Unmanned aerial vehicle power supply test method and system suitable for multi-working-condition environment
By simulating a multi-condition environment in the drone power supply battery life test, and adjusting the flight path using the randomly selected mobile flight angle and external wind direction, the problem that existing testing methods cannot effectively simulate a multi-condition environment is solved, and the accuracy and safety of the test results are improved.
Patent Information
- Application Number
- CN202510204774.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2025-05-23
AI Technical Summary
The existing drone power supply battery life test method cannot effectively simulate a multi-working environment, resulting in inaccurate test results.
By obtaining the initial hover position and external wind direction of the drone, a set of included angles is constructed and the angles of the moving flight are randomly selected, the required movement direction and single destination position are calculated, and a single flight path is constructed and adjusted to simulate a multi-condition environment.
It improves the accuracy of the drone power supply battery life test results, reduces the test inaccuracy caused by the influence of a single wind direction, and optimizes the energy consumption of the drone during turning.
Smart Images
Figure CN120028621A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of UAV testing technology, and in particular to a UAV power supply testing method and system suitable for multiple working conditions. Background Art
[0002] With the continuous development of drone technology, drones are increasingly used in various fields. In the civilian field, their applications cover agricultural plant protection, power inspection, logistics distribution, environmental monitoring and many other aspects. The power supply system of a drone is like its "heart", which is directly related to the performance of the drone and the completion of its mission. Stable power supply can ensure the flight stability, endurance and normal operation of various onboard equipment of the drone. Therefore, before the drone is officially put into use, it is necessary to test the power supply of the drone.
[0003] At present, when conducting a UAV power supply and endurance test, the staff generally sets the starting point and the end point, and controls the UAV to move back and forth between the starting point and the end point to determine the UAV's endurance.
[0004] In the above-mentioned related technologies, the movement of the drone is also affected by the external wind direction. At this time, there may be a situation where there is always a single external wind direction during the overall movement of the drone. It is impossible to effectively conduct endurance tests on the operating environment that will appear in actual use of the drone, which may lead to inaccurate results of the drone endurance test. There is still room for improvement. Summary of the invention
[0005] In order to improve the accuracy of the UAV power supply and endurance test results, the present application provides a UAV power supply test method and system suitable for multiple working conditions.
[0006] In the first aspect, the present application provides a UAV power supply test method applicable to multiple working conditions, which adopts the following technical solution:
[0007] A UAV power supply test method applicable to multiple working conditions, comprising:
[0008] Obtain the initial hovering position of the UAV and the external wind direction of the UAV at the initial hovering position;
[0009] Constructing an angle set including various preset moving flight angles, and randomly selecting a moving flight angle from the angle set as a used moving angle;
[0010] The required moving direction is determined by calculation based on the external wind direction and the moving angle, and the single destination position is determined based on the required moving direction, the initial hovering position and the preset single moving distance;
[0011] A single flight path is constructed according to the initial hovering position and the single destination position, and the UAV is controlled to move on the single flight path. When the UAV reaches the single destination position, the external wind direction is obtained again and the moving angle is selected again to redetermine the single flight path;
[0012] Counting a single flight path to determine the number of generated paths, and determining whether the number of generated paths is greater than a preset number of required paths;
[0013] If the number of generated paths is not greater than the number of required paths, the UAV is controlled to move along the new single flight path to regenerate the single flight path;
[0014] If the number of generated paths is greater than the number of required paths, the flight power consumption is obtained, and the comprehensive flight distance is determined based on all single flight paths corresponding to the flight power consumption, and the unit power consumption parameters are determined based on the flight power consumption and the comprehensive flight distance.
[0015] Optionally, when controlling the drone to move on a single flight path, the drone power supply test method applicable to multiple working conditions also includes:
[0016] Determine the layout location in advance based on the single destination location and the preset approximate distance;
[0017] When the drone reaches the pre-deployed position, obtain the external wind direction and choose to use the moving angle again to determine the theoretical flight path;
[0018] Determine the flight turning angle according to the current single flight path and the theoretical flight path;
[0019] According to the preset slow-changing matching relationship, the flight rotation angle and the corresponding slow-motion arc trajectory of the close distance are determined;
[0020] aligning one end of the easing arc track with the pre-arranged position to define a point where the easing arc track intersects with the theoretical flight path as the alignment position;
[0021] The path between the fitting position in the theoretical flight path and the current single destination position is defined as an invalid path, and the invalid path in the theoretical flight path is replaced with an easing arc trajectory to generate a new single flight path.
[0022] Optionally, after a single flight path is re-determined, the UAV power supply test method applicable to multiple working conditions also includes:
[0023] Determine the recovery movement distance according to the single destination position in the re-determined single flight path and the initial hovering position;
[0024] Determining whether the recovery moving distance is greater than a preset reference convenience distance;
[0025] If the recovery moving distance is not greater than the reference convenient distance, the UAV is controlled to move along the determined single flight path;
[0026] If the recovery movement distance is greater than the reference convenience distance, the use movement angle selected by the currently determined single flight path is defined as the invalid movement angle;
[0027] A moving flight angle that is not an invalid moving angle is randomly selected from the angle set as the used moving angle to redetermine the single flight path until the recovery moving distance is no greater than the benchmark convenient distance.
[0028] Optionally, when defining an invalid movement angle and re-determining a single flight path in which the recovery movement distance is not greater than the reference convenience distance, the UAV power supply test method applicable to a multi-operating environment also includes:
[0029] The use movement angle corresponding to the currently determined single flight path is defined as the replacement movement angle;
[0030] Binding the replacement movement angle with the currently determined invalid movement angle to form a one-way replacement combination;
[0031] When the selected moving angle is subsequently selected to be used and the replacement moving angle in the one-way replacement combination is consistent, the selected moving angle is replaced with the invalid moving angle in the one-way replacement combination, and the current one-way replacement combination is deleted after the replacement is completed.
[0032] Optionally, also include:
[0033] Counting the one-way replacement combinations during the movement of the drone to determine the number of replacement combinations;
[0034] Determine whether the number of replacement combinations is greater than the preset permitted upper limit;
[0035] If the number of replacement combinations is not greater than the permitted upper limit, the moving angle is randomly selected;
[0036] If the number of replacement combinations is greater than the permitted upper limit, the replacement moving angles in each one-way replacement combination are combined to determine a feasible angle set, and a moving angle is randomly selected from the feasible angle set.
[0037] Optionally, after the unit power consumption parameters are determined, the UAV power supply test method applicable to multiple working conditions also includes:
[0038] Sort each single flight path according to the order of movement to determine the path operation sequence;
[0039] In the path operation sorting, each single flight path is summarized according to a preset classification summary quantity to form a path analysis set;
[0040] Obtain the power consumption and flight distance of each path analysis set;
[0041] Calculate the power consumption parameters of the group according to the power consumption of the group and the flight distance of the group;
[0042] An average calculation is performed based on all the collective power consumption parameters to determine the average power consumption parameter, and a calculation is performed based on the average power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter.
[0043] Optionally, the step of calculating according to the mean power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter includes:
[0044] Performing difference calculation based on any two set power consumption parameters to determine the set power consumption difference;
[0045] Determine the maximum aggregate power consumption difference according to a preset sorting rule, and judge whether the aggregate power consumption difference is greater than a preset deviation power consumption difference;
[0046] If the set power consumption difference is not greater than the deviation power consumption difference, then the mean power consumption parameter and the unit power consumption parameter are used to perform mean calculation to update the unit power consumption parameter;
[0047] If the set power consumption difference is greater than the deviation power consumption difference, the unit power consumption parameter is updated by calculation according to the preset weight proportion parameter, the mean power consumption parameter and the unit power consumption parameter.
[0048] In the second aspect, the present application provides a UAV power supply test system suitable for multiple working conditions, which adopts the following technical solutions:
[0049] A UAV power supply test system suitable for multiple working conditions, comprising:
[0050] An acquisition module is used to acquire the initial hovering position of the UAV and the external wind direction of the UAV at the initial hovering position;
[0051] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;
[0052] A judgment module, connected with the acquisition module and the processing module, for judging the information;
[0053] The processing module constructs an angle set including various preset moving flight angles, and randomly selects a moving flight angle from the angle set as a used moving angle;
[0054] The processing module calculates the required moving direction according to the external wind direction and the moving angle, and determines the single destination position according to the required moving direction, the initial hovering position and the preset single moving distance;
[0055] The processing module constructs a single flight path according to the initial hovering position and the single destination position, controls the UAV to move on the single flight path, and obtains the external wind direction again when the UAV reaches the single destination position and selects to use the moving angle again to redetermine the single flight path;
[0056] The processing module counts the single flight path to determine the number of generated paths, and enables the judgment module to judge whether the number of generated paths is greater than the preset number of required paths;
[0057] If the determination module determines that the number of generated paths is not greater than the number of required paths, the processing module controls the UAV to move along a new single flight path to regenerate the single flight path;
[0058] If the judgment module determines that the number of generated paths is greater than the number of required paths, the acquisition module obtains the flight power consumption, and enables the processing module to determine the comprehensive flight distance based on all single flight paths corresponding to the flight power consumption, and calculate based on the flight power consumption and the comprehensive flight distance to determine the unit power consumption parameters.
[0059] In summary, the present application includes at least one of the following beneficial technical effects:
[0060] 1. When testing the power supply and endurance of the drone, the drone's moving path can be adjusted in combination with the wind direction at the scene, so as to avoid the situation where the drone is affected by a single wind direction during the test and the test results are inaccurate, thereby improving the accuracy of the drone's power supply and endurance test results;
[0061] 2. The turning path can be optimized during the UAV's moving and turning process to reduce the energy consumption caused by the UAV's sharp turns, thereby improving the accuracy of the power supply and endurance test results;
[0062] 3. During the UAV mobile test, the landing point of the UAV can be determined to ensure that the UAV performs flight operations within a safe monitoring range and improve test safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0063] Figure 1 It is a flow chart of the UAV power supply test method applicable to multiple working conditions.
[0064] Figure 2 It is a schematic diagram of the analysis of a single flight path update process.
[0065] Figure 3It is a module flow chart of the UAV power supply test method suitable for multiple working conditions. DETAILED DESCRIPTION
[0066] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 3 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.
[0067] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.
[0068] The present application embodiment discloses a UAV power supply test method applicable to multiple working conditions. Figure 1 The method flow of the UAV power supply test method applicable to multiple working conditions includes the following steps:
[0069] Step S100: Acquire the initial hovering position of the UAV and the external wind direction of the UAV at the initial hovering position.
[0070] The initial hovering position is the initial position of the drone during the power supply test. The external wind force direction is the direction of the external wind force on the drone when it is in the initial hovering position. Data can be acquired by installing corresponding sensors on the drone.
[0071] Step S101: constructing an angle set including various preset moving flight angles, and randomly selecting a moving flight angle in the angle set as a used moving angle.
[0072] The mobile flight angle is the angle between the external wind force and the moving direction that the drone will be subjected to during actual use, set by the staff. For example, when the drone moves with the wind, the corresponding mobile flight angle is 0°, and when the drone moves against the wind, the corresponding mobile flight angle is 180°. In order to reduce the analysis of each flight situation, the mobile flight angle can be set at intervals of 20°. For example, the mobile flight angles are 0°, 20°, 40°, 60°, 80°, 100°, 120°, 140°, 160° and 180° respectively. The specific mobile flight angle is set by the staff according to the actual situation; the angle set is a set of mobile flight angles, and the used mobile angle is an angle selected from the angle set by a random algorithm.
[0073] Step S102: Calculate the required moving direction according to the external wind direction and the moving angle, and determine the single destination position according to the required moving direction, the initial hovering position and the preset single moving distance.
[0074] The required moving direction is the direction in which the UAV's moving path can form a moving angle with the external wind direction. The single moving distance is a fixed distance set by the staff. The single destination position is the position that the UAV can reach after flying a single moving distance in the required moving direction at the initial hovering position.
[0075] Step S103: construct a single flight path according to the initial hovering position and the single destination position, and control the UAV to move on the single flight path, and when the UAV reaches the single destination position, obtain the external wind direction again and select the moving angle again to redetermine the single flight path.
[0076] A single flight path is a flight path along which the UAV can fly in a straight line from its initial hovering position to a single destination. Controlling the movement of the UAV along the single flight path can simulate the flight conditions of the UAV being affected by wind in the external wind direction. When the UAV reaches the single destination, the wind force and direction can be randomly determined again to continue simulating the flight conditions under different wind directions, thereby reducing the situation where the UAV is only affected by a single wind direction during the test.
[0077] Step S104: Counting is performed according to a single flight path to determine the number of generated paths, and determining whether the number of generated paths is greater than a preset number of required paths.
[0078] The number of generated paths is the number of determined single flight paths, and the number of required paths is the minimum number of generated paths set by the staff to determine whether the drone power supply can be tested well. The purpose of the judgment is to know whether the current drone has completed the test.
[0079] Step S1041: If the number of generated paths is not greater than the number of required paths, the UAV is controlled to move along a new single flight path to regenerate the single flight path.
[0080] When the number of generated paths is not greater than the number of required paths, it means that the drone has not completed the test. At this time, continue to control the drone to move for testing.
[0081] Step S1042: If the number of generated paths is greater than the number of required paths, the flight power consumption is obtained, and the comprehensive flight distance is determined based on all single flight paths corresponding to the flight power consumption, and the unit power consumption parameter is determined by calculation based on the flight power consumption and the comprehensive flight distance.
[0082] When the number of generated paths is greater than the number of required paths, it means that the UAV has completed the test. At this time, since the moving angle is randomly selected, the external wind conditions that the UAV will be subjected to in actual operation are effectively simulated. Therefore, the endurance result under the current flight conditions can be effectively reflected as the power supply test result of the UAV; the flight power consumption is the power value consumed by the UAV from the beginning of the test to the present, and the comprehensive flight distance is the total distance flown by the UAV during the test. The power consumption of the UAV per unit distance can be obtained by dividing the flight power consumption by the comprehensive flight distance, that is, the unit power consumption parameter. At this time, the staff can analyze the obtained unit power consumption parameters to obtain the power supply test result of the UAV.
[0083] When controlling the drone to move on a single flight path, the drone power supply test method applicable to multiple working conditions also includes:
[0084] Step S200: determining an advance layout position according to a single destination position and a preset close distance.
[0085] The close distance is the maximum distance between the position of the drone when it is close to the single destination, which is set by the staff. The advance layout position is the position point on the single flight path that is close to the single destination. Figure 2 .
[0086] Step S201: When the UAV reaches the pre-deployed position, the external wind direction is obtained, and the moving angle is selected again to determine the theoretical flight path.
[0087] The theoretical flight path is the path obtained when constructing a single flight path based on the external wind direction obtained by the UAV in the pre-deployed position, that is, a predicted simulation of the path that the UAV needs to move after moving on the current single flight path.
[0088] Step S202: Determine the flight rotation angle according to the current single flight path and the theoretical flight path.
[0089] The flight turning angle is the angle that the drone needs to turn to switch from the current single flight path to the theoretical flight path.
[0090] Step S203: determining the flight rotation angle and the slow-motion arc trajectory corresponding to the close distance according to the preset slow-change matching relationship.
[0091] The slow-motion arc trajectory is designed to enable the drone to better avoid energy loss during turning so that the drone can switch from a single flight path to a theoretical flight path. Different flight turning angles indicate that the drone needs to turn at different angles, and the corresponding slow-motion arc trajectories are also different. The slow-changing matching relationship between the three is determined by the staff through multiple tests in advance, so it will not be elaborated here.
[0092] Step S204: aligning one end of the slow-motion arc track with the pre-arranged position to define a point where the slow-motion arc track intersects with the theoretical flight path as the alignment position.
[0093] The fitting position is the point where the drone enters the theoretical flight path after moving along the slow arc trajectory. Figure 2 .
[0094] Step S205: define the path between the fitting position in the theoretical flight path and the current single destination position as an invalid path, and replace the invalid path in the theoretical flight path with a slow-motion arc trajectory to generate a new single flight path.
[0095] By defining invalid paths and replacing them, it is ensured that the generated single flight path can prevent the drone from making sharp turns, thereby reducing the energy loss of the drone due to turning and improving the accuracy of the test results.
[0096] After the single flight path is re-determined, the UAV power supply test method applicable to multiple working conditions also includes:
[0097] Step S300: determining the recovery movement distance according to the single destination position in the re-determined single flight path and the initial hovering position.
[0098] The recovery movement distance is the straight-line distance between a single destination position in a single flight path that the drone has not yet entered and the initial hovering position.
[0099] Step S301: Determine whether the recovery moving distance is greater than a preset reference convenient distance.
[0100] The benchmark convenience distance is the maximum recovery movement distance set by the staff to determine whether the drone is easy to recover after the test is completed. The purpose of the judgment is to find out whether the drone flies far during the movement process, so as to determine whether the drone is easy to recover and whether the drone is tested within the designated safe area.
[0101] Step S3011: If the recovery moving distance is not greater than the reference convenient distance, the UAV is controlled to move along the determined single flight path.
[0102] When the recovery moving distance is not greater than the benchmark convenient distance, it means that the current flight of the UAV is convenient for recovery. At this time, the test can be carried out according to the determined single flight path.
[0103] Step S3012: If the recovery movement distance is greater than the reference convenience distance, the use movement angle selected for the currently determined single flight path is defined as an invalid movement angle.
[0104] When the recovery moving distance is greater than the benchmark convenient distance, it means that if the UAV is tested along the current single flight path, the moving distance will be long, which is not only inconvenient for subsequent recovery, but also poses a safety hazard to the test. Therefore, the selected moving angle is defined as an invalid moving angle to distinguish it and facilitate subsequent analysis.
[0105] Step S302: Randomly select a moving flight angle that is not an invalid moving angle from the angle set as a used moving angle to redetermine a single flight path until the recovery moving distance is no greater than the reference convenient distance.
[0106] By reselecting a moving flight angle that is not an invalid moving angle as the used moving angle, the single flight path can be updated. At this time, a single flight path that meets the UAV flight requirements can be determined, thereby ensuring that the UAV can operate normally and efficiently.
[0107] When defining the invalid movement angle and re-determining a single flight path in which the recovery movement distance is not greater than the reference convenience distance, the UAV power supply test method applicable to multiple working conditions also includes:
[0108] Step S400: defining the used moving angle corresponding to the currently determined single flight path as the replacement moving angle.
[0109] Define the replacement moving angle to distinguish different used moving angles for easy subsequent analysis.
[0110] Step S401: Bind the replacement movement angle with the currently determined invalid movement angle to form a one-way replacement combination.
[0111] By constructing a one-way replacement combination, the replacement situation between the angles can be determined to facilitate subsequent analysis.
[0112] Step S402: When the selected moving angle is consistent with the replacement moving angle in the one-way replacement combination, the selected moving angle is replaced with the invalid moving angle in the one-way replacement combination, and the current one-way replacement combination is deleted after the replacement is completed.
[0113] When a replacement moving angle appears in the one-way replacement combination later, it is replaced by the invalid moving angle in the one-way replacement combination to reduce the impact of the angle replacement in the previous process, so that the distribution of the selected moving angle is random, which can effectively simulate the actual situation during the flight of the drone, thereby improving the accuracy of the test results; when the replacement is completed, the one-way replacement combination is deleted to avoid repeated replacement.
[0114] UAV power supply test methods suitable for multiple working conditions also include:
[0115] Step S500: Counting the one-way replacement combinations during the movement of the drone to determine the number of replacement combinations.
[0116] The number of replacement combinations is the total number of existing one-way replacement combinations.
[0117] Step S501: Determine whether the number of replacement combinations is greater than a preset upper limit of permission.
[0118] The permitted upper limit is the number of angle replacements set by the staff to determine that the number of replacements has affected the minimum number of replacement combinations required for random distribution. The purpose of the judgment is to find out whether there are too many one-way replacement combinations that affect the test results.
[0119] Step S5011: If the number of replacement combinations is not greater than the permitted upper limit, a moving angle is randomly selected for use.
[0120] When the number of replacement combinations is not greater than the permitted upper limit, it indicates that the test results will not be affected at present, and the analysis and processing can be carried out normally.
[0121] Step S5012: If the number of replacement combinations is greater than the permitted upper limit, the replacement movement angles in each unidirectional replacement combination are combined to determine a feasible angle set, and a movement angle is randomly selected from the feasible angle set.
[0122] When the number of replacement combinations is greater than the permitted upper limit, it means that there are too many one-way replacement combinations, which may affect the test results. Therefore, the replacement moving angles are combined to determine a feasible angle set, and only the moving angles are randomly selected from the feasible angle set to compensate for the invalid moving angles of the replacement, thereby improving the random integrity of the data and the accuracy of the test results.
[0123] After the unit power consumption parameters are determined, the UAV power supply test method applicable to multiple working conditions also includes:
[0124] Step S600: sorting each single flight path according to the order of movement to determine the path operation sequence.
[0125] The path operation sequence is the time sequence in which each single flight path appears, that is, the order in which the UAV flies along each single flight path.
[0126] Step S601: In the path operation sorting, each single flight path is summarized according to a preset classification summary quantity to form a path analysis set.
[0127] The number of classifications and summarizations is a fixed number set by the staff. For example, if the number of required paths is 100, the number of classifications and summarizations can be 20, 50, or 100. That is, the first 20 single flight paths are summarized to form a path analysis set, the first 50 single flight paths are summarized to form a path analysis set, and the first 100 single flight paths are summarized to form a path analysis set. The setting of the number of classifications and summarizations must meet the requirements of random distribution of angles, that is, the proportion of each moving angle used in the path analysis set is not significantly different from the overall testing process.
[0128] Step S602: Obtaining the set power consumption and the set flight distance in each path analysis set.
[0129] The collective power consumption is the total power consumed by the UAV under each path flight test in the path analysis set, and the collective flight distance is the total distance traveled by the UAV under each path flight test in the path analysis set.
[0130] Step S603: Calculate and determine the collective power consumption parameter according to the collective power consumption and the collective flight distance.
[0131] The collective power consumption parameter is the value obtained by dividing the collective power consumption by the collective flight distance.
[0132] Step S604: performing mean calculation according to all the collective power consumption parameters to determine the mean power consumption parameter, and performing calculation according to the mean power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter.
[0133] The mean power consumption parameter is the average value of all the collective power consumption parameters. Updating the unit power consumption parameter by the mean power consumption parameter can make the determined unit power consumption parameter more accurate. The method for updating the unit power consumption parameter can refer to steps S700 to S7012.
[0134] The step of calculating according to the mean power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter comprises:
[0135] Step S700: performing difference calculation according to any two aggregate power consumption parameters to determine the aggregate power consumption difference.
[0136] The aggregate power consumption difference is the difference between two aggregate power consumption parameters, and the difference is an absolute value.
[0137] Step S701: determining a maximum aggregate power consumption difference value according to a preset sorting rule, and determining whether the aggregate power consumption difference value is greater than a preset deviation power consumption difference value.
[0138] The sorting rule is a method set by the staff to sort the size of values, such as the bubble method. The sorting rule can be used to determine the maximum set power consumption difference, that is, to determine the maximum deviation value of the set power consumption parameters calculated under each path analysis set; the deviation power consumption difference is the maximum set power consumption difference allowed when the set power consumption parameters of each set are not much different, which is set by the staff. The purpose of the judgment is to find out whether there is a large difference in the determined set power consumption parameters, that is, to judge whether there is an uneven flight test process in some path analysis sets.
[0139] Step S7011: If the set power consumption difference is not greater than the deviation power consumption difference, then average calculation is performed according to the mean power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter.
[0140] When the power consumption difference of the set is not greater than the deviation power consumption difference, it means that each set can better reflect the flight test results of the drone. At this time, the average power consumption parameter and the unit power consumption parameter can be calculated.
[0141] Step S7012: If the set power consumption difference is greater than the deviation power consumption difference, calculation is performed according to the preset weight ratio parameter, the mean power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter.
[0142] When the power consumption difference of the set is greater than the deviation power consumption difference, it means that the test results obtained from some path analysis sets are inaccurate, that is, the mean power consumption parameter obtained at this time is inaccurate. Therefore, the unit power consumption parameter can be updated by multiplying the mean power consumption parameter and the unit power consumption parameter by their respective weight ratio parameters. The weight ratio parameter of the mean power consumption parameter should be less than 30%, and the sum of the weight ratio parameter of the unit power consumption parameter and the weight ratio parameter of the mean power consumption parameter should be 100%.
[0143] Reference Figure 3 Based on the same inventive concept, an embodiment of the present invention provides a UAV power supply test system suitable for multiple working conditions, including:
[0144] An acquisition module is used to acquire the initial hovering position of the UAV and the external wind direction of the UAV at the initial hovering position;
[0145] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;
[0146] A judgment module, connected with the acquisition module and the processing module, for judging the information;
[0147] The processing module constructs an angle set including various preset moving flight angles, and randomly selects a moving flight angle from the angle set as a used moving angle;
[0148] The processing module calculates the required moving direction according to the external wind direction and the moving angle, and determines the single destination position according to the required moving direction, the initial hovering position and the preset single moving distance;
[0149] The processing module constructs a single flight path according to the initial hovering position and the single destination position, controls the UAV to move on the single flight path, and obtains the external wind direction again when the UAV reaches the single destination position and selects to use the moving angle again to redetermine the single flight path;
[0150] The processing module counts the single flight path to determine the number of generated paths, and enables the judgment module to judge whether the number of generated paths is greater than the preset number of required paths;
[0151] If the determination module determines that the number of generated paths is not greater than the number of required paths, the processing module controls the UAV to move along a new single flight path to regenerate the single flight path;
[0152] If the determination module determines that the number of generated paths is greater than the number of required paths, the acquisition module acquires the flight power consumption, and enables the processing module to determine the comprehensive flight distance according to all single flight paths corresponding to the flight power consumption, and calculates according to the flight power consumption and the comprehensive flight distance to determine the unit power consumption parameter;
[0153] Single flight path optimization module, used to optimize a single flight path to facilitate UAV flight operations;
[0154] The operating range analysis module is used to analyze and process the operating range during UAV testing;
[0155] A moving angle replacement module is used to replace the selected moving angles to ensure that the number of times each angle appears is relatively random;
[0156] Angle situation analysis module, used to analyze and process the situation where the angle occurrence frequency is not random;
[0157] The unit power consumption parameter update module is used to update the unit power consumption parameters obtained from the UAV test;
[0158] The power consumption parameter update calculation module is used to calculate and determine the updated value of the unit power consumption parameter.
[0159] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
Claims
1. A UAV power supply test method suitable for multiple working conditions, characterized in that: include: Obtain the initial hovering position of the UAV and the external wind direction of the UAV at the initial hovering position; Constructing an angle set including various preset moving flight angles, and randomly selecting a moving flight angle from the angle set as a used moving angle; The required moving direction is determined by calculation based on the external wind direction and the moving angle, and the single destination position is determined based on the required moving direction, the initial hovering position and the preset single moving distance; A single flight path is constructed according to the initial hovering position and the single destination position, and the UAV is controlled to move on the single flight path. When the UAV reaches the single destination position, the external wind direction is obtained again and the moving angle is selected again to redetermine the single flight path; Counting a single flight path to determine the number of generated paths, and determining whether the number of generated paths is greater than a preset number of required paths; If the number of generated paths is not greater than the number of required paths, the UAV is controlled to move along the new single flight path to regenerate the single flight path; If the number of generated paths is greater than the number of required paths, the flight power consumption is obtained, and the comprehensive flight distance is determined based on all single flight paths corresponding to the flight power consumption, and the unit power consumption parameters are determined based on the flight power consumption and the comprehensive flight distance.
2. The UAV power supply test method applicable to multiple working conditions according to claim 1 is characterized in that: When controlling the drone to move on a single flight path, the drone power supply test method applicable to multiple working conditions also includes: Determine the layout location in advance based on the single destination location and the preset approximate distance; When the drone reaches the pre-deployed position, obtain the external wind direction and choose to use the moving angle again to determine the theoretical flight path; Determine the flight turning angle according to the current single flight path and the theoretical flight path; According to the preset slow-changing matching relationship, the flight rotation angle and the corresponding slow-motion arc trajectory of the close distance are determined; aligning one end of the easing arc track with the pre-arranged position to define a point where the easing arc track intersects with the theoretical flight path as the alignment position; The path between the fitting position in the theoretical flight path and the current single destination position is defined as an invalid path, and the invalid path in the theoretical flight path is replaced with an easing arc trajectory to generate a new single flight path.
3. The UAV power supply test method applicable to multiple working conditions according to claim 2 is characterized in that: After the single flight path is re-determined, the UAV power supply test method applicable to multiple working conditions also includes: Determine the recovery movement distance according to the single destination position in the re-determined single flight path and the initial hovering position; Determining whether the recovery moving distance is greater than a preset reference convenience distance; If the recovery moving distance is not greater than the reference convenient distance, the UAV is controlled to move along the determined single flight path; If the recovery movement distance is greater than the reference convenience distance, the use movement angle selected by the currently determined single flight path is defined as the invalid movement angle; A moving flight angle that is not an invalid moving angle is randomly selected from the angle set as the used moving angle to redetermine the single flight path until the recovery moving distance is no greater than the benchmark convenient distance.
4. The UAV power supply test method applicable to multiple working conditions according to claim 3 is characterized in that: When defining the invalid movement angle and re-determining a single flight path in which the recovery movement distance is not greater than the reference convenience distance, the UAV power supply test method applicable to multiple working conditions also includes: The use movement angle corresponding to the currently determined single flight path is defined as the replacement movement angle; Binding the replacement movement angle with the currently determined invalid movement angle to form a one-way replacement combination; When the selected moving angle is subsequently selected to be used and the replacement moving angle in the one-way replacement combination is consistent, the selected moving angle is replaced with the invalid moving angle in the one-way replacement combination, and the current one-way replacement combination is deleted after the replacement is completed.
5. The UAV power supply test method applicable to multiple working conditions according to claim 4 is characterized in that: Also includes: Counting the one-way replacement combinations during the movement of the drone to determine the number of replacement combinations; Determine whether the number of replacement combinations is greater than the preset permitted upper limit; If the number of replacement combinations is not greater than the permitted upper limit, the moving angle is randomly selected; If the number of replacement combinations is greater than the permitted upper limit, the replacement moving angles in each one-way replacement combination are combined to determine a feasible angle set, and a moving angle is randomly selected from the feasible angle set.
6. The UAV power supply test method applicable to multiple working conditions according to claim 1 is characterized in that: After the unit power consumption parameters are determined, the UAV power supply test method applicable to multiple working conditions also includes: Sort each single flight path according to the order of movement to determine the path operation sequence; In the path operation sorting, each single flight path is summarized according to a preset classification summary quantity to form a path analysis set; Obtain the power consumption and flight distance of each path analysis set; Calculate the power consumption parameters of the group according to the power consumption of the group and the flight distance of the group; An average calculation is performed based on all the collective power consumption parameters to determine the average power consumption parameter, and a calculation is performed based on the average power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter.
7. The UAV power supply test method applicable to multiple working conditions according to claim 6 is characterized in that: The step of calculating according to the mean power consumption parameter and the unit power consumption parameter to update the unit power consumption parameter comprises: Performing difference calculation based on any two set power consumption parameters to determine the set power consumption difference; Determine the maximum aggregate power consumption difference according to a preset sorting rule, and judge whether the aggregate power consumption difference is greater than a preset deviation power consumption difference; If the set power consumption difference is not greater than the deviation power consumption difference, then the mean power consumption parameter and the unit power consumption parameter are used to perform mean calculation to update the unit power consumption parameter; If the set power consumption difference is greater than the deviation power consumption difference, the unit power consumption parameter is updated by calculation according to the preset weight proportion parameter, the mean power consumption parameter and the unit power consumption parameter.
8. A UAV power supply test system suitable for multiple working conditions, characterized in that: include: An acquisition module is used to acquire the initial hovering position of the UAV and the external wind direction of the UAV at the initial hovering position; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; A judgment module, connected with the acquisition module and the processing module, for judging the information; The processing module constructs an angle set including various preset moving flight angles, and randomly selects a moving flight angle from the angle set as a used moving angle; The processing module calculates the required moving direction according to the external wind direction and the moving angle, and determines the single destination position according to the required moving direction, the initial hovering position and the preset single moving distance; The processing module constructs a single flight path according to the initial hovering position and the single destination position, controls the UAV to move on the single flight path, and obtains the external wind direction again when the UAV reaches the single destination position and selects to use the moving angle again to redetermine the single flight path; The processing module counts the single flight path to determine the number of generated paths, and enables the judgment module to judge whether the number of generated paths is greater than the preset number of required paths; If the determination module determines that the number of generated paths is not greater than the number of required paths, the processing module controls the UAV to move along a new single flight path to regenerate the single flight path; If the judgment module determines that the number of generated paths is greater than the number of required paths, the acquisition module obtains the flight power consumption, and enables the processing module to determine the comprehensive flight distance based on all single flight paths corresponding to the flight power consumption, and calculate based on the flight power consumption and the comprehensive flight distance to determine the unit power consumption parameters.