Method and system for testing power of unmanned aerial vehicle

Abstract

The invention relates to an unmanned aerial vehicle power test method and system, and the method comprises the steps: receiving the data, collected by a sensor, of a rotor motor and a fuel engine; and processing the data to obtain a power test result of the unmanned aerial vehicle. The unmanned aerial vehicle power test system comprises a rotor motor; a fuel engine; the sensor assembly is mounted around the rotor motor and the fuel engine and is used for collecting data of the rotor motor and the fuel engine; and the upper computer is used for executing the unmanned aerial vehicle power test method. According to the unmanned aerial vehicle power test method and system provided by the invention, automatic circulation and pause can be carried out on different models of unmanned aerial vehicles which are in mixed layout and are provided with existing rotor motors and fuel engines to carry out repeated multi-group power test, and limit performance test can be carried out on an unmanned aerial vehicle power system; and when data exception occurs in the test process, closed-loop processing can be carried out.

Description

Technical Field

[0001] The present application relates to the field of power testing, and in particular to a method and system for power testing of unmanned aerial vehicles. Background Art

[0002] At present, the existing technology only tests the motors of rotary-wing UAVs. The test of mixed-layout UAVs with both rotary-wing motors and fuel engines is invalid. Some test device controllers still need to use the UAV's own controller, which cannot be flexibly used for different models of UAVs. Non-self-made controllers cannot be tested objectively, which will make the test results less reliable.

[0003] The existing solutions are only open-loop control test devices. When encountering problems such as abnormal engine speed, the device itself does not handle them, and the protection of the power system itself is incomplete. In addition, the existing solutions have a low degree of automation. When conducting repetitive multiple groups of tests, it is necessary to manually repeat the entire process of test preparation and startup, which is repetitive and cumbersome, and mechanical repetition is prone to errors. Summary of the invention

[0004] In view of the above-mentioned problems existing in the prior art, the present application provides a method and system for power testing of an unmanned aerial vehicle.

[0005] According to a first aspect of the present application, a method for power testing of an unmanned aerial vehicle is provided, characterized in that it includes:

[0006] Receive data from the rotor motor and fuel engine collected by sensors; and

[0007] The data are processed to obtain the result of the UAV power test.

[0008] According to some embodiments, the method for drone power testing further includes:

[0009] Controlling parameters of the rotor motor and the fuel engine; and

[0010] The parameters are sent to the rotor motor and the fuel engine, so that the rotor motor and the fuel engine perform corresponding actions according to the parameters.

[0011] According to some embodiments, the processing the data comprises:

[0012] analyzing the data in real time; and

[0013] When abnormal data is found in the real-time analysis of the data, the drone is instructed to take corresponding measures according to the abnormal data.

[0014] According to some embodiments, the method for drone power testing further includes:

[0015] Instructions are sent to the rotor motor and the fuel engine, wherein the instructions include continuous execution instructions, so that the rotor motor and the fuel engine perform a series of actions according to the continuous execution instructions.

[0016] According to a second aspect of the present application, a system for power testing of an unmanned aerial vehicle is provided, characterized in that it includes:

[0017] Rotor motor;

[0018] Fuel engine;

[0019] A sensor assembly installed around the rotor motor and the fuel engine, and used to collect data from the rotor motor and the fuel engine; and

[0020] A host computer component is connected to the sensor, the rotor motor and the fuel engine, and is used to execute the method described in the first aspect.

[0021] According to some embodiments, the host computer component includes a host computer and a main controller, the host computer is used to send, receive and process data, and is used to parse and process instructions sent to the sensor; the sensor component includes a hub and multiple sensors, and the hub is connected to the multiple sensors respectively.

[0022] According to some embodiments, the system for UAV power testing further comprises:

[0023] An exhaust fan relay and an oil pump relay, wherein the exhaust fan relay and the oil pump relay are both connected to the host computer and are used to control the start and stop of the exhaust fan and the oil pump respectively.

[0024] According to some embodiments, the plurality of sensors comprises:

[0025] One or more of a torque sensor, a tension sensor, a rotation speed sensor, a temperature sensor, a humidity sensor, an air pressure sensor, an infrared temperature sensor, a voltage sensor and a current sensor.

[0026] According to a third aspect of the present application, an electronic device is provided, characterized in that it includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method described in the first aspect when executing the computer program in the memory.

[0027] According to a fourth aspect of the present application, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0028] According to the method and system for UAV power testing provided by the present application, the hybrid layout UAV power testing system is the first to be created, which can realize power testing of UAVs with both rotor motors and fuel engines of hybrid layout, and is applicable to UAV power systems of different models. By inputting test parameters by the host computer, automatic cycle and pause for repetitive multiple groups of tests can be realized, and the UAV power system can also be tested for extreme performance. In addition, when data abnormalities occur during the test process, closed-loop processing can be performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0030] Figure 1 It is a flow chart of a method for UAV power testing according to one embodiment of the present application.

[0031] Figure 2 It is a flow chart of a method for UAV power testing according to another embodiment of the present application.

[0032] Figure 3 It is a connection diagram of a system for UAV power testing according to one embodiment of the present application.

[0033] Figure 4 It is a structural diagram of an electronic device provided by this application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0035] According to one aspect of the present application, a method for power testing of an unmanned aerial vehicle is provided. Figure 1 As shown, the method includes the following steps.

[0036] Step S101, receiving data of the rotor motor and the fuel engine collected by sensors.

[0037] Step S102, processing the data to obtain the result of the UAV power test.

[0038] The method receives data of the rotor motor and the fuel engine collected by the sensor, processes the data, obtains the result of the UAV power test, and can complete the test of the power system of the hybrid layout UAV.

[0039] According to some embodiments, a hybrid layout UAV is a UAV that has both a rotor motor and a fuel engine, and the rotor motor and the fuel engine respectively control different power sources.

[0040] According to some embodiments, the data of the rotor motor and the fuel engine collected by the sensor are received. A plurality of sensors are installed around the rotor motor and the fuel engine, and the plurality of sensors can collect a plurality of data of the rotor motor and the fuel engine. In this way, the data of the rotor motor and the fuel engine can be collected in an all-round and comprehensive manner to complete the test of the power system of the hybrid layout UAV.

[0041] According to some embodiments, in order to achieve commercial use, the power system of different types of unmanned aerial vehicles has universal applicability, and can achieve extreme testing of rotor motors and fuel engines, requiring high software control accuracy and control timeliness, otherwise it will cause software errors and bugs and run-down situations. The rotor motor and fuel engine need to open their own parameters (for example, the pulse width modulation PWM (Pulse Width Modulation) output frequency, duty cycle, range of variation and other parameters of the rotor motor and fuel engine). At the same time, to ensure normal operation, the host computer needs to monitor and control the parameters of the rotor motor and fuel engine in real time, make autonomous decisions to dynamically adjust the parameters of the rotor motor and fuel engine, and send the adjusted parameters to the rotor motor and fuel engine, so that the rotor motor and fuel engine perform corresponding actions according to the adjusted parameters (for example, adjust the duty cycle of the pulse width modulation PWM (Pulse Width Modulation) to control the speed, when the sensor temperature measurement finds that the temperature is too high and the current and speed are abnormal, the rotor motor and engine relay are disconnected, etc.). This can avoid the problem that some test device controllers still need to use the drone's own controller, which cannot be flexibly used for different types of drones, and non-self-made controllers cannot be objectively tested, which will cause the test results to deviate and have low credibility.

[0042] According to some embodiments, during the power test of the UAV, in order to achieve closed-loop control, the host computer needs to add real-time data analysis and emergency response functions.

[0043] According to some embodiments, the host computer receives the data of the rotor motor and the fuel engine collected by the sensor, and analyzes the received data in real time. When the received data is analyzed in real time and there is abnormal data, the host computer instructs the drone to take corresponding measures (for example, abnormal data caused by the rotor motor's overtemperature instructs the drone to automatically alarm and start the exhaust fan to reduce the temperature) according to the received abnormal data to complete the closed-loop control. This can avoid the problem that the open-loop control test does not process the abnormal data (for example, abnormal rotation speed of the rotor motor and the fuel engine, etc.), resulting in incomplete protection of the drone power system itself.

[0044] In this way, Figure 2 As shown, step S101 may specifically include:

[0045] Step S202: analyzing the data in real time;

[0046] In step S203, when the real-time analysis of the data shows abnormal data, the drone is instructed to take corresponding measures according to the abnormal data.

[0047] According to some embodiments, in order to enable the UAV power test to realize the function of automatic cycle multi-group test, the host computer adds a cycle self-test function and logic, and sends instructions for automatic cycle multi-group test to the rotor motor and fuel engine, so that the rotor motor and fuel engine can perform a series of actions according to the automatic cycle multi-group test instructions sent by the host computer. For example, the test parameters are that the power value of the rotor motor and the fuel engine is 0% to 100%. The host computer inputs the power value of the rotor motor and the fuel engine from 0% to 100% at one time, and the automatic test of the process of the rotor motor and the fuel engine rising from 0% to 100% can be realized. In this way, there is no need for manual repeated test preparation and starting the whole process, which is repetitive and cumbersome, and mechanical repetition is prone to errors.

[0048] According to another aspect of the present application, a system for testing the power of an unmanned aerial vehicle is provided. Figure 3 As shown, the system includes: a rotor motor, a fuel engine, a sensor component, a host computer component, an exhaust fan relay and an oil pump relay.

[0049] According to some embodiments, the host computer component includes a host computer and a main controller. The host computer serves as the subject of data monitoring and sending control instructions, and is used to send, receive and process data.

[0050] According to some embodiments, the main controller is connected to the host computer, the sensor, the rotor motor and the fuel engine. The main controller is connected to the host computer via a data line, and there are multiple choices of data lines. According to one embodiment, the data line connecting the host computer and the main controller is RS485. The main controller receives control commands issued by the host computer, including: rotor motor speed control command, fuel engine speed control command, rotor motor shutdown command, rotor motor start command, fuel engine shutdown command, fuel engine start command, oil pump start command, oil pump shutdown command, exhaust fan start command and exhaust fan shutdown command, etc., and after parsing and processing, it is issued to the sensor, rotor motor, fuel engine, exhaust fan and oil pump, etc.

[0051] According to some embodiments, the main controller can select STM32F103ZET6 as the control chip. This model can select many mature mass-produced core control boards, which can save hardware development cycle and cost. The core control board has RS485 and RS232 external interfaces, a pulse width modulation PWM (Pulse Width Modulation) output interface, and an external IO control port. Using industrial-grade chips and devices is lower cost than using aviation standard products, and is suitable for different models of drone power systems.

[0052] According to some embodiments, the sensor assembly includes a plurality of sensors and a hub, and the hub is connected to the plurality of sensors respectively and to the main controller. There are many choices for the hub, and according to one embodiment, the hub is RS485. The baud rate (e.g., 9600 bps) and the sensor device number of all sensors are pre-configured according to the protocol of the sensor, and all sensors are connected to the end of the RS485 hub, and the RS485 interface of the main controller is connected to the front end of the hub.

[0053] According to some embodiments, the main controller periodically collects sensor data, and the main controller's collection instructions are fixed content according to the actual configuration. The corresponding sensor is collected according to the protocol period, and the collected data is parsed. The parsed sensor data is handed over to the subsequent operation logic for processing and reserved for uploading to the host computer. The main controller repackages the sensor data and the system operation status data, and periodically sends them to the host computer software for displaying the host computer data.

[0054] According to some embodiments, the multiple sensors include one or more of a torque sensor, a tension sensor, a rotation speed sensor, a temperature sensor, a humidity sensor, an air pressure sensor, an infrared temperature sensor, a voltage sensor, and a current sensor. Among them, the torque sensor is used to measure the torque output by the rotor motor and the fuel engine, the tension sensor is used to measure the tension value or pressure value when the rotor motor and the fuel engine are running, the rotation speed sensor is used to measure the rotation speed of the rotor motor and the fuel engine, the temperature sensor, the humidity sensor, and the air pressure sensor are used to measure the temperature, humidity, and air pressure of the environment where the rotor motor and the fuel engine are located, respectively, the infrared temperature sensor is used to measure the rotor temperature of the rotor motor and the fuel engine when the rotor motor and the fuel engine are running, and the voltage sensor and the current sensor are used to measure the voltage parameters and current parameters of the rotor motor and the fuel engine, respectively.

[0055] According to some embodiments, during the power system test of the hybrid layout UAV, when its internal temperature is abnormal (for example, the temperature is too high), the main controller controls the working state of the exhaust fan by controlling the opening and closing of the exhaust fan relay. When the hybrid layout UAV needs to start the fuel engine, it is necessary to start the oil pump to supply fuel to the fuel engine first. The main controller controls the opening and closing of the oil pump relay to control the working state of the oil pump. The main controller controls the start and stop and speed of the rotor motor and the fuel engine by controlling the duty cycle of the pulse width modulation PWM (Pulse Width Modulation) wave output.

[0056] According to some embodiments, the development environment of the main controller software may include: Keil5 development environment, STM32 Hal driver library. After the system is powered on, the main controller initializes the clock, interrupt, USART, timer, and GPIO modules, and the main controller software starts executing the program.

[0057] According to some embodiments, the development environment of the host computer software may include the Visual Studio development environment, the language includes C#, .Net4.7.2 framework, and the software is divided into a receiving and processing thread, an instruction sending thread, and an interface display thread.

[0058] Figure 4 An electronic device is provided, comprising a processor and a memory. The memory stores computer instructions, and when the computer instructions are executed by the processor, the processor executes the computer instructions to achieve the following Figure 1 to Figure 2 The method and refinement scheme shown.

[0059] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0060] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not otherwise specified, the processor or chip may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the on-chip cache, the off-chip memory, and the memory may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0061] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer electronic device (which can be a personal computer, a server or a network electronic device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0062] The present application also provides a non-transitory computer storage medium storing a computer program. When the computer program is executed by a plurality of processors, the processors execute the following Figure 1 to Figure 2 The method and refinement scheme shown.

[0063] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A method for testing the power of an unmanned aerial vehicle, characterized in that: include: Receive data from the rotor motor and fuel engine collected by sensors; as well as The data are processed to obtain the result of the UAV power test.

2. The method according to claim 1, characterized in that Also includes: Controlling parameters of the rotor motor and the fuel engine; as well as The parameters are sent to the rotor motor and the fuel engine, so that the rotor motor and the fuel engine perform corresponding actions according to the parameters.

3. The method according to claim 1, characterized in that The processing of the data comprises: analyzing the data in real time; and When abnormal data is found in the real-time analysis of the data, the drone is instructed to take corresponding measures according to the abnormal data.

4. The method according to claim 1, characterized in that: Also includes: Instructions are sent to the rotor motor and the fuel engine, wherein the instructions include continuous execution instructions, so that the rotor motor and the fuel engine perform a series of actions according to the continuous execution instructions.

5. A system for testing the power of an unmanned aerial vehicle, characterized in that: include: Rotor motor; Fuel engine; A sensor assembly is installed around the rotor motor and the fuel engine and is used to collect data from the rotor motor and the fuel engine; as well as A host computer component is connected to the sensor, the rotor motor and the fuel engine, and is used to execute the method according to any one of claims 1 to 4.

6. The system according to claim 5, characterized in that The host computer component includes a host computer and a main controller, the host computer is used to send, receive and process data, and the main controller is used to parse and process instructions sent to the sensor; the sensor component includes a hub and multiple sensors, and the hub is connected to the multiple sensors respectively.

7. The system according to claim 5, characterized in that Also includes: An exhaust fan relay and an oil pump relay, wherein the exhaust fan relay and the oil pump relay are both connected to the host computer and are used to control the start and stop of the exhaust fan and the oil pump respectively.

8. The system according to claim 6, characterized in that The plurality of sensors include: One or more of a torque sensor, a tension sensor, a rotation speed sensor, a temperature sensor, a humidity sensor, an air pressure sensor, an infrared temperature sensor, a voltage sensor and a current sensor.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method according to any one of claims 1 to 4 when executing the computer program in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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