Method, device and computer equipment for obtaining fatigue load spectrum of unmanned aerial vehicle

Abstract

The present application relates to a method, device and computer equipment for obtaining fatigue load spectrum of unmanned aerial vehicle. The method comprises: obtaining an overload data set of the unmanned aerial vehicle during the execution of a single task; obtaining a structural load set of the unmanned aerial vehicle during the execution of the single task based on the overload data set and the gravity of the unmanned aerial vehicle; obtaining the hovering load on the chassis of the unmanned aerial vehicle when it is hovering, and obtaining a fatigue load set of the unmanned aerial vehicle based on the hovering load and the structural load set; and generating a load variation curve diagram of the unmanned aerial vehicle performing the single task as a single task profile fatigue load spectrum of the unmanned aerial vehicle based on each fatigue load in the fatigue load set. The use of this method can greatly simplify the acquisition and measurement process of fatigue load spectrum data of unmanned aerial vehicles.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method, device, computer equipment and storage medium for obtaining fatigue load spectrum of unmanned aerial vehicles. Background Art

[0002] With the development of the drone market, more and more industrial multi-rotor drones are applied to various fields such as plant protection, firefighting, surveying and mapping, and logistics. Compared with consumer drones, industrial multi-rotor drones usually have long flight time and high load capacity, and are required to have high reliability and be able to fly normally in various complex environments. Therefore, the evaluation and testing of the fatigue of the entire drone structure has become an important task for drones.

[0003] At present, the methods for evaluating the fatigue of UAV structures all require obtaining the fatigue load spectrum of the UAV. The current methods for obtaining the fatigue load spectrum of UAVs mostly rely on the measurement methods of manned aircraft and military rotorcraft, arrange strain measurement sensors at the structure to be tested of the UAV, collect the structural deformation data of the UAV mission profile, and then convert it into actual stress and load data, and then process it as the input conditions for the fatigue analysis and test of the UAV structure. However, this method requires a complete set of measurement systems to be carried on the UAV, and the process is complicated. Each channel of acquisition sensing technology can only collect a point of load data. In order to obtain all the key point data of the whole machine structure, a large number of strain gauges need to be pasted on the whole machine structure.

[0004] Therefore, the current method for obtaining the fatigue load spectrum of UAV has the problem of cumbersome operation. Summary of the invention

[0005] Based on this, it is necessary to provide a method, device, computer equipment and storage medium for obtaining fatigue load spectrum of UAV in order to address the technical problem of cumbersome operation in the above-mentioned method for obtaining fatigue load spectrum of UAV.

[0006] A method for obtaining a fatigue load spectrum of an unmanned aerial vehicle, the method comprising:

[0007] Obtain the overload dataset of the UAV during the execution of a single mission;

[0008] Obtaining a structural load set of the UAV during the execution of the single mission according to the overload data set and the gravity of the UAV;

[0009] Acquire a hovering load on a frame of the UAV when the UAV is hovering, and obtain a fatigue load set of the UAV according to the hovering load and the structural load set;

[0010] According to each fatigue load in the fatigue load set, a load variation curve diagram of the UAV performing the single mission is generated as a single mission profile fatigue load spectrum of the UAV.

[0011] In one embodiment, the step of obtaining an overload dataset of a drone during execution of a single mission includes:

[0012] Acquiring an acceleration data set of the UAV during the execution of the single mission;

[0013] The ratios of each acceleration in the acceleration data set to the gravity acceleration are respectively obtained, and the data set composed of each of the ratios is used as the overload data set of the UAV.

[0014] In one embodiment, obtaining a structural load set of the UAV during the execution of the single mission according to the overload data set and the gravity of the UAV includes:

[0015] Obtain the preset UAV design load safety factor;

[0016] The products of each overload data in the overload data set, the safety factor of the UAV design load and the gravity of the UAV are respectively obtained, and the data sets formed by each of the products are used as the structural load set of the UAV.

[0017] In one embodiment, before obtaining the fatigue load set of the UAV according to the hovering load and the structural load set, the method further includes:

[0018] Determining, according to the load values ​​of each structural load in the structural load set, multiple stages of the UAV in the process of performing the single task, and stage identifiers corresponding to each stage;

[0019] According to the stage identifiers corresponding to the various stages, a target structural load is determined from the multiple structural loads corresponding to the various stages, and the multiple structural loads corresponding to the various stages are replaced with the target structural load to obtain an updated structural load set.

[0020] In one embodiment, obtaining the fatigue load set of the UAV according to the hovering load and the structural load set further includes:

[0021] A fatigue load set of the UAV is obtained according to the hovering load and the updated structural load set.

[0022] In one embodiment, obtaining the fatigue load set of the UAV according to the hovering load and the updated structural load set includes:

[0023] The difference between each structural load in the updated structural load set and the hovering load is respectively obtained, and a data set composed of each of the differences is used as a fatigue load set of the UAV.

[0024] In one embodiment, after obtaining the fatigue load spectrum of a single mission profile of the UAV, the method further includes:

[0025] Determine the number of flights of the UAV and the total fatigue test time according to the life of the UAV and the flight time of the single mission, and use the number of flights as the number of loading times of the fatigue load spectrum of the mission profile;

[0026] During the total fatigue test time, a fatigue load spectrum of the UAV is generated according to the number of loading times and the fatigue load spectrum of the single mission profile.

[0027] A device for obtaining fatigue load spectrum of an unmanned aerial vehicle, the device comprising:

[0028] An overload data set acquisition module is used to acquire the overload data set of the UAV during the execution of a single mission;

[0029] a structural load set determination module, configured to obtain a structural load set of the UAV during the execution of the single mission according to the overload data set and the gravity of the UAV;

[0030] A fatigue load set determination module, used to obtain the hovering load on the frame when the UAV is hovering, and obtain the fatigue load set of the UAV according to the hovering load and the structural load set;

[0031] The fatigue load spectrum generating module is used to generate a load variation curve diagram of the UAV performing the single task according to each fatigue load in the fatigue load set, as a single task profile fatigue load spectrum of the UAV.

[0032] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Obtain the overload dataset of the UAV during the execution of a single mission;

[0034] Obtaining a structural load set of the UAV during the execution of the single mission according to the overload data set and the gravity of the UAV;

[0035] Acquire a hovering load on a frame of the UAV when the UAV is hovering, and obtain a fatigue load set of the UAV according to the hovering load and the structural load set;

[0036] According to each fatigue load in the fatigue load set, a load variation curve diagram of the UAV performing the single mission is generated as a single mission profile fatigue load spectrum of the UAV.

[0037] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0038] Obtain the overload dataset of the UAV during the execution of a single mission;

[0039] Obtaining a structural load set of the UAV during the execution of the single mission according to the overload data set and the gravity of the UAV;

[0040] Acquire a hovering load on a frame of the UAV when the UAV is hovering, and obtain a fatigue load set of the UAV according to the hovering load and the structural load set;

[0041] According to each fatigue load in the fatigue load set, a load variation curve diagram of the UAV performing the single mission is generated as a single mission profile fatigue load spectrum of the UAV.

[0042] The above-mentioned method, device, computer equipment and storage medium for obtaining fatigue load spectrum of UAV obtain the overload data set of UAV during the execution of a single task, so as to obtain the structural load set of UAV during the execution of a single task according to the overload data set and the gravity of UAV, and then obtain the hovering load of the frame when the UAV is hovering, and obtain the fatigue load set of UAV according to the hovering load and the structural load set; finally, according to each fatigue load in the fatigue load set, generate the load change curve diagram of UAV executing a single task as the fatigue load spectrum of single task profile of UAV. The method obtains the fatigue load spectrum of the whole UAV by measuring the overload data of the whole UAV during the flight process, so as to replace the traditional strain measurement sensor with the inertial measurement unit in the UAV flight control system, and obtain the fatigue load spectrum of UAV, and use the acceleration measurement and data recording function of the UAV's own inertial navigation system to perform statistical processing on the recorded acceleration data, and obtain the fatigue load spectrum of the whole UAV structure through conversion, which greatly simplifies the collection and measurement process of the fatigue load spectrum data of UAV. There is no need to add additional measuring equipment, and additional whole-machine structural load collection and measurement sensors and recording equipment, power supply systems, etc. are eliminated, so that the collection of UAV fatigue load spectra is no longer limited by the take-off weight and loading capacity of the UAV body itself, making the collection of fatigue load spectra of small industrial-grade UAVs possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of a flow chart of a method for obtaining fatigue load spectrum of a UAV in one embodiment;

[0044] Figure 2 A line graph showing the change of the structural load of the UAV over time in one embodiment;

[0045] Figure 3 It is a flowchart of a step of obtaining a structural load set in one embodiment;

[0046] Figure 4 A schematic diagram of a fatigue load spectrum of a single mission profile of a UAV in one embodiment;

[0047] Figure 5 is a schematic diagram of a fatigue load spectrum of a UAV in one embodiment;

[0048] Figure 6 A schematic diagram of a flow chart of a method for obtaining fatigue load spectrum of a UAV in another embodiment;

[0049] Figure 7 It is a structural block diagram of a device for acquiring fatigue load spectrum of a UAV in one embodiment;

[0050] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] In one embodiment, Figure 1 As shown, a method for obtaining fatigue load spectrum of a UAV is provided. This embodiment takes the method applied to a server as an example for illustration. It can be understood that the method can also be applied to a terminal, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0053] Step S102, obtaining an overload data set of the UAV during the execution of a single mission.

[0054] Among them, the overload data represents the ratio of the total acceleration calculated by the acceleration of the drone in all directions to the acceleration of gravity.

[0055] In the specific implementation, the inertial measurement unit (IMU) in the UAV flight control system can be used to obtain the overload data of the UAV at various time points during the execution of a single task, thereby obtaining an overload data set. Since the overload data is continuously collected, the amount of data obtained in the overload data set is large. In order to improve the data processing efficiency, the overload data can be simplified and sampled from the overload data set at a set time interval to obtain an overload data set for determining the fatigue load spectrum of the UAV.

[0056] For example, as shown in Table 1 below, it is an overload data set sampled at a time interval of 2 seconds, where acc represents overload data. It should be noted that due to the huge amount of data, only part of the data is shown in Table 1.

[0057] Time(s) acc(g) Time(s) acc(g) Time(s) acc(g) 0 1.010070664 22 1.027430926 44 1.684812091 2 1.003569652 24 1.195787221 46 0.790513271 4 1.052513627 26 1.422826991 48 1.236339848 6 0.90591383 28 1.130301874 50 1.593474322 8 1.38146628 30 0.754728306 52 2.041304909 10 1.519840202 32 0.921507839 54 2.302702674 12 1.177600306 34 0.802369948 56 1.423660257 14 1.893296324 36 1.901125277 58 1.690933926 16 1.2921339 38 1.134657837 60 0.911948559 18 1.79025804 40 0.780269607 62 0.291059016 20 1.400153212 42 1.446798035 64 1.395191166

[0058] Table 1

[0059] Step S104, obtaining a structural load set of the UAV during the execution of a single mission according to the overload data set and the gravity of the UAV.

[0060] In a specific implementation, the product of each overload data in the overload data set and the gravity of the UAV can be calculated to obtain the structural load set of the UAV during the execution of a single task.

[0061] Furthermore, in one embodiment, step S104 specifically includes: obtaining a preset UAV design load safety factor; respectively obtaining the product of each overload data in the overload data set, the UAV design load safety factor, and the gravity of the UAV, and using the data set composed of each product as the structural load set of the UAV.

[0062] Specifically, before obtaining the structural load set of the drone, it is also necessary to obtain the preset drone design load safety factor, and further calculate the drone structural load at each time point based on the drone design load safety factor, drone gravity and drone overload data. The relationship between the drone structural load, drone design load safety factor, overload data and drone gravity can be expressed as: N = k*Acc*G, where N represents the drone structural load, k represents the drone design load safety factor, Acc represents the overload data measured by the inertial measurement unit, G represents the drone gravity, and G = m*g (m represents the drone mass; g represents the acceleration of gravity).

[0063] For example, substitute the overload data in Table 1 into the relationship N = k*Acc*G, assume that the mass m of the drone is 25 kg, and the design load safety factor k of the drone is 1.5. After calculation and rounding, the change of the drone structural load over time is shown in Table 2 below. According to Table 2, the following can be drawn: Figure 2A line graph showing the structural loads on a UAV changing over time.

[0064]

[0065] Table 2

[0066] Furthermore, considering the loading characteristics of the fatigue load tester, the conversion process of loading and unloading will not be completed instantaneously. Therefore, under the condition of ensuring the effectiveness of the test load loading, the load loading time interval can be appropriately enlarged. For example, the overall load can be shifted back by 2s on the time axis, so that the load in the initial stage of loading is 0, and the load value in the final stage is also maintained for 2s, so that the loading, holding and unloading processes are all completed within 2s to ensure that the test load can reflect the actual loading situation. Step S106, obtain the hovering load on the frame when the drone is hovering, and obtain the fatigue load set of the drone based on the hovering load and the structural load set.

[0067] Step S106, obtaining the hovering load on the frame when the UAV is hovering, and obtaining the fatigue load set of the UAV according to the hovering load and the structural load set.

[0068] In specific implementation, when the drone is hovering, the overload in the Z direction of the whole machine can be measured by the inertial measurement unit, and then the hovering load on the frame of the drone when it is hovering can be obtained according to the relationship N = k*Acc*G. For example, if the overload in the Z direction of the drone is 1g when it is hovering, the hovering load N = 1.5 × 1 × 250 = 375 N. After that, the difference between each structural load and the hovering load in the structural load set is calculated respectively, and the data set composed of each difference is used as the fatigue load set of the drone.

[0069] In one embodiment, Figure 3 As shown, before the above step S106, it also includes:

[0070] Step S302, determining multiple stages of the UAV in the process of performing a single task and the stage identifier corresponding to each stage according to the load value of each structural load in the structural load set.

[0071] Step S304, according to the stage identifiers corresponding to the various stages, a target structural load is determined from the multiple structural loads corresponding to the various stages, and the multiple structural loads corresponding to the various stages are replaced with the target structural load to obtain an updated structural load set.

[0072] In the specific implementation, if the load value of the structural load in a certain stage gradually increases, it can be determined that the stage is the loading stage. If the load value gradually decreases, it can be determined that the stage is the unloading stage. After determining the various stages of the drone in the process of performing a single task and the stage identification of each stage, the target structural load of each stage can be determined according to the stage identification of each stage. Specifically, if it is in the loading stage, the maximum value of the multiple structural loads corresponding to the stage can be taken as the target structural load of the stage. If it is in the unloading stage, the minimum value of the multiple structural loads corresponding to the stage can be taken as the target structural load of the stage. For example, in Table 2, in the loading stage of 0-4s, the maximum value is 395N, so 395N is used as the target structural load of this stage. In the unloading stage of 60-62s, the minimum value is 109N, so 109N is used as the target structural load of this stage.

[0073] Furthermore, in order to make the test load values ​​consistent, the time can be set as a unit, and the load can be simplified and rounded to multiples of 5 to facilitate subsequent model input, and the load can be properly maintained when the load changes. The processed data is shown in Table 3 below. For example, in Table 3, 379N at 0 seconds and 376N at 2s are deleted, and the maximum value of 395N is used as the loading load, and the load value of 395N is delayed by 2s, so that the load value at 6s is also 395N. Similarly, the maximum value of 570N within 8s-10s is used as the load of this loading stage, and the data such as 671, 283, etc. are rounded to 675N and 285N.

[0074]

[0075] Table 3

[0076] Furthermore, in one embodiment, step S106 also includes: obtaining a fatigue load set of the UAV according to the hovering load and the updated structural load set.

[0077] Among them, the fatigue load set of the UAV is obtained according to the hovering load and the updated structural load set, including: respectively obtaining the difference between each structural load in the updated structural load set and the hovering load, and using the data set composed of each difference as the fatigue load set of the UAV.

[0078] For example, compare each structural load in Table 3 with the hovering load 375N, and calculate the difference between the structural load and the hovering load. When the structural load N>375N, it means that the UAV is in a loaded state. When the structural load N<375N, it means that the UAV is in an unloaded state. When the load N=375, it means that the UAV is in a balanced state. Arrange all loading and unloading states in chronological order to obtain the loading and unloading conditions of the UAV in each time period. Therefore, the difference between each structural load in Table 3 and the hovering load 375N can be obtained to obtain the fatigue load set of the UAV as shown in Table 4.

[0079]

[0080] Table 4

[0081] Step S108, generating a load variation curve diagram of the UAV performing a single mission according to each fatigue load in the fatigue load set as a single mission profile fatigue load spectrum of the UAV.

[0082] In the specific implementation, after obtaining the fatigue load set of the UAV, the load change curve of the UAV performing a single task can be drawn according to the change of each fatigue load in the fatigue load set over time, which is used as the fatigue load spectrum of the single task profile of the UAV, that is, the simplified fatigue load spectrum of a flight takeoff and landing of the UAV. Figure 4 As shown in Table 4, it is a schematic diagram of the fatigue load spectrum of a single mission profile obtained by plotting the corresponding relationship between the fatigue load and time in Table 4. It should be noted that due to the limitation of data volume, Table 4 only contains part of the data during the execution of a single mission of the UAV. Figure 4 The fatigue load spectrum of the single mission profile shown only shows the fatigue load spectrum of 68s.

[0083] In the above-mentioned method for obtaining fatigue load spectrum of UAV, by obtaining the overload data set of the UAV during the execution of a single task, the structural load set of the UAV during the execution of a single task can be obtained according to the overload data set and the gravity of the UAV, and then the hovering load on the frame of the UAV when hovering is obtained, and the fatigue load set of the UAV can be obtained according to the hovering load and the structural load set; finally, according to each fatigue load in the fatigue load set, a load change curve diagram of the UAV performing a single task is generated as the fatigue load spectrum of the single task profile of the UAV. This method obtains the fatigue load spectrum of the whole UAV by measuring the overload data of the whole UAV during flight, so that the inertial measurement unit in the UAV flight control system is used to replace the strain measurement sensor, and the fatigue load spectrum of the UAV can be obtained. The acceleration measurement and data recording function of the UAV's own inertial navigation system is used to perform statistical processing on the recorded acceleration data, and the fatigue load spectrum of the whole UAV structure is obtained by conversion, which greatly simplifies the collection and measurement process of the fatigue load spectrum data of the UAV. There is no need to add additional measuring equipment, and additional whole-machine structural load collection and measurement sensors and recording equipment, power supply systems, etc. are eliminated, so that the collection of UAV fatigue load spectra is no longer limited by the take-off weight and loading capacity of the UAV body itself, making the collection of fatigue load spectra of small industrial-grade UAVs possible.

[0084] In one embodiment, the above step S102 specifically includes: obtaining an acceleration data set of the drone during the execution of a single task; respectively obtaining the ratios of each acceleration in the acceleration data set to the gravity acceleration, and using the data set composed of each ratio as the overload data set of the drone.

[0085] In the specific implementation, since the inertial measurement unit is essentially an acceleration measurement unit, it is used to input the unfiltered acceleration (Ax, Ay, Az) in all directions during the flight of the UAV. Therefore, after obtaining the acceleration data set from the inertial measurement unit, the vector summation of each acceleration at each time point can be performed to obtain the total acceleration, and then the ratio of the total acceleration at each time point to the gravity acceleration is calculated, and the data set composed of each ratio is used as the overload data set.

[0086] In this embodiment, after obtaining the acceleration data set of the UAV during the execution of a single mission, the ratios of each acceleration to the gravitational acceleration are calculated respectively to obtain the overload data set, so as to further determine the structural load set and the fatigue load set based on the overload data set, and finally generate the UAV's mission profile fatigue load spectrum based on the fatigue load set.

[0087] In one embodiment, after the above step S108, it also includes: determining the number of flights of the UAV and the total fatigue test time according to the life of the UAV and the flight time of a single mission, and using the number of flights as the number of loading times of the fatigue load spectrum of the mission profile; within the total fatigue test time, generating the fatigue load spectrum of the UAV according to the number of loading times and the fatigue load spectrum of the single mission profile.

[0088] In specific implementation, the life of the drone can be used as the total fatigue test time, and the ratio of the drone life to the flight time of a single mission can be calculated to obtain the number of flights that the drone can fly in its entire life. During the total fatigue test time, the fatigue load spectrum of a single mission profile is cyclically loaded according to the number of flights, thereby obtaining the fatigue load spectrum of the entire life of the drone.

[0089] For example, according to the fatigue load test standard, assuming that the design life of the UAV is 2000 hours and the actual flight time of a single mission profile is 30 minutes, then during the entire design life of the UAV, the UAV needs to fly: 2000 hours ÷ 30 minutes / time = 4000 times, that is, the fatigue load spectrum of the obtained single mission profile needs to be cycled 4000 times, thus we can get the following: Figure 5 The fatigue load spectrum of the UAV shown in the figure is 2000 hours of flight during its service life. Figure 5 Only a portion of the fatigue load spectrum is shown as an example.

[0090] In this embodiment, by obtaining the flight time of the UAV to perform a single mission, the number of flights of the UAV can be determined after the life of the UAV is obtained, and then the fatigue load spectrum of the UAV during its life can be obtained according to the number of flights and the fatigue load spectrum of the single mission profile of the UAV. The fatigue load spectrum of the UAV obtained can be further used as an input condition to calculate and test the whole machine mechanism, so as to evaluate the fatigue condition of the whole structure of the UAV.

[0091] In another embodiment, Figure 6 As shown, a method for obtaining fatigue load spectrum of a UAV is provided, and the method comprises the following steps:

[0092] Step S602, obtaining an acceleration data set of the UAV during the execution of a single mission;

[0093] Step S604, respectively obtaining the ratios of each acceleration in the acceleration data set to the gravity acceleration, and using the data set composed of each ratio as the overload data set of the UAV;

[0094] Step S606, obtaining a preset UAV design load safety factor, and respectively obtaining the product of each overload data in the overload data set, the UAV design load safety factor, and the gravity of the UAV, and using the data set composed of each product as the structural load set of the UAV;

[0095] Step S608, determining multiple stages of the UAV in the process of performing a single task and stage identifiers corresponding to each stage according to the load values ​​of each structural load in the structural load set;

[0096] Step S610, according to the stage identifiers corresponding to the stages, determining the target structural load from the multiple structural loads corresponding to the stages, replacing the multiple structural loads corresponding to the stages with the target structural load, and obtaining an updated structural load set;

[0097] Step S612, respectively obtaining the difference between each structural load and the hovering load in the updated structural load set, and using the data set composed of each difference as the fatigue load set of the UAV;

[0098] Step S614, generating a load variation curve diagram of the UAV performing a single mission according to each fatigue load in the fatigue load set, as a single mission profile fatigue load spectrum of the UAV.

[0099] The method for obtaining the fatigue load spectrum of a UAV provided in this embodiment obtains the fatigue load spectrum of the entire UAV by measuring the acceleration of the entire UAV during flight, thereby using the acceleration sensor in the UAV flight control system to replace the traditional strain measurement sensor, and obtaining the fatigue load spectrum of the UAV. The acceleration measurement and data recording function of the UAV's own inertial navigation system is used to perform statistical processing on the recorded acceleration data, and the fatigue load spectrum of the entire UAV structure is obtained by conversion, which greatly simplifies the collection and measurement process of the fatigue load spectrum data of the UAV. In addition, there is no need to add additional measurement equipment, and additional entire structure load collection and measurement sensors and recording equipment, power supply systems, etc. are omitted, so that the collection of the fatigue load spectrum of the UAV is no longer limited by the take-off weight and loading capacity of the UAV body itself, making the collection of fatigue load spectra of small industrial-grade UAVs possible.

[0100] It should be understood that although Figure 1 , Figure 3 and Figure 6 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 , Figure 3 and Figure 6At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0101] In one embodiment, Figure 7 As shown, a UAV fatigue load spectrum acquisition device is provided, including: an overload data set acquisition module 702, a structural load set determination module 704, a fatigue load set determination module 706 and a fatigue load spectrum generation module 708, wherein:

[0102] An overload data set acquisition module 702 is used to acquire an overload data set of the UAV during the execution of a single mission;

[0103] The structural load set determination module 704 is used to obtain the structural load set of the UAV during the execution of a single mission according to the overload data set and the gravity of the UAV;

[0104] The fatigue load set determination module 706 is used to obtain the hovering load on the frame when the UAV is hovering, and obtain the fatigue load set of the UAV according to the hovering load and the structural load set;

[0105] The fatigue load spectrum generating module 708 is used to generate a load variation curve diagram of the UAV performing a single mission according to each fatigue load in the fatigue load set, as a single mission profile fatigue load spectrum of the UAV.

[0106] In one embodiment, the overload data set acquisition module 702 is specifically used to acquire an acceleration data set of the UAV during the execution of a single task; respectively acquire the ratios of each acceleration in the acceleration data set to the gravity acceleration, and use the data set composed of each ratio as the overload data set of the UAV.

[0107] In one embodiment, the structural load set determination module 704 is specifically used to obtain a preset UAV design load safety factor; obtain the product of each overload data in the overload data set, the UAV design load safety factor and the gravity of the UAV, and use the data set composed of each product as the structural load set of the UAV.

[0108] In one embodiment, the structural load set determination module 704 is further used to determine multiple stages of the UAV in the process of performing a single task and the stage identifiers corresponding to each stage according to the load values ​​of each structural load in the structural load set; determine the target structural load from the multiple structural loads corresponding to each stage according to the stage identifiers corresponding to each stage, replace the multiple structural loads corresponding to each stage with the target structural load, and obtain an updated structural load set.

[0109] In one embodiment, the fatigue load set determination module 706 is further configured to obtain the fatigue load set of the UAV according to the hovering load and the updated structural load set.

[0110] In one embodiment, the fatigue load set determination module 706 is further used to obtain the difference between each structural load and the hovering load in the updated structural load set, and use the data set composed of each difference as the fatigue load set of the UAV.

[0111] In one embodiment, the fatigue load spectrum generation module 708 is also used to determine the number of flights of the UAV and the total fatigue test time according to the life of the UAV and the flight time of a single mission, and use the number of flights as the number of loading times of the mission profile fatigue load spectrum; within the total fatigue test time, the fatigue load spectrum of the UAV is generated according to the number of loading times and the fatigue load spectrum of a single mission profile.

[0112] It should be noted that the UAV fatigue load spectrum acquisition device of the present application corresponds one-to-one to the UAV fatigue load spectrum acquisition method of the present application. The technical features and beneficial effects described in the embodiment of the above-mentioned UAV fatigue load spectrum acquisition method are applicable to the embodiment of the UAV fatigue load spectrum acquisition device. For specific contents, please refer to the description in the embodiment of the method of the present application. It will not be repeated here. This is hereby declared.

[0113] In addition, each module in the above-mentioned UAV fatigue load spectrum acquisition device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0114] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data generated during the acquisition of the fatigue load spectrum of the unmanned aerial vehicle. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for acquiring the fatigue load spectrum of an unmanned aerial vehicle is implemented.

[0115] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0116] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0117] Obtain the overload dataset of the UAV during the execution of a single mission;

[0118] Obtaining a structural load set of the UAV during the execution of the single task according to the overload data set and the gravity of the UAV;

[0119] Acquire a hovering load on a frame of the UAV when the UAV is hovering, and obtain a fatigue load set of the UAV according to the hovering load and the structural load set;

[0120] According to each fatigue load in the fatigue load set, a load variation curve diagram of the UAV performing the single mission is generated as a single mission profile fatigue load spectrum of the UAV.

[0121] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0122] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0123] Obtain the overload dataset of the UAV during the execution of a single mission;

[0124] Obtaining a structural load set of the UAV during the execution of the single task according to the overload data set and the gravity of the UAV;

[0125] Acquire a hovering load on a frame of the UAV when the UAV is hovering, and obtain a fatigue load set of the UAV according to the hovering load and the structural load set;

[0126] According to each fatigue load in the fatigue load set, a load variation curve diagram of the UAV performing the single task is generated as a single task profile fatigue load spectrum of the UAV.

[0127] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0128] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0129] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for obtaining fatigue load spectrum of unmanned aerial vehicle, characterized in that: The method comprises: Obtain the overload dataset of the UAV during the execution of a single mission; Obtaining a structural load set of the UAV during the execution of the single task according to the overload data set and the gravity of the UAV; Obtaining a hovering load on a frame of the drone when the drone is hovering; Determining, according to the load value of each structural load in the structural load set, multiple stages of the UAV in the process of performing the single task, and a stage identifier corresponding to each stage; According to the stage identifiers corresponding to the stages, a target structural load is determined from the multiple structural loads corresponding to the stages, and the multiple structural loads corresponding to the stages are replaced with the target structural load to obtain an updated structural load set; respectively obtaining the difference between each structural load in the updated structural load set and the hovering load, and using a data set composed of each of the differences as a fatigue load set of the UAV; According to each fatigue load in the fatigue load set, a load variation curve diagram of the UAV performing the single task is generated as a single task profile fatigue load spectrum of the UAV.

2. The method according to claim 1, characterized in that The step of obtaining an overload dataset of a drone during execution of a single mission includes: Acquire an acceleration data set of the UAV during execution of the single mission; The ratios of each acceleration in the acceleration data set to the gravity acceleration are respectively obtained, and the data set composed of each of the ratios is used as the overload data set of the UAV.

3. The method according to claim 1, characterized in that The step of obtaining a structural load set of the UAV during execution of the single task according to the overload data set and the gravity of the UAV includes: Obtain the preset UAV design load safety factor; The products of each overload data in the overload data set, the safety factor of the UAV design load and the gravity of the UAV are respectively obtained, and the data sets formed by each of the products are used as the structural load set of the UAV.

4. The method according to claim 1, characterized in that: After obtaining the fatigue load spectrum of a single mission profile of the UAV, the method further includes: Determine the number of flights of the UAV and the total fatigue test time according to the life of the UAV and the flight time of the single mission, and use the number of flights as the number of loading times of the fatigue load spectrum of the mission profile; During the total fatigue test time, a fatigue load spectrum of the UAV is generated according to the number of loading times and the fatigue load spectrum of the single mission profile.

5. A device for acquiring fatigue load spectrum of unmanned aerial vehicle, characterized in that: The device comprises: An overload data set acquisition module is used to acquire the overload data set of the UAV during the execution of a single mission; a structural load set determination module, configured to obtain a structural load set of the UAV during the execution of the single task according to the overload data set and the gravity of the UAV; A fatigue load set determination module, used for obtaining the hovering load on the frame when the UAV is hovering; The structural load set determination module is further used to determine multiple stages of the UAV in the process of performing the single task and the stage identifiers corresponding to the stages according to the load values ​​of the various structural loads in the structural load set; determine the target structural load from the multiple structural loads corresponding to the various stages according to the stage identifiers corresponding to the various stages, replace the multiple structural loads corresponding to the various stages with the target structural loads, and obtain an updated structural load set; The fatigue load set determination module is further used to respectively obtain the difference between each structural load in the updated structural load set and the hovering load, and use the data set composed of each of the differences as the fatigue load set of the UAV; The fatigue load spectrum generating module is used to generate a load variation curve diagram of the UAV performing the single task according to each fatigue load in the fatigue load set, as a single task profile fatigue load spectrum of the UAV.

6. The device according to claim 5, characterized in that The overload data set acquisition module is also used to obtain the acceleration data set of the UAV during the execution of the single task; respectively obtain the ratios of each acceleration in the acceleration data set to the gravity acceleration, and use the data set composed of each ratio as the overload data set of the UAV.

7. The device according to claim 5, characterized in that The structural load set determination module is also used to obtain a preset UAV design load safety factor; obtain the product of each overload data in the overload data set, the UAV design load safety factor and the gravity of the UAV, and use the data set composed of each of the products as the structural load set of the UAV.

8. The device according to claim 5, characterized in that The fatigue load spectrum generating module is further used to determine the number of flights of the UAV and the total fatigue test time according to the life of the UAV and the flight time of the single mission, and use the number of flights as the loading number of the fatigue load spectrum of the mission profile; During the total fatigue test time, a fatigue load spectrum of the UAV is generated according to the number of loading times and the fatigue load spectrum of the single mission profile.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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