Unmanned aerial vehicle wind resistance performance test system, control method and device, and readable medium

Abstract

This invention discloses a testing system, control method, device, and readable medium for the wind resistance performance of unmanned aerial vehicles (UAVs), relating to the field of UAV testing technology. The system includes real-time acquisition of the UAV's position information; determining the UAV's position deviation information when the UAV is located outside the effective testing area of ​​the test wind field based on the position information; generating a movement command based on the position deviation information; sending the movement command to a mobile platform to move the mobile platform, ensuring that the UAV remains within the wind field coverage area; and collecting the UAV's attitude response data under the test wind field.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) testing technology, specifically to a testing system, control method, device, and readable medium for testing the wind resistance performance of UAVs. Background Technology

[0002] In the field of drone testing technology, wind resistance is a key factor in measuring its flight safety and mission execution capabilities in complex environments, especially in low-altitude economic application scenarios, where drones often face variable wind field interference.

[0003] To verify the wind resistance capabilities of drones, various wind field testing systems have been developed in the existing technology, mainly relying on fixed wind walls or wind tunnel devices. These devices include multiple wind field generation modules, which can generate various wind field types to simulate wind disturbances in real-world environments.

[0004] However, the above methods are difficult to provide continuous and effective wind field coverage for drones in dynamic flight. Summary of the Invention

[0005] This invention aims to address, to a certain extent, one of the technical problems in related technologies. To this end, this invention provides a testing system, control method, device, and readable medium for the wind resistance performance of unmanned aerial vehicles (UAVs). The control method employs a mobile wind wall platform, enabling dynamic tracking of the UAV's position, thereby covering a larger testing area with a smaller wind wall. Simultaneously, it allows for dynamic wind resistance testing of the UAV, improving the comprehensiveness of UAV testing.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A control method for a test system for the wind resistance performance of an unmanned aerial vehicle (UAV), the test system comprising a mobile platform and a windbreak device disposed on the mobile platform, the windbreak device being used to generate a test wind field, and the control method being used for a control device of the mobile platform, the method comprising: Real-time acquisition of the drone's location information; If, based on the location information of the UAV, it is determined that the UAV is outside the effective test area of ​​the test wind field, the position deviation information of the UAV is determined. A movement command is generated based on the position deviation information; The movement command is sent to the mobile platform to move the mobile platform, ensuring that the drone is always within the coverage area of ​​the test wind field; The attitude response data of the UAV under the test wind field were collected.

[0007] Optionally, the real-time acquisition of the drone's location information includes: Obtain an overall image of the air outlet side of the air wall device; The overall image is then identified; In the case of identifying a drone image, determine the image coordinates of the drone image within the overall image; The location information of the drone is determined based on the image coordinates of the drone image within the overall image.

[0008] Optionally, determining the image coordinates of the UAV image within the overall image includes: The planar position coordinates of the drone image relative to the camera that acquired the overall image are determined, and these planar position coordinates are used as the image coordinates.

[0009] Optionally, if the location information of the UAV determines that the UAV is outside the effective test area of ​​the test wind field, the location deviation information of the UAV is determined, including: Determine the horizontal deviation between the current horizontal position of the UAV and the center of the air outlet surface of the wind wall device, and use this horizontal deviation as the position deviation information; The step of generating a movement command based on the position deviation information includes: The moving direction and moving speed of the mobile platform are determined based on the position deviation information. The movement command is generated based on the movement direction and the movement speed.

[0010] Optionally, the wind wall device includes multiple wind field units arranged in an array, with the air outlets of the multiple wind field units all facing the air outlet side of the wind wall device. The wind resistance performance testing method further includes: According to the set test scenario, control the air output parameters of each wind farm unit.

[0011] Furthermore, the present invention also provides a control device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the control method of the above-described test system for the wind resistance performance of unmanned aerial vehicles.

[0012] Furthermore, the present invention also provides a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method of the above-described test system for the wind resistance performance of unmanned aerial vehicles.

[0013] Meanwhile, the present invention also provides a test system for the wind resistance performance of unmanned aerial vehicles (UAVs). The test system includes a control device, a mobile platform, and a wind wall device disposed on the mobile platform. The wind wall device is used to generate a test wind field.

[0014] Optionally, the wind wall device includes a mounting frame and multiple wind field units. The mounting frame has multiple mounting cavities arranged in an array. The multiple wind field units are respectively disposed in the multiple mounting cavities, and the air outlets of the multiple wind field units all face the air outlet side of the wind wall device.

[0015] Optionally, the testing system further includes an image acquisition unit, which is disposed on the mobile platform, and the optical axis of the image acquisition unit is parallel to the air outlet direction of the wind wall device.

[0016] The present invention provides a control method for a test system for the wind resistance performance of unmanned aerial vehicles (UAVs). By acquiring the position of the UAV in real time, determining whether the UAV has left the effective test area of ​​the test wind field, calculating the position deviation, and driving the mobile platform to follow the movement, the test wind field generated by the wind wall device can continuously and effectively cover the dynamically flying UAV. This solves the defects of traditional fixed wind fields that cannot follow the maneuvering flight of UAVs and have incomplete wind field coverage, and realizes continuous wind resistance performance testing of UAVs in dynamic flight.

[0017] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of the present invention will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. In addition, each of these features, elements and components appearing in the following text and drawings is a plurality of, and different symbols or numbers are used for convenience of representation, but all represent parts with the same or similar construction or function. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings: Figure 1 A flowchart illustrating one embodiment of the control method for the UAV wind resistance performance testing system provided in this invention. Figure 2 A flowchart illustrating one embodiment of obtaining UAV location information provided in this invention; Figure 3 A flowchart illustrating one embodiment of determining the image coordinates of a UAV image within an overall image, provided by an embodiment of the present invention; Figure 4 A flowchart illustrating one embodiment of determining the position deviation information of a UAV provided in this invention; Figure 5 A flowchart illustrating one embodiment of the air outlet parameters in the air wall device provided in this invention; Figure 6 A flowchart illustrating one embodiment of the unmanned aerial vehicle (UAV) wind resistance performance testing system provided in this invention; Figure 7A flowchart illustrating one embodiment of the windbreak device structure provided in this invention; Figure 8 The flowchart of one embodiment of the UAV wind resistance performance testing system provided in this embodiment of the invention also includes an image acquisition unit; Figure 9 This is a schematic diagram of the structure of the UAV wind resistance performance testing system provided in an embodiment of the present invention; Figure 10 This is a plan view of the scene of the UAV wind resistance performance testing system provided in an embodiment of the present invention; Figure 11 This is a control logic flowchart of the unmanned aerial vehicle (UAV) wind resistance performance testing system method provided in an embodiment of the present invention; Figure 12 A block diagram illustrating one embodiment of the control device provided in this invention; Figure 13 A schematic diagram of a computer-readable medium provided in an embodiment of the present invention; Explanation of reference numerals in the attached figures 11: Wind barrier device; 12: Mobile platform; 13: Camera; 14: Control device; 2: Test site; 3: UAV; 21: Mobile platform movement area; 22: UAV flight area; 101: Processor, 102: Memory, 103: I / O interface, 104: Bus. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0020] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this invention. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0021] Currently, testing the wind resistance performance of drones relies on fixed wind walls or wind tunnel devices. These devices include multiple wind field generation modules, which can generate various wind field types to simulate wind disturbances in real environments.

[0022] However, the inventors of this invention have discovered that, since the test range of fixed wind walls or wind tunnel devices is fixed and their physical size limits the coverage area, they cannot adapt to the large-scale maneuvering flight of UAVs. Furthermore, due to the immobility of fixed devices, it is impossible to track the trajectory of UAV movement in real time, resulting in discontinuous or ineffective wind field coverage. Therefore, the above-mentioned UAV wind resistance performance testing method is difficult to provide continuous and effective wind field coverage for UAVs in dynamic flight.

[0023] In response, the inventors of this invention propose to integrate the wind wall device of this invention onto a platform that can move autonomously, so that the wind wall device can move synchronously with the moving platform. By acquiring the relative position deviation between the UAV's flight position information and the reference point of the wind wall device in real time, the mobile platform is dynamically controlled to perform follow-up compensation movement, so that the UAV is located within the effective test area of ​​the wind wall device, ensuring that the wind field can continuously and stably cover the UAV's flight area, and realizing continuous wind resistance performance testing of the UAV under dynamic flight conditions.

[0024] As a first aspect of the present invention, a control method for a wind resistance performance testing system for unmanned aerial vehicles (UAVs) is provided. The testing system includes a mobile platform 12 and a windbreak device 11 mounted on the mobile platform 12. The windbreak device 11 is used to generate a test wind field. The control method is used for the control device (14) of the mobile platform. Figure 1 As shown, the control method includes: In step S110, the location information of the drone 3 is acquired in real time; In step S120, if it is determined that the UAV 3 is located outside the effective test area of ​​the test wind field based on the position information of the UAV 3, the position deviation information of the UAV 3 is determined. In step S130, a movement command is generated based on the position deviation information; In step S140, the movement command is sent to the mobile platform 12 to make the mobile platform 12 move, ensuring that the drone 3 is always within the coverage area of ​​the test wind field; In step S150, attitude response data of the UAV 3 under the test wind field is collected.

[0025] In this invention, the effective test area is not specifically limited. It can be understood that the effective test area is the test wind field generated by the wind wall device 11. This test wind field can stably and uniformly cover the area and can effectively act on the UAV 3 and meet the wind resistance test conditions.

[0026] By acquiring the position of the UAV 3 in real time, determining whether the UAV 3 has left the effective test area of ​​the test wind field, calculating the position deviation, and driving the mobile platform 12 to follow the movement, the test wind field generated by the wind wall device 11 can continuously and effectively cover the dynamically flying UAV 3. This solves the defect that the traditional fixed wind field cannot follow the maneuvering flight of the UAV 3, resulting in incomplete wind field coverage, and realizes continuous wind resistance performance testing under the dynamic flight state of the UAV.

[0027] The inventors further propose that, in order to determine whether the drone is within the effective test area of ​​the test wind field, it is necessary to obtain location information in advance. Accordingly, in some embodiments, such as... Figure 2 As shown, the real-time acquisition of the location information of the drone 3 includes: In step S210, an overall image of the air outlet side of the air wall device 11 is obtained; In step S220, the overall image is identified; In step S230, if the drone image is identified, the image coordinates of the drone image in the overall image are determined; In step S240, the position information of the UAV 3 is determined based on the image coordinates of the UAV image in the overall image.

[0028] Specifically, the test system is equipped with an image acquisition unit, which is installed on the mobile platform 12. During the wind resistance test of the UAV 3, the image acquisition unit continuously captures images of the windward side of the wind wall to obtain an overall image including the wind field area and the UAV flight area 22. The control device 14 receives the overall image acquired by the image acquisition unit, calls the preset image recognition algorithm to process the image, and determines whether the image contains a UAV image. When the algorithm recognizes the UAV image, it establishes a mapping relationship between image coordinates and physical space coordinates based on the pre-calibrated visual coordinate system, converts the pixel coordinates of the UAV image into coordinates in the real physical space, and determines the image coordinates of the UAV 3.

[0029] In this invention, the dimensional form of the physical space coordinates of the UAV 3 is not specifically limited; it can be a two-dimensional planar position coordinate or a three-dimensional spatial position coordinate.

[0030] For example, the test system is configured with a visual positioning unit on the mobile platform 12. The camera 13 of the visual positioning unit is installed at the front end of the mobile platform 12, facing the UAV flight area 22. The camera 13 captures the overall image of the wind field area and the UAV flight area 22, and transmits it to the image recognition algorithm in real time for image processing. Based on the pre-established conversion relationship between image coordinates and physical space coordinates, the real-time position coordinates (x, y) of the UAV 3 are obtained.

[0031] By acquiring real-time images of the wind field area and the UAV flight area 22, and processing them with an image recognition algorithm, the physical space coordinates of the UAV 3 are obtained using a preset coordinate mapping relationship. This achieves non-contact, continuous, and real-time position acquisition without the need for additional positioning equipment. The operation is simple and cost-effective. It is applicable to a wide range of scenarios and has strong positioning stability, providing real-time position data for subsequent dynamic adjustments and ensuring the accuracy and continuity of dynamic tracking.

[0032] The inventors further propose that, in order to determine whether the test drone 3 is located within the effective test area of ​​the test wind field, it is also necessary to use the planar position of the camera 13 that acquires the image as a reference to determine the coordinates of the drone 3. Accordingly, in some embodiments, such as Figure 3 As shown, determining the image coordinates of the UAV image within the overall image includes: In step S310, the planar position coordinates of the drone image relative to the camera 13 that acquires the overall image are determined, and these planar position coordinates are used as the image coordinates.

[0033] Specifically, using the imaging plane of the camera 13 that acquires the image as a reference, the planar position coordinates of the UAV image under this position reference are determined, and these position coordinates are directly used as the image coordinates of the UAV 3.

[0034] By simplifying the determination of image coordinates and using the imaging plane of camera 13 as a reference, the coordinate determination method is highly accurate and adaptable to the real-time positioning requirements in dynamic flight scenarios, providing reliable data for subsequent determination of effective test areas and dynamic tracking.

[0035] The inventors further propose that, in order to quantify the degree to which the UAV 3 deviates from the effective area of ​​the test wind field and to achieve directional following of the mobile platform 12, the positional deviation information of the UAV 3 relative to the mobile platform 12 is further determined. Accordingly, in some embodiments, such as Figure 4 As shown, when it is determined from the location information of the UAV 3 that the UAV 3 is outside the effective test area of ​​the test wind field, the position deviation information of the UAV 3 is determined, including: In step S410, the horizontal deviation between the current horizontal position of the UAV 3 and the center of the air outlet surface of the wind wall device 11 is determined, and the horizontal deviation is used as the position deviation information. In step S420, generating a movement command based on the position deviation information includes: The moving direction and moving speed of the mobile platform 12 are determined based on the position deviation information. The movement command is generated based on the movement direction and the movement speed.

[0036] Specifically, the drone's position is converted to a coordinate system with the geometric center of the wind wall device 11's outlet surface as the origin. The horizontal deviation between the drone's current horizontal coordinate and the center of the wind wall device 11's outlet surface is calculated. When the calculated horizontal deviation exceeds a preset threshold, a PID (Proportional-Integral-Derivative) closed-loop control algorithm is used. The proportional element quickly responds to the deviation, the integral element eliminates the error, and the derivative element suppresses dynamic jitter. The movement speed and direction commands that adapt to the deviation value are obtained in real time. The commands are output to the drive system of the mobile platform 12, which drives the mobile platform 12 to track the drone 3 and adjust the position of the wind wall device 11 according to the commands to ensure that the drone 3 is within the effective and useful range of the wind field device.

[0037] In this invention, the preset threshold for position deviation is not specifically limited. For example, the preset threshold is 0.5 meters, 0.6 meters, 0.7 meters, etc.

[0038] For example, after obtaining the planar position coordinates of the drone 3 relative to the camera 13 through the visual positioning unit, the coordinates are then transformed to a horizontal coordinate system with the geometric center of the wind wall device 11 as the origin. The difference between the current horizontal coordinates of the drone 3 and the coordinates of the wind wall center is calculated to obtain the position coordinates of the deviation between the drone 3 and the center of the wind wall. x, y), if If the deviation exceeds a preset threshold, the test system employs a PID closed-loop control algorithm. Based on the sign of the deviation, the moving platform 12's direction of movement is determined. The corresponding speed is calculated in real-time based on the magnitude of the deviation, generating a movement command containing the direction and speed, which is then sent to the drive system. The moving platform 12 drives the windbreak device 11 to move synchronously, gradually reducing the horizontal deviation until the drone 3 returns to the effective test area.

[0039] By selecting a reference to determine the position coordinates and combining it with the PID closed-loop control algorithm, not only is the position measurement efficient, but the position deviation is also calculated intuitively, ensuring that the wind wall device 11 is accurately aligned with the UAV 3 and the wind field is continuously covered, providing accurate tracking for the UAV 3 in continuous wind resistance testing under dynamic flight.

[0040] In some embodiments, such as Figure 5 As shown, the wind wall device 11 includes multiple wind field units arranged in an array, with the air outlets of the multiple wind field units all facing the air outlet side of the wind wall device 11. The wind resistance performance testing method further includes: In step S510, the air output parameters of each wind farm unit are controlled according to the set test scenario.

[0041] For example, the arrayed wind field units are independent of each other, and the system can adjust the output parameters of multiple wind field units individually or in groups according to the pre-configured test scenario. Output parameters include output wind speed, output wind direction, output start / stop status, output duration, etc.; wind field types include constant wind, wind shear, turbulent wind, sudden gusts, etc.; for simulating different wind fields, all wind field unit parameters can be set uniformly, or the parameters of each unit can be adjusted differently to construct complex wind environments, thereby adapting to the diverse wind resistance testing needs of the UAV 3. During the movement of the mobile platform 12, which drives the wind wall device 11 to follow the UAV 3, the output status of each wind field unit operates in real time, ensuring that the wind field shape does not change with the displacement of the equipment.

[0042] During the wind field configuration and testing process, real-time attitude response data of UAV 3 was continuously collected and recorded, and wind resistance performance testing was completed based on the response data. Specifically, the pitch angle, roll angle, yaw angle, and position offset parameters of UAV 3 were collected in real time. These parameters can be uploaded to the testing system in real time through UAV 3's own attitude sensors and positioning module. The system processes the collected continuous data, analyzes the attitude fluctuation amplitude and spatial position maintenance accuracy of UAV during flight, and quantifies them in combination with preset evaluation standards to finally obtain the dynamic wind resistance performance level of UAV 3.

[0043] By constructing various test wind fields to simulate real and complex wind environments, and by combining attitude and position parameters to quantitatively evaluate wind resistance performance, the accuracy of test results has been significantly improved. As a second aspect of the invention, a control device 14 is also provided, including a memory and a processor, wherein, as Figure 12 As shown, the memory stores a computer program, and when the processor executes the computer program, it implements the control method of the wind resistance performance testing system for unmanned aerial vehicles provided in the first aspect of the present invention.

[0044] The control device 14 includes: One or more processors 101; The memory 102 stores one or more computer programs, which, when executed by the one or more processors 101, cause the one or more processors 101 to implement a method for testing the wind resistance performance of a drone provided in the first aspect of the embodiments of this application.

[0045] The control device 14 may also include one or more I / O interfaces 103 connected between the processor 101 and the memory 102, configured to enable information interaction between the processor 101 and the memory 102.

[0046] The processor 101 is a device with data processing capabilities, including but not limited to a processor (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the processor and the memory, including but not limited to a data bus (Bus).

[0047] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0048] like Figure 13 As shown, this embodiment provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the wind resistance performance testing system for unmanned aerial vehicles provided in the first aspect of the present invention.

[0049] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can implement the methods of any of the above embodiments. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0050] As a third aspect of the present invention, a wind resistance performance testing system for unmanned aerial vehicles (UAVs) is also provided, such as... Figure 6As shown, the test system includes a control device 14, a mobile platform 12, and a wind wall device 11 mounted on the mobile platform 12. The wind wall device 11 is used to generate a test wind field.

[0051] Specifically, the mobile platform 12, serving as the overall support base, can achieve autonomous multi-directional movement and position locking in a plane, providing stable support for the wind wall device 11. The wind wall device 11 is fixedly mounted on the mobile platform 12 and can move synchronously with the mobile platform 12, with the relative installation position of the wind wall device 11 and the mobile platform 12 always fixed. The wind wall device 11 can output test wind fields with different wind speeds and directions according to the instructions of the test system; the control device 14 can, on the one hand, adjust the various test wind field environments of the wind wall device 11 according to preset test scenario parameters; on the other hand, it can obtain the flight position and attitude data of the UAV 3 in real time through the visual positioning unit, determine the position information of the UAV 3 relative to the test wind field, and when the UAV 3 deviates from the effective test area, it outputs movement commands in real time to control the mobile platform 12 to follow the displacement and correct the relative position relationship between the test wind field and the UAV 3.

[0052] This invention employs an integrated mobile support structure, integrating the wind wall device 11 onto a mobile platform 12, breaking the limitations of traditional fixed wind field testing methods that have a fixed testing range and cannot adapt to the dynamic flight of UAVs. Through the control device 14, adjustable wind field parameters and dynamic position tracking are achieved, enabling continuous wind resistance testing of dynamically flying UAVs 3. The testing continuity is excellent, and it is adaptable to multiple scenarios. The system offers precise positioning and rapid response, realistically simulating complex wind environments, significantly improving the realism, completeness, and accuracy of UAV wind resistance performance testing.

[0053] Accordingly, some embodiments, such as Figure 7 As shown, the wind wall device 11 includes a mounting frame and multiple wind field units. The mounting frame has multiple mounting cavities arranged in an array. The multiple wind field units are respectively disposed in the multiple mounting cavities, and the air outlets of the multiple wind field units all face the air outlet side of the wind wall device 11.

[0054] Specifically, the mounting frame, serving as the overall load-bearing base, is machined into an array of mounting cavities according to a preset row and column spacing. The size and shape of each mounting cavity match the shape of the wind farm unit, enabling embedded installation of the wind farm unit. Each mounting cavity corresponds to one wind farm unit. After assembly, the air outlets of all wind farm units face the air outlet side of the wind wall device 11, ensuring consistent airflow direction. This structure allows for independent assembly and disassembly of wind farm units. When a wind farm unit malfunctions or needs to be replaced, only the unit within the corresponding cavity needs to be removed, without disassembling the entire structure. Simultaneously, the arrayed installation layout precisely defines the relative positions of each wind farm unit, ensuring uniform and orderly overall wind field distribution.

[0055] This embodiment achieves modular and standardized assembly of wind farm units through the cooperation of the mounting bracket and array mounting cavity, resulting in a neat equipment layout and secure positioning of each unit. The independent cavity design facilitates the individual disassembly and replacement of wind farm units, significantly reducing equipment maintenance difficulty and operating costs. Simultaneously, this structure ensures that all air outlets face the same direction, resulting in uniform wind field distribution and effectively improving the practicality of the testing system.

[0056] Accordingly, some embodiments, such as Figure 8 As shown, the testing system also includes an image acquisition unit, which is mounted on the mobile platform 12, and the optical axis of the image acquisition unit is parallel to the air outlet direction of the wind wall device 11.

[0057] Specifically, the image acquisition unit is fixedly mounted on the mobile platform 12 and can move synchronously with the mobile platform 12 and the wind barrier device 11, maintaining a constant relative position throughout the process. During the test, the system is calibrated to ensure that the optical axis of the image acquisition unit's camera is parallel to the airflow direction of the wind barrier device 11, and that the camera 13 is aimed at the UAV flight test area. During the UAV's wind resistance test and dynamic tracking, the mobile platform 12 drives the wind barrier device 11 and the image acquisition unit to move as a whole, ensuring that the image acquisition angle and imaging reference remain consistent and do not change due to platform movement.

[0058] This installation method simplifies the conversion between image coordinates and physical space coordinates, reduces the complexity of coordinate calculations, and further ensures the accuracy of position coordinate output.

[0059] like Figure 9 The diagram shows the overall composition and assembly relationship of the unmanned aerial vehicle (UAV) wind resistance performance testing system provided in this embodiment of the invention. 11 is a wind wall device, assembled from multiple wind turbine modules to form an array structure, used to generate an adjustable test wind field. 12 is a mobile platform, installed as a support base and possessing autonomous movement capability. 13 is a camera, fixed to the front of the vehicle with its optical axis parallel to the wind wall's outlet direction, used to collect real-time images of the UAV's flight area 22. 14 is a control device, integrated into the mobile platform 12, with functions such as image recognition, position calculation, deviation calculation, PID closed-loop control, and wind field parameter scheduling. like Figure 10 The diagram shows a plan view of the drone wind resistance performance testing system provided in this embodiment of the invention. It shows the spatial distribution and relative positional relationship of the test site 2, the mobile platform's mobile area 21, the drone's flight area 22, and the drone under test 3. The wind field blows from the mobile platform 12's mobile area 21 to the drone's flight area 22. The mobile platform 12 can follow the drone 3 in the left and right directions to ensure that the wind field continuously covers the drone 3. like Figure 11The diagram shown is a control logic flowchart of the unmanned aerial vehicle (UAV) wind resistance performance testing system method provided in this embodiment of the invention. The closed-loop control process from test start to end includes: UAV 3 taking off, wind wall activation and setting wind field parameters, UAV 3 executing preset command movement, camera 13 acquiring images, image recognition algorithm calculating the position coordinates of UAV 3, calculating position deviation, determining whether the deviation exceeds a preset threshold, if the deviation exceeds the threshold, driving the trolley to track the movement of UAV 3, if the deviation does not exceed the threshold, maintaining the trolley position, and repeating the above steps until the test ends, thereby realizing the dynamic following coverage of the test wind field on UAV 3 and continuous wind resistance testing.

[0060] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A control method for a wind resistance performance testing system for unmanned aerial vehicles (UAVs), the testing system comprising a mobile platform (12) and a wind wall device (11) disposed on the mobile platform (12), the wind wall device (11) being used to generate a test wind field, the control method being used for a control device (14) of the mobile platform, characterized in that, The control method includes: Real-time acquisition of the location information of the drone (3); If the location information of the UAV (3) determines that the UAV (3) is outside the effective test area of ​​the test wind field, the location deviation information of the UAV (3) is determined. A movement command is generated based on the position deviation information; The movement command is sent to the mobile platform (12) to make the mobile platform (12) move, ensuring that the drone (3) is always within the coverage area of ​​the test wind field; Collect attitude response data of the UAV (3) under the test wind field.

2. The control method according to claim 1, characterized in that, The real-time acquisition of the location information of the drone (3) includes: Obtain an overall image of the air outlet side of the air wall device (11); The overall image is then identified; In the case of identifying a drone image, determine the image coordinates of the drone image within the overall image; The location information of the UAV (3) is determined based on the image coordinates of the UAV image in the overall image.

3. The control method according to claim 2, characterized in that, Determining the image coordinates of the UAV image within the overall image includes: Determine the planar position coordinates of the UAV image relative to the camera (13) that acquires the overall image, and use the planar position coordinates as the image coordinates.

4. The control method according to claim 1, characterized in that, If, based on the location information of the UAV (3), it is determined that the UAV (3) is outside the effective test area of ​​the test wind field, the position deviation information of the UAV (3) is determined, including: Determine the horizontal deviation between the current horizontal position of the UAV (3) and the center of the air outlet surface of the wind wall device (11), and use the horizontal deviation as the position deviation information; The step of generating a movement command based on the position deviation information includes: The moving direction and moving speed of the mobile platform (12) are determined based on the position deviation information. The movement command is generated based on the movement direction and the movement speed.

5. The control method according to any one of claims 1 to 4, characterized in that, The wind wall device (11) includes multiple wind field units arranged in an array, and the air outlets of the multiple wind field units all face the air outlet side of the wind wall device (11). The wind resistance performance testing method further includes: According to the set test scenario, control the air output parameters of each wind farm unit.

6. A control device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the control method of the test system for the wind resistance performance of the UAV as described in any one of claims 1 to 5.

7. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method of the test system for the wind resistance performance of the UAV as described in any one of claims 1 to 5.

8. A wind resistance performance testing system for unmanned aerial vehicles (UAVs), characterized in that, The test system includes a control device (14), a mobile platform (12), and a wind wall device (11) mounted on the mobile platform (12). The wind wall device (11) is used to generate a test wind field. The control device (14) is the control device (14) as described in claim 6.

9. The testing system according to claim 8, characterized in that, The wind wall device (11) includes a mounting frame and multiple wind field units. Multiple mounting cavities arranged in an array are formed on the mounting frame. The multiple wind field units are respectively disposed in the multiple mounting cavities, and the air outlets of the multiple wind field units are all facing the air outlet side of the wind wall device (11).

10. The testing system according to claim 8 or 9, characterized in that, The testing system also includes an image acquisition unit, which is set on the mobile platform (12) and the optical axis of the image acquisition unit is parallel to the air outlet direction of the wind wall device (11).

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