scene is an environmental scene of a high temperature region.

It should be noted that, the first environmental scene and the second environmental scene may also be set as corresponding environmental scenes (each including corresponding environmental parameters) according to needs, for example, the first environmental scene is a high-temperature high-humidity scene, the second environmental scene is a low-temperature high-humidity scene, and the like, and for example, the first environmental scene is a high-temperature high-humidity scene, and the second environmental scene is a high-temperature low-humidity scene, that is, at least a part of parameters of the first environmental scene and the second environmental scene correspond to each other, specifically, at least one environmental parameter in the first environmental scene and the second environmental scene is opposite, that is, a part of environmental parameters are opposite, for example, temperature parameters are opposite, one temperature in the first environmental scene and the second environmental scene is within a preset high-temperature range, such as 40 ℃, and one temperature is within a preset low-temperature range, such as-5 ℃, or all parameters are opposite, that is, all parameters of the first environment scene and the second environment scene are opposite, for example, the first environment scene and the second environment scene both include two environment parameters, temperature and humidity, the first environment scene is high temperature and high humidity (preset high temperature and preset high humidity), and the second environment scene is low temperature and low humidity (preset low temperature and preset low humidity).

In this embodiment of the present application, step 401 and step 402 may be two independent processes, may be performed simultaneously, may not be performed simultaneously, and may specifically be determined based on an actual situation, that is, the order of step 401 and step 402 may not be limited.

403. And determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data and the second flight test data.

The safe use boundary of the target attribute is a safe use range of the target attribute, for example, the target attribute is a speed, and the safe use boundary of the speed may be a speed range, for example, 10-150 km/h. The safe use boundary may be a general range, for example, the safe use boundary of the flying speed is limited to 150km/h, specifically, the first flight test data may include a first safe use boundary of the target attribute, the second flight test data may include a second safe use boundary of the target attribute, and the safe use boundary of the target attribute in the general scene of the target drone may be determined based on the first safe use boundary of the target attribute and the second safe use boundary of the target attribute. For example, the first safety boundary of the speed is a preset upper limit of the flight speed of a high-altitude area of 120km/h, the second safety boundary of the speed is a preset upper limit of the flight speed of a low-altitude area of 150km/h, and then the safety use boundary of the flight speed of the target unmanned aerial vehicle in a general scene is 120km/h, so that the target unmanned aerial vehicle can be used in all scenes. It is understood that the above is only exemplified by the flight speed of the drone, and in practical applications, the target attribute may include one or more attribute information of the drone, such as one or more attribute parameters in table 1 below, which is not limited herein.

When the first environment scene and the second environment scene include opposite target environment parameters, the general scene is a general scene corresponding to the target environment parameters, for example, when the first environment scene includes the target environment parameters, for example, when the target environment parameters are temperature parameters, for example, the temperature parameters of the second environment scene are preset high temperature, and the temperature parameters of the second environment scene are preset low temperature, the finally determined general scene is the general scene corresponding to the temperature parameters. The target environment parameter may also be a plurality of environment parameters, and when the first environment scene and the second environment scene include a plurality of opposite environment parameters, the general scene is a general scene corresponding to the plurality of environment parameters. When the first environmental scene and the second environmental scene include opposite environmental parameters of a preset type (which may be main environmental parameters that affect the performance of the unmanned aerial vehicle to a greater degree), the general scene may also be considered as a scene in which all environments can be used.

As shown in fig. 5, in some embodiments of the present application, the acquiring first flight test data of the target drone in the first environmental scenario may include the following steps 501 to 504:

501. acquiring first test demand information for the target unmanned aerial vehicle.

The test requirement aims at the test requirement of the target attribute to be tested of the unmanned aerial vehicle, and the first test requirement information comprises first target attribute information. For example, the target attributes are battery performance attributes, take-off and landing performance, load-carrying performance, and the like of the unmanned aerial vehicle.

The test demand is the test task that carries out according to the concrete applied scene of unmanned aerial vehicle asks for, predetermines the loading capacity promptly, predetermines under the airspeed, under the environmental meteorological condition of predetermineeing, unmanned aerial vehicle's power consumption and flight state. For example, unmanned aerial vehicle need carry out logistics distribution on taishan mountain, fly the domestic material to the mountain top from the mountain foot, then transport domestic waste back from the mountain top, select suitable take-off and landing point earlier stage, after marking and establishing the flight route, the test demand is tested according to this time unmanned aerial vehicle specific application scene promptly, the simulation is under the condition of maximum carrying capacity, conventional cruising speed, carry out the flight of mountain foot mountain top, whether the unmanned aerial vehicle electric quantity is enough, whether each item performance index of unmanned aerial vehicle accords with the design limit.

In a particular embodiment, the first target attribute information may include performance information (e.g., target attributes) of one or more drones. For example as shown in table 1 below:

TABLE 1

The BMS stability is a Battery Management System (BMS) stability, and the PMU stability is a synchronous Phasor Measurement Unit (PMU) stability.

In some embodiments of the present application, the obtaining the first test requirement information for the target drone may further include: acquiring initial test demand information for the target unmanned aerial vehicle; and carrying out requirement analysis on the initial test requirement information to obtain first test requirement information aiming at the target unmanned aerial vehicle.

Further, in some embodiments of the present application, the performing requirement analysis on the initial test requirement information to obtain the test requirement information for the target unmanned aerial vehicle includes: analyzing the initial test requirement information to determine whether the initial test requirement information meets a preset test environment condition; if the initial test requirement information meets the preset test environment condition, judging whether the initial test requirement information meets a preset theoretical model; if the initial test requirement information accords with a preset theoretical model, performing semi-physical simulation on the initial test requirement information, and verifying the correctness and feasibility of the initial test requirement information; and if the verification is passed, using the initial test requirement information as first test requirement information for the target unmanned aerial vehicle.

In the embodiment of the application, it is right that initial test demand information carries out the demand analysis, acquires the first test demand information to target unmanned aerial vehicle, and the demand analysis can be based on concrete application scene and unmanned aerial vehicle cost reduction increase, carries out the review under the prerequisite of guaranteeing safe flight, and the demand analysis can be considered from two aspects of technical end and operation end. For example, the technical end can fly safely, that is, in this scenario, the unmanned aerial vehicle can complete the flying task when fully loaded, and the task can not be achieved even if the unmanned aerial vehicle encounters strong wind. The operation end is from reducing cost and improving efficiency and considers, reduces unmanned aerial vehicle's loading capacity promptly, makes the battery power support unmanned aerial vehicle to fly to come and go, need not additionally prepare battery and battery charging outfit at the mountain top, though the loading capacity has reduced at every turn, has nevertheless reduced mountain top manpower and materials, can compensate through the frequency of flying and the quantity that increase unmanned aerial vehicle at the mountain foot.

The demand analysis mainly comprises the steps of analyzing application scenes (flight range, air routes, weather and the like) and businesses (multiple cargos are loaded in each flight, and the number of the cargos can be flown for each time), and finally outputting first test demand information of the unmanned aerial vehicle. The preset test environment conditions in the demand analysis mainly include environment information (longitude and latitude height, temperature and humidity, wind speed and direction, rain and snow and the like) and business information (flight range, flight speed, single-trip reasonable carrying capacity and the like) of an application scene of the unmanned aerial vehicle, and the environment and tasks are fully known.

And judging whether the initial test demand information accords with a preset theoretical model or not, namely, carrying out theoretical model analysis on the initial test demand, wherein the theoretical model analysis is to confirm whether the reasonable carrying capacity, the predicted flight power consumption and the flight time of the unmanned aerial vehicle accord with the requirements of the preset theoretical model or not under the environment, and if so, the initial test demand information accords with the preset theoretical model.

Specifically, the preset theoretical model may be a preset theoretical parameter model of the unmanned aerial vehicle, and the preset theoretical model may specifically include a predetermined theoretical parameter set of the unmanned aerial vehicle, for example, all parameters of the unmanned aerial vehicle leaving the factory may be included, for example, the unmanned aerial vehicle leaving the factory has a flight speed of 0 to 200km/h, that is, the flight speed parameter of the preset theoretical model unmanned aerial vehicle is required to be 0 to 200km/h, and of course, in actual application, some parameters of subsequent manual testing may also be used, for example, the actual flying time. For example, the speed parameter in the initial test requirement information is 300km/h, the requirement of the flight speed parameter in the preset theoretical model is 0-200 km/h, and the speed parameter in the initial test requirement information does not meet the requirement of the preset test model input data.

Many algorithmic models can be classified into parametric (parametrics) and nonparametric (nonparametric). Parametric models (parametrics models) are models that can be represented by structured expressions and parameter sets, and are expressed in the form of algebraic equations, differential equations, transfer functions, or the like, or models that are built using a machine-inhibition method. If a learning model, whose parameters are fixed, has no relation with the training data and will not change with the increase of the training data, it is a parameter model. The parameter model includes a Logistic Regression model, a Linear Discriminant Analysis model, a Perceptron model, a Naive Bayes model, etc., in this embodiment, the preset theoretical model may be any one of the models, but it is understood that the preset theoretical model may also be other parameter models, such as a Simple Neural Networks model, and the specific details are not limited herein.

Semi-physical simulation is also called physics-mathematics simulation or semi-physical simulation, and the semi-physical simulation refers to that aiming at simulation research contents, a part of a simulated object system is introduced into a simulation loop in a physical (or physical model) mode; the rest of the simulated object system is described in a mathematical model and converted into a simulated computational model. And performing combined simulation of real-time mathematical simulation and physical simulation by means of the physical effect model. In the embodiment of the application, the semi-physical simulation is judged whether to accord with the previously preset theoretical model through the accuracy of the analysis of the simulation verification theoretical model. The semi-physical simulation can be performed by using existing semi-physical simulation software, and is not limited herein. The initial test requirement information is subjected to semi-physical simulation, the correctness and the feasibility of the initial test requirement information are verified, and whether the initial requirement information is correct and feasible is mainly verified through a semi-physical simulation means, for example, the initial requirement information has a speed parameter, such as 200km/h, although the speed parameter is feasible under the conventional condition, the verification is not feasible after the semi-physical simulation is carried out by combining the parameters of the physical environment, such as the verification at the low temperature of-10 ℃.

The purpose of all the above-mentioned demand analyses is in order to guarantee under the prerequisite of unmanned aerial vehicle safety flight, better close to the business, carry out the flight operation task, really reduce cost and improve effect, the problem of solution. The tool/means mainly comprises a large amount of test data (performance indexes, corresponding relations, graph curves and the like) accumulated by the prior unmanned aerial vehicle test, formula theoretical calculation and field test.

It should be noted that, when the initial test requirement information is subjected to requirement analysis, if any one of the items is not satisfactory, if the item is not satisfactory, the preset test environment condition is not satisfied, the preset theoretical model is not satisfied, or the semi-physical simulation verification fails, and the like, it is determined that the initial test requirement information requirement analysis fails, and the subsequent process is not verified, for example, if the item is determined not to be satisfactory, the subsequent judgment of the preset theoretical model and the semi-physical simulation verification may not be performed, and in addition, when the initial test requirement information requirement analysis is determined not to pass, the terminal may also prompt the user which item failed specific information, so as to facilitate the user to adjust.

502. And determining a first test case for testing the target unmanned aerial vehicle based on the first test requirement information and a preset test model.

In the embodiment of the present application, for different pieces of test requirement information, that is, the first target attribute information described in the above embodiment, each piece of target attribute information may be set with a different preset test model, as shown in table 2 below:

TABLE 2

The Test Case (Test Case) refers to the description of a Test task performed on a specific software product, and embodies Test schemes, methods, techniques and strategies. The contents of the test object, the test environment, the input data, the test steps, the expected results, the test scripts and the like are included, and finally, a document is formed. Simply considered, a test case is a set of test inputs, execution conditions, and expected results tailored for a particular purpose to verify whether a particular software requirement is met.

In some embodiments of the present application, determining a first test case for testing a target drone based on the first test requirement information and the preset test model may include: acquiring initial test acquisition parameters of the target unmanned aerial vehicle based on first test requirement information; and inputting the initial test acquisition parameters into a preset test model to generate a first test case for testing the target unmanned aerial vehicle. In the embodiment of the application, the preset test model can directly output the corresponding test case based on the initial test acquisition parameters of the target unmanned aerial vehicle, so that the initial test acquisition parameters are input into the preset test model, and a first test case for testing the target unmanned aerial vehicle can be generated.

503. And sending the first test case to the target unmanned aerial vehicle to indicate the target unmanned aerial vehicle to execute the first test case to perform unmanned aerial vehicle simulation test in a first environmental scene.

504. And when the target unmanned aerial vehicle is in a first environment scene, acquiring first flight test data of the target unmanned aerial vehicle in the process of executing the first test case to perform unmanned aerial vehicle simulation test.

As shown in fig. 6, for an approximate flow in the application embodiment, a flight test is performed first, test data is collected through the flight test, a test model is imported based on the collected test data, and then a test output is output, a test case is generated based on the output test output, and a simulated flight test is performed in an environmental scene.

In some embodiments of the present application, when the target drone is in a first environmental scenario, during executing the first test case to perform the drone simulation test, acquiring first flight test data of the target drone, including: acquiring environmental data in the first environmental scene; when the target unmanned aerial vehicle is in a first environmental scene, the first test case is executed to carry out an unmanned aerial vehicle simulation test process, and performance parameter data of the target unmanned aerial vehicle before flight and flight parameter data of the target unmanned aerial vehicle when flying on the first unmanned aerial vehicle test platform are collected.

the determining a usage boundary of the target attribute of the target drone under a general scene based on the first flight test data and the second flight test data includes: and acquiring the first flight parameter data and the second flight parameter data, and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene.

Similarly, in the embodiment of the application, the process of acquiring the second flight test data of the target unmanned aerial vehicle in the second environmental scene is similar to the process of acquiring the first flight test data of the target unmanned aerial vehicle in the first environmental scene.

For example, in some embodiments of the present application, the acquiring second flight test data of the target drone in a second environmental scenario includes: acquiring second test requirement information aiming at the target unmanned aerial vehicle, wherein the second test requirement information comprises second target attribute information; determining a second test case for testing the target unmanned aerial vehicle based on the second test requirement information and a preset test model; sending the second test case to the target unmanned aerial vehicle to indicate the target unmanned aerial vehicle to execute the second test case to perform unmanned aerial vehicle simulation test in a second environmental scene; and when the target unmanned aerial vehicle is in a second environmental scene, executing the second test case to carry out the unmanned aerial vehicle simulation test process, and acquiring second flight test data of the target unmanned aerial vehicle.

It should be noted that, the process of obtaining the second flight test data of the target unmanned aerial vehicle in the second environmental scenario is similar to the process of obtaining the first flight test data of the target unmanned aerial vehicle in the first environmental scenario, and other further processes may refer to the process of obtaining the first flight test data of the target unmanned aerial vehicle in the first environmental scenario in the foregoing embodiment, and details are not repeated here.

In the embodiment of the application, in order to make the safe use boundary more universal, the flight test data of the target unmanned aerial vehicle can be acquired under more environmental scenes. For example, other flight test data of the target drone may be acquired in one or more other environmental scenarios other than the first environmental scenario and the second environmental scenario, where the other flight test data is test data for target attributes of the target drone for other drone test platforms in other environmental scenarios. The second environment scene may cover four scenes, i.e., all environment scenes of temperature and humidity, including a temperature parameter and a humidity parameter, and other environment scenes and the first environment scene, for example, the second environment scene may cover four scenes, i.e., all environment scenes of temperature and humidity, including a high temperature and low humidity, a high temperature and high humidity, a low temperature and high humidity, and a low temperature and low humidity.

Specifically, the unmanned aerial vehicle testing method in the embodiment of the present application may further include: acquiring third flight test data of the target unmanned aerial vehicle in a third environment scene, wherein the third flight test data are test data of a third unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the third environment scene, and the third environment scene is different from the first environment scene and the second environment scene;

at this time, the determining, based on the first flight test data and the second flight test data, a safe use boundary of a target attribute of the target drone in a general scene includes: and determining a safe use boundary of the target attribute of the target unmanned aerial vehicle in a general scene based on the first flight test data, the second flight test data and the third flight test data. The third flight test data may include a third safe-use boundary for the target attribute. The determination of the third safe usage boundary may refer to the determination manner of the first safe usage boundary or the second safe usage boundary in the foregoing embodiment, which is not described herein in detail.

For example, the first safety boundary of the speed is a preset upper limit of flight speed of 120km/h in a high altitude area, the second safety boundary of the speed is a preset upper limit of flight speed of 150km/h in a low altitude area, and the third safety boundary of the speed is a preset upper limit of flight speed of 130km/h in a medium altitude area, so that the safe use boundary of the flight speed of the target unmanned aerial vehicle in a general scene is 120km/h, and the target unmanned aerial vehicle can be used in all altitude scenes.

In order to better implement the unmanned aerial vehicle testing method in the embodiment of the present application, on the basis of the unmanned aerial vehicle testing method, an unmanned aerial vehicle testing apparatus is further provided in the embodiment of the present application, as shown in fig. 7, the unmanned aerial vehicle testing apparatus 700 includes:

a first obtaining module 701, configured to obtain first flight test data of the target unmanned aerial vehicle in a first environment scene, where the first flight test data is test data of a target attribute of the target unmanned aerial vehicle, of a first unmanned aerial vehicle test platform in the first environment scene;

a second obtaining module 702, configured to obtain second flight test data of the target unmanned aerial vehicle in a second environment scene, where the second flight test data is test data of a second unmanned aerial vehicle test platform for a target attribute of the target unmanned aerial vehicle in the second environment scene, and the first environment scene is different from the second environment scene;

a determining module 703, configured to determine, based on the first flight test data and the second flight test data, a safe usage boundary of a target attribute of the target drone in a general scene.

The embodiment of the application in the prior art because unmanned aerial vehicle can't carry out the test under complete extreme condition and the environment, remain the application allowance again under the design allowance, on the basis of unable full play unmanned aerial vehicle's effect and value, through gathering the unmanned aerial vehicle flight test data of different environmental scenes, under different environmental scenes, confirm the safe use boundary of unmanned aerial vehicle safe operation, when unmanned aerial vehicle moves at boundary range, can regard as absolutely reliable, consequently can fully acquire unmanned aerial vehicle safe use boundary, and then full play unmanned aerial vehicle's effect and value, for unmanned aerial vehicle provides data support at large-scale commercial operation safety on a large scale.

In some embodiments of the present application, the first obtaining module 701 is specifically configured to:

acquiring initial test acquisition parameters of the target unmanned aerial vehicle based on first test requirement information;

acquiring environmental data in the first environmental scene;

In some embodiments of the present application, the second obtaining module 702 is specifically configured to:

the determining module 703 is specifically configured to:

the determining module 703 is further configured to:

The embodiment of the present application further provides a terminal, which integrates any one of the unmanned aerial vehicle testing devices provided by the embodiment of the present application, the terminal includes:

one or more processors;

a memory; and

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to perform the steps of the drone testing method described in any of the drone testing method embodiments above.

The embodiment of the application further provides a terminal, and the terminal integrates any unmanned aerial vehicle testing device provided by the embodiment of the application. As shown in fig. 8, it shows a schematic structural diagram of a terminal according to an embodiment of the present application, specifically:

the terminal may include components such as a processor 801 of one or more processing cores, memory 802 of one or more computer-readable storage media, a power supply 803, and an input unit 804. Those skilled in the art will appreciate that the terminal structure shown in fig. 8 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:

the processor 801 is a control center of the terminal, connects various parts of the entire terminal using various interfaces and lines, and performs various functions of the terminal and processes data by operating or executing software programs and/or modules stored in the memory 802 and calling data stored in the memory 802, thereby performing overall monitoring of the terminal. Alternatively, processor 801 may include one or more processing cores; preferably, the processor 801 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 801.

The memory 802 may be used to store software programs and modules, and the processor 801 executes various functional applications and data processing by operating the software programs and modules stored in the memory 802. The memory 802 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 802 may also include a memory controller to provide the processor 801 access to the memory 802.

The terminal further includes a power supply 803 for supplying power to the various components, and preferably, the power supply 803 is logically connected to the processor 801 via a power management system, so that functions of managing charging, discharging, and power consumption are performed via the power management system. The power supply 803 may also include one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and any like components.

The terminal may further include an input unit 804, and the input unit 804 may be used to receive input numeric or character information and generate a keyboard, mouse, joystick, optical or trackball signal input in relation to user settings and function control.

Although not shown, the terminal may further include a display unit and the like, which will not be described in detail herein. Specifically, in this embodiment, the processor 801 in the terminal loads an executable file corresponding to a process of one or more application programs into the memory 802 according to the following instructions, and the processor 801 runs the application programs stored in the memory 802, thereby implementing various functions as follows:

acquiring first flight test data of the target unmanned aerial vehicle in a first environment scene, wherein the first flight test data is test data of a first unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the first environment scene;

acquiring second flight test data of the target unmanned aerial vehicle in a second environment scene, wherein the second flight test data are test data of a second unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the second environment scene, and the first environment scene is different from the second environment scene;

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like. The test system comprises a test system, a processor and a computer program, wherein the computer program is stored on the test system, and is loaded by the processor to execute the steps in any unmanned aerial vehicle test method provided by the embodiment of the application. For example, the computer program may be loaded by a processor to perform the steps of:

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.

In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing method embodiment, which is not described herein again.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

The method, the device and the storage medium for testing the unmanned aerial vehicle provided by the embodiment of the application are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A test method for an unmanned aerial vehicle is characterized by comprising the following steps:

acquiring first flight test data of a target unmanned aerial vehicle in a first environment scene, wherein the first flight test data is test data of a first unmanned aerial vehicle test platform aiming at target attributes of the target unmanned aerial vehicle in the first environment scene;

2. The method for testing unmanned aerial vehicle of claim 1, wherein the obtaining of the first flight test data of the target unmanned aerial vehicle in the first environmental scenario comprises:

3. The unmanned aerial vehicle testing method of claim 2, wherein the obtaining first testing requirement information for the target unmanned aerial vehicle comprises:

4. The unmanned aerial vehicle testing method of claim 3, wherein the performing the demand analysis on the initial testing demand information to obtain first testing demand information for a target unmanned aerial vehicle comprises:

5. The unmanned aerial vehicle testing method of claim 2, wherein determining a first test case for testing a target unmanned aerial vehicle based on the first test requirement information and a preset test model comprises:

6. The method for testing the unmanned aerial vehicle of claim 2, wherein the collecting the first flight test data of the target unmanned aerial vehicle during the unmanned aerial vehicle simulation test process by executing the first test case when the target unmanned aerial vehicle is in the first environmental scenario comprises:

acquiring environmental data in the first environmental scene;

7. The method for testing the unmanned aerial vehicle of claim 1, wherein the obtaining second flight test data of the target unmanned aerial vehicle in a second environmental scenario comprises:

8. The unmanned aerial vehicle testing method of claim 1, wherein the first flight test data comprises first flight parameter data for safe use, the second flight test data comprises second flight parameter data for safe use, and the first flight parameter data and the second flight parameter data are parameter information of a target attribute;

9. The drone testing method of claim 1, further comprising:

10. The utility model provides an unmanned aerial vehicle testing arrangement, its characterized in that, unmanned aerial vehicle testing arrangement includes:

11. A computer-readable storage medium, having stored thereon a computer program which is loaded by a processor to perform the steps of the drone testing method of any one of claims 1 to 9.