WO2023274321A1 - 信标、信标生成方法、信标生成装置和设备 - Google Patents

信标、信标生成方法、信标生成装置和设备 Download PDF

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Publication number
WO2023274321A1
WO2023274321A1 PCT/CN2022/102490 CN2022102490W WO2023274321A1 WO 2023274321 A1 WO2023274321 A1 WO 2023274321A1 CN 2022102490 W CN2022102490 W CN 2022102490W WO 2023274321 A1 WO2023274321 A1 WO 2023274321A1
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code
candidate
level
graphics
graphic
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PCT/CN2022/102490
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English (en)
French (fr)
Inventor
蔡剑成
刘新民
张烨珣
姜名扬
毛一年
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北京三快在线科技有限公司
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Priority to JP2023547719A priority Critical patent/JP2024505591A/ja
Priority to AU2022304201A priority patent/AU2022304201A1/en
Priority to EP22832133.7A priority patent/EP4273748A1/en
Publication of WO2023274321A1 publication Critical patent/WO2023274321A1/zh
Priority to US18/363,129 priority patent/US20230373667A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/97—Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/0614—Constructional details the marking being selective to wavelength, e.g. color barcode or barcodes only visible under UV or IR
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/06056—Constructional details the marking comprising a further embedded marking, e.g. a 1D bar code with the black bars containing a smaller sized coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K2019/06215—Aspects not covered by other subgroups
    • G06K2019/06225—Aspects not covered by other subgroups using wavelength selection, e.g. colour code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K2019/06215—Aspects not covered by other subgroups
    • G06K2019/06253—Aspects not covered by other subgroups for a specific application
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K2019/06215—Aspects not covered by other subgroups
    • G06K2019/06262—Aspects not covered by other subgroups with target- or other orientation-indicating feature

Definitions

  • the embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a beacon, a beacon generation method, a beacon generation device and equipment.
  • the embodiment of the present application provides a beacon, a beacon generation method, a beacon generation device and equipment, and the technical solution is as follows:
  • the embodiment of the present application provides a beacon
  • the beacon includes at least three levels of graphics:
  • One first-level figure at least two mutually different second-level figures and at least two mutually different third-level figures;
  • the at least two mutually different secondary graphics and the at least two mutually different tertiary graphics are scattered and superimposed on the primary graphics, and the at least two mutually different secondary graphics and There is no overlap between any two graphics in the at least two mutually different third-level graphics;
  • the area of the second-level figure is smaller than the area of the first-level figure, and the area of the third-level figure is smaller than the area of the second-level figure;
  • the diameter of the circumscribed circle that can accommodate at least two second-level figures is 2 to 6 times the diameter of the circumscribed circle that can accommodate at least two third-level figures.
  • the first-level graphics are obtained based on reference coding
  • the second-level graphics are obtained based on second-level coding
  • the third-level graphics are obtained based on third-level coding
  • the secondary code is at least one first code
  • the at least one first code is obtained based on the reference code
  • the tertiary code is the at least one first code that is different from the secondary code first code
  • the distance between the at least one first code and any two codes in the reference code is not less than a first distance, and the number of bits of the first code is consistent with the number of bits of the reference code.
  • the area of the first-level figure is 9 to 36 times the area of the second-level figure, and the area of the second-level figure is 3-9 times the area of the third-level figure .
  • the beacon includes one first-level graphic, four second-level graphics, and five third-level graphics;
  • a secondary figure is respectively superimposed on the left, bottom, right and middle of the primary figure, and five tertiary figures are superimposed in the shape of a character on the top of the primary figure;
  • a secondary graphic is superimposed on the top, bottom, left and right of the primary graphic, and five tertiary graphics are superimposed in the middle of the primary graphic in the shape of a character.
  • an embodiment of the present application provides a method for generating a beacon, the method including:
  • the number of bits of the reference code is greater than the number of bits of the first-level code
  • the reference code is processed to obtain at least one first code, and the distance between the at least one first code and any two codes in the reference code is not less than the first distance,
  • the number of digits of the first code is consistent with the number of digits of the reference code
  • a beacon is generated based on the primary graphic and the secondary graphic.
  • the primary code includes a first number and a second number
  • the obtaining a reference code based on the primary code includes:
  • the reference code is obtained by filling numbers in the first-level code, and the number filled is any one of the first number and the second number.
  • the processing of the reference code based on the first distance to obtain at least one first code includes:
  • first candidate code based on the reference code, where the first candidate code has the same number of digits as the reference code and a code whose distance from the reference code is not less than the first distance;
  • At least one third candidate code is obtained based on the reference code, and the third candidate code Consistent with the number of digits of the reference code;
  • the first candidate code is used as the first code.
  • the acquiring at least one second candidate code based on the first candidate code includes:
  • At least one A third candidate code including:
  • the first candidate code is the first candidate code obtained based on the reference code , obtaining at least one third candidate code based on the reference code;
  • the obtaining the first-level code includes:
  • the random number code is processed to obtain at least one second code, and the distance between the at least one second code and any two codes in the random number code is not less than the second Distance, the number of digits of the second code is consistent with the number of digits of the random number code;
  • the primary code is determined among the random number code and the at least one second code.
  • the method further includes:
  • a candidate graphic is obtained, the candidate graphic is composed of grids, and the number of grids included in the candidate graphic is consistent with the number of bits of the reference code;
  • the obtaining a first-level graphic based on the reference code includes:
  • the obtaining the secondary graphics based on the secondary encoding includes:
  • the area of the first graphic is adjusted to obtain the second-level graphic, and the area of the second-level graphic is smaller than the area of the first-level graphic.
  • the generating a beacon based on the primary graphic and the secondary graphic includes:
  • the tertiary graphics are obtained, the tertiary coding is a first coding different from the secondary coding in the at least one first coding, and the area of the tertiary graphics is smaller than that of the secondary graphics area;
  • the beacon is obtained by superimposing the second-level graphics and the third-level graphics on the first-level graphics, and the second-level graphics and the third-level graphics do not overlap.
  • an embodiment of the present application provides a device for generating a beacon, and the device includes:
  • the first obtaining module is used to obtain the first-level code
  • a second obtaining module configured to obtain a reference code based on the primary code, where the number of bits of the reference code is greater than the number of bits of the primary code;
  • a processing module configured to process the reference code based on the first distance to obtain at least one first code, and the distance between the at least one first code and any two codes in the reference code is not less than the specified The first distance, the number of digits of the first code is consistent with the number of digits of the reference code;
  • a third acquiring module configured to acquire a first-level graphic based on the reference code, and acquire a second-level graphic based on a second-level code, where the second-level code is at least one of the first codes;
  • a generating module configured to generate a beacon based on the primary graphic and the secondary graphic.
  • the primary code includes a first number and a second number
  • the second acquisition module is configured to fill numbers in the primary code to obtain the reference code, and the filled numbers are any one of the first number and the second number.
  • an embodiment of the present application provides a computer device, the computer device includes a processor and a memory, at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor , so that the computer device implements any one of the beacon generating methods described above.
  • a computer-readable storage medium is also provided, and at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor, so that the computer can realize any of the above-mentioned The beacon generation method described above.
  • a computer program or a computer program product is also provided, wherein at least one computer instruction is stored in the computer program or computer program product, and the at least one computer instruction is loaded and executed by a processor, so that the computer realizes the above-mentioned Either of the beacon generation methods.
  • the beacon provided by the embodiment of the present application includes at least three levels of graphics, one level-1 graphics, at least two level-2 graphics and at least two level-3 graphics, at least two level-2 graphics and at least two level-3 graphics scattered and superimposed On the first-level graphics, there is no overlap between at least two second-level graphics and at least two third-level graphics, the area of the second-level graphics is smaller than the area of the first-level graphics, and the area of the third-level graphics is smaller than the second The area of the level figure.
  • the beacon includes a plurality of different secondary and tertiary graphics, so that the beacon can be identified even in the case of defacement and shadow. Through at least three levels of graphics, it is ensured that the drone can recognize the beacon from level flight to touchdown, so that the drone can be more reliably guided to make a precise landing.
  • FIG. 1 is a schematic diagram of an implementation environment of a beacon generation method provided in an embodiment of the present application
  • FIG. 2 is a flow chart of a beacon generation method provided by an embodiment of the present application.
  • Fig. 3 is a schematic diagram of an intermediate graphic corresponding to a first target code provided in an embodiment of the present application
  • Fig. 4 is a schematic diagram of a first target graphic provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an intermediate graphic corresponding to a random number code provided in an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a second target graphic provided by the embodiment of the present application.
  • FIG. 7 is a schematic diagram of a reference code acquisition process provided by an embodiment of the present application.
  • Fig. 8 is a schematic diagram of an intermediate graphic corresponding to a first candidate code provided in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a first candidate graphic provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of an intermediate graphic corresponding to a reference code provided in an embodiment of the present application.
  • Fig. 11 is a schematic diagram of a second candidate graphic provided by the embodiment of the present application.
  • Fig. 12 is a schematic diagram of a first-level graphic provided by the embodiment of the present application.
  • Fig. 13 is a schematic diagram of a beacon provided by an embodiment of the present application.
  • Fig. 14 is a schematic diagram of a beacon provided by an embodiment of the present application.
  • Fig. 15 is a schematic structural diagram of a beacon generation device provided by an embodiment of the present application.
  • Fig. 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 17 is a schematic structural diagram of a server provided by an embodiment of the present application.
  • a beacon is placed at the specified location.
  • the beacon is composed of a first-level graphic and a second-level graphic, that is, a first-level graphic nests at least one second-level graphic.
  • the flying altitude of the UAV indicated by the first-level graphic is higher than the flying altitude of the unmanned aerial vehicle indicated by the second-level graphic.
  • the UAV After the UAV detects and recognizes the beacon in the air, it adjusts the descent speed and direction based on the recognized pattern, so that it can land at the designated location.
  • the beacon pattern due to the long-term exposure of the beacon pattern, it is easy to be defaced, and considering that the shadow may be generated due to the occlusion of the sun by environmental objects, the beacon pattern will be inaccurate or unrecognizable, which will make it difficult for the UAV to Landing with precision.
  • the area difference between the first-level graphics and the second-level graphics is also a design difficulty. Whether the difference is too large or the difference is too small, if it is not handled properly, it will easily lead to inaccurate landing. Therefore, the beacon generation method provided by the embodiment of the present application is needed to generate a high-reliability UAV precise landing guidance beacon.
  • FIG. 1 is a schematic diagram of an implementation environment of a beacon generation method provided by an embodiment of the present application. As shown in FIG. 1 , the implementation environment includes: a computer device 101 .
  • the computer device 101 may be an electronic device or a server, which is not limited in this embodiment of the present application.
  • the computer device 101 is configured to execute the beacon generating method provided in the embodiment of the present application.
  • the electronic device 101 can be a smart phone, a game console, a desktop computer, a tablet computer, an e-book reader, or an MP3 (Moving Picture Experts Group Audio Layer III, moving picture expert compression standard audio level 3) playback At least one of MP4 (Moving Picture Experts Group Audio Layer IV, moving picture experts compressed standard audio layer 4) player and laptop portable computer.
  • MP3 Moving Picture Experts Group Audio Layer III, moving picture expert compression standard audio level 3
  • MP4 Moving Picture Experts Group Audio Layer IV, moving picture experts compressed standard audio layer 4
  • the server is a server, or a server cluster composed of multiple servers, or any one of a cloud computing platform and a virtualization center, which is not limited in this embodiment of the present application.
  • the server can communicate with the electronic device through a wired network or a wireless network.
  • the server may have functions of data processing, data storage and data sending and receiving. Certainly, the server may also have other functions, which are not limited in this embodiment of the present application.
  • the embodiment of the present application provides a beacon generation method. Take the flowchart of a beacon generation method provided by the embodiment of the present application shown in FIG. 2 as an example. This method can be implemented by the computer in FIG. 1 Device 101 executes. As shown in Figure 2, the method includes the following steps:
  • step 201 a primary code is obtained.
  • the process of obtaining the first-level code is as follows: obtain the random number code, process the random number code based on the second distance, obtain at least one second code, and obtain at least one second code between the random number code and at least one second
  • the first level of encoding is determined in the encoding.
  • the number of digits of at least one second code is the same as that of the random number code, and the distance between the at least one second code and any two codes in the random number code is not less than the second distance.
  • the random number code includes a first number and a second number
  • the random number code may be determined by a user, or may be automatically generated by a computer device based on a random number generator, which is not limited in this embodiment of the present application.
  • the first number and the second number are any two different numbers, which is not limited in this embodiment of the present application.
  • the first number is 0 and the second number is 1.
  • the second distance is set by the user or adjusted according to the application scenario.
  • the second distance is any distance greater than zero and less than the number of bits encoded by the random number.
  • the embodiment of the present application does not limit the second distance.
  • the number of digits encoded by the random number is not less than 4.
  • the number of bits encoded by the random number is 16 bits, and the second distance is 5.
  • the random number code is 16 bits, and the random number code is 1010010100000011.
  • the distance between the second code and the random number code may be the Hamming distance or other distances, which is not limited in the embodiment of the present application.
  • the embodiment of the present application takes the distance as Hamming distance is used as an example for illustration. Among them, the Hamming distance is used in the data transmission error control coding, and the Hamming distance is a concept used to represent the number of different bits corresponding to two codes of the same length.
  • the process of determining the Hamming distance is: XOR operation is performed on two codes, and the number of 1s in the result is counted, and the number of 1s in the result is the Hamming distance between the two codes.
  • the random number code is processed, and the process of obtaining at least one second code includes the following steps 2011 to 2014.
  • Step 2011 Obtain a first target code based on the random number code, where the first target code has the same number of digits as the random number code, and the distance between the first target code and the random number code is not less than the second distance.
  • the numbers included in the random number code are modified to obtain the first target code, the first target code has the same number of digits as the random number code, and the first The distance between the target code and the random number code is not less than the second distance.
  • the second distance is 5
  • the random number code is 1010010100000011
  • the random number code is processed to obtain the first target code as 1010110101101111.
  • the number of digits of the first target code and the random number code is consistent, and the distance between the first target code and the random number code is 5.
  • Step 2012 Obtain at least one second target code based on the first target code, where the number of bits of the second target code is the same as that of the first target code.
  • the process of obtaining at least one second target code based on the first target code is: generating an intermediate graphic corresponding to the first target code.
  • a first rotation transformation is performed on the intermediate graphic corresponding to the first target code to obtain at least one first target graphic.
  • the codes respectively corresponding to the at least one first target figure are used as the second target codes.
  • the angle of the first rotation transformation includes at least one of 90 degrees, 180 degrees and 270 degrees.
  • the process of generating the intermediate graphics corresponding to the first target code is: based on the number of digits of the first target code, the target graphics are obtained, the target graphics are composed of grids, and the grids included in the target graphics The number is consistent with the number of digits of the first target code. Fill the numbers included in the first target code in the target figure according to the target order to obtain the intermediate figure corresponding to the first target code.
  • the target order may be the order from left to right and then from top to bottom, or the order from top to bottom and then from left to right, or other orders, which are not limited in this embodiment of the present application. .
  • FIG. 3 is a schematic diagram of an intermediate graphic corresponding to a first target code provided in the embodiment of the present application.
  • Figure A in Figure 3 is the target graph, which consists of 16 grids. Fill the numbers included in the first target code into the target figure according to the target order (first from left to right and then from top to bottom) to obtain the intermediate figure corresponding to the first target code, as shown in Figure 3.
  • the first rotation transformation when the angle of the first rotation transformation includes any one of 90 degrees, 180 degrees and 270 degrees, the first rotation transformation is performed on the intermediate graphics corresponding to the first target code to obtain a first target graphics.
  • the angle of the first rotation transformation includes any two of 90 degrees, 180 degrees and 270 degrees, the first rotation transformation is performed on the intermediate graphics corresponding to the first target code to obtain two first target graphics.
  • the angles of the first rotation transformation include 90 degrees, 180 degrees and 270 degrees
  • the first rotation transformation is performed on the intermediate graphics corresponding to the first target code to obtain three first target graphics.
  • Fig. 4 is a schematic diagram of a first object pattern provided by the embodiment of the present application, and diagram A in Fig. 4 is the first object pattern obtained after rotating the intermediate pattern corresponding to the first object code by 90 degrees.
  • Figure B in FIG. 4 is the first target figure obtained after rotating the intermediate figure corresponding to the first target code by 180 degrees.
  • Figure C in FIG. 4 is the first target figure obtained after rotating the intermediate figure corresponding to the first target code by 270 degrees.
  • the process of obtaining the codes corresponding to at least one first target graphic is: extracting the numbers included in each first target graphic according to the order of the targets to obtain the codes corresponding to each first target graphic.
  • the order of the objects is from left to right and then from top to bottom, and the numbers in the first object figure are extracted according to this order to obtain the code corresponding to the first object figure.
  • the code corresponding to the first target figure obtained after rotating the intermediate figure corresponding to the first target code by 90 degrees is 1011111011011010.
  • the code corresponding to the first target figure obtained after rotating the intermediate figure corresponding to the first target code by 180 degrees is 1111011010110101.
  • the code corresponding to the first target figure obtained after rotating the intermediate figure corresponding to the first target code by 270 degrees is 0101101101111101.
  • the code corresponding to each first target pattern After obtaining the code corresponding to each first target pattern, determine the code corresponding to each first target pattern as the second target code, that is, the second target code is: 1011111011011010, 1111011010110101, 0101101101111101.
  • Step 2013, in response to the distance between the at least one second target code and the first target code being no less than the second distance, at least one third target code is obtained based on the random number code.
  • the distance between each second target code and the first target code is determined.
  • the process of determining the distance between each second target code and the first target code is: perform an XOR operation on the first target code and the second target code, and count the results The number of 1s in the result is determined as the Hamming distance between the first target code and the second target code.
  • the first target code and the second target code are determined by the following Table 1 The distance between the two target codes.
  • the number of 1s in the obtained result is 8, that is, the Hamming distance between the first target code and the second target code is 8.
  • the second target code is the code obtained after performing the first rotation transformation on the intermediate figure corresponding to the first target code, in response to the distance between the first target code and at least one second target code is not less than the second distance , it shows that the first target code has a large difference with itself, a large distinction, and a low similarity.
  • the process of obtaining at least one third target code is: in response to the fact that the distance between at least one second target code and the first target code is not less than the second distance, and The first target code is the first target code obtained based on the random number code, and at least one third target code is obtained based on the random number code.
  • the first target code is the first target code obtained based on the random number code
  • at least one third target code is obtained based on the random number code.
  • the At least one third target code is obtained from the target code obtained before the first target code.
  • the number of digits of the third target code is consistent with that of the random number code.
  • the process of obtaining at least one third target code based on the random number code and the process of obtaining at least one third target code based on the random number code and the target code obtained before the first target code is similar, and this embodiment of the present application only uses the process of obtaining at least one third target code based on the random number code as an example for illustration.
  • the process of obtaining at least one third target code is: generating an intermediate graphic corresponding to the random number code.
  • a second rotation transformation is performed on the intermediate figure corresponding to the random number code to obtain at least one second target figure.
  • the codes respectively corresponding to at least one second target graphic are acquired.
  • the codes corresponding to the at least one second target figure are used as the third target codes.
  • the angle of the second rotation transformation includes at least one of 0 degree, 90 degree, 180 degree and 270 degree.
  • FIG. 5 is a schematic diagram of an intermediate graphic corresponding to a random number code provided in the embodiment of the present application.
  • FIG. 6 is a schematic diagram of a second target graphic provided by the embodiment of the present application.
  • Figure A in Figure 6 is the second target figure obtained after rotating the intermediate figure corresponding to the random number code by 0 degrees
  • figure B in Figure 6 is the second target figure obtained after rotating the intermediate figure corresponding to the random number code by 90 degrees graphics.
  • Figure C in FIG. 6 is the second target figure obtained after rotating the intermediate figure corresponding to the random number code by 180 degrees.
  • Figure D in FIG. 6 is the second target figure obtained after rotating the intermediate figure corresponding to the random number code by 270 degrees.
  • the process of obtaining the codes corresponding to at least one second target figure is: extracting the numbers included in each second target figure according to the target order, and obtaining the codes corresponding to each second target figure .
  • the order of the objects is from left to right and then from top to bottom, and the numbers included in the second object graphic are extracted according to the object order to obtain the code corresponding to the second object image.
  • the encoding corresponding to the second target graphic obtained after rotating the intermediate graphic corresponding to the random number encoding by 0 degrees is consistent with the random number encoding.
  • the encoding corresponding to the second target graphic obtained after rotating the intermediate graphic corresponding to the random number code by 90 degrees is 0001001010011010.
  • the encoding corresponding to the second target graphic obtained after rotating the intermediate graphic corresponding to the random number code by 180 degrees is 1100000010100101.
  • the encoding corresponding to the second target graphic obtained after rotating the intermediate graphic corresponding to the random number code by 270 degrees is 0101100101001000.
  • the third target code is: 1010010100000011, 0001001010011010, 1100000010100101, 0101100101001000.
  • the number of third target codes acquired based on the random number code is smaller than the number of third target codes obtained based on the random number code and the target code obtained before the first target code.
  • Step 2014 in response to the distance between at least one third target code and the first target code being no less than the second distance, using the first target code as the second code.
  • the distance between the third target code and the first target code is determined, and the determination process of the distance between the third target code and the first target code is the same as that of determining the second target code in the above step 2013. The process is consistent with the distance between the first target codes, and will not be repeated here.
  • the third target code is the code obtained by performing the second rotation transformation on the generated code, in response to the distance between the first target code and at least one third target code is not less than the first Two distances, it means that the first target code has a large difference with other generated codes, the difference is large, and the similarity is low.
  • step 2011 in response to at least one third target code having a third target code whose distance from the first target code is smaller than the second distance, return to step 2011 to obtain the first target code based on the random number code again.
  • Target encoding in response to at least one third target code having a third target code whose distance from the first target code is smaller than the second distance, return to step 2011 to obtain the first target code based on the random number code again.
  • the number of acquired second codes is negatively correlated with the second distance.
  • the computer device obtains the second code by running the following formula (1) and formula (2) based on the random number code.
  • code for the first target is the second target code
  • a ′ is the first rotation transformation
  • ⁇ is the second distance
  • ⁇ is the second distance
  • ⁇ is the distance between the first target code and the second target code.
  • A is the second rotation transformation
  • A is the random number code and the target code obtained before the first target code, is the distance between the first target code and the third target code.
  • one of the second code and the random number code is randomly determined as the primary code.
  • the second code and the random number code may be displayed to the user, and the user may determine one code among the random number code and the second code, and use the code determined by the user as the primary code.
  • the random number encoding is used as a primary encoding, that is, the primary encoding is 1010010100000011.
  • step 202 a reference code is obtained based on the primary code.
  • the filled number is any one of the first number and the second number.
  • the process of processing the first-level code to obtain the reference code is as follows: filling the numbers included in the first-level code in the target figure according to the target order to obtain the figure corresponding to the first-level code. Add the grids of the target number to the graph corresponding to the first-level code to obtain graph 1. Fill in the numbers in the blank grid of Figure 1 to get the intermediate figure corresponding to the reference code. The numbers included in the intermediate figure corresponding to the reference code are extracted according to the target order to obtain the reference code.
  • the target number is any positive integer, which is not limited in this embodiment of the present application.
  • FIG. 7 is a schematic diagram of a reference code acquisition process provided by the embodiment of the present application.
  • Figure A in Figure 7 is the intermediate figure corresponding to the first-level encoding.
  • Figure B in Figure 7 is Figure 1.
  • Figure C in Figure 7 is the intermediate figure corresponding to the reference code.
  • the number filled in the blank grid of figure 1 is 1 (the second number). Based on this, the obtained reference code is: 1011001101111110010000111.
  • the number of digits of the reference code is 25, and the number of digits of the reference code is greater than that of the first-level code.
  • 9 grids are added in the middle of the intermediate figure corresponding to the first-level coding, and of course, 9 grids can also be added in other places of the intermediate figure corresponding to the first-level coding. This is not limited.
  • step 203 based on the first distance, the reference code is processed to obtain at least one first code.
  • the process of processing the reference codes based on the first distance to obtain at least one first code includes the following steps 2031 to 2034 .
  • Step 2031 Obtain a first candidate code based on the reference code, where the first candidate code has the same number of digits as the reference code, and the distance between the first candidate code and the reference code is not less than the first distance.
  • the numbers included in the reference code are modified to obtain the first candidate code, the number of bits of the first candidate code is the same as that of the reference code, and the first candidate code is the same as
  • the distance between the reference codes is not less than the first distance.
  • the distance may be a Hamming distance or other distances, which is not limited in this embodiment of the present application.
  • the first distance is a distance greater than zero and less than the number of digits of the reference code, and the first distance and the second distance may or may not be the same, which is not limited in this embodiment of the present application.
  • the first distance is 7.
  • the reference code is 1011001101111110010000111, and the reference code is processed to obtain the first candidate code as 1001011011011011010000111.
  • the number of bits of the first candidate code is consistent with that of the reference code, and the distance between the first candidate code and the reference code is 7.
  • Step 2032 based on the first candidate code, obtain at least one second candidate code, where the number of bits of the second candidate code is the same as that of the first candidate code.
  • the process of obtaining at least one second candidate code is: generating an intermediate graphic corresponding to the first candidate code. Perform a first rotation transformation on the intermediate graphics corresponding to the first candidate codes to obtain at least one first candidate graphics. The codes respectively corresponding to at least one first candidate graphic are acquired. The codes respectively corresponding to the at least one first candidate graphics are used as the second candidate codes.
  • the angle of the first rotation transformation includes at least one of 90 degrees, 180 degrees and 270 degrees.
  • the process of generating the intermediate graphic corresponding to the first candidate code is as follows: based on the number of bits of the first candidate code, the candidate graphic is obtained, the candidate graphic is composed of grids, and the number of grids included in the candidate graphic is The number is the same as the number of bits in the first candidate code. Fill the numbers included in the first candidate code in the candidate figure according to the target order to obtain the intermediate figure corresponding to the first candidate code.
  • FIG. 8 is a schematic diagram of an intermediate graphic corresponding to a first candidate code provided in the embodiment of the present application.
  • Figure A in Figure 8 is a candidate graph, which is composed of 25 grids. Fill the numbers included in the first candidate code into the candidate figure according to the target order to obtain the intermediate figure corresponding to the first candidate code, as shown in Figure 8, B is the intermediate figure corresponding to the first candidate code.
  • the first rotation transformation when the angle of the first rotation transformation includes any one of 90 degrees, 180 degrees and 270 degrees, the first rotation transformation is performed on the intermediate graphics corresponding to the first candidate encoding to obtain a first candidate graphics.
  • the angle of the first rotation transformation includes any two of 90 degrees, 180 degrees and 270 degrees, the first rotation transformation is performed on the intermediate graphics corresponding to the first candidate codes to obtain two first candidate graphics.
  • the angles of the first rotation transformation include 90 degrees, 180 degrees and 270 degrees
  • the first rotation transformation is performed on the intermediate graphics corresponding to the first candidate codes to obtain three first candidate graphics.
  • FIG. 9 is a schematic diagram of a first candidate graphic provided by the embodiment of the present application.
  • Figure A in FIG. 9 is the first candidate graphic obtained after rotating the intermediate graphic corresponding to the first candidate code by 90 degrees.
  • Picture B in FIG. 9 is the first candidate picture obtained after rotating the intermediate picture corresponding to the first candidate code by 180 degrees.
  • Figure C in FIG. 9 is the first candidate graphic obtained after rotating the intermediate graphic corresponding to the first candidate code by 270 degrees.
  • the process of obtaining the codes corresponding to at least one first candidate graphic is: extracting the numbers included in each first candidate graphic according to the target order, and obtaining the code corresponding to each first candidate graphic.
  • the code corresponding to the first candidate figure obtained after rotating the intermediate figure corresponding to the first candidate code by 90 degrees is 0101100110111001001110110.
  • the code corresponding to the first candidate figure obtained after rotating the intermediate figure corresponding to the first candidate code by 180 degrees is 1110000101101101101001.
  • the code corresponding to the first candidate figure obtained after rotating the intermediate figure corresponding to the first candidate code by 270 degrees is 0110111001001110110011010.
  • the code corresponding to each first candidate graphic After obtaining the code corresponding to each first candidate graphic, determine the code corresponding to each first candidate graphic as the second candidate code, that is, the second candidate code is: 0101100110111001001110110, 1110000101101101101001, 0110111001001110110011010.
  • Step 2033 In response to the fact that the distance between at least one second candidate code and the first candidate code is not less than the first distance, based on the reference code, at least one third candidate code is obtained, and the number of bits between the third candidate code and the reference code is the same Sincerely.
  • the distance between each second candidate code and the first candidate code is determined.
  • the distance is the Hamming distance
  • the process of determining the distance between each second candidate code and the first candidate code is: XOR operation is performed on the first candidate code and the second candidate code, and 1 in the statistical result The number of 1s in the result is determined as the Hamming distance between the first candidate code and the second candidate code.
  • the first candidate code and the second candidate code are determined by the following Table 2 The distance between two candidate codes.
  • the second candidate code is the code obtained after performing the first rotation transformation on the intermediate image corresponding to the first candidate code, in response to the distance between the first candidate code and at least one second candidate code is not less than the first distance, then It shows that the first candidate code has a large difference with itself, a large distinction, and a low similarity.
  • the process of obtaining at least one third candidate code is: in response to the fact that the distance between at least one second candidate code and the first candidate code is not less than the first distance, and the second A candidate code is the first candidate code obtained based on the reference code, and at least one third candidate code is obtained based on the reference code.
  • the first candidate code is not the first candidate code obtained based on the reference code.
  • the candidate codes obtained before the candidate codes are obtained at least one third candidate codes. Wherein, the number of bits of the third candidate code is consistent with that of the reference code.
  • the process of obtaining at least one third candidate code based on the reference code is similar to the process of obtaining at least one third candidate code based on the reference code and the candidate code obtained before the first candidate code , this embodiment of the present application only uses the process of obtaining at least one third candidate code based on the reference code as an example for illustration.
  • the process of obtaining at least one third candidate code is: generating an intermediate graphic corresponding to the reference code. Performing a second rotation transformation on the intermediate graphic corresponding to the reference code to obtain at least one second candidate graphic. The codes respectively corresponding to at least one second candidate graphics are obtained. The codes respectively corresponding to the at least one second candidate graphics are used as the third candidate codes.
  • the angle of the second rotation transformation includes at least one of 90 degrees, 180 degrees and 270 degrees.
  • FIG. 10 is a schematic diagram of an intermediate graphic corresponding to a reference code provided in the embodiment of the present application.
  • FIG. 11 is a schematic diagram of a second candidate graphic provided by the embodiment of the present application.
  • Figure A in FIG. 11 is the second candidate graphic obtained after rotating the intermediate graphic corresponding to the reference code by 0 degrees.
  • Picture B in FIG. 11 is the second candidate picture obtained after rotating the intermediate picture corresponding to the reference code by 90 degrees.
  • Figure C in FIG. 11 is the second candidate graphic obtained after rotating the intermediate graphic corresponding to the reference code by 180 degrees.
  • Figure D in FIG. 11 is the second candidate graphic obtained after rotating the intermediate graphic corresponding to the reference code by 270 degrees.
  • the process of obtaining the codes corresponding to at least one second candidate graphic is: extracting the numbers included in each second candidate graphic according to the target order, and obtaining the code corresponding to each second candidate graphic.
  • the code corresponding to the second candidate graphic obtained after rotating the intermediate graphic corresponding to the reference code by 0 degrees is consistent with the reference code.
  • the code corresponding to the second candidate figure obtained after rotating the intermediate figure corresponding to the reference code by 90 degrees is 0010100110111111010110110.
  • the code corresponding to the second candidate figure obtained after rotating the intermediate figure corresponding to the reference code by 180 degrees is 1110000100111111011001101.
  • the code corresponding to the second candidate figure obtained after rotating the intermediate figure corresponding to the reference code by 270 degrees is 0110110101111110110010100.
  • the code corresponding to each second candidate graphic After obtaining the code corresponding to each second candidate graphic, determine the code corresponding to each second candidate graphic as the third candidate code, that is, the third candidate code is: 0010100110111111010110110, 1110000100111111011001101, 0110110101111110110010100.
  • step 2031 in response to at least one second candidate code having a second candidate code whose distance to the first candidate code is smaller than the first distance, there is no need to perform subsequent steps, and returning to step 2031 to re-based on the reference encoding Gets the first candidate encoding.
  • the number of third candidate codes obtained based on the reference code is smaller than the number of third candidate codes obtained based on the reference code and candidate codes obtained before the first candidate code.
  • Step 2034 in response to the distance between at least one third candidate code and the first candidate code being not less than the first distance, use the first candidate code as the first code.
  • the distance between the third candidate code and the first candidate code is determined, and the determination process of the distance between the third candidate code and the first candidate code is the same as that of determining the second candidate code in step 2033 above. The process is consistent with the distance between the first candidate codes, and will not be repeated here.
  • the third candidate code is the code obtained by performing the second rotation transformation on the generated code, in response to the fact that the distance between the first candidate code and at least one third candidate code is not less than the first distance, it means that the first candidate code
  • the difference with other generated codes is large, the difference is large, and the similarity is low.
  • step 2031 in response to at least one third candidate code having a third candidate code whose distance to the first candidate code is smaller than the first distance, return to step 2031 to obtain the first candidate code based on the reference code again. coding.
  • the number of reference codes is 25 bits
  • the number of reference codes is 38
  • the first distance is 7
  • a total of 232 first codes that meet the requirements can be generated according to the above method.
  • the distance between any two codes in the 232 first codes is not less than 7.
  • the number of acquired first codes is negatively correlated with the first distance.
  • the larger the first distance the smaller the number of acquired first codes.
  • the computer device acquires the first code by running the following formula (3) and formula (4) based on the reference code.
  • step 204 the primary graphics are obtained based on the reference code, and the secondary graphics are obtained based on the secondary code, where the secondary code is at least one of the first codes.
  • At least one first code is randomly selected from the first codes, and the selected first code is used as a secondary code, that is, the secondary code is at least one of the first codes.
  • the secondary code is at least one of the first codes.
  • four first codes are selected from the first codes as secondary codes.
  • the number of secondary codes may be more or less, which is not limited in this embodiment of the present application. It only needs that the number of secondary codes is less than the total number of first codes.
  • the reference code and the secondary code have the same number of digits, and both the reference code and the secondary code include a first number and a second number.
  • the candidate graphics are composed of grids.
  • the digits are consistent. Since the number of digits of the reference code is consistent with the number of digits of the first candidate code, the candidate figure obtained here is based on the number of digits of the first candidate code in the above step 2032, and the candidate figure obtained is a figure, as shown in Figure 8. As shown in Figure A of , the process of obtaining candidate graphics will not be repeated here.
  • the process of obtaining the first-level graphics is: filling the numbers included in the reference code in the grids included in the candidate graphics according to the target order, and obtaining the intermediate graphics corresponding to the reference code. Based on the first color and the second color, the intermediate graphic corresponding to the reference code is rendered in color to obtain the first-level graphic.
  • the intermediate figure corresponding to the reference code is as shown in figure C in FIG. 7 .
  • FIG. 12 is a schematic diagram of a first-level graph provided by the embodiment of the present application. In FIG. 12, the first color is black and the second color is white.
  • first color and the second color may also be other colors, as long as the first color and the second color are guaranteed to be different, which is not limited in this application.
  • the process of obtaining the secondary graphics is as follows: fill the numbers included in the secondary code in the grids included in the candidate graphics according to the target order, and obtain the intermediate graphics corresponding to the secondary code .
  • color rendering is performed on the intermediate graphics corresponding to the secondary code to obtain the first graphics.
  • the area of the first graphic is adjusted to obtain a second-level graphic, and the area of the second-level graphic is smaller than the area of the first-level graphic.
  • the second-level graphics need to be superimposed on the first-level graphics, when the area of the second-level graphics is consistent with the area of the first-level graphics, the first-level graphics will be covered by the second-level graphics, making the first-level graphics invisible. In order to avoid this situation, it is necessary to adjust the area of the first graphic to obtain the second-level graphic. Exemplarily, the area of the first graphic is reduced to one sixteenth of the area of the first-level graphic to obtain the second-level graphic.
  • a beacon is generated based on the primary graph and the secondary graph.
  • the beacon when the number of the second-level graphics is one, the beacon can be obtained by directly superimposing the second-level graphics on the first-level graphics.
  • each secondary graphic is superimposed on the primary graphic to obtain a beacon. It should be noted that there is no overlap between the secondary graphics.
  • FIG. 13 is a schematic diagram of a beacon provided by the embodiment of the present application.
  • a secondary graphic is superimposed on the primary graphic.
  • Figure B in Figure 13 four secondary graphics are superimposed on the primary graphics.
  • the beacon in FIG. 13 is a two-level beacon, that is, the first-level graphics are the first level, and the second-level graphics are the second level.
  • the third-level graphics can be obtained based on the three-level coding.
  • the third-level coding is the first code different from the second-level coding in at least one first coding, and the area of the third-level graphics is smaller than the area of the secondary figure.
  • the area of the third-level figure is a quarter of the area of the second-level figure.
  • the acquisition process of the third-level graphics is the same as that of the second-level graphics, and will not be repeated here.
  • the second-level graphics and the third-level graphics are superimposed on the first-level graphics to obtain a beacon, and there is no overlap between the second-level graphics and the third-level graphics.
  • first codes are selected as secondary codes in the first code
  • five first codes are selected as three-level codes in the first codes other than the secondary codes in the first code, that is A total of four secondary codes and five tertiary codes were obtained.
  • the first-level graphics are obtained, based on the four second-level codes, four second-level graphics are obtained, and based on the five third-level codes, five third-level graphics are obtained.
  • FIG. 14 is a schematic diagram of a beacon provided by an embodiment of the present application, and the beacon shown in FIG. 14 is a three-level beacon.
  • the layout of the beacon is as follows: a second-level graphic is superimposed on the left, right, bottom, and middle of the first-level graphic, and five third-level graphics are superimposed on the top of the first-level graphic in the shape of a character. beacon.
  • the layout of the beacon is as follows: a second-level graphic is superimposed on the left, right, bottom, and top of the first-level graphic, and five third-level graphics are superimposed in the middle of the first-level graphic in the shape of a character. beacon.
  • the beacons generated in the layout form of A in Figure 14 above are used to assist the UAV landing.
  • the downward-looking camera of the UAV is located in the middle of the UAV, use the beacon generated in the layout form of Figure 14 above to assist the UAV to land.
  • the first-level graphics in FIG. 14 that is, the graphics with the largest area in FIG. 14
  • the secondary graphics in FIG. 14 that is, the graphics with a moderate area in FIG. 14
  • the height corresponding to the high altitude is more than 15 meters
  • the height corresponding to the middle and low altitude is 3 to 15 meters
  • the height corresponding to the low altitude is 0 to 3 meters.
  • the beacon generated by using the layout shown in Figure 14 can not only eliminate the error of visual positioning, reduce the probability of UAV misidentification, but also enable the UAV to see the beacon no matter from which angle it flies.
  • the graphics in the mark can not only eliminate the error of visual positioning, reduce the probability of UAV misidentification, but also enable the UAV to see the beacon no matter from which angle it flies.
  • the graphics in the mark can not only eliminate the error of visual positioning, reduce the probability of UAV misidentification, but also enable the UAV to see the beacon no matter from which angle it flies.
  • FIG. 14 is only an example of the style of the beacon provided in the embodiment of the present application, and is not used to limit the style of the beacon, and the style of the beacon may also be other styles.
  • the above method obtains the first code by processing the reference code, and the distance between the obtained first code and the reference code is not less than the first distance, so that the difference between the first code and the reference code is relatively large, and the difference is relatively large .
  • obtain the secondary code in the first coding obtain the primary graphics based on the reference code, and obtain the secondary graphics based on the secondary code, so that the difference between the primary graphics and the secondary graphics is relatively large, and the distinction is relatively large.
  • the similarity is low.
  • the beacons generated based on the first-level graphics and the second-level graphics are conducive to the identification and positioning of UAVs in the air, which can reduce the probability of misidentification of UAVs, improve the recognition accuracy of UAVs, and reduce the occurrence of UAVs crashes. The probability of the drone will increase the safety factor when the drone lands.
  • the embodiment of the present application also provides a beacon, which is generated by using the above-mentioned embodiment in Figure 2, and the beacon includes at least three levels of graphics; At least two tertiary graphics that are different from each other. Wherein, at least two mutually different secondary graphics and at least two mutually different tertiary graphics are scattered and superimposed on the primary graphics. There is no overlap between any two of the at least two mutually different secondary graphics and the at least two mutually different tertiary graphics.
  • the area of the second-level graphics is smaller than the area of the first-level graphics, and the area of the third-level graphics is smaller than the area of the second-level graphics.
  • the diameter of the circumscribed circle that can accommodate at least two secondary figures is 2 to 6 times the diameter of the circumscribed circle that can accommodate at least two tertiary figures.
  • the diameter of the circumscribed circle that can accommodate at least two secondary figures is 2 to 5 times the diameter of the circumscribed circle that can accommodate at least two tertiary figures.
  • the first-level graphics are obtained based on the reference coding
  • the second-level graphics are obtained based on the second-level coding
  • the third-level graphics are obtained based on the third-level coding.
  • the secondary code is at least one first code
  • the at least one first code is obtained based on the reference code
  • the tertiary code is a first code different from the secondary code in the at least one first code.
  • the distance between at least one first code and any two codes in the reference code is not less than the first distance, and the number of bits of the first code is consistent with that of the reference code.
  • the area of the first-level graphics is 9-36 times that of the second-level graphics, and the area of the second-level graphics is 3-9 times that of the third-level graphics.
  • the drone when the difference between the area of the first-level graphic and the area of the second-level graphic is too small, it is easy to cause the drone to recognize the second-level graphic as the first-level graphic.
  • the flying altitude of the man-machine is lower than the flying altitude of the drone indicated by the first-level graphics.
  • the drone misidentifies the second-level graphics as the first-level graphics, the drone thinks that it is still far away from the ground, so , will land at high speed, which will lead to a higher possibility of drone crash, and the safety factor of drone landing is low.
  • the difference between the area of the first-level graphic and the area of the second-level graphic is too large, it is easy to cause the UAV to fail to recognize the second-level code during the descent process, which will cause the UAV to fail to land.
  • the flying height of the UAV indicated by the first-level graphic is 30 meters
  • the flying height of the UAV indicated by the second-level graphic is 15 meters
  • the flying height of the UAV indicated by the third-level graphic is 3 meters.
  • the area of the first-level graphics is 9 to 36 times the area of the second-level graphics, and the area of the second-level graphics is 3 to 9 times the area of the third-level graphics .
  • the area of the first-level graphics is 25 times that of the second-level graphics, and the area of the third-level graphics is 5 times that of the second-level graphics.
  • the beacon includes one first-level graphic, four second-level graphics and five third-level graphics; a second-level graphic is superimposed on the left, lower, right and middle of the first-level graphic, and Five third-level graphics are superimposed in the shape of a character on the top of the first-level graphics.
  • Figure A in Figure 14 shows the beacon obtained in this layout.
  • a second-level graphic is superimposed on the top, bottom, left and right of the first-level graphic, and five third-level graphics are superimposed in the middle of the first-level graphic in the shape of a character.
  • Figure B in Figure 14 shows the beacon obtained in this layout.
  • the beacon includes a plurality of different secondary and tertiary graphics, so that the beacon can be identified even in the case of defacement and shadow. Through at least three levels of graphics, it is ensured that the drone can recognize the beacon from level flight to touchdown, so that the drone can be more reliably guided to make a precise landing.
  • the information including but not limited to user equipment information, user personal information, etc.
  • data including but not limited to data used for analysis, stored data, displayed data, etc.
  • All signals are authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.
  • the first distance, the second distance, random number codes, etc. mentioned in this application are all obtained under the condition of full authorization.
  • FIG. 15 is a schematic structural diagram of a beacon generating device provided in the embodiment of the present application. As shown in FIG. 15, the device includes:
  • the first obtaining module 1501 is used to obtain the primary code
  • the second obtaining module 1502 is configured to obtain a reference code based on the first-level code, and the number of bits of the reference code is greater than that of the first-level code;
  • the processing module 1503 is configured to process the reference code based on the first distance to obtain at least one first code, the distance between any two codes in the at least one first code and the reference code is not less than the first distance, and the first The number of digits of the code is consistent with the number of digits of the reference code;
  • the third acquiring module 1504 is configured to acquire a first-level graphic based on the reference code, and acquire a second-level graphic based on the second-level code, where the second-level code is at least one of the first codes;
  • a generating module 1505 configured to generate a beacon based on the primary graphics and the secondary graphics.
  • the primary code includes a first number and a second number
  • the second obtaining module 1502 is used to fill numbers in the primary code to obtain a reference code, and the filled number is any one of the first number and the second number.
  • the processing module 1503 is configured to obtain a first candidate code based on the reference code, the first candidate code has the same number of bits as the reference code, and the distance between the first candidate code and the reference code is not less than the first Coding of distance; based on the first candidate code, at least one second candidate code is obtained, and the number of bits of the second candidate code is consistent with that of the first candidate code; in response to the distance between the at least one second candidate code and the first candidate code are not less than the first distance, based on the reference code, at least one third candidate code is obtained, and the number of bits of the third candidate code is consistent with the reference code; in response to the distance between the at least one third candidate code and the first candidate code is not smaller than the first distance, and the first candidate code is used as the first code.
  • the processing module 1503 is configured to generate an intermediate graphic corresponding to the first candidate code; perform a first rotation transformation on the intermediate graphic corresponding to the first candidate code to obtain at least one first candidate graphic; obtain at least The codes corresponding to the first candidate graphics are respectively used as the second candidate codes at least one code corresponding to the first candidate graphics.
  • the processing module 1503 is configured to respond to the fact that the distance between at least one second candidate code and the first candidate code is not less than the first distance, and the first candidate code is obtained based on the reference code Based on the first candidate code of the reference code, at least one third candidate code is obtained; in response to the distance between the at least one second candidate code and the first candidate code is not less than the first distance, and the first candidate code is based on the reference encoding the obtained non-first candidate codes, and obtaining at least one third candidate codes based on the reference codes and the candidate codes obtained before the first candidate codes.
  • the first obtaining module 1501 is configured to obtain a random number code; based on the second distance, process the random number code to obtain at least one second code, at least one second code and the random number code
  • the distance between any two codes in is not less than the second distance, and the number of digits of the second code is the same as that of the random number code; the primary code is determined in the random number code and at least one second code.
  • the device further includes:
  • the fourth acquisition module is used to obtain candidate graphics based on the number of bits of the reference code, the candidate graphics are composed of grids, and the number of grids included in the candidate graphics is consistent with the number of bits of the reference code;
  • the third acquisition module 1504 is used to fill the numbers included in the reference code in the grids included in the candidate graphics according to the target order to obtain the intermediate graphics corresponding to the reference code; based on the first color and the second color, the intermediate graphics corresponding to the reference code Graphics are rendered in color to obtain first-level graphics.
  • the third acquisition module 1504 is configured to fill the numbers included in the secondary code in the grids included in the candidate graphics according to the target order to obtain the intermediate graphics corresponding to the secondary code; based on the first color and the second color, color-rendering the intermediate graphics corresponding to the secondary codes to obtain the first graphics; adjusting the area of the first graphics to obtain the secondary graphics, the area of the secondary graphics is smaller than the area of the primary graphics.
  • the third acquiring module 1504 is further configured to acquire a third-level graphic based on the third-level encoding, where the third-level encoding is a first encoding different from the second-level encoding in at least one first encoding, and the third-level The area of the graphic is smaller than the area of the secondary graphic;
  • the generating module 1505 is further configured to superimpose the second-level graphics and the third-level graphics on the first-level graphics to obtain beacons, and there is no overlap between the second-level graphics and the third-level graphics.
  • the above device obtains the first code by processing the reference code, and the distance between the obtained first code and the reference code is not less than the first distance, so that the difference between the first code and the reference code is relatively large, and the difference is relatively large .
  • obtain the secondary code in the first coding obtain the primary graphics based on the reference code, and obtain the secondary graphics based on the secondary code, so that the difference between the primary graphics and the secondary graphics is relatively large, and the distinction is relatively large.
  • the similarity is low.
  • the beacons generated based on the first-level graphics and the second-level graphics are conducive to the identification and positioning of drones in the air, which can reduce the probability of misidentification of drones, improve the recognition accuracy of drones, and reduce the occurrence of drone crashes. The probability of the drone will increase the safety factor when the drone lands.
  • Fig. 16 shows a structural block diagram of an electronic device 1600 provided by an exemplary embodiment of the present application.
  • the electronic device 1600 can be a portable mobile terminal, such as: smart phone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III, moving picture expert compression standard audio level 3), MP4 (Moving Picture Experts Group Audio Layer IV, Motion Picture Expert compresses standard audio levels 4) Players, laptops or desktops.
  • the electronic device 1600 may also be called user equipment, portable terminal, laptop terminal, desktop terminal, and other names.
  • the electronic device 1600 includes: a processor 1601 and a memory 1602 .
  • the processor 1601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
  • Processor 1601 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish.
  • Processor 1601 may also include a main processor and a coprocessor, the main processor is a processor for processing data in the wake-up state, and is also called a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state.
  • CPU Central Processing Unit
  • the processor 1601 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 1601 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 1602 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 1602 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 1602 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 1601 to implement the beacon provided by the method embodiment in this application generate method.
  • the electronic device 1600 may optionally further include: a peripheral device interface 1603 and at least one peripheral device.
  • the processor 1601, the memory 1602, and the peripheral device interface 1603 may be connected through buses or signal lines.
  • Each peripheral device can be connected to the peripheral device interface 1603 through a bus, a signal line or a circuit board.
  • the peripheral device includes: at least one of a radio frequency circuit 1604 , a display screen 1605 , a camera component 1606 , an audio circuit 1607 , a positioning component 1608 and a power supply 1609 .
  • the electronic device 1600 further includes one or more sensors 1160 .
  • the one or more sensors 1160 include, but are not limited to: an acceleration sensor 1611 , a gyroscope sensor 1612 , a pressure sensor 1613 , a fingerprint sensor 1614 , an optical sensor 1615 and a proximity sensor 1616 .
  • FIG. 16 does not constitute a limitation to the electronic device 1600, and may include more or less components than shown in the figure, or combine certain components, or adopt different component arrangements.
  • FIG. 17 is a schematic structural diagram of a server provided by an embodiment of the present application.
  • the server 1700 may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) 1701 and one or more memory 1702, where at least one piece of program code is stored in the one or more memory 1702, and the at least one piece of program code is loaded and executed by the one or more processors 1701 to implement the beacon provided by each of the above method embodiments generate method.
  • the server 1700 may also have components such as wired or wireless network interfaces, keyboards, and input and output interfaces for input and output, and the server 1700 may also include other components for implementing device functions, which will not be described in detail here.
  • a computer-readable storage medium is also provided, and at least one program code is stored in the storage medium, and the at least one program code is loaded and executed by a processor, so that the computer implements any one of the above information How to create a label.
  • the above-mentioned computer-readable storage medium may be a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a compact disc (Compact Disc Read-Only Memory, CD-ROM) ), tapes, floppy disks, and optical data storage devices, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • CD-ROM Compact Disc Read-Only Memory
  • a computer program or a computer program product wherein at least one computer instruction is stored in the computer program or computer program product, and the at least one computer instruction is loaded and executed by a processor, so that the computer implements Any of the above-mentioned beacon generation methods.

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Abstract

本申请公开了一种信标、信标生成方法、信标生成装置和设备，属于无人机技术领域。信标包括至少三个级别的图形：一个一级图形、至少两个互不相同的二级图形和至少两个互不相同的三级图形；其中，至少两个互不相同的二级图形和至少两个互不相同的三级图形分散叠加在一级图形上，至少两个互不相同的二级图形和至少两个互不相同的三级图形中的任意两个图形之间不存在重叠；二级图形的面积小于一级图形的面积，三级图形的面积小于二级图形的面积。

Description

信标、信标生成方法、信标生成装置和设备
本申请要求于2021年07月02日提交的申请号为202110750123.7、申请名称为“信标、信标生成方法、信标生成装置和设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及无人机技术领域，特别涉及一种信标、信标生成方法、信标生成装置和设备。
背景技术
随着无人机技术的不断发展，无人机的应用领域也越来越广泛。在无人机配送中，无人机的精准降落是至关重要的一环。因此，需要一种信标生成方法来生成高可靠性的无人机精准降落引导信标，进而保证无人机精准降落。
发明内容
本申请实施例提供了一种信标、信标生成方法、信标生成装置和设备，所述技术方案如下：
一方面，本申请实施例提供了一种信标，所述信标包括至少三个级别的图形：
一个一级图形、至少两个互不相同的二级图形和至少两个互不相同的三级图形；
其中，所述至少两个互不相同的二级图形和所述至少两个互不相同的三级图形分散叠加在所述一级图形上，所述至少两个互不相同的二级图形和所述至少两个互不相同的三级图形中的任意两个图形之间不存在重叠；
所述二级图形的面积小于所述一级图形的面积，所述三级图形的面积小于所述二级图形的面积；并且
可容纳至少两个二级图形的外接圆的直径是可容纳至少两个三级图形的外接圆的直径的2～6倍。
在一种可能的实现方式中，所述一级图形基于参考编码得到，所述二级图形基于二级编码得到，所述三级图形基于三级编码得到；
其中，所述二级编码为至少一个第一编码，所述至少一个第一编码基于所述参考编码得到，所述三级编码为所述至少一个第一编码中与所述二级编码不同的第一编码；
所述至少一个第一编码和所述参考编码中的任意两个编码之间的距离不小于第一距离，所述第一编码的位数与所述参考编码的位数一致。
在一种可能的实现方式中，所述一级图形的面积为所述二级图形的面积的9～36倍，所述二级图形的面积为所述三级图形的面积的3～9倍。
在一种可能的实现方式中，所述信标包括一个一级图形、四个二级图形和五个三级图形；
在所述一级图形的左边、下边、右边和中间分别叠加一个二级图形，在所述一级图形的上边以品字形叠加五个三级图形；
或者，在所述一级图形的上边、下边、左边和右边分别叠加一个二级图形，在所述一级图形的中间以品字形叠加五个三级图形。
另一方面，本申请实施例提供了一种信标生成方法，所述方法包括：
获取一级编码；
基于所述一级编码获取参考编码，所述参考编码的位数大于所述一级编码的位数；
基于第一距离，对所述参考编码进行处理，得到至少一个第一编码，所述至少一个第一编码和所述参考编码中的任意两个编码之间的距离不小于所述第一距离，所述第一编码的位 数与所述参考编码的位数一致；
基于所述参考编码，获取一级图形，基于二级编码，获取二级图形，所述二级编码为所述第一编码中的至少一个；
基于所述一级图形和所述二级图形，生成信标。
在一种可能的实现方式中，所述一级编码包括第一数字和第二数字；
所述基于所述一级编码获取参考编码，包括：
在所述一级编码中填充数字，得到所述参考编码，填充的数字为所述第一数字和所述第二数字中的任一个数字。
在一种可能的实现方式中，所述基于第一距离，对所述参考编码进行处理，得到至少一个第一编码，包括：
基于所述参考编码获取第一候选编码，所述第一候选编码为与所述参考编码的位数一致，且与所述参考编码之间的距离不小于所述第一距离的编码；
基于所述第一候选编码，获取至少一个第二候选编码，所述第二候选编码与所述第一候选编码的位数一致；
响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，基于所述参考编码，获取至少一个第三候选编码，所述第三候选编码与所述参考编码的位数一致；
响应于所述至少一个第三候选编码和所述第一候选编码之间的距离均不小于所述第一距离，将所述第一候选编码作为所述第一编码。
在一种可能的实现方式中，所述基于所述第一候选编码，获取至少一个第二候选编码，包括：
生成所述第一候选编码对应的中间图形；
对所述第一候选编码对应的中间图形进行第一旋转变换，得到至少一个第一候选图形；
获取所述至少一个第一候选图形分别对应的编码，将所述至少一个第一候选图形分别对应的编码作为所述第二候选编码。
在一种可能的实现方式中，所述响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，基于所述参考编码，获取至少一个第三候选编码，包括：
响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，且所述第一候选编码为基于所述参考编码获取到的首个候选编码，基于所述参考编码，获取至少一个第三候选编码；
响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，且所述第一候选编码为基于所述参考编码获取到的非首个候选编码，基于所述参考编码和在所述第一候选编码之前获取到的候选编码，获取至少一个第三候选编码。
在一种可能的实现方式中，所述获取一级编码，包括：
获取随机数编码；
基于第二距离，对所述随机数编码进行处理，得到至少一个第二编码，所述至少一个第二编码和所述随机数编码中的任意两个编码之间的距离不小于所述第二距离，所述第二编码的位数与所述随机数编码的位数一致；
在所述随机数编码和所述至少一个第二编码中确定所述一级编码。
在一种可能的实现方式中，所述方法还包括：
基于所述参考编码的位数，获取候选图形，所述候选图形由网格组成，所述候选图形包括的网格个数与所述参考编码的位数一致；
所述基于所述参考编码，获取一级图形，包括：
将所述参考编码包括的数字按照目标顺序填充在所述候选图形包括的网格中，得到所述参考编码对应的中间图形；
基于第一颜色和第二颜色，对所述参考编码对应的中间图形进行颜色渲染，得到所述一 级图形。
在一种可能的实现方式中，所述基于二级编码，获取二级图形，包括：
将所述二级编码包括的数字按照所述目标顺序填充在所述候选图形包括的网格中，得到所述二级编码对应的中间图形；
基于所述第一颜色和所述第二颜色，对所述二级编码对应的中间图形进行颜色渲染，得到第一图形；
对所述第一图形的面积进行调整，得到所述二级图形，所述二级图形的面积小于所述一级图形的面积。
在一种可能的实现方式中，所述基于所述一级图形和所述二级图形，生成信标，包括：
基于三级编码，获取三级图形，所述三级编码为所述至少一个第一编码中与所述二级编码不同的第一编码，所述三级图形的面积小于所述二级图形的面积；
在所述一级图形上叠加所述二级图形和所述三级图形，得到所述信标，所述二级图形和所述三级图形不存在重叠。
另一方面，本申请实施例提供了一种信标生成装置，所述装置包括：
第一获取模块，用于获取一级编码；
第二获取模块，用于基于所述一级编码获取参考编码，所述参考编码的位数大于所述一级编码的位数；
处理模块，用于基于第一距离，对所述参考编码进行处理，得到至少一个第一编码，所述至少一个第一编码和所述参考编码中的任意两个编码之间的距离不小于所述第一距离，所述第一编码的位数与所述参考编码的位数一致；
第三获取模块，用于基于所述参考编码，获取一级图形，基于二级编码，获取二级图形，所述二级编码为所述第一编码中的至少一个；
生成模块，用于基于所述一级图形和所述二级图形，生成信标。
在一种可能的实现方式中，所述一级编码包括第一数字和第二数字；
所述第二获取模块，用于在所述一级编码中填充数字，得到所述参考编码，填充的数字为所述第一数字和所述第二数字中的任一个数字。
另一方面，本申请实施例提供了一种计算机设备，所述计算机设备包括处理器和存储器，所述存储器中存储有至少一条程序代码，所述至少一条程序代码由所述处理器加载并执行，以使所述计算机设备实现上述任一所述的信标生成方法。
另一方面，还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有至少一条程序代码，所述至少一条程序代码由处理器加载并执行，以使计算机实现上述任一所述的信标生成方法。
另一方面，还提供了一种计算机程序或计算机程序产品，所述计算机程序或计算机程序产品中存储有至少一条计算机指令，所述至少一条计算机指令由处理器加载并执行，以使计算机实现上述任一种信标生成方法。
本申请实施例提供的信标包括至少三个级别的图形，一个一级图形、至少两个二级图形和至少两个三级图形，至少两个二级图形和至少两个三级图形分散叠加在一级图形上，至少两个二级图形和至少两个三级图形中的任意两个图形之间不存在重叠，二级图形的面积小于一级图形的面积，三级图形的面积小于二级图形的面积。该信标包括多个互不相同的二级图形和三级图形，使得信标在污损、阴影的情况下也能够被识别。通过至少三个级别的图形，确保无人机从平飞到触地的过程中均可以识别到信标，从而可以更可靠的引导无人机进行精准降落。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域 普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种信标生成方法的实施环境示意图；
图2是本申请实施例提供的一种信标生成方法的流程图；
图3是本申请实施例提供的一种第一目标编码对应的中间图形的示意图；
图4是本申请实施例提供的一种第一目标图形的示意图；
图5是本申请实施例提供的一种随机数编码对应的中间图形的示意图；
图6是本申请实施例提供的一种第二目标图形的示意图；
图7是本申请实施例提供的一种参考编码的获取过程的示意图；
图8是本申请实施例提供的一种第一候选编码对应的中间图形的示意图；
图9是本申请实施例提供的一种第一候选图形的示意图；
图10是本申请实施例提供的一种参考编码对应的中间图形的示意图；
图11是本申请实施例提供的一种第二候选图形的示意图；
图12是本申请实施例提供的一种一级图形的示意图；
图13是本申请实施例提供的一种信标的示意图；
图14是本申请实施例提供的一种信标的示意图；
图15是本申请实施例提供的一种信标生成装置的结构示意图；
图16是本申请实施例提供的一种电子设备的结构示意图；
图17是本申请实施例提供的一种服务器的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
在介绍本申请实施例提供的信标、信标生成方法之前，首先简单介绍本申请实施例的应用场景。随着无人机技术的不断发展，无人机的应用领域也越来越广泛。在无人机配送中，无人机的精准降落是至关重要的一环。为了使无人机能够准确、安全的降落到指定位置，在指定位置放置一个信标，信标由一级图形和二级图形组成，即一个一级图形嵌套至少一个二级图形。一级图形指示的无人机的飞行高度高于二级图形指示的无人机的飞行高度。无人机在空中对信标进行检测和识别后，基于识别到的图形调整下降速度和下降方向，从而可以降落到指定位置。然而，由于信标图形长期暴露在外，容易受到污损，而且考虑到可能由于环境物体对阳光的遮挡而产生阴影，会造成信标图案识别不准或无法识别的情况，进而造成无人机难以精准降落。而且，一级图形与二级图形的面积差异大小也是一个设计的难点，无论差异过大还是差异过小，处理不好均容易导致降落不准确的问题。因此，需要本申请实施例提供的信标生成方法来生成一种高可靠性的无人机精准降落引导信标。
图1是本申请实施例提供的一种信标生成方法的实施环境示意图，如图1所示，该实施环境包括：计算机设备101。
计算机设备101可以是电子设备，也可以是服务器，本申请实施例对此不加以限定。计算机设备101用于执行本申请实施例提供的信标生成方法。
当计算机设备101为电子设备时，电子设备可以是智能手机、游戏主机、台式计算机、平板电脑、电子书阅读器、MP3(Moving Picture Experts Group Audio Layer III，动态影像专家压缩标准音频层面3)播放器、MP4(Moving Picture Experts Group Audio Layer IV，动态影像专家压缩标准音频层面4)播放器和膝上型便携计算机中的至少一种。
当计算机设备101为服务器时，服务器为一台服务器，或者为多台服务器组成的服务器集群，或者为云计算平台和虚拟化中心中的任意一种，本申请实施例对此不加以限定。服务器可以与电子设备通过有线网络或无线网络进行通信连接。服务器可以具有数据处理、数据存储和数据收发功能。当然，服务器还可以具有其他功能，本申请实施例对此不加以限定。
基于上述实施环境，本申请实施例提供了一种信标生成方法，以图2所示的本申请实施例提供的一种信标生成方法的流程图为例，该方法可由图1中的计算机设备101执行。如图2所示，该方法包括下述步骤：
在步骤201中，获取一级编码。
在一种可能的实现方式中，获取一级编码的过程如下：获取随机数编码，基于第二距离，对随机数编码进行处理，得到至少一个第二编码，在随机数编码和至少一个第二编码中确定一级编码。至少一个第二编码的位数和随机数编码的位数一致，且至少一个第二编码和随机数编码中的任意两个编码之间的距离不小于第二距离。
其中，随机数编码包括第一数字和第二数字，随机数编码可以由用户确定，也可以由计算机设备基于随机数生成器自动生成，本申请实施例对此不加以限定。第一数字和第二数字为任意两个不一样的数字，本申请实施例对此也不加以限定。例如，第一数字为0，第二数字为1。第二距离由用户设置，或者根据应用场景进行调整，第二距离为大于零且小于随机数编码的位数的任意距离，本申请实施例对第二距离也不加以限定。随机数编码的位数不小于4。例如，随机数编码的位数为16位，第二距离为5。
示例性地，随机数编码为16位，随机数编码为1010010100000011。
在一种可能的实现方式中，第二编码和随机数编码之间的距离，可以是汉明距离，也可以是其他距离，本申请实施例对此不加以限定，本申请实施例以距离为汉明距离为例进行说明。其中，汉明距离是使用在数据传输差错控制编码里面的，汉明距离是一个概念，用来表示两个相同长度的编码对应位不同的数量。汉明距离的确定过程为：对两个编码进行异或运算，并统计结果中1的个数，结果中1的个数就是这两个编码之间的汉明距离。
在一种可能的实现方式中，基于第二距离，对随机数编码进行处理，得到至少一个第二编码的过程包括下述步骤2011至步骤2014。
步骤2011、基于随机数编码获取第一目标编码，第一目标编码为与随机数编码的位数一致，且与随机数编码之间的距离不小于第二距离的编码。
在一种可能的实现方式中，获取到随机数编码之后，对随机数编码中包括的数字进行修改，得到第一目标编码，第一目标编码与随机数编码的位数一致，且第一目标编码与随机数编码之间的距离不小于第二距离。
示例性地，第二距离为5，随机数编码为1010010100000011，对该随机数编码进行处理，得到第一目标编码为1010110101101111。该第一目标编码与随机数编码的位数一致，且该第一目标编码与随机数编码之间的距离为5。
步骤2012、基于第一目标编码，获取至少一个第二目标编码，第二目标编码与第一目标编码的位数一致。
在一种可能的实现方式中，基于第一目标编码，获取至少一个第二目标编码的过程为：生成第一目标编码对应的中间图形。对第一目标编码对应的中间图形进行第一旋转变换，得到至少一个第一目标图形。获取至少一个第一目标图形分别对应的编码。将至少一个第一目标图形分别对应的编码作为第二目标编码。其中，第一旋转变换的角度包括90度、180度和270度中的至少一个。
在一种可能的实现方式中，生成第一目标编码对应的中间图形的过程为：基于第一目标编码的位数，获取目标图形，目标图形由网格组成，目标图形中包括的网格的个数与第一目标编码的位数一致。将第一目标编码包括的数字按照目标顺序填充在目标图形中，得到第一目标编码对应的中间图形。
其中，目标顺序可以是先从左向右再从上到下的顺序，也可以是先从上到下再从左到右的顺序，还可以是其他顺序，本申请实施例对此不加以限定。
如图3所示为本申请实施例提供的一种第一目标编码对应的中间图形的示意图。图3中的A图为目标图形，该目标图形由16个网格组成。将第一目标编码包括的数字按照目标顺 序(先从左到右再从上到下的顺序)填充到目标图形中，得到第一目标编码对应的中间图形，如图3中的B图为第一目标编码对应的中间图形。
在一种可能的实现方式中，当第一旋转变换的角度包括90度、180度和270度的任一个时，对第一目标编码对应的中间图形进行第一旋转变换，得到一个第一目标图形。当第一旋转变换的角度包括90度、180度和270度中的任两个时，对第一目标编码对应的中间图形进行第一旋转变换，得到两个第一目标图形。当第一旋转变换的角度包括90度、180度和270度时，对第一目标编码对应的中间图形进行第一旋转变换，得到三个第一目标图形。
如图4所示为本申请实施例提供的一种第一目标图形的示意图，图4中的A图为对第一目标编码对应的中间图形旋转90度之后得到的第一目标图形。图4中的B图为对第一目标编码对应的中间图形旋转180度之后得到的第一目标图形。图4中的C图为对第一目标编码对应的中间图形旋转270度之后得到的第一目标图形。
在一种可能的实现方式中，获取至少一个第一目标图形分别对应的编码的过程为：根据目标顺序提取每一个第一目标图形包括的数字，得到每一个第一目标图形对应的编码。示例性地，目标顺序为先从左到右再从上到下的顺序，根据该顺序提取第一目标图形中的数字，得到第一目标图形对应的编码。
对第一目标编码对应的中间图形旋转90度之后得到的第一目标图形对应的编码为1011111011011010。对第一目标编码对应的中间图形旋转180度之后得到的第一目标图形对应的编码为1111011010110101。对第一目标编码对应的中间图形旋转270度之后得到的第一目标图形对应的编码为0101101101111101。
获取到每一个第一目标图形对应的编码之后，将每一个第一目标图形对应的编码确定为第二目标编码，也即是第二目标编码为：1011111011011010、1111011010110101、0101101101111101。
步骤2013、响应于至少一个第二目标编码与第一目标编码之间的距离均不小于第二距离，基于随机数编码，获取至少一个第三目标编码。
在一种可能的实现方式中，获取到第二目标编码之后，确定每一个第二目标编码和第一目标编码之间的距离。
示例性地，距离为汉明距离时，确定每一个第二目标编码和第一目标编码之间的距离的过程为：对第一目标编码和第二目标编码进行异或运算，并统计结果中1的个数，将该结果中1的个数确定为第一目标编码和第二目标编码之间的汉明距离。
为了使第一目标编码和第二目标编码之间的距离的确定过程更加清楚，以第一目标编码为1010110101101111，第二目标编码为1011111011011010为例，通过下述表1确定第一目标编码和第二目标编码之间的距离。
表1
Figure PCTCN2022102490-appb-000001
基于上述表1，第一目标编码和第二目标编码进行异或运算之后，得到的结果中1的个数为8，也即是第一目标编码和第二目标编码之间的汉明距离为8。
需要说明的是，当第二目标编码的个数为多个时，需要确定每一个第二目标编码与第一目标编码之间的距离，每一个第二目标编码和第一目标编码之间的距离的确定过程均与上述表1中第一目标编码和第二目标编码之间的距离的确定过程类似，在此不再赘述。
其中，由于第二目标编码为对第一目标编码对应的中间图形进行第一旋转变换之后得到的编码，响应于第一目标编码与至少一个第二目标编码之间的距离均不小于第二距离，则说明第一目标编码与自身的差异性较大，区分较大，相似度较低。
在一种可能的实现方式中，基于随机数编码，获取至少一个第三目标编码的过程为：响应于至少一个第二目标编码与第一目标编码之间的距离均不小于第二距离，且第一目标编码为基于随机数编码获取到的首个目标编码，则基于随机数编码，获取至少一个第三目标编码。响应于至少一个第二目标编码与第一目标编码之间的距离均不小于第二距离，且第一目标编码为基于随机数编码获取到的非首个目标编码，则基于随机数编码和在第一目标编码之前获取到的目标编码，获取至少一个第三目标编码。其中，第三目标编码的位数与随机数编码的位数一致。
在一种可能的实现方式中，基于随机数编码，获取至少一个第三目标编码的过程，与基于随机数编码和在第一目标编码之前获取到的目标编码，获取至少一个第三目标编码的过程类似，本申请实施例仅以基于随机数编码，获取至少一个第三目标编码的过程为例进行说明。
在一种可能的实现方式中，基于随机数编码，获取至少一个第三目标编码的过程为：生成随机数编码对应的中间图形。对随机数编码对应的中间图形进行第二旋转变换，得到至少一个第二目标图形。获取至少一个第二目标图形分别对应的编码。将至少一个第二目标图形分别对应的编码作为第三目标编码。其中，第二旋转变换的角度包括0度、90度、180度和270度中的至少一个。
其中，生成随机数编码对应的中间图形的过程与上述步骤2012中生成第一目标编码对应的中间图形的过程一致，在此不再赘述。如图5所示为本申请实施例提供的一种随机数编码对应的中间图形的示意图。
在一种可能的实现方式中，生成随机数编码对应的中间图形之后，对随机数编码对应的中间图形进行第二旋转变换，得到至少一个第二目标图形。如图6所示为本申请实施例提供的一种第二目标图形的示意图。图6中的A图为对随机数编码对应的中间图形旋转0度之后得到的第二目标图形，图6中的B图为对随机数编码对应的中间图形旋转90度之后得到的第二目标图形。图6中的C图为对随机数编码对应的中间图形旋转180度之后得到的第二目标图形。图6中的D图为对随机数编码对应的中间图形旋转270度之后得到的第二目标图形。
在一种可能的实现方式中，获取至少一个第二目标图形分别对应的编码的过程为：按照目标顺序提取每一个第二目标图形中包括的数字，得到每一个第二目标图形分别对应的编码。示例性地，目标顺序为先从左到右再从上到下的顺序，根据该目标顺序提取第二目标图形中包括的数字，得到第二目标图形对应的编码。
对随机数编码对应的中间图形旋转0度之后得到的第二目标图形对应的编码与随机数编码一致。对随机数编码对应的中间图形旋转90度之后得到的第二目标图形对应的编码为0001001010011010。对随机数编码对应的中间图形旋转180度之后得到的第二目标图形对应的编码为1100000010100101。对随机数编码对应的中间图形旋转270度之后得到的第二目标图形对应的编码为0101100101001000。
获取到每一个第二目标图形对应的编码之后，将每一个第二目标图形对应的编码确定为第三目标编码，也即是第三目标编码为：1010010100000011、0001001010011010、1100000010100101、0101100101001000。
在一种可能的实现方式中，响应于至少一个第二目标编码中存在与第一目标编码之间的距离小于第二距离的第二目标编码，则无需进行后续步骤，返回步骤2011重新基于随机数编码获取第一目标编码。
需要说明的是，基于随机数编码，获取的第三目标编码的个数小于基于随机数编码和在第一目标编码之前得到的目标编码，获取的第三目标编码的个数。
步骤2014、响应于至少一个第三目标编码与第一目标编码之间的距离均不小于第二距离，将第一目标编码作为第二编码。
在一种可能的实现方式中，确定第三目标编码与第一目标编码之间的距离，第三目标编码和第一目标编码之间的距离的确定过程与上述步骤2013中确定第二目标编码与第一目标 编码之间的距离的过程一致，在此不再赘述。
在一种可能的实现方式中，由于第三目标编码为对已生成的编码进行第二旋转变换得到的编码，响应于第一目标编码与至少一个第三目标编码之间的距离均不小于第二距离，则说明第一目标编码与其他已生成的编码的差异较大，区别较大，相似度较低。
在一种可能的实现方式中，响应于至少一个第三目标编码中存在与第一目标编码之间的距离小于第二距离的第三目标编码，则返回步骤2011重新基于随机数编码获取第一目标编码。
需要说明的是，基于随机数编码，穷举与随机数编码之间的距离不小于第二距离的所有编码，按照上述步骤2011至2014的过程确定穷举的所有编码是否满足要求，也即是穷举的所有编码能否作为第二编码。
在一种可能的实现方式中，当随机数编码的位数为16位，第二距离为5时，基于随机数编码能够生成37个满足要求的第二编码，随机数编码和37个第二编码中的任意两个编码之间的距离不小于5。
还需要说明的是，获取到的第二编码的个数与第二距离呈负相关。第二距离越大，获取到的第二编码的个数越少。第二距离越小，获取到的第二编码的个数越多。
在一种可能的实现方式中，计算机设备基于随机数编码，通过运行下述公式(1)和公式(2)，获取第二编码。
Figure PCTCN2022102490-appb-000002
Figure PCTCN2022102490-appb-000003
在上述公式(1)和公式(2)中，
Figure PCTCN2022102490-appb-000004
为第一目标编码，
Figure PCTCN2022102490-appb-000005
为第二目标编码，A ′为第一旋转变换，τ为第二距离，
Figure PCTCN2022102490-appb-000006
为第一目标编码和第二目标编码之间的距离。
Figure PCTCN2022102490-appb-000007
为第三目标编码，A为第二旋转变换，
Figure PCTCN2022102490-appb-000008
为随机数编码和在第一目标编码之前获取到的目标编码，
Figure PCTCN2022102490-appb-000009
为第一目标编码和第三目标编码之间的距离。
在一种可能的实现方式中，确定出第二编码之后，在第二编码和随机数编码中随机确定一个编码为一级编码。或者还可以将第二编码和随机数编码展示给用户，由用户在随机数编码和第二编码中确定一个编码，将用户确定的编码作为一级编码。
示例性地，在随机数编码和至少一个第二编码中，将随机数编码作为一级编码，也即是一级编码为1010010100000011。
在步骤202中，基于一级编码获取参考编码。
在一种可能的实现方式中，获取到一级编码之后，对一级编码进行数字填充处理，得到参考编码。由于一级编码包括第一数字和第二数字，填充的数字为第一数字和第二数字中的任一个数字。
在一种可能的实现方式中，对一级编码进行处理，得到参考编码的过程为：将一级编码包括的数字按照目标顺序填充在目标图形中，得到一级编码对应的图形。在一级编码对应的图形中添加目标个数个网格，得到图形一。在图形一的空白网格中填充数字，得到参考编码对应的中间图形。根据目标顺序提取参考编码对应的中间图形中包括的数字，得到参考编码。其中，目标个数为任意正整数，本申请实施例对此不加以限定。
如图7所示为本申请实施例提供的一种参考编码的获取过程的示意图。图7中的A图为一级编码对应的中间图形。图7中的B图为图形一。图7中的C图为参考编码对应的中间图形。图7中在图形一种的空白网格中填充的数字为1(第二数字)。基于此，得到的参考编码为：1011001101111110010000111。参考编码的位数为25位，参考编码的位数大于一级编码的位数。
需要说明的是，图7中是在一级编码对应的中间图形的中间添加了9个网格，当然也可以在一级编码对应的中间图形的其他地方添加9个网格，本申请实施例对此不加以限定。
在步骤203中，基于第一距离，对参考编码进行处理，得到至少一个第一编码。
在一种可能的实现方式中，基于第一距离，对参考编码进行处理，得到至少一个第一编码的过程包括下述步骤2031至步骤2034。
步骤2031、基于参考编码获取第一候选编码，第一候选编码为与参考编码的位数一致，且与参考编码之间的距离不小于第一距离的编码。
在一种可能的实现方式中，获取到参考编码之后，对参考编码中包括的数字进行修改，得到第一候选编码，第一候选编码与参考编码的位数一致，且第一候选编码与参考编码之间的距离不小于第一距离。该距离可以是汉明距离，也可以是其他距离，本申请实施例对此不加以限定。第一距离为大于零且小于参考编码的位数的距离，第一距离和第二距离可以相同，也可以不相同，本申请实施例对此不加以限定。
示例性地，第一距离为7。参考编码为1011001101111110010000111，对参考编码进行处理，得到第一候选编码为1001011011011011010000111。该第一候选编码与参考编码的位数一致，且该第一候选编码与参考编码之间的距离为7。
步骤2032、基于第一候选编码，获取至少一个第二候选编码，第二候选编码与第一候选编码的位数一致。
在一种可能的实现方式中，基于第一候选编码，获取至少一个第二候选编码的过程为：生成第一候选编码对应的中间图形。对第一候选编码对应的中间图形进行第一旋转变换，得到至少一个第一候选图形。获取至少一个第一候选图形分别对应的编码。将至少一个第一候选图形分别对应的编码作为第二候选编码。其中，第一旋转变换的角度包括90度、180度和270度中的至少一个。
在一种可能的实现方式中，生成第一候选编码对应的中间图形的过程为：基于第一候选编码的位数，获取候选图形，候选图形由网格组成，候选图形包括的网格的个数与第一候选编码的位数一致。将第一候选编码包括的数字按照目标顺序填充在候选图形中，得到第一候选编码对应的中间图形。
如图8所示为本申请实施例提供的一种第一候选编码对应的中间图形的示意图。图8中的A图为候选图形，该候选图形由25个网格组成。将第一候选编码包括的数字按照目标顺序填充到候选图形中，得到第一候选编码对应的中间图形，如图8中的B图为第一候选编码对应的中间图形。
在一种可能的实现方式中，当第一旋转变换的角度包括90度、180度和270度的任一个时，对第一候选编码对应的中间图形进行第一旋转变换，得到一个第一候选图形。当第一旋转变换的角度包括90度、180度和270度中的任两个时，对第一候选编码对应的中间图形进行第一旋转变换，得到两个第一候选图形。当第一旋转变换的角度包括90度、180度和270度时，对第一候选编码对应的中间图形进行第一旋转变换，得到三个第一候选图形。
如图9所示为本申请实施例提供的一种第一候选图形的示意图，图9中的A图为对第一候选编码对应的中间图形旋转90度之后得到的第一候选图形。图9中的B图为对第一候选编码对应的中间图形旋转180度之后得到的第一候选图形。图9中的C图为对第一候选编码对应的中间图形旋转270度之后得到的第一候选图形。
在一种可能的实现方式中，获取至少一个第一候选图形分别对应的编码的过程为：按照目标顺序提取每一个第一候选图形中包括的数字，得到每一个第一候选图形对应的编码。
对第一候选编码对应的中间图形旋转90度之后得到的第一候选图形对应的编码为0101100110111001001110110。对第一候选编码对应的中间图形旋转180度之后得到的第一候选图形对应的编码为1110000101101101101101001。对第一候选编码对应的中间图形旋转270度之后得到的第一候选图形对应的编码为0110111001001110110011010。
获取到每一个第一候选图形对应的编码之后，将每一个第一候选图形对应的编码确定为第二候选编码，也即是第二候选编码为：0101100110111001001110110、1110000101101101101101001、0110111001001110110011010。
步骤2033、响应于至少一个第二候选编码和第一候选编码之间的距离均不小于第一距离， 基于参考编码，获取至少一个第三候选编码，第三候选编码与参考编码的位数一致。
在一种可能的实现方式中，获取到第二候选编码之后，确定每一个第二候选编码和第一候选编码之间的距离。
示例性地，距离为汉明距离，确定每一个第二候选编码和第一候选编码之间的距离的过程为：对第一候选编码和第二候选编码进行异或运算，并统计结果中1的个数，将该结果中1的个数确定为第一候选编码和第二候选编码之间的汉明距离。
为了使第一候选编码和第二候选编码之间的距离的确定过程更加清楚，以第一候选编码为1001011011011011010000111，第二目标编码为0101100110111001001110110为例，通过下述表2确定第一候选编码和第二候选编码之间的距离。
表2
Figure PCTCN2022102490-appb-000010
基于上述表2可知，第一候选编码和第二候选编码进行异或运算之后，得到的结果中1的个数为14，也即是第一候选编码和第二候选编码之间的汉明距离为14。
需要说明的是，当第二候选编码的个数为多个时，需要确定每一个第二候选编码与第一候选编码之间的距离，每一个第二候选编码和第一候选编码之间的距离的确定过程均与上述表2中第一候选编码与第二候选编码之间的距离的确定过程类似，在此不再赘述。
由于第二候选编码为对第一候选编码对应的中间图形进行第一旋转变换之后得到的编码，响应于第一候选编码与至少一个第二候选编码之间的距离均不小于第一距离，则说明第一候选编码与自身的差异性较大，区分较大，相似度较低。
在一种可能的实现方式中，基于参考编码，获取至少一个第三候选编码的过程为：响应于至少一个第二候选编码与第一候选编码之间的距离均不小于第一距离，且第一候选编码为基于参考编码获取到的首个候选编码，则基于参考编码，获取至少一个第三候选编码。响应于至少一个第二候选编码与第一候选编码之间的距离均不小于第一距离，且第一候选编码为基于参考编码获取到的非首个候选编码，则基于参考编码和在第一候选编码之前获取到的候选编码，获取至少一个第三候选编码。其中，第三候选编码的位数与参考编码的位数一致。
在一种可能的实现方式中，基于参考编码，获取至少一个第三候选编码的过程，与基于参考编码和在第一候选编码之前获取到的候选编码，获取至少一个第三候选编码的过程类似，本申请实施例仅以基于参考编码，获取至少一个第三候选编码的过程为例进行说明。
在一种可能的实现方式中，基于参考编码，获取至少一个第三候选编码的过程为：生成参考编码对应的中间图形。对参考编码对应的中间图形进行第二旋转变换，得到至少一个第二候选图形。获取至少一个第二候选图形分别对应的编码。将至少一个第二候选图形分别对应的编码作为第三候选编码。其中，第二旋转变换的角度包括90度、180度和270度中的至少一个。
其中，生成参考编码对应的中间图形的过程与上述步骤2032中生成第一候选编码对应的中间图形的过程一致，在此不再赘述。如图10所示为本申请实施例提供的一种参考编码对应的中间图形的示意图。
在一种可能的实现方式中，生成参考编码对应的中间图形之后，对参考编码对应的中间图形进行第二旋转变换，得到至少一个第二候选图形。如图11所示为本申请实施例提供的一种第二候选图形的示意图。图11中的A图为对参考编码对应的中间图形旋转0度之后得到的第二候选图形。图11中的B图为对参考编码对应的中间图形旋转90度之后得到的第二候选图形。图11中的C图为对参考编码对应的中间图形旋转180度之后得到的第二候选图形。图11中的D图为对参考编码对应的中间图形旋转270度之后得到的第二候选图形。
在一种可能的实现方式中，获取至少一个第二候选图形分别对应的编码的过程为：按照目标顺序提取每一个第二候选图形中包括的数字，得到每一个第二候选图形对应的编码。
对参考编码对应的中间图形旋转0度之后得到的第二候选图形对应的编码与参考编码一致。对参考编码对应的中间图形旋转90度之后得到的第二候选图形对应的编码为0010100110111111010110110。对参考编码对应的中间图形旋转180度之后得到的第二候选图形对应的编码为1110000100111111011001101。对参考编码对应的中间图形旋转270度之后得到的第二候选图形对应的编码为0110110101111110110010100。
获取到每一个第二候选图形对应的编码之后，将每一个第二候选图形对应的编码确定为第三候选编码，也即是第三候选编码为：0010100110111111010110110、1110000100111111011001101、0110110101111110110010100。
在一种可能的实现方式中，响应于至少一个第二候选编码中存在与第一候选编码之间的距离小于第一距离的第二候选编码，则无需进行后续步骤，返回步骤2031重新基于参考编码获取第一候选编码。
需要说明的是，基于参考编码，获取的第三候选编码的个数小于基于参考编码和在第一候选编码之前得到的候选编码，获取的第三候选编码的个数。
步骤2034、响应于至少一个第三候选编码和第一候选编码之间的距离均不小于第一距离，将第一候选编码作为第一编码。
在一种可能的实现方式中，确定第三候选编码与第一候选编码之间的距离，第三候选编码与第一候选编码之间的距离的确定过程与上述步骤2033中确定第二候选编码与第一候选编码之间的距离的过程一致，在此不再赘述。
由于第三候选编码为对已生成的编码进行第二旋转变换得到的编码，响应于第一候选编码与至少一个第三候选编码之间的距离均不小于第一距离，则说明第一候选编码与其他已生成的编码的差异较大，区别较大，相似度较低。
在一种可能的实现方式中，响应于至少一个第三候选编码中存在与第一候选编码之间的距离小于第一距离的第三候选编码，则返回步骤2031重新基于参考编码获取第一候选编码。
需要说明的是，基于参考编码，穷举与参考编码之间的距离不小于第一距离的所有编码，按照上述步骤2031至2034的过程确定穷举的所有编码是否满足要求，也即是穷举的所有编码能否作为第一编码。
在一种可能的实现方式中，当参考编码的位数为25位，参考编码的个数为38个，第一距离为7时，按照上述方式共能生成232个满足要求的第一编码，这232个第一编码中任意两个编码之间的距离不小于7。
还需要说明的是，获取到的第一编码的个数与第一距离呈负相关。第一距离越大，获取到的第一编码的个数越少。第一距离越小，获取到的第一编码的个数越多。
在一种可能的实现方式中，计算机设备基于参考编码，通过运行下述公式(3)和公式(4)，获取第一编码。
Figure PCTCN2022102490-appb-000011
Figure PCTCN2022102490-appb-000012
在上述公式(3)和公式(4)中，
Figure PCTCN2022102490-appb-000013
为第一候选编码，
Figure PCTCN2022102490-appb-000014
为第二候选编码，A′为第一旋转变换，τ *为第一距离，
Figure PCTCN2022102490-appb-000015
为第一候选编码和第二候选编码之间的距离。
Figure PCTCN2022102490-appb-000016
为第三候选编码，A为第二旋转变换，
Figure PCTCN2022102490-appb-000017
为参考编码和在第一候选编码之前获取到的候选编码，
Figure PCTCN2022102490-appb-000018
为第一候选编码和第三候选编码之间的距离。
在步骤204中，基于参考编码，获取一级图形，基于二级编码，获取二级图形，二级编码为第一编码中的至少一个。
在一种可能的实现方式中，确定出至少一个第一编码之后，在第一编码中随机选择至少一个第一编码，将被选中的第一编码作为二级编码，也即是二级编码为第一编码中的至少一 个。示例性地，在第一编码中选择四个第一编码作为二级编码。
需要说明的是，二级编码的个数可以更多或更少，本申请实施例对此不加以限定。二级编码的个数小于第一编码的总个数即可。
在一种可能的实现方式中，参考编码和二级编码的位数一致，参考编码和二级编码均包括第一数字和第二数字。
在一种可能的实现方式中，获取一级图形和二级图形之前，还需要基于参考编码的位数，获取候选图形，候选图形由网格组成，候选图形包括的网格个数与参考编码的位数一致。由于参考编码的位数与第一候选编码的位数一致，这里获取的候选图形与上述步骤2032中基于第一候选编码的位数，获取的候选图形为一个图形，候选图形如图8中的A图所示，候选图形的获取过程在此不再赘述。
在一种可能的实现方式中，基于参考编码，获取一级图形的过程为：将参考编码包括的数字按照目标顺序填充在候选图形包括的网格中，得到参考编码对应的中间图形。基于第一颜色和第二颜色，对参考编码对应的中间图形进行颜色渲染，得到一级图形。其中，参考编码对应的中间图形如图7中的C图所示。
基于第一颜色和第二颜色，对参考编码对应的中间图形进行颜色渲染，得到一级图形的过程为：将参考编码对应的中间图形中第一数字所在的网格渲染成第一颜色，将参考编码对应的中间图形中第二数字所在的网格渲染成第二颜色，得到一级图形。图12所示为本申请实施例提供的一种一级图形的示意图。在图12中，第一颜色为黑色，第二颜色为白色。
当然，第一颜色和第二颜色还可以是其他颜色，只要保证第一颜色和第二颜色不一样即可，本申请对此不加以限定。
在一种可能的实现方式中，基于二级编码，获取二级图形的过程为：将二级编码包括的数字按照目标顺序填充在候选图形包括的网格中，得到二级编码对应的中间图形。基于第一颜色和第二颜色，对二级编码对应的中间图形进行颜色渲染，得到第一图形。对第一图形的面积进行调整，得到二级图形，二级图形的面积小于一级图形的面积。
由于需要将二级图形叠加在一级图形之上，当二级图形的面积和一级图形的面积一致时，会导致一级图形被二级图形覆盖，使得一级图形无法被看见。为了避免这种情况，需要对第一图形的面积进行调整，得到二级图形。示例性地，将第一图形的面积缩小为一级图形的面积的十六分之一，得到二级图形。
在步骤205中，基于一级图形和二级图形，生成信标。
在一种可能的实现方式中，当二级图形的个数为一个时，直接将二级图形叠加在一级图形之上，即可得到信标。当二级图形的个数为多个时，将每一个二级图形叠加在一级图形之上，得到信标。需要说明的是，二级图形之间不存在重叠。
如图13所示为本申请实施例提供的一种信标的示意图，在图13的A图中，在一级图形上叠加了一个二级图形。图13中的B图中，在一级图形上叠加了四个二级图形。
图13中的信标为两级信标，也即是一级图形是第一级，二级图形是第二级。为了使信标的级数更多，信标更加复杂，可以基于三级编码，获取三级图形，三级编码为至少一个第一编码中与二级编码不同的第一编码，三级图形的面积小于二级图形的面积。示例性地，三级图形的面积为二级图形的面积的四分之一。三级图形的获取过程与二级图形的获取过程一致，在此不再赘述。
进而，在一级图形上叠加二级图形和三级图形，得到信标，二级图形和三级图形不存在重叠。
示例性地，在第一编码中选择四个第一编码作为二级编码，在第一编码中除二级编码之外的第一编码中选择五个第一编码作为三级编码，也即是共得到四个二级编码和五个三级编码。基于参考编码，获取一级图形，基于四个二级编码，获取四个二级图形，基于五个三级编码，获取五个三级图形。在一级图形上叠加四个二级图形和五个三级图形，得到信标。
如图14所示为本申请实施例提供的一种信标的示意图，图14所示的信标为三级信标。 图14中的A图中，信标的布局形式为：在一级图形的左边、右边、下边和中间分别叠加一个二级图形，在一级图形的上边以品字形叠加五个三级图形，得到信标。
图14中的B图中，信标的布局形式为：在一级图形的左边、右边、下边和上边分别叠加一个二级图形，在一级图形的中间以品字形叠加五个三级图形，得到信标。
在一种可能的实现方式中，当无人机的下视摄像头位于无人机的前部或中后部时，采用上述图14中的A图的布局形式生成的信标来协助无人机降落。当无人机的下视摄像头位于无人机的中部时，采用上述图14中的B图的布局形式生成的信标来协助无人机降落。图14中的一级图形(也即是图14中面积最大的图形)用于无人机在高空时进行视觉定位。图14中的二级图形(也即是图14中面积适中的图形)用于无人机在中低空时进行视觉定位。图14中的三级图形(也即是图14中面积最小的图形)用于无人机在低空时进行视觉定位。其中，高空对应的高度为15米以上，中低空对应的高度为3至15米，低空对应的高度为0至3米。
采用图14所示的布局形式生成的信标，不仅可以消除视觉定位的误差，降低无人机误识别的概率，还能够使得无人机无论从哪个角度飞向信标时均可以看到信标中的图形。
需要说明的是，信标的级数还可以更多，本申请仅以信标的级数为二级和三级为例进行说明。图14仅为本申请实施例提供的信标的样式的示例，并不用来限制信标的样式，信标的样式还可以是其他样式。
上述方法通过对参考编码进行处理，得到第一编码，得到的第一编码和参考编码之间的距离不小于第一距离，使得第一编码和参考编码之间的差异性较大，区别较大。进而在第一编码中获取二级编码，基于参考编码，获取一级图形，基于二级编码，获取二级图形，使得一级图形和二级图形之间的差异性较大，区分较大、相似度较低。基于一级图形和二级图形生成的信标有利于无人机在空中进行识别和定位，能够降低无人机误识别的概率，提高无人机的识别准确度，进而降低无人机发生坠机的机率，提高无人机降落时的安全系数。
本申请实施例还提供一种信标，该信标采用上述图2的实施例生成，该信标包括至少三个级别的图形；一个一级图形、至少两个互不相同的二级图形和至少两个互不相同的三级图形。其中，至少两个互不相同的二级图形和至少两个互不相同的三级图形分散叠加在一级图形上。至少两个互不相同的二级图形和至少两个互不相同的三级图形中的任意两个图形之间不存在重叠。二级图形的面积小于一级图形的面积，三级图形的面积小于二级图形的面积。并且，可容纳至少两个二级图形的外接圆的直径是可容纳至少两个三级图形的外接圆的直径的2～6倍。
示例性地，可容纳至少两个二级图形的外接圆的直径是可容纳至少两个三级图形的外接圆的直径的2～5倍。
在一种可能的实现方式中，一级图形基于参考编码得到，二级图形基于二级编码得到，三级图形基于三级编码得到。二级编码为至少一个第一编码，至少一个第一编码基于参考编码得到，三级编码为至少一个第一编码中与二级编码不同的第一编码。至少一个第一编码和参考编码中的任意两个编码之间的距离不小于第一距离，第一编码的位数与参考编码的位数一致。
在一种可能的实现方式中，一级图形的面积为二级图形的面积的9～36倍，二级图形的面积为三级图形的面积的3～9倍。
在一种可能的实现方式中，当一级图形的面积和二级图形的面积之间的差异过小时，容易导致无人机将二级图形识别为一级图形，由于二级图形指示的无人机的飞行高度低于一级图形指示的无人机的飞行高度，当无人机将二级图形误识别为一级图形时，无人机认为自身距离地面还有很高的距离，因此，会高速降落，进而导致无人机发生坠机的可能性较高，无人机降落的安全系数较低。当一级图形的面积和二级图形的面积之间的差异过大时，容易导致无人机在下降过程中识别不到二级编码，进而使得无人机降落失败。
示例性地，一级图形指示的无人机的飞行高度为30米，二级图形指示的无人机的飞行高 度为15米，三级图形指示的无人机的飞行高度为3米。当无人机将二级图形误识别为一级图形时，无人机认为自身距离地面30米(无人机实际距离地面15米)，无人机开始高速下降，使得无人机发生坠机的可能性较大。
为了避免上述情况的发生，本申请实施例提供的信标中，一级图形的面积是二级图形的面积的9～36倍，二级图形的面积为三级图形的面积的3～9倍。优选地，一级图形的面积是二级图形的面积的25倍，三级图形的面积是二级图形的面积的5倍。
在一种可能的实现方式中，信标包括一个一级图形、四个二级图形和五个三级图形；在一级图形的左边、下边、右边和中间分别叠加一个二级图形，在一级图形的上边以品字形叠加五个三级图形。如图14中的A图为该种布局方式得到的信标。
或者，在一级图形的上边、下边、左边和右边分别叠加一个二级图形，在一级图形的中间以品字形叠加五个三级图形。如图14中的B图为该种布局方式得到的信标。
该信标包括多个互不相同的二级图形和三级图形，使得信标在污损、阴影的情况下也能够被识别。通过至少三个级别的图形，确保无人机从平飞到触地的过程中均可以识别到信标，从而可以更可靠的引导无人机进行精准降落。
需要说明的是，本申请实施例所涉及的信息(包括但不限于用户设备信息、用户个人信息等)、数据(包括但不限于用于分析的数据、存储的数据、展示的数据等)以及信号，均为经用户授权或者经过各方充分授权的，且相关数据的收集、使用和处理需要遵守相关国家和地区的相关法律法规和标准。例如，本申请中涉及到的第一距离、第二距离、随机数编码等等都是在充分授权的情况下获取的。
图15所示为本申请实施例提供的一种信标生成装置的结构示意图，如图15所示，该装置包括：
第一获取模块1501，用于获取一级编码；
第二获取模块1502，用于基于一级编码获取参考编码，参考编码的位数大于一级编码的位数；
处理模块1503，用于基于第一距离，对参考编码进行处理，得到至少一个第一编码，至少一个第一编码和参考编码中的任意两个编码之间的距离不小于第一距离，第一编码的位数与参考编码的位数一致；
第三获取模块1504，用于基于参考编码，获取一级图形，基于二级编码，获取二级图形，二级编码为第一编码中的至少一个；
生成模块1505，用于基于一级图形和二级图形，生成信标。
在一种可能的实现方式中，一级编码包括第一数字和第二数字；
第二获取模块1502，用于在一级编码中填充数字，得到参考编码，填充的数字为第一数字和第二数字中的任一个数字。
在一种可能的实现方式中，处理模块1503，用于基于参考编码获取第一候选编码，第一候选编码为与参考编码的位数一致，且与参考编码之间的距离不小于第一距离的编码；基于第一候选编码，获取至少一个第二候选编码，第二候选编码与第一候选编码的位数一致；响应于至少一个第二候选编码和第一候选编码之间的距离均不小于第一距离，基于参考编码，获取至少一个第三候选编码，第三候选编码与参考编码的位数一致；响应于至少一个第三候选编码和第一候选编码之间的距离均不小于第一距离，将第一候选编码作为第一编码。
在一种可能的实现方式中，处理模块1503，用于生成第一候选编码对应的中间图形；对第一候选编码对应的中间图形进行第一旋转变换，得到至少一个第一候选图形；获取至少一个第一候选图形分别对应的编码，将至少一个第一候选图形分别对应的编码作为第二候选编码。
在一种可能的实现方式中，处理模块1503，用于响应于至少一个第二候选编码和第一候选编码之间的距离均不小于第一距离，且第一候选编码为基于参考编码获取到的首个候选编 码，基于参考编码，获取至少一个第三候选编码；响应于至少一个第二候选编码和第一候选编码之间的距离均不小于第一距离，且第一候选编码为基于参考编码获取到的非首个候选编码，基于参考编码和在第一候选编码之前获取到的候选编码，获取至少一个第三候选编码。
在一种可能的实现方式中，第一获取模块1501，用于获取随机数编码；基于第二距离，对随机数编码进行处理，得到至少一个第二编码，至少一个第二编码和随机数编码中的任意两个编码之间的距离不小于第二距离，第二编码的位数与随机数编码的位数一致；在随机数编码和至少一个第二编码中确定一级编码。
在一种可能的实现方式中，装置还包括：
第四获取模块，用于基于参考编码的位数，获取候选图形，候选图形由网格组成，候选图形包括的网格个数与参考编码的位数一致；
第三获取模块1504，用于将参考编码包括的数字按照目标顺序填充在候选图形包括的网格中，得到参考编码对应的中间图形；基于第一颜色和第二颜色，对参考编码对应的中间图形进行颜色渲染，得到一级图形。
在一种可能的实现方式中，第三获取模块1504，用于将二级编码包括的数字按照目标顺序填充在候选图形包括的网格中，得到二级编码对应的中间图形；基于第一颜色和第二颜色，对二级编码对应的中间图形进行颜色渲染，得到第一图形；对第一图形的面积进行调整，得到二级图形，二级图形的面积小于一级图形的面积。
在一种可能的实现方式中，第三获取模块1504，还用于基于三级编码，获取三级图形，三级编码为至少一个第一编码中与二级编码不同的第一编码，三级图形的面积小于二级图形的面积；
生成模块1505，还用于在一级图形上叠加二级图形和三级图形，得到信标，二级图形和三级图形不存在重叠。
上述装置通过对参考编码进行处理，得到第一编码，得到的第一编码和参考编码之间的距离不小于第一距离，使得第一编码和参考编码之间的差异性较大，区别较大。进而在第一编码中获取二级编码，基于参考编码，获取一级图形，基于二级编码，获取二级图形，使得一级图形和二级图形之间的差异性较大、区分较大、相似度较低。基于一级图形和二级图形生成的信标有利于无人机在空中进行识别和定位，能够降低无人机误识别的概率，提高无人机的识别准确度，进而降低无人机发生坠机的机率，提高无人机降落时的安全系数。
应理解的是，上述图15提供的装置在实现其功能时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将设备的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的装置与方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图16示出了本申请一个示例性实施例提供的电子设备1600的结构框图。该电子设备1600可以是便携式移动终端，比如：智能手机、平板电脑、MP3播放器(Moving Picture Experts Group Audio Layer III，动态影像专家压缩标准音频层面3)、MP4(Moving Picture Experts Group Audio Layer IV，动态影像专家压缩标准音频层面4)播放器、笔记本电脑或台式电脑。电子设备1600还可能被称为用户设备、便携式终端、膝上型终端、台式终端等其他名称。
通常，电子设备1600包括有：处理器1601和存储器1602。
处理器1601可以包括一个或多个处理核心，比如4核心处理器、8核心处理器等。处理器1601可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field-Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器1601也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器1601可以集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示 的内容的渲染和绘制。一些实施例中，处理器1601还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器1602可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器1602还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器1602中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器1601所执行以实现本申请中方法实施例提供的信标生成方法。
在一些实施例中，电子设备1600还可选包括有：外围设备接口1603和至少一个外围设备。处理器1601、存储器1602和外围设备接口1603之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口1603相连。具体地，外围设备包括：射频电路1604、显示屏1605、摄像头组件1606、音频电路1607、定位组件1608和电源1609中的至少一种。
在一些实施例中，电子设备1600还包括有一个或多个传感器1160。该一个或多个传感器1160包括但不限于：加速度传感器1611、陀螺仪传感器1612、压力传感器1613、指纹传感器1614、光学传感器1615以及接近传感器1616。
本领域技术人员可以理解，图16中示出的结构并不构成对电子设备1600的限定，可以包括比图示更多或更少的组件，或者组合某些组件，或者采用不同的组件布置。
图17为本申请实施例提供的服务器的结构示意图，该服务器1700可因配置或性能不同而产生比较大的差异，可以包括一个或多个处理器(Central Processing Units，CPU)1701和一个或多个的存储器1702，其中，该一个或多个存储器1702中存储有至少一条程序代码，该至少一条程序代码由该一个或多个处理器1701加载并执行以实现上述各个方法实施例提供的信标生成方法。当然，该服务器1700还可以具有有线或无线网络接口、键盘以及输入输出接口等部件，以便进行输入输出，该服务器1700还可以包括其他用于实现设备功能的部件，在此不做赘述。
在示例性实施例中，还提供了一种计算机可读存储介质，该存储介质中存储有至少一条程序代码，该至少一条程序代码由处理器加载并执行，以使计算机实现上述任一种信标生成方法。
可选地，上述计算机可读存储介质可以是只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)、磁带、软盘和光数据存储设备等。
在示例性实施例中，还提供了一种计算机程序或计算机程序产品，该计算机程序或计算机程序产品中存储有至少一条计算机指令，该至少一条计算机指令由处理器加载并执行，以使计算机实现上述任一种信标生成方法。
应当理解的是，在本文中提及的“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
以上所述仅为本申请的示例性实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (17)

  1. 一种信标，其中，所述信标包括至少三个级别的图形：
    一个一级图形、至少两个互不相同的二级图形和至少两个互不相同的三级图形；
    其中，所述至少两个互不相同的二级图形和所述至少两个互不相同的三级图形分散叠加在所述一级图形上，所述至少两个互不相同的二级图形和所述至少两个互不相同的三级图形中的任意两个图形之间不存在重叠；
    所述二级图形的面积小于所述一级图形的面积，所述三级图形的面积小于所述二级图形的面积；并且
    可容纳至少两个二级图形的外接圆的直径是可容纳至少两个三级图形的外接圆的直径的2～6倍。
  2. 根据权利要求1所述的信标，其中，所述一级图形基于参考编码得到，所述二级图形基于二级编码得到，所述三级图形基于三级编码得到；
    其中，所述二级编码为至少一个第一编码，所述至少一个第一编码基于所述参考编码得到，所述三级编码为所述至少一个第一编码中与所述二级编码不同的第一编码；
    所述至少一个第一编码和所述参考编码中的任意两个编码之间的距离不小于第一距离，所述第一编码的位数与所述参考编码的位数一致。
  3. 根据权利要求1或2所述的信标，其中，所述一级图形的面积为所述二级图形的面积的9～36倍，所述二级图形的面积为所述三级图形的面积的3～9倍。
  4. 根据权利要求1或2所述的信标，其中，所述信标包括一个一级图形、四个二级图形和五个三级图形；
    在所述一级图形的左边、下边、右边和中间分别叠加一个二级图形，在所述一级图形的上边以品字形叠加五个三级图形；
    或者，在所述一级图形的上边、下边、左边和右边分别叠加一个二级图形，在所述一级图形的中间以品字形叠加五个三级图形。
  5. 一种信标生成方法，其中，所述方法包括：
    获取一级编码；
    基于所述一级编码获取参考编码，所述参考编码的位数大于所述一级编码的位数；
    基于第一距离，对所述参考编码进行处理，得到至少一个第一编码，所述至少一个第一编码和所述参考编码中的任意两个编码之间的距离不小于所述第一距离，所述第一编码的位数与所述参考编码的位数一致；
    基于所述参考编码，获取一级图形，基于二级编码，获取二级图形，所述二级编码为所述第一编码中的至少一个；
    基于所述一级图形和所述二级图形，生成信标。
  6. 根据权利要求5所述的方法，其中，所述一级编码包括第一数字和第二数字；
    所述基于所述一级编码获取参考编码，包括：
    在所述一级编码中填充数字，得到所述参考编码，填充的数字为所述第一数字和所述第二数字中的任一个数字。
  7. 根据权利要求5所述的方法，其中，所述基于第一距离，对所述参考编码进行处理，得到至少一个第一编码，包括：
    基于所述参考编码获取第一候选编码，所述第一候选编码为与所述参考编码的位数一致， 且与所述参考编码之间的距离不小于所述第一距离的编码；
    基于所述第一候选编码，获取至少一个第二候选编码，所述第二候选编码与所述第一候选编码的位数一致；
    响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，基于所述参考编码，获取至少一个第三候选编码，所述第三候选编码与所述参考编码的位数一致；
    响应于所述至少一个第三候选编码和所述第一候选编码之间的距离均不小于所述第一距离，将所述第一候选编码作为所述第一编码。
  8. 根据权利要求7所述的方法，其中，所述基于所述第一候选编码，获取至少一个第二候选编码，包括：
    生成所述第一候选编码对应的中间图形；
    对所述第一候选编码对应的中间图形进行第一旋转变换，得到至少一个第一候选图形；
    获取所述至少一个第一候选图形分别对应的编码，将所述至少一个第一候选图形分别对应的编码作为所述第二候选编码。
  9. 根据权利要求7所述的方法，其中，所述响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，基于所述参考编码，获取至少一个第三候选编码，包括：
    响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，且所述第一候选编码为基于所述参考编码获取到的首个候选编码，基于所述参考编码，获取至少一个第三候选编码；
    响应于所述至少一个第二候选编码和所述第一候选编码之间的距离均不小于所述第一距离，且所述第一候选编码为基于所述参考编码获取到的非首个候选编码，基于所述参考编码和在所述第一候选编码之前获取到的候选编码，获取至少一个第三候选编码。
  10. 根据权利要求5至9任一所述的方法，其中，所述获取一级编码，包括：
    获取随机数编码；
    基于第二距离，对所述随机数编码进行处理，得到至少一个第二编码，所述至少一个第二编码和所述随机数编码中的任意两个编码之间的距离不小于所述第二距离，所述第二编码的位数与所述随机数编码的位数一致；
    在所述随机数编码和所述至少一个第二编码中确定所述一级编码。
  11. 根据权利要求5至9任一所述的方法，其中，所述方法还包括：
    基于所述参考编码的位数，获取候选图形，所述候选图形由网格组成，所述候选图形包括的网格个数与所述参考编码的位数一致；
    所述基于所述参考编码，获取一级图形，包括：
    将所述参考编码包括的数字按照目标顺序填充在所述候选图形包括的网格中，得到所述参考编码对应的中间图形；
    基于第一颜色和第二颜色，对所述参考编码对应的中间图形进行颜色渲染，得到所述一级图形。
  12. 根据权利要求11所述的方法，其中，所述基于二级编码，获取二级图形，包括：
    将所述二级编码包括的数字按照所述目标顺序填充在所述候选图形包括的网格中，得到所述二级编码对应的中间图形；
    基于所述第一颜色和所述第二颜色，对所述二级编码对应的中间图形进行颜色渲染，得 到第一图形；
    对所述第一图形的面积进行调整，得到所述二级图形，所述二级图形的面积小于所述一级图形的面积。
  13. 根据权利要求5至9任一所述的方法，其中，所述基于所述一级图形和所述二级图形，生成信标，包括：
    基于三级编码，获取三级图形，所述三级编码为所述至少一个第一编码中与所述二级编码不同的第一编码，所述三级图形的面积小于所述二级图形的面积；
    在所述一级图形上叠加所述二级图形和所述三级图形，得到所述信标，所述二级图形和所述三级图形不存在重叠。
  14. 一种信标生成装置，其中，所述装置包括：
    第一获取模块，用于获取一级编码；
    第二获取模块，用于基于所述一级编码获取参考编码，所述参考编码的位数大于所述一级编码的位数；
    处理模块，用于基于第一距离，对所述参考编码进行处理，得到至少一个第一编码，所述至少一个第一编码和所述参考编码中的任意两个编码之间的距离不小于所述第一距离，所述第一编码的位数与所述参考编码的位数一致；
    第三获取模块，用于基于所述参考编码，获取一级图形，基于二级编码，获取二级图形，所述二级编码为所述第一编码中的至少一个；
    生成模块，用于基于所述一级图形和所述二级图形，生成信标。
  15. 一种计算机设备，其中，所述计算机设备包括处理器和存储器，所述存储器中存储有至少一条程序代码，所述至少一条程序代码由所述处理器加载并执行，以使所述计算机设备实现如权利要求5至13任一所述的信标生成方法。
  16. 一种计算机可读存储介质，其中，所述计算机可读存储介质中存储有至少一条指令，所述指令由处理器加载并执行，以使计算机实现如权利要求5至13任一所述的信标生成方法。
  17. 一种计算机程序或计算机程序产品，其中，所述计算机程序或计算机程序产品中存储有至少一条计算机指令，所述至少一条计算机指令由处理器加载并执行，以使计算机实现如权利要求5至13任一所述的信标生成方法。
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