CN112097761B - Method for automatically identifying sensor installation direction corresponding to spacecraft - Google Patents
Method for automatically identifying sensor installation direction corresponding to spacecraft Download PDFInfo
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- CN112097761B CN112097761B CN202010908793.2A CN202010908793A CN112097761B CN 112097761 B CN112097761 B CN 112097761B CN 202010908793 A CN202010908793 A CN 202010908793A CN 112097761 B CN112097761 B CN 112097761B
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Abstract
The invention provides a method for automatically identifying the installation direction of a sensor corresponding to a spacecraft, which is used for solving the problems of low working efficiency and low accuracy of recording the installation direction of the sensor in the prior art. The method for automatically identifying the installation direction of the sensor is based on a handheld terminal with a built-in gyroscope, after a handheld terminal coordinate system, a spacecraft coordinate system and a sensor coordinate system are established, the type and the coordinate system of a current sensor are identified through a scanning code, the attitude of the current sensor is identified through the built-in gyroscope, a conversion coordinate system of the current sensor is obtained by the handheld terminal, then the built-in gyroscope automatically calculates the rotation angle of the conversion coordinate system of the current sensor relative to the spacecraft coordinate system, the direction of the current sensor is determined, and recording is carried out. The method and the device realize the judgment of the sensor direction based on the handheld terminal, can be suitable for various sensors, effectively improve the recognition accuracy of the sensor installation direction corresponding to the spacecraft, improve the working efficiency and save the human resources.
Description
Technical Field
The invention belongs to the field of sensing, and particularly relates to a method for automatically identifying the installation direction of a sensor corresponding to a spacecraft.
Background
The sensor is used as an information conversion device, can convert a measured object into an electric signal or other required information forms, measures, transmits, displays or processes the measured object, and is applied to various fields of intelligent computers, spacecrafts, atmospheric monitoring, hydrological and geological monitoring and the like. For example, in an aircraft ground mechanics environment test, a large number of sensors need to be installed, including single-axis, multi-axis acceleration sensors, angular vibration sensors, force sensors, and the like. When the sensor is installed, the corresponding relation between the direction of the sensor and the coordinate direction of the spacecraft needs to be recorded.
The installation of the spacecraft mechanical environment test sensor is implemented step by step along with the general assembly process of the spacecraft, the time span is generally at least several months, and FIG. 1 is a schematic diagram of the installation and wiring process of the sensor in the prior art. As shown in FIG. 1, the installation of the spacecraft mechanical environment test sensor comprises the following steps: m0., preparing sensors, including type and quantity inspection, conduction inspection, appearance inspection and insulation sheet adhesion; preparing auxiliary materials, namely preparing adhesive tapes, preparing aluminum foils, preparing glue and preparing cleaning cotton balls; preparing a pasting record table according to the test outline; m1, determining the pasting position together with a tester according to the requirement of a test point layout file in the test outline of the test piece; m2, preliminarily judging the sticking direction of the sensor through the sticking position, wherein the judgment standard is that the stuck sensor is convenient to route, the periphery of the stuck sensor is not easy to conflict with other products on the test piece, and other products on the periphery cannot influence the output data of the sensor during the test; m3, confirming the direction definition of the sensor; m4. determining the direction of the spacecraft corresponding to the region where the installation is located according to the test outline; m5. records the number of the sensor; m6. judging and recording the corresponding relation between the sensor and the spacecraft direction according to the sticking trend of the sensor; m7. gluing and sticking sensor; m8. the sensor is further protected with tape, the wire is out. If there are multiple sensors, repeating steps M1-M8; m9. connecting a transfer line; m10, recording the connection relation; and M11, manufacturing a tracking card of the measuring system and connecting a rotating arm.
In the sensor installation process, the steps M3-M6 need a sensor installer to confirm and record the corresponding relation between the sensor and the spacecraft direction according to the definition of the sensor direction, the spacecraft direction and the sticking trend. Generally, hundreds of sensors are required to be installed in a spacecraft mechanical environment test, the installation time is intermittent, the process is at least several months, a plurality of persons participate in the process, the coordinate relationship is easily judged by manpower to be wrong, and the probability of wrong direction recording is about 1% according to experience. Meanwhile, the traditional method for manually judging the direction and recording the paper is low in efficiency, cannot ensure the accuracy of direction judgment, is easy to make mistakes in the judging and recording links, and needs a large amount of human resources.
Disclosure of Invention
In view of the defects or shortcomings in the prior art, the invention provides the method for automatically identifying the installation direction of the sensor corresponding to the spacecraft.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
A method for automatically identifying the installation direction of a sensor corresponding to a spacecraft comprises the following steps:
step S1, establishing a hand-held terminal coordinate system with a built-in gyroscope, and inputting a spacecraft coordinate system based on the hand-held terminal coordinate system;
step S2, defining a sensor coordinate system and inputting the sensor coordinate system into a handheld terminal database;
step S3, code scanning identifies the type and coordinate system of the current sensor, and based on the coordinate system of the handheld terminal, the gesture of the current sensor is identified through a built-in gyroscope, and the handheld terminal obtains the conversion coordinate system of the current sensor;
and step S4, the built-in gyroscope automatically calculates the rotation angle of the conversion coordinate system of the current sensor relative to the spacecraft coordinate system, and determines the direction of the current sensor.
In the above scheme, the step S4 further includes automatically recording the current sensor number, type and direction.
In the above solution, the step S4 determines the direction of the current sensor, and determines the direction of the current sensor through angle reformation.
In the scheme, the angle reforming firstly judges whether the error exceeds the standard, and prompts to redefine a spacecraft coordinate system for zero returning operation if the error exceeds the standard; and if the error does not exceed the standard, eliminating the error as a small quantity.
In the above scheme, the process of judging whether the error exceeds the standard is as follows:
setting the rotation angle as theta, the tolerance error as +/-alpha, and the standard for judging the standard of the error exceeding is as follows:
(θ+α)//90-(θ-α)//90＝＝0 (1)
in the formula (1),// is an integer division symbol, and whether the left side and the right side are equal is judged logically;
if the error does not exceed the standard, the angle reforming formula is as follows:
in the formula (2),% is the remainder operator, and abs is the absolute value operation.
In the above scheme, the handheld terminal further comprises a code scanning identification device, a display device and an input device, the code scanning identification device is used for scanning a code to identify the current sensor, the display device is used for displaying a code scanning identification result, and the input device is used for inputting a spacecraft coordinate system.
In the above scheme, the handheld terminal coordinate system XYZ is defined, and the input spacecraft coordinate system X is definedHYHZHThe shooting direction of the camera is defined as the-Z direction, after the handheld terminal is held in a hand of a worker, the transverse direction is the right direction, and a coordinate system XYZ of the handheld terminal is formed according to a right-hand coordinate system.
In the above-described aspect, the coordinate system of the sensor is defined by the mounting surface normal direction and the receptacle orientation.
In the above solution, the sensor includes a three-axis sensor and a single-axis sensor; for a three-axis sensor, the normal direction of a mounting surface is a z direction, the direction of a socket is a-y direction, and the corresponding relation of a right-hand coordinate system is determined; for a first type of single axis sensor, the mounting face normal and receptacle orientation are along one axis, identifying the sensor orientation, thereby defining a sensor coordinate system; for the second type of single-axis sensor, the sensitive axis is parallel to the mounting surface, the orientation of the sensitive axis is confirmed through the normal direction of the mounting surface of the sensor and the orientation of the socket, and the direction of the sensor is confirmed, so that a sensor coordinate system is defined.
In the above solution, in step S3, the conversion coordinate system of the current sensor is obtained by the handheld terminal, after the handheld terminal scans the sensor identification code, the type and direction definition xyz of the current sensor is obtained from the database, the direction of the handheld terminal is adjusted based on the built-in gyroscope, and the axis-Z of the code scanning area of the handheld terminal and the sensor mounting surface are scannedThe normal lines are parallel, the camera faces the installation direction of the sensor, if the socket faces to a direction different from the normal direction of the installation surface, the-Y direction of the handheld terminal points to the direction of the socket, and therefore the conversion coordinate system X of the sensor is directly obtained by the handheld terminalTYTZT。
The invention has the following beneficial effects:
according to the method for automatically identifying the installation direction of the sensor corresponding to the spacecraft, the type and the coordinate system of the current sensor are identified through the code scanning on the basis of the handheld terminal with the built-in gyroscope, on the basis of establishing a handheld terminal coordinate system, a spacecraft coordinate system and a sensor coordinate system, the attitude of the current sensor is identified through the built-in gyroscope on the basis of the handheld terminal coordinate system, the conversion coordinate system of the current sensor is obtained through the handheld terminal, the rotation angle of the conversion coordinate system of the current sensor relative to the spacecraft coordinate system is automatically calculated through the built-in gyroscope, the direction of the current sensor is determined, and recording is carried out. The method and the device realize the judgment of the sensor direction based on the handheld terminal, are suitable for various sensors, effectively improve the identification accuracy of the sensor installation direction corresponding to the spacecraft, improve the working efficiency, save the human resources and avoid the problem of manual judgment errors. The installation direction identification method can be applied to various fields needing to judge the corresponding relation between the installation sensor direction and the standard coordinate direction.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 is a schematic diagram of a sensor installation process in a spacecraft ground mechanics environment test in the prior art;
FIG. 2 is a schematic flow chart of a method for automatically identifying a sensor installation direction corresponding to a spacecraft according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a flat-panel handheld terminal according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a barcode scanning gun type handheld terminal according to an embodiment of the present invention;
FIG. 5 is a schematic view of the orientation definition of a three-axis sensor in an embodiment of the present invention;
FIG. 6 is a schematic view of the orientation definition of a first type of single-axis sensor in an embodiment of the present invention;
FIG. 7 is a schematic view of the orientation definition of a second type of single-axis sensor in an embodiment of the invention;
FIG. 8 is a schematic diagram illustrating a principle of recognizing a current sensor attitude based on a built-in gyroscope according to an embodiment of the present invention;
fig. 9 is a schematic view of a display interface of the handheld terminal when the direction of the current sensor is determined through angle reformation in the embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The embodiment of the invention provides a method for automatically identifying and recording the installation direction of a sensor corresponding to a spacecraft aiming at the installation of the sensor in a spacecraft ground mechanics environment test, and the method comprises the following steps of firstly defining a coordinate system of the sensor and recording the coordinate system as an xyz coordinate system; establishing a handheld terminal coordinate system XYZ, and recording a coordinate system X of a spacecraft in the handheld terminalHYHZH(ii) a Then, the relative relation between the postures of the handheld terminal and the sensor in the installation process of the sensor is defined, a gyroscope is arranged in the handheld terminal, and the posture X of the current handheld terminal is obtained through calculation during triggering recordingCYCZCAngle matching to form a transformation coordinate system XTYTZTFinally according to the coordinate system X of the spacecraftHYHZHRecord XTYTZTThereby realizing automatic judgment of the corresponding relation of the installation directions of the sensorsAnd recording is carried out, the sensor installation efficiency is improved, and the error probability is reduced.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of a method for automatically identifying a sensor installation direction corresponding to a spacecraft according to an embodiment of the present invention. As shown in fig. 2, the method for automatically identifying and recording the installation direction of the sensor comprises the following steps:
And step S1, establishing a hand-held terminal coordinate system with a built-in gyroscope, and inputting the spacecraft coordinate system based on the hand-held terminal coordinate system.
In this step, the hand-held terminal includes a flat plate type or a code-scanning gun type terminal. FIG. 3 is a schematic structural diagram of the tablet-type handheld terminal according to the present embodiment; fig. 4 is a schematic structural diagram of a code scanning gun type handheld terminal according to the embodiment. As shown in fig. 3 and 4, the handheld terminal includes a built-in gyroscope, a code scanning recognition device, a display device and an input device, and is correspondingly divided into a code scanning area, a display area and an input area. The code scanning identification device is used for scanning a code to identify a current sensor, the display device is used for displaying a code scanning identification result, and the input device is used for inputting a spacecraft coordinate system.
As a preferred embodiment of the present invention, the code scanning recognition device includes a transmitter, a camera, and a flash, recognizes the sensor number by a code scanning recognition method, and photographs the record pasting position.
In this embodiment, the handheld terminal coordinate system XYZ is defined, and the input spacecraft coordinate system X is definedHYHZHThe shooting direction of the camera is defined as the-Z direction, the transverse direction is the X direction after the handheld terminal is held in the hand of a worker, and a coordinate system XYZ of the handheld terminal is formed according to a right-hand coordinate system.
And step S2, defining a sensor coordinate system and recording the sensor coordinate system into a handheld terminal database.
In this step, the coordinate system of the sensor may be defined as a coordinate system defined when the sensor is shipped from a factory, or may be defined according to a usage habit. The coordinate system of the sensor is defined as xyz. In general, a sensor with a coordinate direction defined at the time of factory shipment is recorded in a handheld terminal database according to the factory shipment direction definition, and if a coordinate system is not defined, the coordinate system of the sensor is defined according to the use habit.
Preferably, the coordinate system of the sensor is defined by the mounting face normal and the receptacle orientation.
As a preferred embodiment of the present invention, the sensor includes a three-axis sensor and a single-axis sensor. In practical application, acceleration sensors, angular vibration sensors, micro-vibration sensors, force sensors and the like corresponding to the spacecraft are classified as three-axis sensors or single-axis sensors according to the number of measurement axes. Fig. 5 is a schematic view of the orientation definition of the three-axis sensor. As shown in fig. 5, for the three-axis sensor, the normal direction of the mounting surface is the z direction, and the socket orientation is the-y direction, and for the three-axis sensor, the corresponding relationship between the normal direction of the mounting surface and the socket orientation can be determined. Fig. 6 and 7 show schematic diagrams of orientation definitions for two types of single-axis sensors, respectively. As shown in fig. 6, for the first type of single axis sensor, the mounting face normal and the receptacle orientation are along one axis. Knowing the mounting surface normal, the sensor orientation can be confirmed, thereby defining the sensor coordinate system. As shown in fig. 7, for the second type of single axis sensor, the sensitive axis is parallel to the mounting surface, and the orientation of the sensitive axis and the orientation of the sensor can be confirmed by the normal direction of the mounting surface of the sensor and the orientation of the socket. Other orientation-defining sensors may also be used to define the sensor coordinate system by mounting surface normal and receptacle orientation, as described above.
The defined coordinate system information and type information of the sensor are recorded into the identification code of the sensor when the sensor is installed.
Step S3, the code scanning identifies the type and coordinate system of the current sensor, based on the coordinate system of the hand-held terminal, the gesture of the current sensor is identified through the built-in gyroscope, and the hand-held terminal obtains the conversion coordinate system X of the current sensorTYTZT。
FIG. 8 illustrates the recognition of the current sensor pose based on the built-in gyroscope in this stepSchematic diagram of principle. As shown in fig. 8, in this step, after the handheld terminal scans the sensor identification code, the current type and direction definition xyz of the sensor is obtained from the database, the direction of the handheld terminal is adjusted based on the built-in gyroscope, the axis-Z of the code scanning area of the handheld terminal is parallel to the normal of the mounting surface of the sensor, the camera faces the mounting direction of the sensor, and if the socket faces the mounting surface normal, the direction-Y of the handheld terminal is required to point to the socket. The recognition of the installation direction of the sensor is completed by utilizing the defined attitude relationship, the relative attitude relationship is visual, manual conversion is not needed, and the conversion coordinate system X of the sensor is directly obtained by the handheld terminalTYTZT。
It should be noted that the defined posture relationship may also be a corresponding relationship in other directions, and the above preferred embodiment does not limit the present invention.
Step S4, the built-in gyroscope automatically calculates the conversion coordinate system X of the current sensorTYTZTRelative to the spacecraft coordinate system XHYHZHDetermines the current sensor direction.
Further, the step S4 includes automatically recording the current sensor number, type and direction.
As a preferred embodiment of the invention, the orientation of the current sensor is determined by angle reformation.
Fig. 9 is a schematic view of a display interface of the handheld terminal when determining the orientation of the current sensor through angle re-alignment. As shown in fig. 9, after the angle is reshaped, the coordinate record can be determined according to the reshaped angle. Preferably, the direction of the display can be manually modified by the input device to meet the revision requirements in special cases.
In this step, the angle is reformed because the error becomes longer with time when the gyroscope calculates the attitude, and a visual error also exists when the handheld terminal is used to determine the direction of the sensor. So obtained transformed coordinate system XTYTZTRelative to the spacecraft coordinate system XHYHZHThe angle of rotation of (A) is not standardOf 90 deg..
The angle reforming is to judge whether the error exceeds the standard or not, and if the error exceeds the standard, to prompt to redefine a spacecraft coordinate system for zero returning operation; and if the error does not exceed the standard, eliminating the error as a small quantity.
The process of judging whether the error exceeds the standard is as follows:
assuming that a certain rotation angle is θ, the tolerance error is ± α. Preferably, the α range is [5,20 ]. The standard for judging the standard of the error exceeding is as follows:
(θ+α)//90-(θ-α)//90＝＝0 (1)
in the formula (1),// is an integer division symbol, and whether the left and right sides are equal is determined logically.
If the error does not exceed the standard, the angle reforming formula is as follows:
in the formula (2),% is the remainder operator, and abs is the absolute value operation.
As a preferred embodiment of the invention, the direction of the current sensor is determined directly and an uncertainty is added in said direction. In the installation direction of most sensors, three coordinate axes are parallel to the coordinate axis of the spacecraft, but sensors in partial positions are also arranged, and after the sensors are installed, the three coordinate axes are not parallel to the coordinate axis of the spacecraft. In this case, the measured angle is not reformed, the rotation angle of the sensor installation direction relative to the spacecraft coordinate system is directly output, and the uncertainty of the angle is tolerance error +/-alpha.
By adopting the method for automatically identifying the installation direction of the sensor corresponding to the spacecraft, the number, the model, the sensitivity, the defined coordinate system and other information of the sensor are put in storage before the sensor is installed when the installation direction of the sensor is recorded, and the tail end of the cable of the sensor is attached with a bar code or a two-dimensional code with the information of the sensor put in storage. After the sensors are switched on, the hand-held terminal is used for scanning one by one and then picking up the sensor, and the state of the scanned sensor is automatically changed into 'switched on'. After the installation position and the orientation of the sensor are determined, an operator scans the number (a bar code or a two-dimensional code) of the sensor by using the handheld terminal, and automatically identifies and records the sensor by using the handheld terminal according to the determined installation direction of the sensor and the orientation of the socket. For the sensors in the cabin, wires need to be led out, the numbers of the sensors which are led out can be recorded by scanning codes by using a wire outlet recording function after the wires are led out, and the sensors which are led out can be tabulated and displayed. And (4) connecting a patch cord, and scanning a code to record the serial number of the sensor and the serial number of the patch cord. And exporting installation record information, manufacturing a tracking card of the measuring system, and connecting a rotating arm. Through the process, the installation of the sensor is completed, and the identification and the recording of the direction of the sensor are also completed.
According to the technical scheme, the method for automatically identifying and recording the installation direction of the sensor corresponding to the spacecraft, disclosed by the embodiment of the invention, realizes the judgment of the direction of the sensor based on the handheld terminal, can be suitable for various sensors, effectively improves the identification accuracy of the installation direction of the sensor corresponding to the spacecraft, improves the working efficiency and saves the human resources.
The foregoing description is only exemplary of the preferred embodiments of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention according to the present application is not limited to the specific combination of the above-mentioned features, but also covers other embodiments where any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A method for automatically identifying the installation direction of a sensor corresponding to a spacecraft is characterized by comprising the following steps:
step S1, establishing a hand-held terminal coordinate system with a built-in gyroscope, and inputting a spacecraft coordinate system based on the hand-held terminal coordinate system;
Step S2, defining a sensor coordinate system and inputting the sensor coordinate system into a handheld terminal database;
step S3, the type and coordinate system of the current sensor are identified by scanning codes, the attitude of the current sensor is identified by a built-in gyroscope based on the coordinate system of the handheld terminal, and the conversion coordinate system of the current sensor is obtained by the handheld terminal;
and step S4, the built-in gyroscope automatically calculates the rotation angle of the conversion coordinate system of the current sensor relative to the spacecraft coordinate system, and determines the direction of the current sensor.
2. The method for automatically identifying the installation direction of a sensor according to claim 1, wherein said step S4 further comprises automatically recording the current sensor number, type and direction.
3. The sensor mounting direction automatic recognition method according to claim 1 or 2, wherein the step S4 determines the direction of the current sensor by angle reformation.
4. The method for automatically identifying the installation direction of the sensor according to claim 3, wherein the angle reforming is characterized by firstly judging whether the error exceeds the standard, and prompting to redefine a spacecraft coordinate system for zero returning operation if the error exceeds the standard; and if the error does not exceed the standard, eliminating the error as a small quantity.
5. The method for automatically recognizing the mounting direction of a sensor according to claim 4, wherein the process of judging whether the error exceeds the standard is as follows:
setting the rotation angle as theta, the tolerance error as +/-alpha, and the standard for judging the standard of the error exceeding is as follows:
(θ+α)//90-(θ-α)//90＝＝0 (1)
in the formula (1),// is an integer division symbol, and whether the left side and the right side are equal is judged logically;
if the error does not exceed the standard, the angle reforming formula is as follows:
in the formula (2),% is the remainder operator, and abs is the absolute value operation.
6. The method according to claim 1 or 2, wherein the hand-held terminal further comprises a code scanning recognition device, a display device and an input device, the code scanning recognition device is used for code scanning recognition of the current sensor, the display device is used for displaying the code scanning recognition result, and the input device is used for inputting the spacecraft coordinate system.
7. The sensor mounting direction automatic recognition method according to claim 1 or 2, wherein a hand-held terminal coordinate system XYZ is defined, and an input spacecraft coordinate system X is definedHYHZHThe shooting direction of the camera is defined as the-Z direction, the transverse direction is the X direction after the handheld terminal is held in the hand of a worker, and a coordinate system XYZ of the handheld terminal is formed according to a right-hand coordinate system.
8. The method according to claim 7, wherein the coordinate system of the sensor is defined by a mounting surface normal and a socket orientation.
9. The sensor mounting direction automatic recognition method according to claim 8, wherein the sensor includes a three-axis sensor and a single-axis sensor; for a three-axis sensor, the normal direction of an installation surface is the z direction, the direction of a socket is the-y direction, and the corresponding relation of a right-hand coordinate system is determined; for a first type of single axis sensor, the mounting face normal and receptacle orientation are along one axis, identifying the sensor orientation, thereby defining a sensor coordinate system; for the second type of single-axis sensor, the sensitive axis is parallel to the mounting surface, the orientation of the sensitive axis is confirmed through the normal direction of the mounting surface of the sensor and the orientation of the socket, and the direction of the sensor is confirmed, so that a sensor coordinate system is defined.
10. The method as claimed in claim 9, wherein the step S3 is implemented by obtaining a transformation coordinate system of the current sensor from the handheld terminal, obtaining the type and direction definition xyz of the current sensor from the database after the handheld terminal scans the sensor identification code, adjusting the handheld terminal direction based on the built-in gyroscope, making the axis-Z of the code scanning area of the handheld terminal parallel to the normal of the installation surface of the sensor, the camera facing the installation direction of the sensor, and if the socket facing is not on the same axis as the normal of the installation surface, the-Y direction of the handheld terminal points to the orientation of the socket, so that the transformation coordinate system X of the sensor is directly obtained from the handheld terminal TYTZT。
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| CN106123899A (en) * | 2016-06-20 | 2016-11-16 | 周祥宇 | A kind of for the system and method to handheld terminal hi-Fix |
| CN111275662A (en) * | 2019-08-29 | 2020-06-12 | 上海飞机制造有限公司 | Workpiece positioning method, device and equipment based on two-dimensional code and storage medium |
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