WO2023185138A1

WO2023185138A1 - Numbering method and system, and storage medium and device

Info

Publication number: WO2023185138A1
Application number: PCT/CN2022/141676
Authority: WO
Inventors: 胡华智; 郭尚进; 林俊清
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2022-03-30
Filing date: 2022-12-23
Publication date: 2023-10-05
Also published as: CN114815879A

Abstract

A numbering method and system, and a storage medium and a device. By means of the numbering method, a positional deviation s1 between a number one object and another object at a preset placement position is obtained, a positional deviation s2 between the number one object and another object during real placement is obtained, whether s2 is within a difference range of s1 is compared, and if so, a serial number of the preset placement position is assigned to an object at a real placement position. Even if objects have a positional deviation when being placed, the objects can obtain serial numbers and the serial numbers of the objects are independent of each other. Even if some objects do not obtain serial numbers, it can be guaranteed that the serial numbers of other objects that have obtained the serial numbers are correct. Therefore, the method has high accuracy, and can prevent the problem of collision after activation.

Description

A numbering method, system, storage medium and equipment

Technical field

The present invention relates to the field of numbering technology, and in particular to a numbering method, system, storage medium and equipment.

Background technique

When placing objects, in order to facilitate the control of the objects, each object in the cluster is usually numbered. For example, in drone performances, robot performances or equipment placement, the objects are placed according to a preset formation and then each object is numbered. When numbering, the specific equipment number of the object is entered into the system, and the user manually performs the numbering. This numbering method is time-consuming, labor-intensive and inefficient.

Take drone numbering as an example. At present, with the continuous development of drone technology and the wider application scenarios of drones, drone formation performances have emerged. Drone formation uses multiple drones to perform performances through the specific routes and lighting scripts of each drone. In order to make the performance orderly, each drone must have its own number, which makes it easy to edit the performance. script, and each drone can fly according to the performance script.

The previous numbering method was manual numbering, that is, after placing the drone, manually enter the number for the drone in the system. For example: the drone with the serial number C0056 is the No. 1 drone, and the drone with the serial number C0003 The machine is No. 2 and so on. However, there are a large number of drones in the drone formation performance, and the efficiency is low when manually numbered. Currently, there is a method of numbering drones based on their placement. That is, hundreds of drones are manually placed before taking off. After the drones are placed, the number of each drone is burned according to the placement position, and the coding and burning are performed according to the rectangle in the software. However, due to the deviation in the placement position, the software burning process The drone at the location corresponding to the specific number cannot be found. As shown in Figure 1, in the script, pre-edit the layout of the drones before taking off, usually in a rectangular array, and then start from the first drone in the upper left corner, from left to right, from top to top Each drone is numbered sequentially below. Then, according to the formation of the drones before taking off in the script, the drones are manually placed on the ground. Due to errors in manual placement, the distance and direction between the drones are deviated. , as shown in Figure 2, when the drone numbered 36 is placed, if the actual position of the drone numbered 36 is lower and right relative to its default placement position, it is easy to skip the drone, that is, The drone numbered 36 was not assigned a number, and the drone numbered 37 was assigned the number 36. This resulted in a numbering error, and each numbered drone had a specific navigation route, resulting in unmanned aerial vehicle. The problem of aircraft formation colliding after taking off. Furthermore, due to terrain restrictions, the placement of drones may not be on the same level, which will cause height differences and cause irregularities during flight.

The prior art discloses a UAV numbering method, device and ground station. The UAV numbering method includes: receiving the position information sent by each UAV in the UAV formation; wherein, the UAV The formation's take-off area includes multiple take-off points, and the multiple UAVs included in the UAV formation are located at the multiple take-off points respectively; based on the location information and the arrangement positions of the multiple take-off points, it is determined The number of each UAV in the UAV formation; send the number of each UAV in the UAV formation to the corresponding UAV. Although the patent application is numbered based on the location information sent by the drone, the drones are placed at the take-off point according to the formation edited in the script, and the drones are placed manually, resulting in the placement of the drones. The position of the drone is biased. If the numbering is only based on the position information sent by the received drone, when the drone position is biased, some drones will be skipped during numbering, resulting in numbering errors. causing collision problems after takeoff.

Technical solutions

The purpose of the present invention is to provide a highly accurate numbering method, system, storage medium and equipment.

In order to achieve the above objects, the present invention provides a numbering method, which includes the following steps:

S1. Preset the placement array of objects;

S2. Edit the placement array of objects and determine the preset placement positions of each object;

S3. Assign numbers to objects in each preset position;

S4. After the objects are placed according to the formation set in step S1, assign the numbers at each preset placement position to the objects at the corresponding real positions one by one until all objects placed at the real positions are numbered. .

As a preferred solution, in step S4, it includes:

S4.1. Specify the starting number of the object according to the formation. The position of the object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the editing formation. Assign a number to the object. 1. The object numbered 1 is object No. 1;

S4.2. Obtain the default placement position p1 and real position c1 of object No. 1;

S4.3. Obtain the default placement position p of the next unassigned object except object No. 1. If p exists, proceed to step S4.4. If p does not exist, end;

S4.4. Calculate the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3;

S4.5. Obtain the true position c of the next unnumbered object except object No. 1. If c exists, proceed to step S4.6. If c does not exist, end;

S4.6. Calculate the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5;

S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the real position c object, then return to step S4.3 until all objects except object No. 1 are traversed; otherwise, return to step S4.5.

As a preferred solution, in step S4.4, the position deviation s1 is the relative position of the projections of p1 and p on the same projection plane; in step S4.6, the position deviation s2 is the projection of c1 and c on the same projection plane. relative position.

As a preferred solution, when setting the object placement array, construct a two-dimensional coordinate system and determine the coordinates of each object based on the preset placement position of each object. Then the preset placement position p1 of object No. 1 is (x p1 , y p1 ), the preset placement position p of the unnumbered object is (x p , y p ), and the position deviation s1 is the deviation s1 x of p1 and p on the x-axis and the deviation s1 y in the y-axis direction;

After the objects are placed, a two-dimensional coordinate system is constructed, and the coordinates of each object are determined based on the true position of each object. Then the default placement position c1 of object No. 1 is (x c1, y c1), and the unnumbered The preset placement position p of the object is (x c , y c ), and the position deviation s2 is the deviation s2 x of p1 and p on the x axis and the deviation s2 y in the y axis direction;

If the deviation between s1 x and s2 x and the deviation between s1 y and s2 y are within the preset range, then the number corresponding to the preset placement position p is assigned to the object in the real position c.

As a preferred solution, in step S4.7, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing.

As a preferred solution, the object is a flying device, and the method further includes:

S5. After the objects take off and before the performance, adjust the relative positions between the objects according to the position deviation s1 and the position deviation s2.

As a preferred solution, in step S5, before the objects adjust their relative positions, the altitude of each object is obtained, and the height of the object with the highest altitude is used as a reference to keep each object at the same altitude.

As a preferred solution, the numbering method also includes:

S6. Make height compensation adjustments based on the difference between the preset starting altitude of each object and the height of the object with the highest real altitude, and then perform the performance task after the adjustment is completed.

As a preferred solution, in steps S4.2 and S4.5, the true position of each object is obtained based on the position information module on each object.

The invention also provides a numbering system, including a computer terminal, an object and a positioning system,

The computer terminal includes software for numbering objects;

The object includes a communication module and a position information module, the communication module is used to communicate with the computer terminal, and the position information module is used to output the position information of the object;

The positioning system is used to realize relative positioning of objects, and the positioning system is communicatively connected with the position information module.

As a preferred solution, the object is a flying device, the positioning system is a differential positioning system, the object also includes a lighting module, a numbering module, a power module, a flight control module and a rotor, the lighting module is used to emit light, and the The numbering module is used to store the number of the object, the power module is used to provide power to the entire object, the flight control module is used to control the flight of the object, the rotor is installed on the object, and the rotor is To provide lift to the object.

As a preferred solution, the software includes:

The formation editing module is used to edit the placement formation of objects, determine the preset placement positions of each object, and assign numbers to the objects in each preset placement position;

The number allocation module is used to allocate the numbers at each preset placement position to the objects at the corresponding real positions.

As a preferred solution, the number allocation module includes:

The No. 1 object designation unit is used to designate the No. 1 object according to the formation. The position of the No. 1 object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the editing formation;

The preset placement position acquisition unit is used to obtain the preset placement position of each object in the formation editing module;

The real position acquisition unit is used to obtain the real position of each object;

The first position deviation calculation unit is used to calculate the position deviation s1 between the preset placement position of object No. 1 and the preset placement position of the next unassigned object;

The second position deviation calculation unit is used to calculate the position deviation s2 between the true position of object No. 1 and the true position of the next unassigned object;

The judgment unit is used to judge whether the difference between the position deviation s1 calculated by the first position deviation calculation unit and the position deviation s2 calculated by the second position deviation calculation unit is within a preset range. If so, the preset placement position The number is assigned to the object at the real position. If not, the default placement unit is called to obtain the default placement position of the next object.

In addition, the present invention also provides a computer storage medium that stores a computer program. When the computer program is executed by a processor, it causes the processor to execute the above method.

In addition, the present invention also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the computer program causes the processor to perform the above method.

Compared with the prior art, the beneficial effects of the present invention are:

When editing according to the preset object placement formation, the present invention determines the preset placement position of each object and numbers the objects in each preset placement position. That is, there is a number on each preset position, and the objects in each preset placement position are numbered. After the objects are actually placed according to the preset formation, the corresponding real position is found for each preset position. If the preset position corresponds to the real position, the number of the preset position is assigned to the real position. position, otherwise the objects at the real position will not be numbered, which can prevent numbering errors caused by sequential numbering based on rectangular arrays or positions. The numbering method of the present invention has high accuracy.

Description of drawings

Figure 1 is a schematic diagram of the preset placement of objects in a script according to an embodiment of the present invention.

Figure 2 is a schematic diagram of actual placement of objects according to the embodiment of the present invention.

Figure 3 is a flow chart of the numbering method according to the embodiment of the present invention.

FIG. 4 is a schematic diagram of determining the position deviation s1 according to the embodiment of the present invention.

FIG. 5 is a schematic diagram of determining the position deviation s2 according to the embodiment of the present invention.

Embodiments of the invention

Specific implementations of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the invention but are not intended to limit the scope of the invention.

Embodiment 1

As shown in Figures 1 to 5, an unnumbered method according to the preferred embodiment of the present invention includes the following steps:

S1. Preset the placement array of objects;

S3. Assign numbers to objects in each preset position;

In this embodiment, when editing according to the preset object placement array, the preset placement positions of each object are determined, and the objects in each preset placement position are numbered, that is, each preset position has a number. After the objects are actually placed according to the preset formation, the corresponding real position is found for each preset placement position. If the preset placement position corresponds to the real position, the number of the preset placement position is assigned to the The real position, otherwise the objects at the real position will not be numbered, which can prevent numbering errors caused by sequential numbering of rectangular arrays or positions. The numbering method of this embodiment has high accuracy.

Specifically, in step S4, it includes:

This embodiment obtains the position deviation s1 between object No. 1 and other objects at the preset placement position, and obtains the position deviation s2 between object No. 1 and other objects when they are actually placed, and compares whether s2 is within the difference range of s1. , if it is, assign the number of the preset placement position to the object in the real placement position. This embodiment is different from the existing sequential numbering and has a certain deviation range. Even if the object has a position deviation when placed, Numbers can be obtained, and the numbers of each object are independent. Even if some objects do not obtain numbers, it can be ensured that the numbers of other numbered objects are correct, and the problem of collision after takeoff can be prevented. Therefore, this embodiment The numbering method is highly accurate.

Specifically, in this embodiment, the numbers of objects other than object No. 1 in the formation are determined based on their relative positions to object No. 1, and have no relationship with other numbered objects, making the numbers of each object independent. As shown in Figure 2, even if there is a deviation in the placement of the object numbered 36, according to the method of this embodiment, the object numbered 36 will still be matched to the object in the oval circle in the figure, and the objects numbered 37 and 38 will still be matched from the figure. Match in the upper rectangular circle, which prevents the object that should be numbered 37 from getting the number 36 because the object numbered 36 is skipped.

In this embodiment, in steps S4.2 and S4.5, the true position of each object is obtained according to the position information module on each object. If each object carries a GPS positioning system, the positioning information of the object can be sent.

In addition, in step S4.1, before the user designates object No. 1, it is necessary to check whether the object at the preset position in the script is numbered. If it is not numbered, the remaining steps will not be executed, and the prompt will be issued; and it is necessary to check whether It can communicate with each placed real object. If it cannot connect to the real object, the remaining steps will not be executed, it will end, and a prompt will be issued to ensure that each object can send its real position. "Script" is a file that records the default placement positions of multiple objects and the numbers of each default placement position.

In addition, in step S4.7, after assigning a number to a real object, return to step S4.3 and continue to obtain the preset placement positions p of other unnumbered objects until the preset placement positions p in the script are The object numbers are matched.

Embodiment 2

The difference between this embodiment and Embodiment 1 is that, based on Embodiment 1, this embodiment further explains the calculation of position deviation s1 and position deviation s2.

In step S6 of this embodiment, the position deviation s1 is the relative position of the projections of p1 and p on the same projection plane; in step S8, the position deviation s2 is the relative position of the projections of c1 and c on the same projection plane. When objects are placed, due to terrain restrictions, each object may not necessarily be located on the same horizontal plane, that is, each object has a relative position in the horizontal direction and a relative position in the vertical direction. When actually placing objects, it is difficult to determine the position of each object in the vertical direction. Therefore, the actual placement is based on the relative position of each object in the horizontal direction. Therefore, you only need to divide the number 1 The relative positions of objects other than objects in the horizontal direction with object No. 1 can be numbered.

Specifically, when editing the object placement formation, a two-dimensional coordinate system is constructed, and the coordinates of each object are determined according to the preset placement position of each object. Then the preset placement position p1 of object No. 1 is (x p1, y p1 ), the preset placement position p of the unnumbered object is (x p , y p ), and the position deviation s1 is the deviation s1 of p1 and p on the x-axis and the deviation s1 y on the y-axis; after placing the object After the placement is completed, a two-dimensional coordinate system is constructed, and the coordinates of each object are determined based on the true position of each object. Then the default placement position c1 of object No. 1 is (x c1, y c1), and the default placement position c1 of the unnumbered object is The placement position p is (x c , y c ), and the position deviation s2 is the deviation s2 x of p1 and p on the x-axis and the deviation s2 y in the y-axis direction; if the deviation of s1 x and s2 x and the deviation of s1 y and s2 y The deviation is within the preset range, then the number corresponding to the preset placement position p is assigned to the object in the real position c.

In this embodiment, when the two-dimensional coordinate system established during the preset placement is different from the two-dimensional coordinate system established during the actual placement, x p1 and y p1 are not 0 at the same time and x c1 and y c1 are not 0 at the same time, that is, The coordinate system during preset placement and the coordinate system during actual placement are not established with object No. 1 as the origin, which helps determine the x-axis and y-axis of the coordinate system. In this embodiment, the locations of object No. 1 and the object to be numbered are the two endpoints of the hypotenuse of a right triangle, and the two right sides of the right triangle are the x-axis and y-axis of the coordinate system.

Moreover, s1 x =x p -x p1; s1 y =y p1 -y p; s2 x =x c -x c1; s2 y =y c -y c1. If s2 x -s1 x and s2 y -s1 y is within the deviation range, that is, when s2 x ≈s1 x and s2 y ≈s1 y, then the number of the preset placement position is assigned to the object in the real placement position. The deviation range of this embodiment is ±0.5m. In some cases where very high accuracy is required, the deviation range is ±0.05m.

In addition, in step S9 of this embodiment, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing. Because the object placement at this position deviates too much at this time, it needs to be manually rearranged. Or if there is no object placed at this location, it also needs to be placed manually.

Other steps in this embodiment are the same as those in Embodiment 1 and will not be described again here.

Embodiment 3

The difference between this embodiment and Embodiment 2 is that, based on Embodiment 2, this embodiment provides specific instructions on the numbering of formation flying devices.

In this embodiment, the object is a flying device. Numbering methods include:

S1. Preset the placement formation of the flying device before take-off; in this embodiment, the placement formation of the flying device before take-off is formulated based on the preset performance pattern;

S3. Assign numbers to objects in each preset position;

S4. After the objects are placed according to the formation set in step S1, allocate the numbers at each preset placement position to the flying devices at the corresponding real positions one by one until all the flying devices placed at the real positions are Numbering completed.

Specifically, in step S4, it includes:

S4.1. Specify the starting number of the flying device according to the formation. The position of the flying device in the actual placement formation corresponds to the position of the flying device at the preset placement position numbered 1 in the editing formation. For this The flight device is assigned number 1, and the flight device numbered 1 is flight device No. 1;

S4.2. Obtain the preset position p1 and real position c1 of flight device No. 1;

S4.3. Obtain the default placement position p of the next unassigned flight device except No. 1 flight device. If p exists, proceed to step S4.4. If p does not exist, end;

S4.5. Obtain the real position c of the next unnumbered flight device except flight device No. 1. If c exists, proceed to step S4.6. If c does not exist, end;

S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the real position c flight device, then return to step S4.3 until all flight devices except flight device No. 1 are traversed; otherwise, return to step S4.5.

In step S4.7 of this embodiment, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing. Because the placement of the drone at this position is too deviated at this time, the assigned number will also affect other flying devices after takeoff, and there is also a risk of collision during takeoff, requiring manual rearrangement. Or if the flying device has not been placed at this location, it also needs to be placed manually.

In addition, the method of this embodiment also includes:

S5. After the flight device takes off and before the performance, adjust the relative position between each flight device according to the position deviation s1 and position deviation s2. The navigation of the flying device during the performance has a predetermined path. If the starting position is deviated, the position during the performance will also be deviated, which will lead to irregular formations and unsightly patterns. Therefore, before the performance, make the flying device according to the predetermined path. The obtained position deviation s1 and position deviation s2 are adjusted. The position adjustment is adjusted by the flight of the flight device itself, not by manual adjustment.

Specifically, in step S5, before the relative positions of the flying devices are adjusted, the altitude of each flying device is obtained, and the altitude of the flying device with the highest altitude is used as a reference to keep each flying device at the same altitude. Convenient for subsequent altitude adjustment of the flight device. That is, after takeoff and before the performance, reserve 3 to 5 seconds for all flying devices in the formation to fly at the same altitude, and then adjust the position of the x-axis and y-axis of each flying device according to the number.

The method of this embodiment also includes S6: performing height compensation adjustment based on the difference between the preset starting altitude of each flying device and the height of the flying device with the highest real altitude, and then performing the performance task after the adjustment is completed. In actual placement, due to terrain restrictions, the ground is not necessarily flat, and each flying device is not always on the same horizontal plane. That is, there are also deviations in the vertical direction of each flying device. If before the performance, Failure to adjust will result in deviations in the flying height of the flying device during performance, resulting in unsightly patterns and affecting the neatness and accuracy of the performance. Therefore, in this embodiment, after each flying device adjusts the position of the x-axis and y-axis, the altitude compensation operation is automatically performed based on the height difference with the flying device with the highest altitude.

Specifically, position adjustment is divided into four stages. The first stage is to take off from the flight position, rise to a certain height according to the instructions, and stay at that height for a period of time to obtain the altitude of each flight device. In the second stage, based on the height of the highest flying device, the remaining flying devices are raised so that all flying devices are at the same altitude. The third stage is that according to the position deviation s1 and the position deviation s2, each flying device adjusts the position of the x-axis and y-axis through its own flight. The fourth stage is to perform height compensation based on the height difference in the vertical direction between the highest altitude flight device and the remaining flight devices, that is, the flight device whose preset position is higher than the highest altitude flight device rises, that is, the preset Flight units lower than the highest flight unit at that altitude descend. After the position is adjusted, the pre-performance formation is set up, and then the flight is flown to the performance location according to the preset flight trajectory for the performance.

Other steps in this embodiment are the same as those in Embodiment 2 and will not be described again here.

Embodiment 4

The difference between this embodiment and Embodiment 2 is that, based on Embodiment 2, this embodiment provides a detailed description of machine numbers used in confrontation games.

In this embodiment, the object is a machine, and the numbering method includes:

S1. Preset the placement formation of the machines before taking off; in this embodiment, through simulation of the game in the software, a confrontation strategy is developed, and the initial placement formation of each machine is formulated based on the confrontation strategy;

S3. Assign numbers to objects in each preset position;

S4. After placing the objects according to the formation set in step S1, allocate the numbers at each preset placement position to the machines at the corresponding real positions one by one until all the machines placed at the real positions are numbered. .

Specifically, in step S4, it includes:

S4.1. Specify the starting number of the machine according to the formation. The position of the machine in the actual placement formation corresponds to the position of the machine at the preset placement position numbered 1 in the editing formation. Assign a number to the machine. 1. The machine numbered 1 is machine No. 1;

S4.2. Obtain the preset position p1 and real position c1 of machine No. 1;

S4.3. Obtain the default placement position p of the next unassigned machine other than machine No. 1. If p exists, proceed to step S4.4. If p does not exist, end;

S4.5. Obtain the real position c of the next unnumbered machine except machine No. 1. If c exists, proceed to step S4.6. If c does not exist, end;

S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the real position c machine, then return to step S4.3 until all machines except machine No. 1 are traversed; otherwise, return to step S4.5.

Embodiment 5

This embodiment provides a numbering system based on the numbering method of Embodiment 2, including a computer terminal, an object, and a positioning system. The computer terminal includes software for numbering objects; the object includes a communication module and a location information module. The communication module To communicate with the computer, the position information module is used to output the position information of the object; the positioning system is used to realize the relative positioning of the object, and the positioning system is communicatively connected with the position information module.

The object in this embodiment is a flying device, and the positioning system is a differential positioning system. The object also includes a lighting module, a numbering module, a power module, a flight control module, and a rotor. The lighting module is used to emit light, and the numbering module is used to store the number of the object. The module is used to provide power to the object as a whole, the flight control module is used to control the flight of the object, the rotor is set on the object, and the rotor is used to provide lift to the object.

In this embodiment, the positioning system includes multiple differential base stations. The differential base stations are communicatively connected to the position information module of the object. The differential base stations are used to provide differential data for the object. The object obtains actual position information through its own positioning device. The position information module Positioning is performed based on the acquired actual position information and differential data. The differential data can correct the acquired actual position information, and in areas not covered by differential base stations or with poor signals, objects can still be positioned through their own positioning equipment and position information modules. position.

The object in this embodiment also includes a buzzer module, which is used to emit a prompt sound. Moreover, the lighting module of this embodiment is specifically used for lighting performances and indicating the status of objects. When the lighting module indicates the status of the object, the lighting module and the buzzer module can be used as feedback at the same time or individually to determine whether the object numbering is successful. When the object is numbered successfully, the lighting module on the object can emit a green light to remind the staff that the numbering is normal. , at this time, in the numbering software on the computer side, the corresponding objects are also marked with the same color, for example, green is always on; when the object is not numbered successfully, the light module on the object can emit red light, and the buzzer module can alarm To remind the staff that the numbering is abnormal. At this time, in the numbering software on the computer side, the corresponding objects are also marked with the same color. This marking method is different from the marking method when the numbering is normal, such as a red breathing light, or a flashing light according to a certain pattern. Red light, etc.

The software on the computer side of this embodiment includes:

Specifically, the number allocation module in this embodiment includes:

The numbering system of this embodiment is used to implement the numbering method of Embodiment 1 or Embodiment 2.

Embodiment 6

This embodiment provides a computer storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the first or second embodiment or the third or fourth embodiment. method described.

Embodiment 7

This embodiment provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, it causes the processor to execute Embodiment 1 or Embodiment 1. 2 or the method described in Embodiment 3 or Embodiment 4.

In summary, the embodiment of the present invention provides a numbering method by obtaining the position deviation s1 between object No. 1 and other objects at the preset placement position, and obtaining the position deviation s2 between object No. 1 and other objects when they are actually placed. , compare whether s2 is within the difference range of s1, and if so, assign the number of the preset placement position to the object in the real placement position. The embodiment of the present invention is different from the existing sequential numbering, and there is a certain deviation. range, objects can be numbered even if there is a positional deviation when placed, and the numbers of each object are independent. Even if some objects are not numbered, it can ensure that the numbers of other numbered objects are correct, which can prevent startup Therefore, the numbering method of the embodiment of the present invention has high accuracy. In addition, embodiments of the present invention also provide a numbering system based on the above numbering method, and a storage medium that stores a computer program that implements the above method. In addition, embodiments of the present invention provide a computer device, including a memory that stores a computer program for implementing the above method and a processor that executes it.

The above are only preferred embodiments of the present invention. It should be noted that those of ordinary skill in the art can also make several improvements and substitutions without departing from the technical principles of the present invention. These improvements and substitutions It should also be regarded as the protection scope of the present invention.

Claims

A numbering method, characterized by including the following steps:

S1. Preset the placement array of objects;

S2. Edit the placement array of objects and determine the preset placement positions of each object;

S3. Assign numbers to objects in each preset position;

S4. After the objects are placed according to the formation set in step S1, assign the numbers at each preset placement position to the objects at the corresponding real positions one by one until all objects placed at the real positions are numbered. .
The numbering method according to claim 1, characterized in that, in step S4, it includes:

S4.1. Specify the starting number of the object according to the formation. The position of the object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the editing formation. Assign a number to the object. 1. The object numbered 1 is object No. 1;

S4.2. Obtain the default placement position p1 and real position c1 of object No. 1;

S4.3. Obtain the default placement position p of the next unassigned object except object No. 1. If p exists, proceed to step S4.4. If p does not exist, end;

S4.4. Calculate the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3;

S4.5. Obtain the true position c of the next unnumbered object except object No. 1. If c exists, proceed to step S4.6. If c does not exist, end;

S4.6. Calculate the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5;

S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the real position c object, then return to step S4.3 until all objects except object No. 1 are traversed; otherwise, return to step S4.5.
The numbering method according to claim 2, characterized in that, in step S4.4, the position deviation s1 is the relative position of the projections of p1 and p on the same projection plane; in step S4.6, the position deviation s2 is The relative positions of the projections of c1 and c on the same projection plane.
The numbering method according to any one of claims 1 to 3, characterized in that when setting the object placement array, a two-dimensional coordinate system is constructed, and the coordinates of each object are determined according to the preset placement position of each object. Then the default placement position p1 of object No. 1 is (x p1, y p1), the default placement position p of the unnumbered object is (x p, y p), and the position deviation s1 is the difference between p1 and p on the x axis. Deviation s1 x and deviation s1 y in the y-axis direction;

After the objects are placed, a two-dimensional coordinate system is constructed, and the coordinates of each object are determined based on the true position of each object. Then the default placement position c1 of object No. 1 is (x c1, y c1), and the unnumbered The preset placement position p of the object is (x c , y c ), and the position deviation s2 is the deviation s2 x of p1 and p on the x axis and the deviation s2 y in the y axis direction;

If the deviation between s1 x and s2 x and the deviation between s1 y and s2 y are within the preset range, then the number corresponding to the preset placement position p is assigned to the object in the real position c.
The numbering method according to any one of claims 2 to 4, characterized in that, in step S4.7, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing.
The numbering method according to claim 1, wherein the object is a flying device, and the method further includes:

S5. After the objects take off and before the performance, adjust the relative positions between the objects according to the position deviation s1 and the position deviation s2.
The numbering method according to claim 6, characterized in that, in step S5, before the objects adjust their relative positions, the altitude of each object is obtained, and the height of the object with the highest altitude is used as a benchmark to make each object at the same altitude. high.
The numbering method according to claim 6 or 7, further comprising:

S6. Make height compensation adjustments based on the difference between the preset starting altitude of each object and the height of the object with the highest real altitude, and then perform the performance task after the adjustment is completed.
The numbering method according to any one of claims 2 to 8, characterized in that, in steps S4.2 and S4.5, the true position of each object is obtained according to the position information module on each object.
A numbering system, characterized by including a computer terminal, an object and a positioning system,

The computer terminal includes software for numbering objects;

The object includes a communication module and a position information module, the communication module is used to communicate with the computer terminal, and the position information module is used to output the position information of the object;

The positioning system is used to realize relative positioning of objects, and the positioning system is communicatively connected with the position information module.
The numbering system according to claim 10, wherein the object is a flying device, the positioning system is a differential positioning system, and the object also includes a lighting module, a numbering module, a power module, a flight control module and a rotor, The lighting module is used to emit light, the numbering module is used to store the number of the object, the power module is used to power the entire object, the flight control module is used to control the flight of the object, and the rotor Located on the object, the rotor is used to provide lift for the object.
The numbering system according to claim 10 or 11, characterized in that the software includes:

The formation editing module is used to edit the placement formation of objects, determine the preset placement positions of each object, and assign numbers to the objects in each preset placement position;

The number allocation module is used to allocate the numbers at each preset placement position to the objects at the corresponding real positions.
The numbering system according to claim 12, characterized in that the number allocation module includes:

The No. 1 object designation unit is used to designate the No. 1 object according to the formation. The position of the No. 1 object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the editing formation;

The preset placement position acquisition unit is used to obtain the preset placement position of each object in the formation editing module;

The real position acquisition unit is used to obtain the real position of each object;

The first position deviation calculation unit is used to calculate the position deviation s1 between the preset placement position of object No. 1 and the preset placement position of the next unassigned object;

The second position deviation calculation unit is used to calculate the position deviation s2 between the true position of object No. 1 and the true position of the next unassigned object;

The judgment unit is used to judge whether the difference between the position deviation s1 calculated by the first position deviation calculation unit and the position deviation s2 calculated by the second position deviation calculation unit is within a preset range. If so, the preset placement position The number is assigned to the object at the real position. If not, the default placement unit is called to obtain the default placement position of the next object.
A computer storage medium, characterized in that a computer program is stored therein, and when the computer program is executed by a processor, it causes the processor to execute the method described in any one of claims 1 to 9.
A computer device, characterized in that the computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, it causes the processor to execute claims 1 to 9 any of the above methods.