A method and device for testing the lift of a multi-rotor unmanned aerial vehicle

Abstract

The embodiments of the present application provide a method, device, computer-readable medium and electronic device for testing the lift of a multi-rotor UAV. The method for testing the lift of a multi-rotor UAV comprises: controlling a UAV equipped with a first rotor to fly with a first power parameter and a second power parameter respectively, obtaining a first time and a second time required for the UAV to fly to a set height, and controlling a UAV equipped with a second rotor to fly with a first power parameter, obtaining a third time required for the UAV to fly to a set height, determining the corresponding ascent speed of the UAV under different conditions based on the first time, the second time and the third time; determining the lift parameters of the UAV based on the ascent speed, the pitch and the power parameter, measuring the flight status of the UAV under different flight configurations by the lift parameters, determining better flight configuration parameters to control the flight of the UAV, and improving the efficiency of the UAV flight.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and more specifically, to a method, device, computer-readable medium and electronic device for testing the lift of a multi-rotor UAV. Background Art

[0002] Any aircraft must generate a lift greater than its own gravity to take off and fly, which is the basic principle of aircraft flight. Multi-rotor drones rely on the controlled rotation of the rotors to achieve vertical takeoff and landing without a run-up. The rotation of the rotors will generate upward lift and the reaction torque of the air on the rotors. The design needs to provide a balanced rotor reaction torque. During the flight of many drones, their flight speed and lift will be affected by many factors. Due to the large number of factors, it is easy to cause the problem of low flight efficiency of drones. Summary of the invention

[0003] The embodiments of the present application provide a method, device, computer-readable medium and electronic device for testing the lift of a multi-rotor UAV, which can improve the flight efficiency of the multi-rotor UAV at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a method for testing the lift of a multi-rotor UAV is provided, comprising: controlling a UAV equipped with a first rotor to fly with a first power parameter and a second power parameter respectively, and obtaining a first time and a second time required for the UAV to fly to a set height; wherein the power parameter includes an operating efficiency parameter of an engine, and the power parameter includes a first power parameter and a second power parameter; controlling a UAV equipped with a second rotor to fly with the first power parameter, and obtaining a third time required for the UAV to fly to a set height, wherein the pitch of the second rotor is greater than the pitch of the first rotor; based on the first time, the second time and the third time, determining the corresponding ascent speeds of the UAV under different conditions; based on the ascent speed, the pitch and the power parameter, determining the lift parameters of the UAV as a whole.

[0006] In some embodiments of the present application, based on the aforementioned scheme, the controlling of the UAV equipped with the first rotor to fly with the first power parameter and the second power parameter respectively, obtaining the first time and the second time required for the UAV to fly to the set height, includes: controlling the UAV equipped with the first rotor to fly multiple times with the first power parameter, obtaining the flight time required for the UAV to fly to the set height, and calculating the average value of the flight time as the first time; controlling the UAV equipped with the first rotor to fly multiple times with the second power parameter, obtaining the flight time required for the UAV to fly to the set height, and calculating the average value of the flight time as the second time.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the controlling of the UAV equipped with the second rotor to fly with the first power parameter to obtain the third time required for the UAV to fly to a set height includes: controlling the UAV equipped with the second rotor to fly multiple times with the first power parameter to obtain the flight time required for the UAV to fly to the set height, and calculating the average value of the flight time as the third time.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the determination of the corresponding ascent speeds of the UAV under different situations is based on the first time, the second time and the third time, including: determining the first ascent speed of the UAV under the first power parameter based on the quotient between the set altitude and the first time; determining the second ascent speed of the UAV under the second power parameter based on the quotient between the set altitude and the second time; determining the third ascent speed of the UAV under the first power parameter based on the quotient between the set altitude and the third time.

[0009] In some embodiments of the present application, based on the aforementioned scheme, the lift parameters of the entire UAV are determined based on the ascent speed, pitch and power parameters, including: determining the positive lift parameters of the entire UAV based on the ascent speed, pitch and power parameters; determining the negative lift parameters of the entire UAV based on the pitch; determining the lift parameters of the entire UAV based on the positive lift parameters and the negative lift parameters.

[0010] In some embodiments of the present application, based on the aforementioned scheme, after determining the lift parameters of the entire UAV based on the ascent speed, pitch and power parameters, it includes: selecting the maximum value from the lift parameters as the optimal lift parameter; using the power parameters and rotor corresponding to the optimal lift parameter as the optimal configuration for the UAV to perform daily flight.

[0011] According to one aspect of an embodiment of the present application, a multi-rotor UAV whole machine lift test device is provided, comprising:

[0012] a first flight unit, used to control the UAV equipped with the first rotor to fly with the first power parameter and the second power parameter respectively, and obtain the first time and the second time required for the UAV to fly to a set height; wherein the power parameter includes an operating efficiency parameter of the engine, and the power parameter includes a first power parameter and a second power parameter;

[0013] a second flight unit, configured to control the UAV equipped with the second rotor to fly with the first power parameter, and obtain a third time required for the UAV to fly to a set height, wherein the pitch of the second rotor is greater than the pitch of the first rotor;

[0014] A speed unit, used to determine the corresponding ascent speeds of the drone under different circumstances based on the first time, the second time and the third time;

[0015] The lift unit is used to determine the lift parameters of the entire UAV based on the ascent speed, pitch and power parameters.

[0016] In some embodiments of the present application, based on the above solution, the first flight unit includes:

[0017] A first time unit is used to control the UAV equipped with the first rotor to fly multiple times with the first power parameter, obtain the flight time required for the UAV to fly to a set altitude, and calculate the average value of the flight time as the first time;

[0018] The second time unit is used to control the UAV equipped with the first rotor to fly multiple times with the second power parameter, obtain the flight time required for the UAV to fly to a set height, and calculate the average value of the flight time as the second time.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the controlling of the UAV equipped with the second rotor to fly with the first power parameter to obtain the third time required for the UAV to fly to a set height includes: controlling the UAV equipped with the second rotor to fly multiple times with the first power parameter to obtain the flight time required for the UAV to fly to the set height, and calculating the average value of the flight time as the third time.

[0020] In some embodiments of the present application, based on the aforementioned scheme, the determination of the corresponding ascent speeds of the UAV under different situations is based on the first time, the second time and the third time, including: determining the first ascent speed of the UAV under the first power parameter based on the quotient between the set altitude and the first time; determining the second ascent speed of the UAV under the second power parameter based on the quotient between the set altitude and the second time; determining the third ascent speed of the UAV under the first power parameter based on the quotient between the set altitude and the third time.

[0021] In some embodiments of the present application, based on the aforementioned scheme, the lift parameters of the entire UAV are determined based on the ascent speed, pitch and power parameters, including: determining the positive lift parameters of the entire UAV based on the ascent speed, pitch and power parameters; determining the negative lift parameters of the entire UAV based on the pitch; determining the lift parameters of the entire UAV based on the positive lift parameters and the negative lift parameters.

[0022] In some embodiments of the present application, based on the aforementioned scheme, after determining the lift parameters of the entire UAV based on the ascent speed, pitch and power parameters, it includes: selecting the maximum value from the lift parameters as the optimal lift parameter; using the power parameters and rotor corresponding to the optimal lift parameter as the optimal configuration for the UAV to perform daily flight.

[0023] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for testing the lift of a multi-rotor UAV as described in the above embodiment is implemented.

[0024] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the multi-rotor UAV whole-machine lift test method as described in the above embodiments.

[0025] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the multi-rotor UAV whole machine lift test method provided in the above-mentioned various optional implementations.

[0026] In the technical solutions provided in some embodiments of the present application, a drone equipped with a first rotor is controlled to fly with a first power parameter and a second power parameter respectively, and the first time and the second time required for the drone to fly to a set height are obtained; and a drone equipped with a second rotor is controlled to fly with the first power parameter to obtain a third time required for the drone to fly to a set height. Based on the first time, the second time and the third time, the corresponding ascent speeds of the drone under different conditions are determined; based on the ascent speed, the pitch and the power parameter, the lift parameter of the entire drone is determined, and the flight status of the drone under different flight configurations is measured by the lift parameter to determine better flight configuration parameters to control the flight of the drone, thereby improving the efficiency of the drone flight.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A flowchart of a method for testing the lift of a multi-rotor UAV according to an embodiment of the present application is schematically shown;

[0030] Figure 2 Schematically shows a flow chart for determining lift parameters according to an embodiment of the present application;

[0031] Figure 3 A schematic diagram of a multi-rotor UAV whole machine lift test device according to an embodiment of the present application is schematically shown;

[0032] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0034] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0035] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0036] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0037] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0038] Figure 1 The flowchart of the method for testing the lift of a multi-rotor UAV according to one embodiment of the present application is shown. Figure 1 As shown, the multi-rotor UAV whole machine lift test method includes at least steps S110 to S140, which are described in detail as follows:

[0039] In step S110, the UAV equipped with the first rotor is controlled to fly with the first power parameter and the second power parameter respectively, and the first time and the second time required for the UAV to fly to the set height are obtained; wherein the power parameter includes the operating efficiency parameter of the engine, and the power parameter includes the first power parameter and the second power parameter.

[0040] In actual applications, the rotor UAV is composed of four parts: detection unit, control module, drive unit and power supply. Among them, the control module is mainly responsible for solving and optimizing the current posture of the UAV and generating corresponding control quantity for the drive unit; the drive unit is responsible for driving the UAV to fly; the power supply is used to power the entire system.

[0041] The control of each flight state of the rotor UAV is achieved by controlling the rotation speed of the four symmetrical rotors to form corresponding different motion combinations. Taking a quad-rotor UAV as an example, the fuselage of a quad-rotor UAV is mainly composed of a symmetrical cross-shaped rigid body structure, and the materials are mostly composite materials such as carbon fiber, glass fiber and resin. During the flight, if the rotation speed of the front and rear ends or the left and right ends of the rotors is kept the same, it will not pitch or roll; and when the two rotors in each group have different rotation speeds from the other group of rotors, due to the different rotation directions of the two groups of rotors, it will cause an imbalance in the anti-torque force, and at this time, a reaction force will be generated around the central axis of the fuselage, causing angular acceleration along the angle. Detection unit: responsible for measuring the current attitude of the drone and providing data to the control module.

[0042] In one embodiment of the present application, controlling a drone equipped with a first rotor to fly with a first power parameter and a second power parameter respectively, and obtaining a first time and a second time required for the drone to fly to a set height includes:

[0043] Controlling a drone equipped with a first rotor to fly multiple times with a first power parameter, obtaining a flight time required for the drone to fly to a set altitude, and calculating an average value of the flight time as the first time;

[0044] The unmanned aerial vehicle equipped with the first rotor is controlled to fly multiple times with the second power parameter, the flight time required for the unmanned aerial vehicle to fly to a set altitude is obtained, and an average value of the flight time is calculated as the second time.

[0045] In this embodiment, the first rotor is first mounted on a drone, and the drone is controlled to fly by the first power parameter and the second power parameter, respectively, to obtain the corresponding flight time. In this embodiment, the first time and the second time can be obtained by taking the average value through multiple flights to ensure the accuracy of the time acquisition.

[0046] The power parameters in this embodiment include a first power parameter and a second power parameter, which are respectively used to represent the power strength of the UAV engine, wherein the power strength corresponding to the second power parameter is higher than the power strength corresponding to the first power parameter.

[0047] In step S120, the UAV equipped with the second rotor is controlled to fly with the first power parameter, and a third time required for the UAV to fly to a set height is obtained, wherein the pitch of the second rotor is greater than the pitch of the first rotor.

[0048] In one embodiment of the present application, the third time corresponding to flying to a set height is obtained by flying the drone equipped with a second rotor.

[0049] In one embodiment of the present application, in step S120, controlling the drone equipped with the second rotor to fly with the first power parameter to obtain a third time required for the drone to fly to a set height includes:

[0050] The unmanned aerial vehicle equipped with the second rotor is controlled to fly multiple times with the first power parameter, the flight time required for the unmanned aerial vehicle to fly to a set altitude is obtained, and an average value of the flight time is calculated as the third time.

[0051] Similarly, in this embodiment, the second rotor can still be equipped to fly multiple times with the first power parameter to obtain an average value of the flight time as the third time to ensure the accuracy of time acquisition.

[0052] In step S130, based on the first time, the second time and the third time, the corresponding ascent speeds of the drone in different situations are determined.

[0053] In one embodiment of the present application, after obtaining the flight time generated by the UAV based on different flight configurations, i.e., the first time, the second time and the third time, the corresponding ascent speeds of the UAV under different circumstances are determined based on the first time, the second time and the third time.

[0054] In one embodiment of the present application, in step S130, based on the first time, the second time, and the third time, determining the corresponding ascent speeds of the drone in different situations includes:

[0055] Determining a first ascent speed of the UAV corresponding to a first power parameter based on a quotient between the set altitude and the first time;

[0056] Determining a second ascent speed of the UAV corresponding to a second power parameter based on a quotient between the set altitude and the second time;

[0057] Based on the quotient between the set altitude and the third time, a third ascending speed of the UAV corresponding to the first power parameter is determined.

[0058] In this embodiment, the ascending speed of the UAV under various configurations is determined by calculating the quotient between the set altitude and the above-mentioned flight time.

[0059] In step S140, the lift parameters of the entire UAV are determined based on the ascending speed, pitch and power parameters.

[0060] In one embodiment of the present application, after obtaining the vertical ascent speed, the lift parameter of the entire drone is determined based on the ascent speed, the pitch and the power parameter. In this embodiment, the lift parameter is used to represent the lift efficiency or lift strength of the drone during vertical ascent.

[0061] In one embodiment of the present application, Figure 2 As shown, in step S140, based on the ascending speed, pitch and power parameters, the lift parameters of the entire drone are determined, including steps S210 to S230, which are described in detail as follows:

[0062] S210: Determine the positive lift parameter of the entire UAV based on the ascending speed, the pitch, and the power parameter.

[0063] In one embodiment of the present application, the rising speed Spe, the pitch Pit and the power parameter Dyn will bring positive lift to the entire UAV. Therefore, in this embodiment, the positive lift parameter Par_pos of the entire UAV is calculated by the above parameters:

[0064] Par_pos=Pit·(α·Spe+β·Dyn)

[0065] Among them, α and β are used to represent the positive lift factors.

[0066] S220: Determine a negative lift parameter of the entire UAV based on the pitch.

[0067] In one embodiment of the present application, the weight of the propeller will cause a certain load pressure on the drone, so in this embodiment, the pitch is used as the negative lift parameter that affects the lift of the entire drone. Based on the pitch of the rotor, the negative lift parameter of the entire drone is determined as Par_neg:

[0068] Par_neg=ε·Pit

[0069] Here, ε is used to represent the negative lift factor.

[0070] S230: Determine a lift parameter of the entire UAV based on the positive lift parameter and the negative lift parameter.

[0071] In one embodiment of the present application, after the positive lift parameter and the negative lift parameter are calculated, the lift parameter of the entire UAV is determined based on the sum of the positive lift parameter and the negative lift parameter:

[0072] Par=Par_pos+Par_neg

[0073] The above scheme determines the positive lift parameters of the entire UAV based on the ascent speed, the pitch and the power parameters, and determines the negative lift parameters of the entire UAV based on the pitch, so as to determine the lift parameters of the entire UAV through the positive lift parameters and the negative lift parameters, thereby improving the accuracy and comprehensiveness of the UAV lift parameters.

[0074] In one embodiment of the present application, after determining the lift parameters of the entire UAV based on the ascending speed, pitch and power parameters in step S140, the following steps are included:

[0075] Selecting a maximum value from the lift parameters as the optimal lift parameter;

[0076] The power parameters and rotor corresponding to the optimal lift parameters are used as the optimal configuration for the UAV to perform daily flight.

[0077] Specifically, in this embodiment, the maximum value is selected from the lift parameters under various flight configurations as the optimal lift parameter, and the power parameters and rotors corresponding to the optimal lift parameter are used as the optimal configuration for the UAV to perform daily flight, thereby improving the flight efficiency of the UAV.

[0078] In the technical solutions provided in some embodiments of the present application, a drone equipped with a first rotor is controlled to fly with a first power parameter and a second power parameter respectively, and the first time and the second time required for the drone to fly to a set height are obtained; and a drone equipped with a second rotor is controlled to fly with the first power parameter to obtain a third time required for the drone to fly to a set height. Based on the first time, the second time and the third time, the corresponding ascent speeds of the drone under different conditions are determined; based on the ascent speed, the pitch and the power parameter, the lift parameter of the entire drone is determined, and the flight status of the drone under different flight configurations is measured by the lift parameter to determine better flight configuration parameters to control the flight of the drone, thereby improving the efficiency of the drone flight.

[0079] The following describes an embodiment of the device of the present application, which can be used to execute the lift test method of the whole multi-rotor UAV in the above-mentioned embodiment of the present application. It is understandable that the device can be a computer program (including program code) running in a computer device, for example, the device is an application software; the device can be used to execute the corresponding steps in the method provided in the embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the lift test method of the whole multi-rotor UAV mentioned above in the present application.

[0080] Figure 3 A block diagram of a multi-rotor UAV whole machine lift test device according to an embodiment of the present application is shown.

[0081] Reference Figure 3 As shown, a multi-rotor UAV whole machine lift test device 300 according to an embodiment of the present application includes:

[0082] The first flight unit 310 is used to control the UAV equipped with the first rotor to fly with the first power parameter and the second power parameter respectively, and obtain the first time and the second time required for the UAV to fly to a set height; wherein the power parameter includes the operating efficiency parameter of the engine, and the power parameter includes the first power parameter and the second power parameter;

[0083] The second flight unit 320 is used to control the UAV equipped with the second rotor to fly with the first power parameter, and obtain a third time required for the UAV to fly to a set height, wherein the pitch of the second rotor is greater than the pitch of the first rotor;

[0084] A speed unit 330 is used to determine the corresponding ascent speeds of the drone under different conditions based on the first time, the second time and the third time;

[0085] The lift unit 340 is used to determine the lift parameters of the entire UAV based on the ascending speed, pitch and power parameters.

[0086] In some embodiments of the present application, based on the above solution, the first flight unit 310 includes:

[0087] A first time unit is used to control the UAV equipped with the first rotor to fly multiple times with the first power parameter, obtain the flight time required for the UAV to fly to a set altitude, and calculate the average value of the flight time as the first time;

[0088] The second time unit is used to control the UAV equipped with the first rotor to fly multiple times with the second power parameter, obtain the flight time required for the UAV to fly to a set height, and calculate the average value of the flight time as the second time.

[0089] In some embodiments of the present application, based on the aforementioned scheme, the controlling of the UAV equipped with the second rotor to fly with the first power parameter to obtain the third time required for the UAV to fly to a set height includes: controlling the UAV equipped with the second rotor to fly multiple times with the first power parameter to obtain the flight time required for the UAV to fly to the set height, and calculating the average value of the flight time as the third time.

[0090] In some embodiments of the present application, based on the aforementioned scheme, the determination of the corresponding ascent speeds of the UAV under different situations is based on the first time, the second time and the third time, including: determining the first ascent speed of the UAV under the first power parameter based on the quotient between the set altitude and the first time; determining the second ascent speed of the UAV under the second power parameter based on the quotient between the set altitude and the second time; determining the third ascent speed of the UAV under the first power parameter based on the quotient between the set altitude and the third time.

[0091] In some embodiments of the present application, based on the aforementioned scheme, the lift parameters of the entire UAV are determined based on the ascent speed, pitch and power parameters, including: determining the positive lift parameters of the entire UAV based on the ascent speed, pitch and power parameters; determining the negative lift parameters of the entire UAV based on the pitch; determining the lift parameters of the entire UAV based on the positive lift parameters and the negative lift parameters.

[0092] In some embodiments of the present application, based on the aforementioned scheme, after determining the lift parameters of the entire UAV based on the ascent speed, pitch and power parameters, it includes: selecting the maximum value from the lift parameters as the optimal lift parameter; using the power parameters and rotor corresponding to the optimal lift parameter as the optimal configuration for the UAV to perform daily flight.

[0093] In the technical solutions provided in some embodiments of the present application, a drone equipped with a first rotor is controlled to fly with a first power parameter and a second power parameter respectively, and the first time and the second time required for the drone to fly to a set height are obtained; and a drone equipped with a second rotor is controlled to fly with the first power parameter to obtain a third time required for the drone to fly to a set height. Based on the first time, the second time and the third time, the corresponding ascent speeds of the drone under different conditions are determined; based on the ascent speed, the pitch and the power parameter, the lift parameter of the entire drone is determined, and the flight status of the drone under different flight configurations is measured by the lift parameter to determine better flight configuration parameters to control the flight of the drone, thereby improving the efficiency of the drone flight.

[0094] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0095] It should be noted that Figure 4 The computer system 400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0096] like Figure 4 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method described in the above embodiment. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, ROM 402 and RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0097] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0098] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 409, and / or installed from a removable medium 411. When the computer program is executed by a central processing unit (CPU) 401, various functions defined in the system of the present application are executed.

[0099] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0100] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0101] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0102] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0103] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0104] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0105] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0106] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0107] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for testing the lift of a multi-rotor UAV, characterized in that: include: Controlling a drone equipped with a first rotor to fly with a first power parameter and a second power parameter respectively, and obtaining a first time and a second time required for the drone to fly to a set height; wherein the power parameter includes an operating efficiency parameter of an engine, and the power parameter includes a first power parameter and a second power parameter; Controlling a drone equipped with a second rotor to fly with a first power parameter, and obtaining a third time required for the drone to fly to a set height, wherein the pitch of the second rotor is greater than the pitch of the first rotor; Based on the first time, the second time and the third time, determining the corresponding ascent speeds of the drone under different conditions; Determining the lift parameters of the entire UAV based on the ascending speed, pitch and power parameters; The determining, based on the first time, the second time, and the third time, corresponding ascent speeds of the drone under different circumstances respectively includes: Determining a first ascent speed of the UAV corresponding to a first power parameter based on a quotient between the set altitude and the first time; Determining a second ascent speed of the UAV corresponding to a second power parameter based on a quotient between the set altitude and the second time; Determining a third ascending speed of the UAV corresponding to the first power parameter based on a quotient between the set altitude and the third time; The determining of the lift parameters of the entire UAV based on the ascending speed, the pitch and the power parameters includes: Determining the positive lift parameters of the entire UAV based on the ascending speed, the pitch and the power parameters; Based on the pitch, determining the negative lift parameter of the entire UAV; Based on the positive lift parameter and the negative lift parameter, a lift parameter of the entire UAV is determined.

2. The method according to claim 1, characterized in that Controlling a drone equipped with a first rotor to fly with a first power parameter and a second power parameter respectively, and obtaining a first time and a second time required for the drone to fly to a set height, comprising: Controlling a drone equipped with a first rotor to fly multiple times with a first power parameter, obtaining a flight time required for the drone to fly to a set altitude, and calculating an average value of the flight time as the first time; The unmanned aerial vehicle equipped with the first rotor is controlled to fly multiple times with the second power parameter, the flight time required for the unmanned aerial vehicle to fly to a set altitude is obtained, and an average value of the flight time is calculated as the second time.

3. The method according to claim 1, characterized in that Controlling a drone equipped with a second rotor to fly with a first power parameter, and obtaining a third time required for the drone to fly to a set height, comprising: The unmanned aerial vehicle equipped with the second rotor is controlled to fly multiple times with the first power parameter, the flight time required for the unmanned aerial vehicle to fly to a set altitude is obtained, and an average value of the flight time is calculated as the third time.

4. The method according to claim 1, characterized in that: After determining the lift parameters of the entire UAV based on the ascending speed, pitch and power parameters, the method includes: Selecting a maximum value from the lift parameters as the optimal lift parameter; The power parameters and rotor corresponding to the optimal lift parameters are used as the optimal configuration for the UAV to perform daily flight.

5. A multi-rotor UAV whole machine lift test device, used to implement the multi-rotor UAV whole machine lift test method as claimed in any one of claims 1 to 4, characterized in that: include: A first flight unit is used to control the UAV equipped with the first rotor to fly with a first power parameter and a second power parameter respectively, and obtain a first time and a second time required for the UAV to fly to a set height; wherein the power parameter includes an operating efficiency parameter of the engine, and the power parameter includes a first power parameter and a second power parameter; a second flight unit, configured to control the UAV equipped with the second rotor to fly with the first power parameter, and obtain a third time required for the UAV to fly to a set height, wherein the pitch of the second rotor is greater than the pitch of the first rotor; A speed unit, used to determine the corresponding ascent speeds of the drone under different circumstances based on the first time, the second time and the third time; The lift unit is used to determine the lift parameters of the entire UAV based on the ascent speed, pitch and power parameters.

6. The device according to claim 5, characterized in that The first flight unit comprises: A first time unit is used to control the UAV equipped with the first rotor to fly multiple times with the first power parameter, obtain the flight time required for the UAV to fly to a set altitude, and calculate the average value of the flight time as the first time; The second time unit is used to control the UAV equipped with the first rotor to fly multiple times with the second power parameter, obtain the flight time required for the UAV to fly to a set height, and calculate the average value of the flight time as the second time.

7. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the multi-rotor UAV whole machine lift testing method as described in any one of claims 1 to 4 is implemented.

8. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the multi-rotor UAV whole-machine lift testing method as described in any one of claims 1 to 4.

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