WO2017084052A1

WO2017084052A1 - Parameter adjustment method, parameter adjustment apparatus, parameter adjustment system and parameter adjustment memory

Info

Publication number: WO2017084052A1
Application number: PCT/CN2015/094963
Authority: WO
Inventors: 黄志聪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2015-11-18
Filing date: 2015-11-18
Publication date: 2017-05-26
Also published as: CN107111426A

Abstract

A parameter adjustment method. The method comprises the steps of: according to the type of a functional component of the aircraft, displaying a corresponding graphical user interface (103); and according to the functional component of the aircraft and the corresponding graphical user interface, displaying a configuration state of the functional component of the aircraft on the graphical user interface (104). The present invention also relates to a parameter adjustment apparatus, a parameter adjustment system and a parameter adjustment memory.

Description

Method, parameter adjustment device, parameter adjustment system and parameter adjustment memory

Technical field

The invention relates to the technical field of parameter setting, user experience and interaction design of an aircraft module, in particular to a parameter adjustment method, a parameter adjustment device, a parameter adjustment system and a parameter adjustment memory.

Background technique

Unmanned aerial vehicles can be generally divided into one-piece and post-installation machines according to the type of assembly. After the user installs the machine after purchase, it is usually necessary to install the aircraft module such as Flight Controller and rack on the body. The flight control of the aircraft usually consists of a main controller and sensor components such as an inertial measurement unit (IMU) and a GPS/compass. When installed on various aircraft bodies, the installation parameters of the flight control (such as the installation position of the main controller, IMU, GPS, etc., motor steering, etc.), performance parameters (such as motor type, control feel, etc.) need to be based on the user. The actual conditions of the aircraft's body, application scenarios, etc. are set, and usually set by the user through a PC or APP assistant software for wired or wireless connection flight control.

Because the existing flight control assistant software setting parameters are usually digitally displayed and statically illustrated, the key steps of the flight control module installation settings, aircraft type selection, body motor parameter settings, sensor status check, etc. are lacking. An interactive process of setting parameters does not utilize the parameter map, which makes the setting process complicated, the parameter setting error is difficult to check, and the user experience is poor.

Summary of the invention

In view of this, it is necessary to propose a parameter adjustment method, a parameter adjustment device, a parameter adjustment system, and a parameter adjustment memory to solve the above problems.

A method of tuning, comprising the following steps:

Displaying a corresponding graphical user interface according to the functional component type of the aircraft;

Displaying a configuration state of a functional component of the aircraft on the graphical user interface in accordance with a functional component of the aircraft and a corresponding graphical user interface.

Further, before the step of displaying the corresponding graphical user interface according to the functional component type of the aircraft, the method further includes:

Identifying the type of functional components of the aircraft.

Further, the step of identifying the type of the functional component of the aircraft includes:

Obtaining device information of functional components of the aircraft;

Identifying the type of the functional component based on the acquired device information.

Further, before the step of identifying the type of the functional component of the aircraft, the method further includes:

A functional component that connects the aircraft.

Further, the method specifically includes:

Acquiring the action of connecting the functional components of the aircraft and dynamically displaying the connection process on the graphical user interface.

Further, the step of displaying the configuration status of the functional component of the aircraft on the graphical user interface according to the functional component of the aircraft and the corresponding graphical user interface includes:

Obtaining configuration parameters corresponding to functional components of the aircraft, and feeding back the configuration parameters to the graphical user interface, graphically presenting functional components of the aircraft in conjunction with the graphical user interface and the configuration parameters Configuration status.

Further, the method specifically includes:

The basic parameters of the functional components of the aircraft are obtained and displayed on the same page.

Further, the method specifically includes:

Obtaining a connection state of at least one of a pan/tilt head, a positioning system, and an inertial measurement unit of the aircraft, and displaying the connection state.

Further, the method specifically includes:

Displaying a plurality of state diagrams corresponding to the sensors of the aircraft, wherein each state diagram corresponds to a preset alarm level, a background color indicating an alarm level, and a sensor state;

Obtaining the actual state of the sensor, and indicating the state of the corresponding alarm level according to the actual state of the sensor to indicate the corresponding background color.

Further, after the step of displaying the configuration status of the functional component of the aircraft on the graphical user interface according to the functional component of the aircraft and the corresponding graphical user interface, the method further includes:

Obtaining an input parameter or an operation instruction, and setting a corresponding configuration state on a functional component of the aircraft according to the obtained input parameter or operation instruction.

Further, the method specifically includes:

Obtaining at least one input parameter or operation instruction for the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft, and configuring at least one device corresponding to the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft.

Further, the method specifically includes:

Obtaining an operation instruction, according to the operation instruction, setting an airplane flight mode to fly around a returning point or according to a planned route.

Further, after the obtaining the input parameter or the operation instruction, setting the corresponding configuration state on the functional component of the aircraft according to the obtained input parameter or the operation instruction, the method further includes:

The graphical user interface is dynamically changed according to the input parameter or the operation instruction.

Further, the step of dynamically changing the graphical user interface according to the input parameter or the operation instruction includes:

Obtaining input battery parameters, dynamically displaying a state of the aircraft battery under the battery parameter; or

Obtaining input control parameters, setting control sensitivity between the flight control component of the aircraft and the body of the aircraft, and dynamically displaying on the graphical user interface; or

Obtaining the input flight parameters, setting the return altitude or the classification area of the aircraft; or

Obtaining the control parameters of the input rocker to be controlled by the aircraft, and setting the interaction of the rocker action with the flight of the aircraft.

Further, the step of acquiring an input parameter or an operation instruction, and setting a corresponding configuration state on the functional component of the aircraft according to the obtained input parameter or operation instruction, further includes:

Controlling corresponding functional components on the aircraft to dynamically perform corresponding actions according to the operational instructions.

Obtaining an input parameter or an operation instruction, and dynamically changing the graphical user interface according to the input parameter or the operation instruction.

Further, the obtaining the input parameter or the operation instruction, and performing the corresponding dynamic change step on the graphical user interface according to the input parameter or the operation instruction, further includes:

Further, the method specifically includes:

Showing a schematic view of the fuselage of the aircraft;

Displaying a three-dimensional coordinate system on the schematic view of the fuselage;

The corresponding flight control unit schematic shape is displayed according to the flight control unit of the aircraft.

Further, the method specifically includes:

The schematic shape of the flight control unit is displayed at an origin position in the three-dimensional coordinate system.

Further, the method specifically includes:

Obtaining an offset value of the X/Y/Z axis of the input flight control unit, and updating a display position of the schematic shape of the flight control unit in the three-dimensional coordinate system according to the obtained offset value.

Further, the method specifically includes:

Obtaining a position parameter of the flight control unit on the aircraft, and displaying a schematic shape of the flight control unit according to the position parameter in a corresponding position in the three-dimensional coordinate system.

Further, the method specifically includes:

Obtaining an offset value of the X/Y/Z axis of the input flight control unit, and combining the position parameter and the offset value, updating a display position of the flight control unit schematic in the three-dimensional coordinate system.

Further, the method specifically includes:

Displaying, by the flight control unit of the aircraft, a coordinate parameter setting field of the flight control unit, where a coordinate parameter setting field of the flight control unit is used to receive an input of the X/Y/Z axis of the flight control unit Offset value.

Further, the flight control unit includes at least: an inertial measurement unit and a positioning sensor, and the flight control unit schematic form includes at least: an inertial measurement unit schematic shape and a positioning sensor schematic shape.

Further, the three-dimensional coordinate system takes an reference point on the aircraft as an origin, and a reference point on the aircraft is a position of a center of gravity of the aircraft or an installation position of a main controller of the flight control unit.

Further, the method specifically includes:

Obtaining and displaying a plurality of preset rack diagrams, each of the preset rack diagrams includes a schematic diagram of the head direction, a plurality of schematic diagrams arranged in a predetermined shape, and a plurality of motor schematics Each of the motors is schematically combined with a motor state schematic form indicating a preset rotation direction, wherein the plurality of arms arranged in a predetermined shape are superimposed and displayed on the handpiece according to a preset installation direction. Above the schematic shape, the schematic end of each of the arms is connected to one or two motor schematics, and the predetermined rotation direction is clockwise or counterclockwise.

Further, each of the preset rack diagrams includes a plurality of schematic diagrams that are centrally symmetric, and the preset shape is an X shape, a Y shape, or an I shape.

Further, the method specifically includes:

Generating a rotation control command according to a user inputting a preset frame-shaped input operation, and according to the rotation control command and the selected preset state of the motor Dynamically rotating the schematic shapes of the respective motors.

Further, the method specifically includes:

The motor on the aircraft is controlled to rotate in a predetermined direction according to the rotation control command.

Further, the method specifically includes:

According to the user's selection of a preset rack schematic shape, and the selected preset rack diagram is set as an input operation of the type of the aircraft, the selected preset rack diagram is selected. The shape is stored in the master of the flight control unit of the aircraft.

Further, the method specifically includes:

Displaying a schematic diagram of a rack corresponding to the type of the aircraft of the aircraft, the schematic diagram of the rack includes a plurality of schematic diagrams of the arm arranged in a predetermined shape and a plurality of schematic diagrams of the motor, each of the schematic diagrams of the motor The upper display shows a schematic diagram of the motor state pointing to the preset rotation direction, wherein the schematic end of each of the arms is connected to one or two motor schematics, and the preset rotation direction is clockwise or counterclockwise. .

Further, the plurality of arm diagrams included in the schematic shape of the rack are centrally symmetric, and the preset shape is consistent with the shape of the rack of the aircraft.

Further, the schematic shape of the rack further includes a schematic shape of the head direction, and the plurality of arms arranged in a preset shape are superimposed and displayed on the schematic direction of the head in a preset installation direction, and The preset installation direction is consistent with the installation direction of the frame of the aircraft.

Further, the method specifically includes:

The rotation control command is generated according to the input operation of the motor selected by the user, and the corresponding motor state diagram is dynamically rotated according to the rotation control command and the corresponding motor state diagram of the selected motor.

Further, the method specifically includes:

Controlling a respective motor on the aircraft to rotate in a predetermined direction in accordance with the rotation control command.

Further, the method specifically includes:

Displaying, according to the schematic diagram of each of the motors in the schematic diagram of the frame, a motor icon corresponding to the schematic diagram of each of the motors;

According to the user's input operation of clicking a motor icon, the corresponding motor schematic shape is selected.

Further, the method specifically includes:

When it is detected that the user selects an input operation of a schematic diagram of the motor, the schematic shape of the selected motor and the corresponding schematic diagram of the arm and the schematic state of the motor are displayed in a solid line, and the display is in the form of a broken line. Schematic diagram of other motors in the form of a rack, schematic diagram of the arm and schematic diagram of the motor state; or

When it is detected that the user selects a motor-shaped input operation, the selected motor schematic shape and the corresponding schematic diagram of the arm and the motor state are displayed in a high-brightness manner, and the display is displayed in a low brightness form. The schematic diagram of other motors in the form of a rack diagram, the schematic diagram of the arm and the schematic diagram of the motor state.

An adjustment device comprising:

a display module, configured to display a corresponding graphical user interface according to the functional component type of the aircraft, and display the graphical user interface on the graphical user interface according to the functional component of the aircraft and the corresponding graphical user interface The configuration status of the functional components of the aircraft.

Further, the assistant device further includes a processing module for identifying a type of a functional component of the aircraft.

Further, the assistant device further includes an acquisition module, configured to acquire device information of a functional component of the aircraft, and the processing module is configured to identify a type of the functional component according to the acquired device information.

Further, the assistant device further includes a communication module for connecting the functional components of the aircraft.

Further, the obtaining module is further configured to acquire an action of the functional component connected to the aircraft, and the display module is further configured to dynamically display the connection process on the graphical user interface.

Further, the assistant device further includes an obtaining module, configured to acquire configuration parameters corresponding to the functional components of the aircraft, and feed back the configuration parameters to the graphical user interface; the display module is further configured to combine The graphical user interface and the configuration parameters graphically present a configuration state of functional components of the aircraft.

Further, the obtaining module is further configured to acquire basic parameters of the functional components of the aircraft, and the display module is configured to display the basic parameters of the functional components of the aircraft on the same page.

Further, the acquiring module is further configured to acquire a connection state of at least one of a pan/tilt, a positioning system, and an inertial measurement unit of the aircraft, and the display module is configured to display the connection state.

Further, the display module is further configured to display a plurality of state diagrams corresponding to the sensors of the aircraft, wherein each state diagram corresponds to a preset alarm level, a background color indicating an alarm level, and a sensor status. ;

The obtaining module is specifically configured to acquire an actual state of the sensor;

The processing device further includes a processing module, and the processing module is configured to map the state of the corresponding alarm level to a corresponding background color according to the actual state of the sensor.

Further, the assistant device further includes:

An acquisition module for obtaining input parameters or operation instructions;

And a processing module, configured to set a corresponding configuration state on the functional component of the aircraft according to the acquired input parameter or operation instruction.

Further, the acquiring module is further configured to acquire at least one input parameter or an operation instruction for the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft, and the processing module is further configured to: according to the acquired input parameter or operation The command configures at least one device corresponding to the pan/tilt head, the positioning system, and the inertial measurement unit of the aircraft.

Further, the processing module is further configured to set the flight mode of the aircraft to fly around a returning point or according to a planned route according to the operation instruction.

Further, the processing module is further configured to dynamically change the graphical user interface according to the input parameter or the operation instruction.

Further, the acquiring module is further configured to acquire the input battery parameter, where the processing module is further configured to dynamically display, according to the battery parameter, a state of the battery of the aircraft under the battery parameter; or

The acquiring module is further configured to acquire the input control parameter, and the processing module is further configured to set a control sensitivity between the flight control component of the aircraft and the body of the aircraft according to the control parameter, and dynamically display the graphic On the user interface; or

The acquiring module is further configured to acquire the input flight parameter, where the processing module is further configured to set a return altitude or a parting area range of the aircraft according to the flight parameter; or

The acquisition module is further configured to acquire control parameters of the rocker to be controlled of the input aircraft, and the processing module is further configured to set an interaction between the rocker action and the flight of the aircraft according to the control parameter.

Further, the assistant device further includes a control module, configured to control a corresponding functional component on the aircraft to dynamically perform a corresponding action according to the operation instruction.

Further, the assistant device further includes:

An acquisition module for obtaining an input parameter or an operation instruction;

And a processing module, configured to dynamically change the graphical user interface according to the input parameter or the operation instruction.

Further, the assistant device further includes a control module, and according to the operation command, controlling a corresponding functional component on the aircraft to dynamically perform a corresponding action.

Further, the display module is specifically configured to:

Showing a schematic view of the fuselage of the aircraft;

Further, the display module is further configured to display the schematic shape of the flight control unit at an origin position in the three-dimensional coordinate system.

Further, the acquiring module is further configured to acquire an offset value of the X/Y/Z axis of the input flight control unit, where the processing module is configured to use the offset value according to the obtained offset value in the three-dimensional coordinate The display position of the schematic shape of the flight control unit is updated in the system.

Further, the acquiring module is further configured to acquire a position parameter of the flight control unit on the aircraft; the display module is further configured to display, according to the position parameter, a corresponding position in the three-dimensional coordinate system. The flight control unit is schematic in shape.

Further, the acquiring module is further configured to acquire an offset value of the input X/Y/Z axis of the flight control unit; the processing module is configured to combine the position parameter and the offset value, The display position of the schematic diagram of the flight control unit is updated in the three-dimensional coordinate system.

Further, the display module is further configured to display a coordinate parameter setting field of the flight control unit according to the flight control unit of the aircraft, where the coordinate parameter setting field of the flight control unit is used to receive the input The offset value of the X/Y/Z axis of the flight control unit.

Further, the display module is specifically configured to acquire and display a plurality of preset rack schematic shapes, and each of the preset rack schematic shapes includes a schematic shape of the head direction and a plurality of preset shapes. The schematic diagram of the arm and the schematic diagram of the plurality of motors, each of the schematic diagrams of the motor is combined with a schematic diagram of a motor state pointing to a preset rotation direction, wherein the plurality of arms arranged in a predetermined shape are pre-predicted The installation direction is superimposed and displayed on the schematic direction of the head direction, and the schematic end of each of the arms is connected to one or two motor schematics, and the preset rotation direction is clockwise or counterclockwise.

Further, the assistant adjustment device further includes a processing module, configured to generate a rotation control command according to the user selecting a preset rack-shaped input operation, and according to the rotation control instruction and the selected preset The schematic diagram of the rack includes the orientation of the schematic diagrams of the various motor states, and dynamically rotates the schematic diagrams of the respective motors.

Further, the assistant device further includes a control module for controlling the motor on the aircraft to rotate in a predetermined direction according to the rotation control command.

Further, the assistant adjusting device further includes a processing module, configured to select a preset rack schematic shape according to the user, and set the selected preset rack schematic shape to the type of the aircraft. The input operation stores the selected preset rack shape into the main controller of the flight control unit of the aircraft.

Further, the display module is specifically configured to display a schematic diagram of a rack corresponding to the rack type of the aircraft, and the rack schematic includes a plurality of schematic diagrams of the arm arranged in a predetermined shape and a plurality of motors In schematic form, each of the motor schematics is combined with a motor state schematic diagram pointing to a preset rotation direction, wherein each of the schematic ends of the arms is connected to one or two motor schematics, the preset The direction of rotation is clockwise or counterclockwise.

Further, the assistant adjustment device further includes a processing module, configured to generate a rotation control command according to a user inputting a schematic operation of the motor, and according to the rotation control instruction and the schematic diagram of the selected motor state Pointing, dynamically rotating the corresponding motor state schematic.

Further, the assistant device further includes a control module for controlling the corresponding motor on the aircraft to rotate in a predetermined direction according to the rotation control command.

Further, the display module is further configured to display, according to the schematic diagram of each of the motors in the schematic view of the rack, a motor icon corresponding to the schematic shape of each motor;

The assistant device further includes a processing module, and the processing module is configured to select a corresponding motor schematic shape according to an input operation of the user clicking a motor icon.

Further, the display module is further specifically configured to:

An assistant system comprising a processor for:

Displaying a corresponding graphical user interface on the display device according to the functional component type of the aircraft;

An assistant memory for storing program instructions that are obtainable by a processor to perform the following steps:

Connecting functional components of the aircraft;

Identifying the type of functional components of the aircraft.

Obtaining an input parameter, and setting a corresponding configuration state on a functional component of the aircraft according to the obtained input parameter.

Obtaining an operation instruction, correspondingly dynamically changing the graphical user interface according to the operation instruction, and/or controlling a corresponding function component on the aircraft to dynamically perform a corresponding action according to the operation instruction.

The arranging method of the invention displays the configuration state of the functional components of the aircraft in a graphical interactive form, greatly optimizes the interactive experience of the flight control parameter setting and the aircraft state check, and adopts the graphic dynamic display mode to reflect the parameter linkage change, which intuitively reflects The parameter setting changes the state of the aircraft, effectively solving the problem of no interaction and unintuitive use when setting the traditional flight control parameters.

DRAWINGS

FIG. 1 is a schematic flow chart of a method for adjusting parameters according to an embodiment of the present invention.

2 is a schematic diagram of a graphical user interface of an access device according to an embodiment of the present invention.

3 is a schematic diagram of a graphical user interface of basic parameters of a functional component of an aircraft according to an embodiment of the present invention.

4 is a schematic diagram of a graphical user interface of a connection state of functional components of an aircraft according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a graphical user interface of a sensor state according to an embodiment of the present invention.

6 is a schematic diagram of a graphical user interface for configuring parameters of a functional component of an aircraft in accordance with an embodiment of the present invention.

FIG. 7 is a schematic diagram of a graphical user interface for setting an airplane flight mode according to an embodiment of the present invention.

FIG. 8 is a schematic diagram of a graphical user interface for remaining battery power of an aircraft according to an embodiment of the present invention.

9 is a schematic diagram of a graphical user interface for setting control sensitivity between a flight control component of an aircraft and a body of the aircraft in accordance with an embodiment of the present invention.

FIG. 10 is a schematic diagram of a graphical user interface for setting a return altitude or a classification area of an aircraft according to an embodiment of the present invention.

11 is a schematic diagram of a graphical user interface for setting a rocker action of an aircraft according to an embodiment of the present invention.

FIG. 12 is a schematic flow chart of a method for setting installation parameters of a flight control unit according to an embodiment of the present invention.

FIG. 13 is a schematic diagram of a graphical user interface for setting installation parameters of a flight control unit according to an embodiment of the present invention.

FIG. 14 is a schematic flow chart of another graphical display method for setting installation parameters of a flight control unit according to an embodiment of the present invention.

FIG. 15 is a schematic flow chart of a graphical display method for setting an aircraft type according to an embodiment of the present invention.

16 is a schematic diagram of a graphical user interface for setting an aircraft type according to an embodiment of the present invention.

17 is a flow chart showing a graphical display method for setting installation parameters of an aircraft fuselage motor according to an embodiment of the present invention.

18 is a schematic diagram of a graphical user interface for setting installation parameters of an aircraft fuselage motor according to an embodiment of the present invention.

FIG. 19 is a schematic structural diagram of a parameter adjustment device according to an embodiment of the present invention.

FIG. 20 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.

FIG. 21 is a schematic structural diagram of a parameter adjustment system according to an embodiment of the present invention.

Main component symbol description

调参装置 Adjustment device	2020
通信模块Communication module	21twenty one
处理模块Processing module	22twenty two
获取模块Acquisition module	23twenty three
显示模块Display module	24twenty four
控制模块 Control module	2525
控制终端 Control terminal	3030
显示屏 Display	3131
输入单元 Input unit	3232
通信单元 Communication unit	3333
存储器Memory	3434
处理器 processor	3535
调参系统 Adjustment system	5050
存储器 Memory	5151
处理器 processor	5252
步骤step	101-104、1201-1204、1401-1405、1501-1503、1701-1702101-104, 1201-1204, 1401-1405, 1501-1503, 1701-1702

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Specifically, please refer to FIG. 1 , which is a schematic flowchart of a method for adjusting parameters according to an embodiment of the present invention. The method in the embodiment of the present invention may be implemented by a processor. It should be noted that the method in the embodiment of the present invention is not limited to the steps and the sequence in the flowchart shown in FIG. 1. According to various embodiments, the steps in the flowchart shown in FIG. 1 may be added, removed, or changed in order. The method of the embodiment of the invention includes:

Step 101, connecting the functional components of the aircraft.

In the present embodiment, the functional components of the aircraft may be connected by wire or wirelessly.

Optionally, the method of the embodiment of the present invention may further include:

The action of connecting the functional components of the aircraft is obtained, and the connection process is dynamically displayed on the graphical user interface (as shown in FIG. 2).

Step 102, identifying a type of a functional component of the aircraft.

In this embodiment, the step 102 may specifically include:

Obtaining device information of a functional component of the aircraft, and identifying a type of the functional component based on the acquired device information.

Step 103: Display a corresponding graphical user interface according to the functional component type of the aircraft.

Step 104: Display a configuration state of a functional component of the aircraft on the graphical user interface according to a functional component of the aircraft and a corresponding graphical user interface.

In this embodiment, the implementation of the step 104 may specifically include: acquiring configuration parameters corresponding to the functional components of the aircraft, and feeding back the configuration parameters to the graphical user interface, in combination with the graphical user. The interface and the configuration parameters graphically present a configuration state of the functional components of the aircraft.

Further, the method of the embodiment of the present invention may further include:

Obtain the basic parameters of the functional components of the aircraft and display them on the same page (as shown in Figure 3).

Obtaining a connection state of at least one of a pan/tilt head, a positioning system, and an inertial measurement unit of the aircraft, and displaying the connection state (as shown in FIG. 4).

Displaying a plurality of state diagrams corresponding to the sensors of the aircraft (as shown in FIG. 5), wherein each state diagram corresponds to a preset alarm level, a background color indicating an alarm level, and a sensor state;

The implementation manner of acquiring the actual state of the sensor may include the following steps: acquiring an X/Y/Z triaxial parameter of the sensor, and setting the X/Y/Z triaxial parameter vector of the sensor according to a preset algorithm. An absolute value is separately synthesized and compared to a preset reference value range to determine the actual state of the sensor.

In the embodiment of the present invention, the alarm level values corresponding to the states of the respective sensors are marked by different background colors, for example, red, yellow, and green colors, so that the operating state of the sensors can be displayed intuitively and dynamically through the graphical user interface, so that the user can view the sensors. status.

Further, the method may further include after step 104:

Specifically, the method of the embodiment of the present invention may include:

Obtaining at least one input parameter or operation instruction for the cloud platform, the positioning system, and the inertial measurement unit of the aircraft, and configuring at least one device corresponding to the cloud platform, the positioning system, and the inertial measurement unit of the aircraft (FIG. 6) Shown).

Obtaining an operation instruction, and setting an flight mode of the aircraft according to the operation instruction to fly around a returning point or according to a planned route (as shown in FIG. 7).

Further, the method may further include after step 104:

The step of dynamically changing the graphical user interface according to the input parameter or the operation instruction includes:

Obtaining input battery parameters, dynamically displaying the state of the aircraft battery under the battery parameters (as shown in FIG. 8); or

Obtaining input control parameters, setting control sensitivity between the flight control component of the aircraft and the body of the aircraft, and dynamically displaying on the graphical user interface (as shown in FIG. 9); or

Obtaining the input flight parameters, setting the return altitude or the classification area of the aircraft (as shown in Figure 10); or

Obtaining the control parameters of the input rocker to be controlled by the aircraft, and setting the interaction of the rocker action with the flight of the aircraft (as shown in FIG. 11).

Further, the method may further include after step 104:

Controlling corresponding functional components on the aircraft to dynamically perform corresponding actions according to the operational instructions. For example, on a rack graphical user interface, when an input operation of selecting a motor identification pattern by the user is detected, the corresponding motor rotation on the aircraft may be controlled according to a corresponding operation instruction.

Referring to FIG. 12, it is a schematic flowchart of a method for setting installation parameters of a flight control unit according to an embodiment of the present invention. It should be noted that the method of the embodiment of the present invention is not limited to the steps and the sequence in the flowchart shown in FIG. According to various embodiments, the steps in the flowchart shown in FIG. 12 may be added, removed, or changed in order. A graphical user interface for setting flight control unit installation parameters can be seen in Figure 13. The method of the embodiment of the invention includes:

Step 1201, showing a schematic view of the fuselage of the aircraft.

Step 1202: Display a three-dimensional coordinate system on the schematic shape of the body.

In this embodiment, the three-dimensional coordinate system takes an reference point on the aircraft as an origin, and the reference point on the aircraft may be a position of a center of gravity of the aircraft or a mounting position of a main controller of the flight control unit. .

Step 1203: Display a schematic shape of the corresponding flight control unit according to the position of the origin of the flight control unit of the aircraft in the three-dimensional coordinate system.

In this embodiment, the flight control unit includes at least an inertial measurement unit (IMU) and a positioning sensor, such as a GPS, and the flight control unit schematic form includes at least: an inertial measurement unit schematic shape and a positioning sensor schematic shape. Only the schematic form of the IMU and GPS is shown in FIG. In other embodiments, the flight control unit may further include a power management unit, a compass, a distance sensor, and the like.

Step 1204: Acquire an offset value of the X/Y/Z axis of the input flight control unit, and update a display position of the flight control unit in the three-dimensional coordinate system according to the acquired offset value.

That is, after the flight control unit is connected, the flight control unit schematic form is displayed at the origin position in the three-dimensional coordinate system, and the flight control unit is schematicly shaped according to the corresponding offset value. Dynamically adjusted from the origin position to different positions in the three-dimensional coordinate system.

In this embodiment, before step 1204, the method further includes: displaying a coordinate parameter setting field of the flight control unit according to the flight control unit of the aircraft (as shown in FIG. 13). The coordinate parameter setting field of the flight control unit is configured to receive an input offset value of the X/Y/Z axis of the flight control unit.

The embodiment of the invention displays a schematic diagram of the combination of the fuselage and the three-dimensional coordinate system on the graphical interaction interface, and superimposes the schematic shape of the IMU, GPS, etc. in the graphic, and the X/Y/Z axis input by the user. The display position of the IMU and the GPS schematic shape is dynamically adjusted by the change of the offset value, so that the display of the graphical interactive interface can reflect the actual position and direction of the flight control unit mounted on the aircraft, which is convenient for the user to intuitively display. It is judged whether the installation of the flight control unit is correct.

Please refer to FIG. 14, which is a schematic flowchart of another method for setting installation parameters of a flight control unit according to an embodiment of the present invention. It should be noted that the method of the embodiment of the present invention is not limited to the steps and the sequence in the flowchart shown in FIG. According to various embodiments, the steps in the flowchart shown in FIG. 14 may be added, removed, or changed in order. A graphical user interface for setting flight control unit installation parameters can be seen in Figure 13. The method includes:

Step 1401, showing a schematic view of the fuselage of the aircraft.

Step 1402, displaying a three-dimensional coordinate system on the schematic shape of the body.

Step 1403: Acquire a position parameter of the flight control unit on the aircraft.

Step 1404: Display a corresponding schematic shape of the flight control unit according to the flight control unit of the aircraft and the corresponding position parameter in the corresponding position in the three-dimensional coordinate system.

Step 1405: Acquire an offset value of the X/Y/Z axis of the input flight control unit, and update the schematic shape of the flight control unit in the three-dimensional coordinate system according to the position parameter and the offset value. Display position.

That is, after the flight control unit is connected, the schematic shape of the flight control unit is displayed in a corresponding position in the three-dimensional coordinate system in combination with respective positional parameters, and then according to the positional parameter and the offset. The numerical value dynamically adjusts the display position of the flight control unit in the three-dimensional coordinate system.

In this embodiment, before step 1405, the method may further include:

The coordinate parameter setting field of the flight control unit is displayed according to the flight control unit of the aircraft (as shown in FIG. 13). The coordinate parameter setting field of the flight control unit is configured to receive an input offset value of the X/Y/Z axis of the flight control unit.

Referring to FIG. 15, which is a schematic flowchart of a graphical display method for setting an aircraft type according to an embodiment of the present invention. It should be noted that the method of the embodiment of the present invention is not limited to the steps and the sequence in the flowchart shown in FIG. According to various embodiments, the steps in the flowchart shown in FIG. 15 may be added, removed, or changed in order. The graphical user interface of the aircraft type can be seen in FIG. The method of the embodiment of the invention includes:

Step 1501: Acquire and display a plurality of preset rack schematic shapes, each of the preset rack schematic shapes including a schematic diagram of a head direction, a plurality of schematic diagrams arranged in a preset shape, and a plurality of The schematic diagram of the motor is shown in the form of a schematic diagram of the motor state pointing to the preset rotation direction.

In this embodiment, the plurality of arms arranged in a predetermined shape are superimposed and displayed on the schematic direction of the head in a preset installation direction, and the ends of each of the arms are connected to one or The two motors are schematic in shape, and the predetermined rotation direction is clockwise or counterclockwise. In this embodiment, each of the preset racks includes a plurality of schematic diagrams that are centrally symmetric, and the preset shape is an X shape, a Y shape, or an I shape. Specifically, the X shape is an aircraft including a four-arm, an eight-arm or even a twelve-arm or a sixteen-arm. The X-shaped head direction is the centerline direction of the angle between two adjacent arms. The Y shape includes a positive Y shape or an inverted Y shape, and the Y-shaped handpiece may be a center line direction of an extending direction of one of the arms or an angle between two adjacent arms thereof. The I shape is an aircraft including a number of different numbers, such as four, five, six, etc., and the head direction is the extending direction of one of the arms. Wherein, one arm end of each of the various models may be provided with a set of motors and propellers, or two sets of motors and propellers may be provided.

Step 1502, according to the user selects a preset rack-shaped input operation (for example, touch or mouse click on a preset rack schematic, or hover over a preset rack schematic) Rotating the control command, dynamically rotating the schematic shapes of the respective motors according to the rotation control command and the pointing of the schematic diagrams of the respective motor states included in the selected preset frame diagram, and according to the rotation control The command controls the motor on the aircraft to rotate in a predetermined direction.

Optionally, the graphical display method of the embodiment of the present invention may further include: Step 1503, selecting a preset schematic view of the rack according to the user, and setting the selected preset rack shape as a An input operation of the type of the aircraft is stored in the main controller of the flight control unit of the aircraft.

In the embodiment of the present invention, by displaying a preset frame graphic and a schematic diagram of the dynamic rotation of the motor on the graphic interaction interface, the attributes of the selected aircraft type can be displayed intuitively and quickly, so that the user can select the correct and fast and accurate. Type of aircraft.

Please refer to FIG. 17, which is a schematic flow chart of a graphical display method for mounting parameters of an aircraft fuselage motor according to an embodiment of the present invention. According to various embodiments, the steps in the flowchart shown in FIG. 17 may add, remove, or change the order. A graphical user interface of the aircraft body motor mounting parameters can be seen in FIG. The method of the embodiment of the invention includes:

Step 1701, showing a schematic diagram of a rack corresponding to the rack type of the aircraft, the rack schematic form comprising a plurality of schematic diagrams arranged in a predetermined shape and a plurality of motor schematics, each of which is The schematic diagram of the motor is combined with a schematic diagram showing the state of the motor pointing to the preset direction of rotation.

In the present embodiment, the schematic end of each of the arms is connected to one or two motor schematics, and the predetermined rotation direction is clockwise or counterclockwise. In this embodiment, each of the preset racks includes a plurality of schematic diagrams that are centrally symmetric, and the preset shape is consistent with the shape of the rack of the aircraft.

In this embodiment, the schematic shape of the rack further includes a schematic shape of the head direction, and the plurality of arms arranged in a preset shape are superimposed and displayed on the schematic direction of the head in a preset installation direction. And the preset installation direction is consistent with the installation direction of the rack of the aircraft.

Step 1702, according to the user selects a preset rack-shaped input operation to generate a rotation control command, according to the rotation control command and the selected motor schematic shape corresponding motor state schematic shape, dynamically rotate the corresponding The motor state is schematic, and the corresponding motor on the aircraft is controlled to rotate in a predetermined direction according to the rotation control command.

In this way, the user can determine whether the current actual rotation direction of the corresponding motor of the aircraft is correct according to the rotational direction of the dynamically rotating motor state and the actual rotation direction of the corresponding motor, and thereby determine whether the connection of the signal lines of the corresponding motor is correct.

Since the aircraft motor needs to rotate in accordance with the direction of rotation of the motor set by the frame type of the aircraft, whether the connection of the motor signal line is correct directly affects whether the steering of the motor is correct. Therefore, before using the aircraft, it is necessary to perform a connection test on the motor signal line of the aircraft. The embodiment of the invention adopts a combination of the frame pattern and the motor rotation diagram to dynamically display the correct rotation direction of the current aircraft motor, and the user only needs to refer to the schematic diagram displayed on the graphic interaction interface to check whether the current aircraft motor steering is correct, thereby Determine if the signal line of the corresponding motor is connected correctly.

Optionally, in this embodiment, before the step 1702, the method further includes:

According to the schematic diagram of each of the motors in the schematic diagram of the rack, the motor icons corresponding to the schematic diagrams of the respective motors are displayed, and the corresponding motor schematic shape is selected according to the input operation of the user clicking a motor icon.

Optionally, in this embodiment, after the step 1702, the method further includes:

When it is detected that the user selects an input operation of a schematic diagram of the motor, the schematic shape of the selected motor and the corresponding schematic diagram of the arm and the schematic state of the motor are displayed in a solid line, and the display is in the form of a broken line. The schematic diagram of other motors in the form of a rack, the schematic diagram of the arm and the schematic diagram of the motor state.

Alternatively, in another embodiment, after the step 1702, the method may further include:

FIG. 19 is a schematic structural diagram of a parameterizing device 20 according to an embodiment of the present invention. The device in the embodiment of the present invention may be configured in various types of control terminals 30, for example, may be configured on a smart phone, a tablet computer, or a computer. , remote control, etc.

As shown in FIG. 20, the control terminal 30 may further include, but is not limited to, a display screen 31, an input unit 32, a communication unit 33, a memory 34, and a processor 35. The display screen 31 is used to display the state of the assistant device 20 during operation and data that needs to interact with the user. The display screen 31 can be a liquid crystal display, a touch display or other type of display. The input unit 32 is configured to receive input from a user to interact with the assistant device 20. The input unit 32 can be any device having an input function, such as a button, a touch screen, or the like. The communication unit 33 is for connecting with an external device and transmitting data between the control terminal 30 and the external device.

The memory 34 is used to store various types of data of the control terminal 30. The memory 34 can be an internal memory of the control terminal 30, or can be a removable memory 34, such as a removable media card, an external USB flash drive, and other flash memory or storage devices. The processor 35 is configured to control the operation of the control terminal 30. The processor 35 can be a central processing unit (CPU), a microprocessor or other data processing chip.

The assistant device 20 can include a communication module 21, a processing module 22, an acquisition module 23, a display module 24, and a control module 25. A module referred to in the present invention refers to a series of program instruction segments that can be executed by a computer, such as the processor 35 of the control terminal 30, and that are capable of performing a particular function, stored in a computer, such as the control terminal 30. In the memory 34.

The communication module 21 is configured to connect the functional components of the aircraft through the communication unit 33 of the control terminal 30. In the present embodiment, the communication unit 33 can connect the functional components of the aircraft by wire or wirelessly.

The processing module 22 is for identifying the type of functional components of the aircraft.

Specifically, in the embodiment, the acquiring module 23 is configured to acquire device information of a functional component of the aircraft, and the processing module 22 is configured to identify a type of the functional component according to the acquired device information.

In this embodiment, the obtaining module 23 is further configured to acquire an action of the functional component connected to the aircraft, and the display module 24 is configured to dynamically display the connecting process on the graphical user interface (as shown in FIG. 2). ).

In this embodiment, the display module 24 is further configured to display a corresponding graphical user interface on the display screen 31 of the control terminal 30 according to the functional component type of the aircraft, and according to the functional component of the aircraft And a corresponding graphical user interface on which the configuration state of the functional components of the aircraft is displayed.

Specifically, the obtaining module 23 is further configured to acquire configuration parameters corresponding to the functional components of the aircraft, and feed back the configuration parameters to the graphical user interface, where the display module 24 is further configured to combine the graphics. The user interface and the configuration parameters graphically present the configuration status of the functional components of the aircraft.

Further, the obtaining module is further configured to acquire basic parameters of the functional components of the aircraft, and the display module 24 is configured to display the basic parameters of the functional components of the aircraft on the same page (as shown in FIG. 3). ).

The acquisition module is further configured to acquire a connection state of at least one of a pan/tilt, a positioning system, and an inertial measurement unit of the aircraft, and the display module 24 is configured to display the connection state (as shown in FIG. 4).

The display module 24 is further configured to display a plurality of state diagrams corresponding to the sensors of the aircraft (as shown in FIG. 5), wherein each state diagram has a preset alarm level, a background color indicating an alarm level, And the sensor status corresponds.

The obtaining module 23 is specifically configured to acquire the actual state of the sensor, and the processing module 22 is specifically configured to display a state of the corresponding alarm level according to the actual state of the sensor to indicate a corresponding background color.

In this embodiment, the acquiring module 23 is configured to acquire an X/Y/Z triaxial parameter of the sensor, and the processing module 22 is configured to use the X/Y/Z of the sensor according to a preset algorithm. The axis parameter vectors are each combined into an absolute value and compared to a predetermined reference range to determine the actual state of the sensor.

In an embodiment, the obtaining module 23 is further configured to acquire an input parameter or an operation instruction, and the processing module 22 is further configured to set a corresponding component on the functional component of the aircraft according to the acquired input parameter or operation instruction. Configuration status.

The acquisition module is further configured to acquire at least one input parameter or an operation instruction for the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft, and the processing module 22 is further configured to: according to the acquired input parameter or operation instruction pair At least one device corresponding to the pan/tilt head, the positioning system, and the inertial measurement unit of the aircraft is configured (as shown in FIG. 6).

The processing module 22 is further configured to set the flight mode of the aircraft to fly around a returning point or according to a planned route according to the operation instruction (as shown in FIG. 7).

The processing module 22 is further configured to dynamically change the graphical user interface according to the input parameter or the operation instruction.

Specifically, the acquiring module is further configured to acquire the input battery parameter, and the processing module 22 is further configured to dynamically display, according to the battery parameter, a state of the battery of the aircraft under the battery parameter (as shown in FIG. 8 Show); or

The obtaining module is further configured to acquire the input control parameter, and the processing module 22 is further configured to set a control sensitivity between the flight control component of the aircraft and the body of the aircraft according to the control parameter, and dynamically display the graphic User interface (as shown in Figure 9); or

The acquiring module is further configured to acquire the input flight parameter, and the processing module 22 is further configured to set a return altitude or a parting area range of the aircraft according to the flight parameter (as shown in FIG. 10); or

The acquisition module is further configured to acquire a control parameter of the rocker to be controlled of the input aircraft, and the processing module 22 is further configured to set an interaction between the rocker action and the flight of the aircraft according to the control parameter (eg, Figure 11)).

In this embodiment, the control module 25 is configured to control a corresponding functional component on the aircraft to dynamically perform a corresponding action according to the operation instruction.

In the process of graphically setting the flight control unit installation parameters, the display module 24 is specifically configured to display a schematic view of the airframe of the aircraft, and display a three-dimensional coordinate system on the schematic shape of the airframe.

The display module 24 is further configured to display a schematic shape of the corresponding flight control unit according to an origin position of the flight control unit of the aircraft in the three-dimensional coordinate system.

In this embodiment, the flight control unit includes at least an inertial measurement unit (IMU) and a positioning sensor, such as a GPS, and the flight control unit schematic form includes at least: an inertial measurement unit schematic shape and a positioning sensor schematic shape. In other embodiments, the flight control unit may further include a power management unit, a compass, a distance sensor, and the like.

The obtaining module 23 is specifically configured to acquire an offset value of the X/Y/Z axis of the input flight control unit, where the processing module 22 is specifically configured to be in the three-dimensional coordinate system according to the acquired offset value. The display position of the schematic shape of the flight control unit is updated.

In this embodiment, the display module 24 is further configured to display a coordinate parameter setting field of the flight control unit according to the flight control unit of the aircraft (as shown in FIG. 4). The coordinate parameter setting field of the flight control unit is configured to receive an input offset value of the X/Y/Z axis of the flight control unit.

In another embodiment, the acquiring module 23 is further configured to acquire a position parameter of the flight control unit on the aircraft. The display module 24 is further configured to display a corresponding schematic shape of the flight control unit according to the flight control unit of the aircraft and the corresponding position parameter in the corresponding position in the three-dimensional coordinate system.

The processing module 22 is further configured to update the display position of the schematic control unit of the flight control unit in the three-dimensional coordinate system in combination with the position parameter and the offset value.

In the process of graphically setting the aircraft type, the display module 24 is specifically configured to acquire and display a plurality of preset rack schematic shapes, and each of the preset rack schematic shapes includes a schematic shape of the head, and a plurality of The schematic diagram of the arm arranged in a preset shape and the schematic diagram of a plurality of motors are shown in the form of a schematic diagram of the motor state pointing to the preset rotation direction.

In this embodiment, the plurality of arms arranged in a predetermined shape are superimposed and displayed on the schematic direction of the head in a preset installation direction, and the ends of each of the arms are connected to one or The two motors are schematic in shape, and the predetermined rotation direction is clockwise or counterclockwise. In this embodiment, each of the preset racks includes a plurality of schematic diagrams that are centrally symmetric, and the preset shape is an X shape, a Y shape, or an I shape.

The processing module 22 is specifically configured to select a preset rack-shaped input operation according to a user (for example, touch or mouse click on a preset rack schematic shape, or hover over a preset rack shape) And generating a rotation control command, and dynamically rotating the respective motor schematic shapes according to the rotation control command and the pointing of the respective motor state schematic diagrams included in the selected preset frame shape. The control module 25 is specifically configured to control the motor on the aircraft to rotate according to a predetermined direction according to the rotation control instruction.

Specifically, the control module 25 may control the communication module 21 to send the rotation control instruction to the main controller of the aircraft, so that the main controller of the aircraft simultaneously controls the aircraft according to the rotation control instruction. The motor rotates in a predetermined direction.

In this embodiment, the processing module 22 is further configured to select a preset frame shape according to a user, and set the selected preset frame shape as an input of the type of the aircraft. In operation, the selected preset rack diagram is stored in a master of the flight control unit of the aircraft.

In the process of graphically setting the aircraft body motor installation parameters, the display module 24 is specifically configured to display a rack schematic shape corresponding to the rack type of the aircraft, and the rack schematic includes multiple presets. The shape of the machine arm is schematically arranged and the plurality of motors are schematic, and each of the motors is shown in a schematic form with a schematic diagram of a motor state pointing to a preset rotation direction.

The processing module 22 is specifically configured to generate a rotation control command according to a user inputting a preset frame-shaped input operation, and according to the rotation control instruction and the selected motor schematic shape, the corresponding motor state schematic shape Dynamically rotating the corresponding motor state schematic. The control module 25 is specifically configured to control the corresponding motor on the aircraft to rotate according to a predetermined direction according to the rotation control instruction.

Specifically, the control module 25 may control the communication module 21 to send the rotation control instruction to the main controller of the aircraft, so that the main controller of the aircraft simultaneously controls the aircraft according to the rotation control instruction. The corresponding motor rotates in a predetermined direction.

Further, the display module 24 is further configured to display, according to the schematic diagram of each of the motor diagrams, a motor icon corresponding to each motor schematic, and the processing module 22 is further configured to click a motor icon according to the user. The input operation selects the corresponding motor schematic.

Further, in an embodiment, the display module 24 is further configured to display the selected motor schematic shape and corresponding lines in a solid line when detecting that the user selects a motor-shaped input operation. The schematic diagram of the arm and the state of the motor are schematic, and the schematic diagrams of other motors in the schematic shape of the frame, the schematic diagram of the arm and the schematic diagram of the motor state are shown in the form of a broken line.

Alternatively, in another embodiment, the display module 24 is further configured to display the selected motor schematic form and correspondingly in a high brightness manner when detecting that the user selects a motor-shaped input operation. The schematic diagram of the arm and the state of the motor are schematic, and the schematic diagrams of other motors in the schematic shape of the frame, the schematic diagram of the arm and the schematic diagram of the motor state are displayed in a low-brightness form.

It should be noted that the specific implementation of each module in the parameterizing device 20 in the embodiment of the present invention may refer to the description of related steps in the corresponding embodiments of FIG. 1 to FIG. 18 correspondingly.

Referring to FIG. 21, it is a schematic structural diagram of an assistant system 50 according to an embodiment of the present invention. The parameterizing system 50 includes a memory 51 for storing program instructions of the parameterizing device 20, and a processor 52 for acquiring and executing program instructions stored in the memory. The parameter adjustment method in the corresponding embodiment of the above FIG. 1 to FIG. 18 is implemented. In an embodiment, the assistant system 50 further includes a control terminal (not shown), and the memory 51 and the processor 52 may be disposed at the control terminal.

In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

It should be noted that the above embodiments are only for explaining the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments. Modifications or equivalents are made without departing from the spirit and scope of the invention.

Claims

A method of tuning, comprising the following steps:

Displaying a corresponding graphical user interface according to the functional component type of the aircraft;

Displaying a configuration state of a functional component of the aircraft on the graphical user interface in accordance with a functional component of the aircraft and a corresponding graphical user interface.
The arranging method according to claim 1, wherein before the step of displaying the corresponding graphical user interface according to the functional component type of the aircraft, the method further comprises:

Identifying the type of functional components of the aircraft.
The method of arranging the parameter according to claim 2, wherein the step of identifying the type of the functional component of the aircraft comprises:

Obtaining device information of functional components of the aircraft;

Identifying the type of the functional component based on the acquired device information.
The method of arranging according to claim 2, further comprising: before the step of identifying the type of the functional component of the aircraft, further comprising:

A functional component that connects the aircraft.
The method of arranging according to claim 4, wherein the method specifically comprises:

Acquiring the action of connecting the functional components of the aircraft and dynamically displaying the connection process on the graphical user interface.
The method of arranging the method according to claim 1, wherein the displaying the configuration of the functional component of the aircraft on the graphical user interface according to the functional component of the aircraft and the corresponding graphical user interface Status steps, including:

Obtaining configuration parameters corresponding to functional components of the aircraft, and feeding back the configuration parameters to the graphical user interface, graphically presenting functional components of the aircraft in conjunction with the graphical user interface and the configuration parameters Configuration status.
The method of locating a method according to claim 6, wherein the method specifically comprises:

The basic parameters of the functional components of the aircraft are obtained and displayed on the same page.
The method of locating a method according to claim 6, wherein the method specifically comprises:

Obtaining a connection state of at least one of a pan/tilt head, a positioning system, and an inertial measurement unit of the aircraft, and displaying the connection state.
The method of locating a method according to claim 6, wherein the method specifically comprises:

Displaying a plurality of state diagrams corresponding to the sensors of the aircraft, wherein each state diagram corresponds to a preset alarm level, a background color indicating an alarm level, and a sensor state;

Obtaining the actual state of the sensor, and indicating the state of the corresponding alarm level according to the actual state of the sensor to indicate the corresponding background color.
The method of arranging the method according to claim 1, wherein the displaying the configuration of the functional component of the aircraft on the graphical user interface according to the functional component of the aircraft and the corresponding graphical user interface After the status step, it also includes:

Obtaining an input parameter or an operation instruction, and setting a corresponding configuration state on a functional component of the aircraft according to the obtained input parameter or operation instruction.
The method of locating a method according to claim 10, wherein the method specifically comprises:

Obtaining at least one input parameter or operation instruction for the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft, and configuring at least one device corresponding to the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft.
The method of locating a method according to claim 10, wherein the method specifically comprises:

Obtaining an operation instruction, according to the operation instruction, setting an airplane flight mode to fly around a returning point or according to a planned route.
The arranging method according to claim 10, wherein the obtaining an input parameter or an operation instruction, after setting the corresponding configuration state on the functional component of the aircraft according to the acquired input parameter or operation instruction, include:

The graphical user interface is dynamically changed according to the input parameter or the operation instruction.
The arranging method according to claim 13, wherein the step of dynamically changing the graphical user interface according to the input parameter or the operation instruction comprises:

Obtaining input battery parameters, dynamically displaying a state of the aircraft battery under the battery parameter; or

Obtaining input control parameters, setting control sensitivity between the flight control component of the aircraft and the body of the aircraft, and dynamically displaying on the graphical user interface; or

Obtaining the input flight parameters, setting the return altitude or the classification area of the aircraft; or

Obtaining the control parameters of the input rocker to be controlled by the aircraft, and setting the interaction of the rocker action with the flight of the aircraft.
The arranging method according to claim 10 or 13, wherein the obtaining an input parameter or an operation instruction, and setting a corresponding configuration state step on the functional component of the aircraft according to the acquired input parameter or operation instruction, Also includes:

Controlling corresponding functional components on the aircraft to dynamically perform corresponding actions according to the operational instructions.
The method of arranging parameters according to claim 1, wherein the step of displaying the configuration status of the functional components of the aircraft on the graphical user interface according to the functional components of the aircraft and the corresponding graphical user interface After that, it also includes:

Obtaining an input parameter or an operation instruction, and dynamically changing the graphical user interface according to the input parameter or the operation instruction.
The accommodating method of claim 16, wherein the obtaining an input parameter or an operation instruction, and performing a corresponding dynamic change step on the graphical user interface according to the input parameter or the operation instruction, further comprising:

Controlling corresponding functional components on the aircraft to dynamically perform corresponding actions according to the operational instructions.
The method of locating a method according to claim 6, wherein the method specifically comprises:

Showing a schematic view of the fuselage of the aircraft;

Displaying a three-dimensional coordinate system on the schematic view of the fuselage;

The corresponding flight control unit schematic shape is displayed according to the flight control unit of the aircraft.
The method of locating a method according to claim 18, wherein the method further comprises:

The schematic shape of the flight control unit is displayed at an origin position in the three-dimensional coordinate system.
The method of locating a method according to claim 19, wherein the method further comprises:

Obtaining an offset value of the X/Y/Z axis of the input flight control unit, and updating a display position of the schematic shape of the flight control unit in the three-dimensional coordinate system according to the obtained offset value.
The method of locating a method according to claim 18, wherein the method further comprises:

Obtaining a position parameter of the flight control unit on the aircraft, and displaying a schematic shape of the flight control unit according to the position parameter in a corresponding position in the three-dimensional coordinate system.
The method of aligning the method of claim 21, wherein the method further comprises:

Obtaining an offset value of the X/Y/Z axis of the input flight control unit, and combining the position parameter and the offset value, updating a display position of the flight control unit schematic in the three-dimensional coordinate system.
The method of arranging the method according to claim 20 or 22, wherein the method further comprises:

Displaying, by the flight control unit of the aircraft, a coordinate parameter setting field of the flight control unit, where a coordinate parameter setting field of the flight control unit is used to receive an input of the X/Y/Z axis of the flight control unit Offset value.
The method of aligning according to claim 18, wherein the flight control unit comprises at least: an inertial measurement unit and a positioning sensor, and the schematic shape of the flight control unit includes at least: a schematic diagram of the inertial measurement unit and a schematic shape of the positioning sensor .
The method according to claim 18, wherein the three-dimensional coordinate system takes a reference point on the aircraft as an origin, and a reference point on the aircraft is a position of a center of gravity of the aircraft or the flight control The installation location of the unit's master.
The method of locating a method according to claim 6, wherein the method specifically comprises:

Obtaining and displaying a plurality of preset rack diagrams, each of the preset rack diagrams includes a schematic diagram of the head direction, a plurality of schematic diagrams arranged in a predetermined shape, and a plurality of motor schematics Each of the motors is schematically combined with a motor state schematic form indicating a preset rotation direction, wherein the plurality of arms arranged in a predetermined shape are superimposed and displayed on the handpiece according to a preset installation direction. Above the schematic shape, the schematic end of each of the arms is connected to one or two motor schematics, and the predetermined rotation direction is clockwise or counterclockwise.
The method of arranging according to claim 26, wherein each of the preset frame patterns includes a plurality of schematic axes that are centrally symmetric, and the predetermined shape is an X shape and a Y shape. Or I shape.
The method of arranging the method according to claim 26, wherein the method further comprises:

Generating a rotation control command according to a user inputting a preset frame-shaped input operation, and according to the rotation control command and the selected preset state of the motor Dynamically rotating the schematic shapes of the respective motors.
The method of arranging the method according to claim 28, wherein the method further comprises:

The motor on the aircraft is controlled to rotate in a predetermined direction according to the rotation control command.
The method of arranging the method according to claim 26, wherein the method further comprises:

According to the user's selection of a preset rack schematic shape, and the selected preset rack diagram is set as an input operation of the type of the aircraft, the selected preset rack diagram is selected. The shape is stored in the master of the flight control unit of the aircraft.
The method of locating a method according to claim 6, wherein the method specifically comprises:

Displaying a schematic diagram of a rack corresponding to the type of the aircraft of the aircraft, the schematic diagram of the rack includes a plurality of schematic diagrams of the arm arranged in a predetermined shape and a plurality of schematic diagrams of the motor, each of the schematic diagrams of the motor The upper display shows a schematic diagram of the motor state pointing to the preset rotation direction, wherein the schematic end of each of the arms is connected to one or two motor schematics, and the preset rotation direction is clockwise or counterclockwise. .
The method of aligning according to claim 31, wherein the plurality of arms of the frame form are schematicly center-symmetrical, and the predetermined shape is consistent with the shape of the frame of the aircraft.
The method of aligning according to claim 31, wherein the schematic shape of the frame further comprises a schematic shape of the head direction, and the plurality of arms arranged in a predetermined shape are superimposed and displayed in a preset installation direction. The head direction is schematicly above, and the preset installation direction is consistent with the installation direction of the frame of the aircraft.
The method of aligning the method of claim 31, wherein the method further comprises:

The rotation control command is generated according to the input operation of the motor selected by the user, and the corresponding motor state diagram is dynamically rotated according to the rotation control command and the corresponding motor state diagram of the selected motor.
The method of locating a method according to claim 34, wherein the method further comprises:

Controlling a respective motor on the aircraft to rotate in a predetermined direction in accordance with the rotation control command.
The method of aligning the method of claim 31, wherein the method further comprises:

Displaying, according to the schematic diagram of each of the motors in the schematic diagram of the frame, a motor icon corresponding to the schematic diagram of each of the motors;

According to the user's input operation of clicking a motor icon, the corresponding motor schematic shape is selected.
The method of locating a method according to claim 34, wherein the method further comprises:

When it is detected that the user selects an input operation of a schematic diagram of the motor, the schematic shape of the selected motor and the corresponding schematic diagram of the arm and the schematic state of the motor are displayed in a solid line, and the display is in the form of a broken line. Schematic diagram of other motors in the form of a rack, schematic diagram of the arm and schematic diagram of the motor state; or

When it is detected that the user selects a motor-shaped input operation, the selected motor schematic shape and the corresponding schematic diagram of the arm and the motor state are displayed in a high-brightness manner, and the display is displayed in a low brightness form. The schematic diagram of other motors in the form of a rack diagram, the schematic diagram of the arm and the schematic diagram of the motor state.
An adjustment device comprising:

a display module, configured to display a corresponding graphical user interface according to the functional component type of the aircraft, and display the graphical user interface on the graphical user interface according to the functional component of the aircraft and the corresponding graphical user interface The configuration status of the functional components of the aircraft.
38. The arranging device of claim 38, further comprising a processing module for identifying a type of functional component of the aircraft.
The accommodating device according to claim 39, further comprising: an obtaining module, configured to acquire device information of a functional component of the aircraft; the processing module, configured to identify the function according to the acquired device information The type of component.
The arranging device of claim 39, further comprising a communication module for connecting the functional components of the aircraft.
The accommodating device according to claim 41, wherein the obtaining module is further configured to acquire an action of the functional component connected to the aircraft, and the display module is further configured to dynamically display on the graphical user interface. The connection process.
The accommodating device according to claim 38, further comprising: an obtaining module, configured to acquire configuration parameters corresponding to the functional components of the aircraft, and feed back the configuration parameters to the graphical user interface; The display module is further configured to graphically present a configuration state of a functional component of the aircraft in conjunction with the graphical user interface and the configuration parameter.
The arranging device according to claim 43, wherein the obtaining module is further configured to acquire basic parameters of the functional components of the aircraft, and the display module is configured to integrate basic parameters of the functional components of the aircraft Displayed on the same page.
The arranging device according to claim 43, wherein the acquiring module is further configured to acquire a connection state of at least one of a pan/tilt, a positioning system, and an inertial measurement unit of the aircraft, and the display module is configured to display The connection status.
The arranging device according to claim 43, wherein the display module is further configured to display a plurality of state diagrams corresponding to the sensors of the aircraft, wherein each state diagram has a preset alarm level. , indicating the background color of the alarm level, and the sensor status;

The obtaining module is specifically configured to acquire an actual state of the sensor;

The processing device further includes a processing module, and the processing module is configured to map the state of the corresponding alarm level to a corresponding background color according to the actual state of the sensor.
The arranging device according to claim 38, further comprising:

An acquisition module for obtaining input parameters or operation instructions;

And a processing module, configured to set a corresponding configuration state on the functional component of the aircraft according to the acquired input parameter or operation instruction.
The accommodating device according to claim 47, wherein the obtaining module is further configured to acquire at least one input parameter or an operation instruction for the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft, the processing module And configured to configure at least one device corresponding to the pan/tilt, the positioning system, and the inertial measurement unit of the aircraft according to the acquired input parameter or operation instruction.
The arranging device according to claim 47, wherein the processing module is further configured to set the flight mode of the aircraft to fly around a return point or fly according to a planned route according to the operation instruction.
The arranging device according to claim 47, wherein the processing module is further configured to dynamically change the graphical user interface according to the input parameter or the operation instruction.
The accommodating device according to claim 50, wherein the acquiring module is further configured to acquire an input battery parameter, and the processing module is further configured to dynamically display the battery of the aircraft according to the battery parameter. State the battery parameters; or

The acquiring module is further configured to acquire the input control parameter, and the processing module is further configured to set a control sensitivity between the flight control component of the aircraft and the body of the aircraft according to the control parameter, and dynamically display the graphic On the user interface; or

The acquiring module is further configured to acquire the input flight parameter, where the processing module is further configured to set a return altitude or a parting area range of the aircraft according to the flight parameter; or

The acquisition module is further configured to acquire control parameters of the rocker to be controlled of the input aircraft, and the processing module is further configured to set an interaction between the rocker action and the flight of the aircraft according to the control parameter.
The assistant device according to claim 47 or 50, further comprising a control module for controlling a corresponding functional component on the aircraft to dynamically perform a corresponding action according to the operation command.
The arranging device according to claim 38, further comprising:

An acquisition module for obtaining an input parameter or an operation instruction;

And a processing module, configured to dynamically change the graphical user interface according to the input parameter or the operation instruction.
The arranging device according to claim 53, further comprising: a control module, configured to control a corresponding functional component on the aircraft to dynamically perform a corresponding action according to the operation instruction.
The assistant device according to claim 54, wherein the display module is specifically configured to:

Showing a schematic view of the fuselage of the aircraft;

Displaying a three-dimensional coordinate system on the schematic view of the fuselage;

The corresponding flight control unit schematic shape is displayed according to the flight control unit of the aircraft.
The arranging device according to claim 55, wherein the display module is further configured to display the schematic shape of the flight control unit at an origin position in the three-dimensional coordinate system.
The accommodating device according to claim 56, wherein the obtaining module is further configured to acquire an offset value of the input X/Y/Z axis of the flight control unit; The obtained offset value updates the display position of the schematic shape of the flight control unit in the three-dimensional coordinate system.
The accommodating device of claim 55, wherein the obtaining module is further configured to acquire a position parameter of the flight control unit on the aircraft; the display module is further configured to be used according to the position The parameter displays a schematic shape of the flight control unit at a corresponding position in the three-dimensional coordinate system.
The accommodating device according to claim 58, wherein the acquiring module is further configured to acquire an offset value of the X/Y/Z axis of the input flight control unit; the processing module is configured to combine The position parameter and the offset value update a display position of the flight control unit schematic in the three-dimensional coordinate system.
The arranging device according to claim 57 or 59, wherein the display module is further configured to display a coordinate parameter setting field of the flight control unit according to a flight control unit of the aircraft, the flight control The coordinate parameter setting field of the unit is used to receive the input offset value of the X/Y/Z axis of the flight control unit.
The accommodating device according to claim 55, wherein the flight control unit comprises at least: an inertial measurement unit and a positioning sensor, and the schematic shape of the flight control unit includes at least: an inertial measurement unit schematic shape and a positioning sensor .
The accommodating device according to claim 55, wherein said three-dimensional coordinate system takes an reference point on said aircraft as an origin, and a reference point on said aircraft is a position of a center of gravity of said aircraft or said flight control The installation location of the unit's master.
The arranging device according to claim 43, wherein the display module is specifically configured to acquire and display a plurality of preset frame patterns, and each of the preset frame patterns includes a head direction. The schematic shape, a plurality of schematic diagrams of the arm arranged in a preset shape, and a plurality of schematic diagrams of the motor, each of the schematic diagrams of the motor is combined with a schematic diagram of a motor state pointing to a preset rotation direction, wherein the plurality of The arms arranged in a preset shape are superimposed and displayed on the schematic direction of the head in a preset installation direction, and the schematic ends of each of the arms are connected to one or two motor schematics. Set the direction of rotation to clockwise or counterclockwise.
The accommodating device according to claim 63, wherein each of the preset frame forms includes a plurality of schematic axes that are centrally symmetrical, and the predetermined shape is an X shape and a Y shape. Or I shape.
The arranging device according to claim 63, further comprising: a processing module, configured to generate a rotation control command according to a user inputting a preset frame-shaped input operation, and according to the rotation control instruction and The selected preset rack diagrams include the orientations of the schematic diagrams of the respective motor states, and dynamically rotate the schematic shapes of the respective motors.
The accommodating device of claim 65, further comprising a control module for controlling the motor on the aircraft to rotate in a predetermined direction in accordance with the rotational control command.
The arranging device according to claim 63, further comprising: a processing module, configured to select a preset frame shape according to the user, and set the selected preset frame shape For the input operation of the type of the aircraft, the selected preset rack diagram is stored in the master of the flight control unit of the aircraft.
The arranging device according to claim 43, wherein the display module is specifically configured to display a frame shape corresponding to a frame type of the aircraft, and the frame shape includes a plurality of presets. The shape of the machine arm is schematically arranged and the plurality of motors are schematicly arranged. Each of the motors is schematically combined with a motor state diagram indicating a preset rotation direction, wherein each of the arms is schematicly connected at the end. One or two motors are schematic in shape, and the predetermined rotation direction is clockwise or counterclockwise.
The arranging device according to claim 68, wherein the plurality of arms of the frame form are schematicly center-symmetrical, and the predetermined shape is consistent with the shape of the frame of the aircraft.
The arranging device according to claim 68, wherein the frame shape further includes a schematic shape of the head, and the plurality of arms arranged in a predetermined shape are superimposed and displayed in a preset installation direction. The head direction is schematicly above, and the preset installation direction is consistent with the installation direction of the frame of the aircraft.
The arranging device according to claim 68, further comprising: a processing module, configured to generate a rotation control command according to the user selecting a schematic operation of the motor, according to the rotation control command and the selected motor schematic The corresponding motor state is schematically pointed, and the corresponding motor state diagram is dynamically rotated.
The accommodating device of claim 71, further comprising a control module for controlling the respective motors on said aircraft to rotate in a predetermined direction in accordance with said rotational control command.
The arranging device according to claim 63, wherein the display module is further configured to display, according to the schematic diagram of each of the motors in the schematic view of the frame, a motor icon corresponding to the schematic shape of each motor;

The assistant device further includes a processing module, and the processing module is configured to select a corresponding motor schematic shape according to an input operation of the user clicking a motor icon.
The arranging device according to claim 71, wherein the display module is further configured to:

When it is detected that the user selects an input operation of a schematic diagram of the motor, the schematic shape of the selected motor and the corresponding schematic diagram of the arm and the schematic state of the motor are displayed in a solid line, and the display is in the form of a broken line. Schematic diagram of other motors in the form of a rack, schematic diagram of the arm and schematic diagram of the motor state; or

When it is detected that the user selects a motor-shaped input operation, the selected motor schematic shape and the corresponding schematic diagram of the arm and the motor state are displayed in a high-brightness manner, and the display is displayed in a low brightness form. The schematic diagram of other motors in the form of a rack diagram, the schematic diagram of the arm and the schematic diagram of the motor state.
An assistant system comprising a processor for:

Displaying a corresponding graphical user interface on the display device according to the functional component type of the aircraft;

Displaying a configuration state of a functional component of the aircraft on the graphical user interface in accordance with a functional component of the aircraft and a corresponding graphical user interface.
An assistant memory for storing program instructions that are obtainable by a processor to perform the following steps:

Displaying a corresponding graphical user interface on the display device according to the functional component type of the aircraft;

Displaying a configuration state of a functional component of the aircraft on the graphical user interface in accordance with a functional component of the aircraft and a corresponding graphical user interface.
The memory of claim 76, wherein before the step of displaying the corresponding graphical user interface according to the functional component type of the aircraft, the method further comprises:

Connecting functional components of the aircraft;

Identifying the type of functional components of the aircraft.
A memory according to claim 77, wherein said step of displaying a configuration state of a functional component of said aircraft on said graphical user interface in accordance with a functional component of said aircraft and a corresponding graphical user interface Specifically, including:

Obtaining configuration parameters corresponding to functional components of the aircraft, and feeding back the configuration parameters to the graphical user interface, graphically presenting functional components of the aircraft in conjunction with the graphical user interface and the configuration parameters Configuration status.
A memory according to claim 76, wherein said step of displaying a configuration state of a functional component of said aircraft on said graphical user interface in accordance with a functional component of said aircraft and a corresponding graphical user interface After that, it also includes:

Obtaining an input parameter, and setting a corresponding configuration state on a functional component of the aircraft according to the obtained input parameter.
A memory according to claim 76, wherein after the step of displaying the configuration status of the functional components of the aircraft on the graphical user interface, in accordance with the functional components of the aircraft and the corresponding graphical user interface, Also includes:

Obtaining an operation instruction, correspondingly dynamically changing the graphical user interface according to the operation instruction, and/or controlling a corresponding function component on the aircraft to dynamically perform a corresponding action according to the operation instruction.