CN115806066B - A method and device for testing the lift of a multi-rotor unmanned aerial vehicle - Google Patents
A method and device for testing the lift of a multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
本申请的实施例提供了一种多旋翼无人机整机升力测试方法、装置、计算机可读介质及电子设备。该多旋翼无人机整机升力测试方法包括：控制搭载第一旋翼的无人机分别以第一动力参数和第二动力参数飞行，获取所述无人机飞行至设定高度所需的第一时间和第二时间，并控制搭载第二旋翼的无人机以第一动力参数飞行，获取所述无人机飞行至设定高度所需的第三时间，基于所述第一时间、第二时间以及所述第三时间，确定无人机在不同情况下分别对应的上升速度；基于上升速度、螺距以及动力参数，确定所述无人机整机的升力参数，通过升力参数来衡量不同飞行配置下的无人机的飞行状态，以确定较好的飞行配置参数来控制无人机飞行，提高了无人机飞行的效率。
The embodiments of the present application provide a method, device, computer-readable medium and electronic device for testing the lift of a multi-rotor UAV. The method for testing the lift of a multi-rotor UAV comprises: controlling a UAV equipped with a first rotor to fly with a first power parameter and a second power parameter respectively, obtaining a first time and a second time required for the UAV to fly to a set height, and controlling a UAV equipped with a second rotor to fly with a first power parameter, obtaining a third time required for the UAV to fly to a set height, determining the corresponding ascent speed of the UAV under different conditions based on the first time, the second time and the third time; determining the lift parameters of the UAV based on the ascent speed, the pitch and the power parameter, measuring the flight status of the UAV under different flight configurations by the lift parameters, determining better flight configuration parameters to control the flight of the UAV, and improving the efficiency of the UAV flight.
Description
Technical Field
The application relates to the technical field of computers, in particular to a method and a device for testing the lift force of a whole multi-rotor unmanned aerial vehicle, a computer readable medium and electronic equipment.
Background
Any aircraft must generate a lift greater than its own weight to fly aloft, which is the fundamental principle of aircraft flight. Many rotor unmanned aerial vehicle relies on the control rotation of rotor to realize the vertical lift under the condition that does not run up, and rotor rotation can produce ascending lift and air and give the reaction moment of rotor, need provide balanced rotor reaction moment in the design, in many unmanned aerial vehicle flight processes, its flight speed and lift can receive the influence of a lot of factors, because the factor is more, consequently can cause unmanned aerial vehicle flight efficiency lower problem very easily.
Disclosure of Invention
The embodiment of the application provides a method and a device for testing the overall lift force of a multi-rotor unmanned aerial vehicle, a computer readable medium and electronic equipment, and further can improve the flight efficiency of the multi-rotor unmanned aerial vehicle at least to a certain extent.
Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.
According to one aspect of the embodiment of the application, a complete machine lift test method of a multi-rotor unmanned aerial vehicle is provided, and the complete machine lift test method comprises the steps of controlling the unmanned aerial vehicle carrying a first rotor to fly with a first power parameter and a second power parameter, obtaining first time and second time required by the unmanned aerial vehicle to fly to a set height, wherein the power parameters comprise operation efficiency parameters of an engine, the power parameters comprise the first power parameter and the second power parameter, controlling the unmanned aerial vehicle carrying a second rotor to fly with the first power parameter, obtaining third time required by the unmanned aerial vehicle to fly to the set height, wherein the pitch of the second rotor is larger than that of the first rotor, determining rising speeds of the unmanned aerial vehicle corresponding to the unmanned aerial vehicle under different conditions based on the first time, the second time and the third time, and determining the lift parameters of the complete machine based on the rising speeds, the pitches and the power parameters.
In some embodiments of the present application, based on the foregoing solutions, the controlling the unmanned aerial vehicle carrying the first rotor to fly with the first power parameter and the second power parameter respectively, to obtain a first time and a second time required for the unmanned aerial vehicle to fly to the set altitude includes controlling the unmanned aerial vehicle carrying the first rotor to fly with the first power parameter for a plurality of times, to obtain a flight time required for the unmanned aerial vehicle to fly to the set altitude, and to obtain an average value of the flight time as the first time, and controlling the unmanned aerial vehicle carrying the first rotor to fly with the second power parameter for a plurality of times, to obtain a flight time required for the unmanned aerial vehicle to fly to the set altitude, and to obtain an average value of the flight time as the second time.
In some embodiments of the present application, based on the foregoing solution, the controlling the unmanned aerial vehicle with the second rotor to fly with the first power parameter, and obtaining the third time required for the unmanned aerial vehicle to fly to the set altitude includes controlling the unmanned aerial vehicle with the second rotor to fly with the first power parameter for a plurality of times, obtaining the flight time required for the unmanned aerial vehicle to fly to the set altitude, and obtaining an average value of the flight time as the third time.
In some embodiments of the application, based on the foregoing scheme, the determining rising speeds of the unmanned aerial vehicle under different conditions based on the first time, the second time and the third time respectively includes determining a first rising speed of the unmanned aerial vehicle under a first power parameter based on a quotient between the set altitude and the first time, determining a second rising speed of the unmanned aerial vehicle under a second power parameter based on a quotient between the set altitude and the second time, and determining a third rising speed of the unmanned aerial vehicle under the first power parameter based on a quotient between the set altitude and the third time.
In some embodiments of the present application, based on the foregoing scheme, the determining the lift parameter of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameter includes determining a positive lift parameter of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameter, determining a negative lift parameter of the whole unmanned aerial vehicle based on the pitch, and determining the lift parameter of the whole unmanned aerial vehicle based on the positive lift parameter and the negative lift parameter.
In some embodiments of the present application, after determining the lift parameters of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameters based on the foregoing scheme, the method includes selecting a maximum value from the lift parameters as an optimal lift parameter, and using the power parameter and the rotor wing corresponding to the optimal lift parameter as an optimal configuration for the unmanned aerial vehicle to perform daily flight.
According to an aspect of the embodiment of the application, there is provided a lift testing device for a complete machine of a multi-rotor unmanned aerial vehicle, comprising:
The unmanned aerial vehicle comprises a first flight unit, a second flight unit and a third flight unit, wherein the first flight unit is used for controlling an unmanned aerial vehicle carrying a first rotor to fly with a first power parameter and a second power parameter respectively, and acquiring a first time and a second time required by the unmanned aerial vehicle to fly to a set height;
The second flight unit is used for controlling the unmanned aerial vehicle carrying the second rotor wing to fly with the first power parameter, and obtaining the third time required by the unmanned aerial vehicle to fly to the set height, wherein the pitch of the second rotor wing is larger than that of the first rotor wing;
The speed unit is used for determining the rising speeds of the unmanned aerial vehicle under different conditions based on the first time, the second time and the third time;
And the lifting force unit is used for determining the lifting force parameter of the whole unmanned aerial vehicle based on the lifting speed, the screw pitch and the power parameter.
In some embodiments of the application, based on the foregoing, the first flying unit includes:
The first time unit is used for controlling the unmanned aerial vehicle carrying the first rotor wing to fly for a plurality of times according to the first power parameter, acquiring the flight time required by the unmanned aerial vehicle to fly to a set height, and obtaining the average value of the flight time as the first time;
And the second time unit is used for controlling the unmanned aerial vehicle carrying the first rotor wing to fly for a plurality of times according to the second power parameter, acquiring the flight time required by the unmanned aerial vehicle to fly to the set height, and obtaining the average value of the flight time as the second time.
In some embodiments of the present application, based on the foregoing solution, the controlling the unmanned aerial vehicle with the second rotor to fly with the first power parameter, and obtaining the third time required for the unmanned aerial vehicle to fly to the set altitude includes controlling the unmanned aerial vehicle with the second rotor to fly with the first power parameter for a plurality of times, obtaining the flight time required for the unmanned aerial vehicle to fly to the set altitude, and obtaining an average value of the flight time as the third time.
In some embodiments of the application, based on the foregoing scheme, the determining rising speeds of the unmanned aerial vehicle under different conditions based on the first time, the second time and the third time respectively includes determining a first rising speed of the unmanned aerial vehicle under a first power parameter based on a quotient between the set altitude and the first time, determining a second rising speed of the unmanned aerial vehicle under a second power parameter based on a quotient between the set altitude and the second time, and determining a third rising speed of the unmanned aerial vehicle under the first power parameter based on a quotient between the set altitude and the third time.
In some embodiments of the present application, based on the foregoing scheme, the determining the lift parameter of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameter includes determining a positive lift parameter of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameter, determining a negative lift parameter of the whole unmanned aerial vehicle based on the pitch, and determining the lift parameter of the whole unmanned aerial vehicle based on the positive lift parameter and the negative lift parameter.
In some embodiments of the present application, after determining the lift parameters of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameters based on the foregoing scheme, the method includes selecting a maximum value from the lift parameters as an optimal lift parameter, and using the power parameter and the rotor wing corresponding to the optimal lift parameter as an optimal configuration for the unmanned aerial vehicle to perform daily flight.
According to an aspect of the embodiment of the present application, there is provided a computer readable medium having stored thereon a computer program, which when executed by a processor, implements a method for testing lift of a complete machine of a multi-rotor unmanned aerial vehicle as described in the above embodiment.
According to one aspect of the embodiment of the application, the electronic equipment comprises one or more processors and a storage device, wherein the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the method for testing the lift force of the whole multi-rotor unmanned aerial vehicle.
According to an aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for testing the lift of the whole multi-rotor unmanned aerial vehicle provided in the various alternative implementations.
According to the technical scheme, an unmanned aerial vehicle carrying a first rotor wing is controlled to fly according to a first power parameter and a second power parameter, a first time and a second time required by the unmanned aerial vehicle to fly to a set height are obtained, the unmanned aerial vehicle carrying the second rotor wing is controlled to fly according to the first power parameter, a third time required by the unmanned aerial vehicle to fly to the set height is obtained, the corresponding ascending speeds of the unmanned aerial vehicle under different conditions are determined based on the first time, the second time and the third time, the lifting force parameter of the unmanned aerial vehicle is determined based on the ascending speeds, the screw pitches and the power parameters, the flying states of the unmanned aerial vehicle under different flying configurations are measured according to the lifting force parameter, the unmanned aerial vehicle is controlled to fly according to the better flying configuration parameters, and the flying efficiency of the unmanned aerial vehicle is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 schematically illustrates a flow chart of a method of testing the lift of a complete machine of a multi-rotor unmanned aerial vehicle according to one embodiment of the application;
FIG. 2 schematically illustrates a flow chart for determining lift parameters according to one embodiment of the application;
FIG. 3 schematically illustrates a schematic diagram of a multi-rotor unmanned aerial vehicle complete lift testing device according to one embodiment of the application;
fig. 4 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many different forms and should not be construed as limited to the examples set forth herein, but rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The implementation details of the technical scheme of the embodiment of the application are described in detail below:
Fig. 1 shows a flow chart of a method for testing the lift of a complete machine of a multi-rotor unmanned aerial vehicle according to an embodiment of the application. Referring to fig. 1, the method for testing the lift force of the whole multi-rotor unmanned aerial vehicle at least comprises steps S110 to S140, and is described in detail as follows:
In step S110, controlling the unmanned aerial vehicle carrying the first rotor to fly with a first power parameter and a second power parameter, and obtaining a first time and a second time required for the unmanned aerial vehicle to fly to a set altitude, wherein the power parameters comprise an operation efficiency parameter of an engine, and the power parameters comprise the first power parameter and the second power parameter.
In practical application, the rotor unmanned aerial vehicle comprises detection unit, control module, drive unit and four parts of power. The control module is mainly used for resolving and optimally controlling the current gesture of the unmanned aerial vehicle and generating corresponding control quantity for the driving unit, the driving unit is used for driving the unmanned aerial vehicle to fly, and the power supply is used for supplying power to the whole system.
The control of each flight state of the rotor unmanned aerial vehicle is realized by controlling the rotating speeds of four symmetrical rotors to form corresponding different movement combinations. Taking a quadrotor unmanned aerial vehicle as an example, the quadrotor unmanned aerial vehicle body mainly comprises a symmetrical cross rigid body structure, and the quadrotor unmanned aerial vehicle body is made of composite materials such as carbon fiber, glass fiber and resin. In the flying process, when the rotating speeds of the front and rear end or the left and right end rotors are kept the same, pitching or rolling motion can not occur, and when the rotating speeds of two rotors in each group are different from that of the other group, the rotating directions of the two groups of rotors are different, so that the imbalance of reactive torque force can be caused, and at the moment, the reactive force around the central axis of the machine body can be generated, so that angular acceleration is caused. And the detection unit is responsible for measuring the current gesture of the unmanned aerial vehicle and providing data for the control module.
In one embodiment of the present application, controlling an unmanned aerial vehicle carrying a first rotor to fly with a first power parameter and a second power parameter, respectively, to obtain a first time and a second time required for the unmanned aerial vehicle to fly to a set altitude, includes:
controlling an unmanned aerial vehicle carrying a first rotor wing to fly for a plurality of times according to a first power parameter, obtaining the flight time required by the unmanned aerial vehicle to fly to a set height, and obtaining the average value of the flight time as the first time;
And controlling the unmanned aerial vehicle carrying the first rotor wing to fly for a plurality of times by using the second power parameter, obtaining the flight time required by the unmanned aerial vehicle to fly to the set height, and obtaining the average value of the flight time as the second time.
In this embodiment, the first rotor wing is carried by the unmanned aerial vehicle first, and the unmanned aerial vehicle is controlled to fly through the first power parameter and the second power parameter respectively, so as to obtain the corresponding flight time respectively. In this embodiment, the first time and the second time may be acquired by taking an average value through multiple flights, so as to ensure accuracy of time acquisition.
The power parameters in this embodiment include a first power parameter and a second power parameter, which are respectively used to represent the power intensity of the engine of the unmanned aerial vehicle, where the power intensity corresponding to the second power parameter is higher than the power intensity corresponding to the first power parameter.
In step S120, the unmanned aerial vehicle carrying the second rotor is controlled to fly with the first power parameter, and a third time required for the unmanned aerial vehicle to fly to a set height is obtained, wherein the pitch of the second rotor is larger than that of the first rotor.
In one embodiment of the application, the unmanned aerial vehicle carries the second rotor to fly to obtain a third time corresponding to the set altitude.
In one embodiment of the present application, in step S120, controlling the unmanned aerial vehicle carrying the second rotor to fly with the first power parameter, and obtaining a third time required for the unmanned aerial vehicle to fly to a set altitude includes:
And controlling the unmanned aerial vehicle carrying the second rotor wing to fly for a plurality of times according to the first power parameter, obtaining the flight time required by the unmanned aerial vehicle to fly to the set height, and obtaining the average value of the flight time as the third time.
Likewise, in this embodiment, the second rotor may still be mounted to fly for multiple times with the first power parameter, so as to obtain the average value of the flight time as the third time, so as to ensure accuracy of time acquisition.
In step S130, based on the first time, the second time, and the third time, a rising speed of the unmanned aerial vehicle corresponding to each of the different situations is determined.
In one embodiment of the application, after the flight time generated by the unmanned aerial vehicle based on different flight configurations, namely, the first time, the second time and the third time, is acquired, the rising speeds of the unmanned aerial vehicle respectively corresponding to different situations are determined based on the first time, the second time and the third time.
In one embodiment of the present application, determining, in step S130, a rising speed of the unmanned aerial vehicle corresponding to each of different situations based on the first time, the second time, and the third time includes:
Determining a first rising speed corresponding to the unmanned aerial vehicle under a first power parameter based on a quotient between the set height and the first time;
determining a second rising speed of the unmanned aerial vehicle corresponding to a second power parameter based on a quotient between the set height and the second time;
And determining a third rising speed corresponding to the unmanned aerial vehicle under the first power parameter based on the quotient between the set height and the third time.
In this embodiment, the ascent speed of the unmanned aerial vehicle under various configurations is determined by calculating the quotient between the set altitude and the flight time.
In step S140, a lift parameter of the whole unmanned aerial vehicle is determined based on the rising speed, the pitch and the power parameter.
In one embodiment of the application, after the speed of ascent is obtained chuang, a lift parameter of the drone complete machine is determined based on the speed of ascent, the pitch, and the power parameters. In this embodiment, the lift parameter is used to represent the lift efficiency or the lift strength of the unmanned aerial vehicle when the unmanned aerial vehicle vertically ascends.
In one embodiment of the present application, as shown in fig. 2, in step S140, based on the rising speed, the pitch and the power parameter, a lift parameter of the whole unmanned aerial vehicle is determined, including steps S210 to S230, which are described in detail as follows:
s210, determining a positive lift parameter of the whole unmanned aerial vehicle based on the rising speed, the screw pitch and the power parameter.
In one embodiment of the present application, the ascent speed Spe, the pitch Pit and the power parameter Dyn all bring forward lift to the whole unmanned aerial vehicle, so the forward lift parameter par_pos of the whole unmanned aerial vehicle is calculated by the parameters in this embodiment:
Par_pos=Pit·(α·Spe+β·Dyn)
Wherein alpha and beta are used for representing positive factors of lift.
S220, determining a negative lift parameter of the whole unmanned aerial vehicle based on the screw pitch.
In one embodiment of the application, the weight of the propeller and the like will cause a certain load pressure to the unmanned aerial vehicle, so that the pitch is used as a negative lift parameter affecting the lift of the whole unmanned aerial vehicle in the embodiment. Based on the pitch of the rotor wing, determining that the negative lift parameter of the whole unmanned aerial vehicle is Par_neg:
Par_neg=ε·Pit
where ε is used to represent the negative lift factor.
S230, determining the lift force parameter of the whole unmanned aerial vehicle based on the positive lift force parameter and the negative lift force parameter.
In one embodiment of the present application, after the positive lift parameter and the negative lift parameter are calculated, determining the lift parameter of the whole unmanned aerial vehicle based on the sum of the positive lift parameter and the negative lift parameter is:
Par=Par_pos+Par_neg
According to the scheme, the positive lift parameter of the whole unmanned aerial vehicle is determined based on the rising speed, the screw pitch and the power parameter, and the negative lift parameter of the whole unmanned aerial vehicle is determined based on the screw pitch, so that the lift parameter of the whole unmanned aerial vehicle is determined through the positive lift parameter and the negative lift parameter, and the accuracy and the comprehensiveness of the lift parameter of the unmanned aerial vehicle are improved.
In one embodiment of the present application, after determining the lift parameters of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameters in step S140, the method includes:
selecting the maximum value from the lift force parameters as an optimal lift force parameter;
And taking the power parameter and the rotor wing corresponding to the optimal lift force parameter as optimal configuration for the unmanned aerial vehicle to fly daily.
Specifically, in this embodiment, the maximum value is selected from the lift parameters under various flight configurations to serve as an optimal lift parameter, so that the power parameter and the rotor wing corresponding to the optimal lift parameter are used as the optimal configuration, and the unmanned aerial vehicle is used for carrying out daily flight, so that the flight efficiency of the unmanned aerial vehicle is improved.
According to the technical scheme, an unmanned aerial vehicle carrying a first rotor wing is controlled to fly according to a first power parameter and a second power parameter, a first time and a second time required by the unmanned aerial vehicle to fly to a set height are obtained, the unmanned aerial vehicle carrying the second rotor wing is controlled to fly according to the first power parameter, a third time required by the unmanned aerial vehicle to fly to the set height is obtained, the corresponding ascending speeds of the unmanned aerial vehicle under different conditions are determined based on the first time, the second time and the third time, the lifting force parameter of the unmanned aerial vehicle is determined based on the ascending speeds, the screw pitches and the power parameters, the flying states of the unmanned aerial vehicle under different flying configurations are measured according to the lifting force parameter, the unmanned aerial vehicle is controlled to fly according to the better flying configuration parameters, and the flying efficiency of the unmanned aerial vehicle is improved.
The following describes an embodiment of the device of the present application, which may be used to perform the method for testing the lift of the complete machine of the multi-rotor unmanned aerial vehicle in the above embodiment of the present application. It will be appreciated that the apparatus may be a computer program (comprising program code) running in a computer device, for example as an application software, which may be adapted to perform the corresponding steps of the method provided by the embodiments of the application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method for testing the lift force of the whole multi-rotor unmanned aerial vehicle.
Fig. 3 shows a block diagram of a multiple rotor unmanned aerial vehicle complete lift testing device according to one embodiment of the application.
Referring to fig. 3, a multi-rotor unmanned aerial vehicle lift test apparatus 300 according to an embodiment of the present application includes:
The first flight unit 310 is configured to control the unmanned aerial vehicle carrying the first rotor to fly with a first power parameter and a second power parameter, and obtain a first time and a second time required for the unmanned aerial vehicle to fly to a set altitude;
A second flight unit 320, configured to control the unmanned aerial vehicle carrying a second rotor to fly with a first power parameter, and obtain a third time required for the unmanned aerial vehicle to fly to a set height, where a pitch of the second rotor is greater than a pitch of the first rotor;
a speed unit 330, configured to determine, based on the first time, the second time, and the third time, a rising speed of the unmanned aerial vehicle respectively corresponding to different situations;
And the lifting unit 340 is configured to determine a lifting parameter of the whole unmanned aerial vehicle based on the lifting speed, the pitch and the power parameter.
In some embodiments of the present application, based on the foregoing, the first flying unit 310 includes:
The first time unit is used for controlling the unmanned aerial vehicle carrying the first rotor wing to fly for a plurality of times according to the first power parameter, acquiring the flight time required by the unmanned aerial vehicle to fly to a set height, and obtaining the average value of the flight time as the first time;
And the second time unit is used for controlling the unmanned aerial vehicle carrying the first rotor wing to fly for a plurality of times according to the second power parameter, acquiring the flight time required by the unmanned aerial vehicle to fly to the set height, and obtaining the average value of the flight time as the second time.
In some embodiments of the present application, based on the foregoing solution, the controlling the unmanned aerial vehicle with the second rotor to fly with the first power parameter, and obtaining the third time required for the unmanned aerial vehicle to fly to the set altitude includes controlling the unmanned aerial vehicle with the second rotor to fly with the first power parameter for a plurality of times, obtaining the flight time required for the unmanned aerial vehicle to fly to the set altitude, and obtaining an average value of the flight time as the third time.
In some embodiments of the application, based on the foregoing scheme, the determining rising speeds of the unmanned aerial vehicle under different conditions based on the first time, the second time and the third time respectively includes determining a first rising speed of the unmanned aerial vehicle under a first power parameter based on a quotient between the set altitude and the first time, determining a second rising speed of the unmanned aerial vehicle under a second power parameter based on a quotient between the set altitude and the second time, and determining a third rising speed of the unmanned aerial vehicle under the first power parameter based on a quotient between the set altitude and the third time.
In some embodiments of the present application, based on the foregoing scheme, the determining the lift parameter of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameter includes determining a positive lift parameter of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameter, determining a negative lift parameter of the whole unmanned aerial vehicle based on the pitch, and determining the lift parameter of the whole unmanned aerial vehicle based on the positive lift parameter and the negative lift parameter.
In some embodiments of the present application, after determining the lift parameters of the whole unmanned aerial vehicle based on the rising speed, the pitch and the power parameters based on the foregoing scheme, the method includes selecting a maximum value from the lift parameters as an optimal lift parameter, and using the power parameter and the rotor wing corresponding to the optimal lift parameter as an optimal configuration for the unmanned aerial vehicle to perform daily flight.
According to the technical scheme, an unmanned aerial vehicle carrying a first rotor wing is controlled to fly according to a first power parameter and a second power parameter, a first time and a second time required by the unmanned aerial vehicle to fly to a set height are obtained, the unmanned aerial vehicle carrying the second rotor wing is controlled to fly according to the first power parameter, a third time required by the unmanned aerial vehicle to fly to the set height is obtained, the corresponding ascending speeds of the unmanned aerial vehicle under different conditions are determined based on the first time, the second time and the third time, the lifting force parameter of the unmanned aerial vehicle is determined based on the ascending speeds, the screw pitches and the power parameters, the flying states of the unmanned aerial vehicle under different flying configurations are measured according to the lifting force parameter, the unmanned aerial vehicle is controlled to fly according to the better flying configuration parameters, and the flying efficiency of the unmanned aerial vehicle is improved.
Fig. 4 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
It should be noted that, the computer system 400 of the electronic device shown in fig. 4 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 4, the computer system 400 includes a central processing unit (Central Processing Unit, CPU) 401 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 402 or a program loaded from a storage portion 408 into a random access Memory (Random Access Memory, RAM) 403. In the RAM 403, various programs and data required for the system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An Input/Output (I/O) interface 405 is also connected to bus 404.
Connected to the I/O interface 405 are an input section 406 including a keyboard, a mouse, and the like, an output section 407 including a display such as a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker, a storage section 408 including a hard disk, and the like, and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication section 409 performs communication processing via a network such as the internet. The drive 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 409 and/or installed from the removable medium 411. When executed by a Central Processing Unit (CPU) 401, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of a computer-readable storage medium may include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
According to one aspect of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read from the computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the methods provided in the various alternative implementations described above.
As another aspect, the present application also provides a computer-readable medium that may be included in the electronic device described in the above embodiment, or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the methods described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
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| CN105438462A (en) * | 2015-11-26 | 2016-03-30 | 北京浩恒征途航空科技有限公司 | Multi-rotor type aircraft based on cooperative control of rotation speed and variable pitch of rotors |
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| CN106347705A (en) * | 2016-10-31 | 2017-01-25 | 安徽理工大学 | Unmanned Aerial Vehicle Rotor Lift Test System |
| KR101930762B1 (en) * | 2017-11-16 | 2018-12-19 | 한국기계연구원 | Flight Performance Test Equipment For Industrial Unmanned Aerial Vehicle and Test Method Thereof |
| CN109018422B (en) * | 2018-07-10 | 2021-06-22 | 南京航空航天大学 | Calculation method of tilting corridor for tilting quadrotor aircraft with constant speed and periodic pitch |
| US11066189B2 (en) * | 2018-12-07 | 2021-07-20 | The Boeing Company | Flight control system for determining estimated dynamic pressure based on lift and drag coefficients |
| CA3112147C (en) * | 2021-03-17 | 2023-06-13 | Airbus Helicopters | Method for controlling a hybrid helicopter when a powerplant failure occurs |
| CN114348296B (en) * | 2022-01-06 | 2022-10-14 | 南昌三瑞智能科技有限公司 | Combined testing method, device and medium for motor and propeller of unmanned aerial vehicle |
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