A location marking method, device and computer readable storage medium

Abstract

The embodiment of the present application discloses a method for position marking, the method comprising: obtaining basic information of a point to be marked in an area to be marked; wherein the basic information is used to characterize the size of the area to be marked; obtaining the initial position of the initial point to be marked in the area to be marked; determining the position of each point to be marked in the area to be marked based on the basic information and the initial position; and controlling a drone to mark each point to be marked in the area to be marked based on the position of each point to be marked in the area to be marked. The embodiment of the present application also discloses a position marking device and a computer-readable storage medium.

Description

Technical Field

[0001] The present application relates to information determination technology in the computer field, and in particular to a position marking method, device and computer-readable storage medium. Background Art

[0002] At present, with the development and maturity of formation drone technology, more and more performances are applied to government activities at all levels, large-scale events and other scenes. More manufacturers have begun to develop formation drone performance technology, and the number of drones participating in the performance is increasing. In order to avoid collisions between drones during takeoff and to ensure the lighting display effect before the formation flight takes off, a lot of time is needed to place the drones in the early stage of the drone flight, and the placement positions are measured by people with a tape measure before marking, which requires a lot of manpower and has low accuracy and efficiency. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application hope to provide a position marking method, device and computer-readable storage medium, which solves the problem in the related technology that it takes a lot of manpower to mark the points to be marked, and improves the accuracy and efficiency of the point marking.

[0004] The technical solution of this application is implemented as follows:

[0005] A position marking method, the method comprising:

[0006] Acquire basic information of the points to be marked in the area to be marked; wherein the basic information is used to characterize the size of the area to be marked;

[0007] Obtaining the initial position of the initial to-be-marked point in the to-be-marked area;

[0008] Based on the basic information and the initial position, determining the position of each to-be-marked point in the to-be-marked area;

[0009] The drone is controlled to mark each of the to-be-marked points in the to-be-marked area based on the position of each of the to-be-marked points in the to-be-marked area.

[0010] In the above solution, determining the position of each to-be-marked point in the to-be-marked area based on the basic information and the initial position includes:

[0011] Based on the basic information, construct a rotation matrix for the area to be marked;

[0012] Controlling the UAV to construct a correction matrix based on the basic information;

[0013] The drone is controlled to determine the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position.

[0014] In the above solution, generating a rotation matrix for the area to be marked based on the basic information includes:

[0015] Construct the first coordinate system;

[0016] Based on the basic information, construct a second coordinate system for the area to be marked;

[0017] The rotation matrix is ​​generated based on the first coordinate system and the second coordinate system.

[0018] In the above solution, the first number of rows and the first number of columns of the points to be marked included in the area to be marked, and the constructing of a second coordinate system for the area to be marked based on the basic information, include:

[0019] Determine the position of the initial point to be marked in the area to be marked;

[0020] The second coordinate system is constructed based on the position of the initial to-be-marked point in the to-be-marked area, the first number of rows, the first number of columns, and the outermost rows and columns in the to-be-marked area.

[0021] In the above solution, generating the rotation matrix based on the first coordinate system and the second coordinate system includes:

[0022] Determine an angle between a line where a first axis in the first coordinate system is located and a line where a second axis in the second coordinate system is located; wherein an axis system of the first axis in the first coordinate system is the same as an axis system of the second axis in the second coordinate system;

[0023] Based on the angle, the rotation matrix from the second coordinate system to the first coordinate system is generated.

[0024] In the above solution, the basic information includes: the distance between adjacent to-be-marked points in the to-be-marked area, and the controlling the drone to construct a correction matrix based on the basic information includes:

[0025] Control the drone to obtain the second row number and the second column number of the to-be-marked point of the current to-be-determined position in the to-be-marked area;

[0026] The drone is controlled to construct the correction matrix based on the second number of rows, the second number of columns, and the distance.

[0027] In the above solution, the controlling the drone determines the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position, including:

[0028] Controlling the UAV to obtain intermediate values ​​based on the rotation matrix and the correction matrix;

[0029] The drone is controlled to determine the position of each to-be-marked point in the to-be-marked area based on the intermediate value and the initial position.

[0030] In the above solution, the controlling the drone to mark each of the to-be-marked points in the to-be-marked area based on the position of each of the to-be-marked points in the to-be-marked area includes:

[0031] Controlling the drone to generate a dot marking sequence based on the number of rows and columns to which each of the to-be-marked points belongs in the to-be-marked area;

[0032] The drone is controlled to mark each of the to-be-marked points in the to-be-marked area in accordance with the marking sequence based on the position of each to-be-marked point in the to-be-marked area.

[0033] A position marking device, the device comprising: a processor, a memory and a communication bus;

[0034] The communication bus is used to realize the communication connection between the processor and the memory;

[0035] The processor is used to execute the position marking program stored in the memory to implement the following steps:

[0036] Acquire basic information of the points to be marked in the area to be marked; wherein the basic information is used to characterize the size of the area to be marked;

[0037] Obtaining the initial position of the initial to-be-marked point in the to-be-marked area;

[0038] Based on the basic information and the initial position, determining the position of each to-be-marked point in the to-be-marked area;

[0039] The drone is controlled to mark each of the to-be-marked points in the to-be-marked area based on the position of each of the to-be-marked points in the to-be-marked area.

[0040] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the position marking method described above.

[0041] Because the basic size information of the points to be marked in the area to be marked that is used to characterize the area to be marked can be obtained, the initial position of the initial points to be marked in the area to be marked can be obtained, and the position of each point to be marked in the area to be marked can be determined based on the basic information and the initial position. Then, the drone can be controlled to mark each point to be marked in the area to be marked based on the position of each point to be marked in the area to be marked. In this way, the drone can automatically mark the points to be marked based on the determined positions of the points to be marked in the area to be marked, without the need for manual calculations and manual marking. This solves the problem in the related art that a lot of manpower is required to mark the points to be marked, and improves the accuracy and efficiency of dot marking. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a flow chart of a location marking method provided in an embodiment of the present application;

[0043] Figure 2 A schematic flow chart of another position marking method provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a dot-marking sequence in a position marking method provided in an embodiment of the present application;

[0045] Figure 4 A schematic flow chart of another location marking method provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of a first coordinate system and a second coordinate system in a position marking method provided in an embodiment of the present application;

[0047] Figure 6 A schematic structural diagram of a position marking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0049] The embodiment of the present application provides a location marking method, which can be applied to a location marking device, referring to Figure 1 As shown, the method comprises the following steps:

[0050] Step 101: Obtain basic information of the points to be marked in the area to be marked.

[0051] The basic information is used to characterize the size of the area to be marked.

[0052] In the embodiment of the present application, the area to be marked may be an area that needs to be marked; the points to be marked may be points included in the area to be marked that need to be marked. The basic information of the points to be marked may be some parameters related to the points to be marked; in a feasible implementation, the basic information of the points to be marked may include: the distance between adjacent points to be marked in the area to be marked, and the number of rows and columns of the queue formed by the points to be marked included in the area to be marked.

[0053] Step 102: Obtain the initial position of the initial point to be marked in the area to be marked.

[0054] In an embodiment of the present application, the initial point to be marked may be the first point to be marked among all the points to be marked included in the area to be marked; the initial position may refer to the position of the initial point to be marked in the area to be marked; in a feasible implementation method, the initial point to be marked may be the points to be marked at the head and tail of the queue; of course, it generally refers to the point to be marked at the head position in the queue.

[0055] Step 103: Based on the basic information and the initial position, determine the position of each to-be-marked point in the to-be-marked area.

[0056] Among them, a rotation matrix and a correction matrix may be generated according to the basic information first, and then the position of each to-be-marked point in the to-be-marked area may be determined based on the rotation matrix, the correction matrix and the initial position.

[0057] Step 104 : Control the drone to mark each to-be-marked point in the to-be-marked area based on the position of each to-be-marked point in the to-be-marked area.

[0058] In an embodiment of the present application, in the process of marking the points to be marked in the area to be marked, it can be implemented in a certain order; the order can be generated according to the number of rows and columns to which the points to be marked belong in the queue corresponding to the area to be marked; and the position of each point to be marked in the area to be marked can be input into the drone, and the drone can be controlled to automatically mark the points according to the position of each point to be marked in the area to be marked.

[0059] The position marking method provided in the embodiments of the present application can obtain basic size information of the points to be marked in the area to be marked for characterizing the area to be marked, obtain the initial position of the initial points to be marked in the area to be marked, determine the position of each point to be marked in the area to be marked based on the basic information and the initial position, and then control the drone to mark each point to be marked in the area to be marked based on the position of each point to be marked in the area to be marked. In this way, the drone can automatically mark the points to be marked based on the determined positions of the points to be marked in the area to be marked, without the need for manual calculations and manual marking. This solves the problem in the related art that a large amount of manpower is required to mark the points to be marked, and improves the accuracy and efficiency of the marking.

[0060] Based on the above embodiments, the embodiments of the present application provide a position marking method, referring to Figure 2 As shown, the method comprises the following steps:

[0061] Step 201: The position marking device obtains basic information of the points to be marked in the area to be marked.

[0062] The basic information is used to characterize the size of the area to be marked.

[0063] Step 202: The position marking device obtains the initial position of the initial to-be-marked point in the to-be-marked area.

[0064] Step 203: The position marking device constructs a rotation matrix for the area to be marked based on the basic information.

[0065] Wherein, step 203 can be implemented by the following methods:

[0066] Step 203a: The position marking device constructs a first coordinate system.

[0067] The first coordinate system may be a local coordinate system; in a feasible implementation, the local coordinate system may adopt the northeast celestial coordinate system.

[0068] Step 203b: The position marking device constructs a second coordinate system for the area to be marked based on the basic information.

[0069] The basic information may include the distance between adjacent points to be marked in the area to be marked, the first row number and the first column number of the points to be marked in the area to be marked, and the second coordinate system may be constructed based on the position of the initial points to be marked, the distance between adjacent points to be marked, the first row number and the first column number. In a feasible implementation, the second coordinate system may refer to a right-handed coordinate system.

[0070] Step 203c: The position marking device generates a rotation matrix based on the first coordinate system and the second coordinate system.

[0071] Here, an angle may be determined based on the first coordinate system and the second coordinate system, and then a rotation matrix may be generated based on the angle.

[0072] Step 204: The location marking device controls the drone to construct a correction matrix based on the basic information.

[0073] Among them, the basic information may include the distance between adjacent points to be marked in the area to be marked, and the correction matrix can be obtained by the position marking device transmitting the distance between adjacent points to be marked to the drone, and then the drone constructs it according to the distance between adjacent points to be marked and the number of rows and columns where the points to be marked at the current position to be calculated are located; of course, the number of rows and columns where the points to be marked at the current position to be calculated are located are also stored in the drone.

[0074] Step 205: The position marking device controls the drone to determine the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position.

[0075] Among them, the rotation matrix and the initial position have been stored in the drone, and then the drone can perform certain operations on the rotation matrix, the correction matrix and the initial position to obtain the position of the point to be marked in the area to be marked; in a feasible implementation method, the rotation matrix and the correction matrix can be operated first, and then the result of the operation is operated with the initial position to obtain a certain operation, so as to obtain the position of the point to be marked in the area to be marked.

[0076] Step 206: The position marking device controls the drone to generate a dot marking sequence based on the number of rows and columns to which each to-be-marked point belongs in the to-be-marked area.

[0077] In the embodiment of the present application, each point to be marked can be recorded as (a, b) based on the number of rows and columns to which the point to be marked belongs in the queue formed by the area to be marked; wherein a is the number of columns where the point to be marked is located minus 1, and b is the number of rows where the point to be marked is located minus 1; for example, if the initial point to be marked is the first point to be marked in the queue, the initial point to be marked can be recorded as (0, 0); wherein, Figure 3 As shown, the points to be marked in the first column can be marked in order from the first row to the last row, then the points to be marked in the second column can be marked in order from the last row to the first row, then the points to be marked in the third column can be marked in order from the first row to the last row, until all the points to be marked are marked. In a feasible implementation, as Figure 3As shown, the dotting and marking can be performed in the order of (0, 0) (0, 1) (0, 2) ... (0, m) ... (1, m) ... (1, 2) (1, 1) (1, 0) ... (n, 0) (n, 1) ... (n, m) ... Of course, the dotting order can also be the row order. This embodiment is only an example to illustrate the dotting order, and does not limit the dotting order to this order.

[0078] Step 207: The position marking device controls the drone to mark each point to be marked in the area to be marked in a marking order based on the position of each point to be marked in the area to be marked.

[0079] The position marking device can control the drone to automatically mark points; in the embodiment of the present application, the drone can automatically mark each point to be marked in the area to be marked according to the position of each point to be marked in the area to be marked in accordance with the determined marking order. It should be noted that the drone can have a marking device, which can mark points by spraying powder or the like.

[0080] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0081] The position marking method provided in the embodiments of the present application can automatically mark points based on the positions of the determined points to be marked in the area to be marked, without the need for manual calculations and manual marking. This solves the problem in the related art that a large amount of manpower is required to mark the points to be marked, and improves the accuracy and efficiency of point marking.

[0082] Based on the above embodiments, the embodiments of the present application provide a position marking method, referring to Figure 4 As shown, the method comprises the following steps:

[0083] Step 301: The position marking device constructs a first coordinate system.

[0084] Step 302: The position marking device obtains the distance between adjacent to-be-marked points in the to-be-marked area, and the first row number and the first column number of the to-be-marked points included in the to-be-marked area.

[0085] Step 303: The position marking device determines the position of the initial point to be marked in the area to be marked.

[0086] Step 304: The position marking device constructs a second coordinate system based on the position of the initial point to be marked in the area to be marked, the first row number, the first column number, and the distance between adjacent points to be marked.

[0087] The position of the initial point to be marked can be taken as the origin, and the X-axis and Y-axis can be determined according to the first row number, the first column number and the distance between adjacent points to be marked, so as to construct the second coordinate system; in a feasible implementation, the column is the Y-axis and the row is the X-axis. It should be noted that the first coordinate system and the second coordinate system constructed can be as follows Figure 5 As shown in; where P do Refers to the initial position of the initial point to be marked.

[0088] Step 305: The position marking device determines an angle between a line where the first axis in the first coordinate system is located and a line where the second axis in the second coordinate system is located.

[0089] The axis system of the first axis in the first coordinate system is the same as the axis system of the second axis in the second coordinate system.

[0090] In the embodiment of the present application, the first axis may refer to the Y axis in the first coordinate system, and the second axis may refer to the Y axis in the second coordinate system; the angle between the first axis and the second axis may be represented by θ. Of course, the first axis may also refer to the X axis in the first coordinate system, and the second axis may also refer to the X axis in the second coordinate system; however, it should be noted that the first axis and the second axis are either the X axis or the Y axis. In a feasible implementation, the angle θ may be Figure 5 The angle shown in .

[0091] Step 306: The position marking device generates a rotation matrix from the second coordinate system to the first coordinate system based on the angle.

[0092] The rotation matrix can be obtained by directly substituting the angle θ into the initial element of the rotation matrix. The rotation matrix can be obtained by To express.

[0093] Step 307: The position marking device controls the drone to obtain the second row number and the second column number of the to-be-marked point of the current to-be-determined position in the to-be-marked area.

[0094] The second row number and the second column number of the to-be-marked point whose current position is to be determined in the to-be-marked area may be stored in the drone.

[0095] Step 308: The position marking device controls the drone to construct a correction matrix based on the second row number, the second column number, and the distance between adjacent points to be marked.

[0096] Among them, the second column number can be represented by m, the second row number can be represented by n, and the distance between adjacent points to be marked can be represented by L. At this time, the correction matrix can be expressed as

[0097] Step 309: The position marking device controls the drone to obtain intermediate values ​​based on the rotation matrix and the correction matrix.

[0098] The intermediate value may be obtained by multiplying the rotation matrix and the correction matrix.

[0099] Step 310: The position marking device controls the drone to determine the position of each to-be-marked point in the to-be-marked area based on the intermediate value and the initial position.

[0100] The position of each point to be marked in the area to be marked can be obtained by adding the intermediate value to the initial position; if P d Indicates the position of the current mark point to be calculated, then the following formula can be used to calculate the position of the mark point in the mark area:

[0101] Step 311: The position marking device controls the drone to generate a dot marking sequence based on the number of rows and columns to which each to-be-marked point belongs in the to-be-marked area.

[0102] Step 312: The position marking device controls the drone to mark each point to be marked in the area to be marked in a marking order based on the position of each point to be marked in the area to be marked.

[0103] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0104] The position marking method provided in the embodiments of the present application can automatically mark points based on the positions of the determined points to be marked in the area to be marked, without the need for manual calculations and manual marking. This solves the problem in the related art that a large amount of manpower is required to mark the points to be marked, and improves the accuracy and efficiency of point marking.

[0105] Based on the above embodiments, the embodiments of the present application provide a position marking device, which can be applied to Figure 1 , 2 In the position marking method provided in the embodiment corresponding to 4, refer to Figure 6 As shown, the device may include: a processor 41, a memory 42 and a communication bus 43, wherein:

[0106] The communication bus 43 is used to realize the communication connection between the processor 41 and the memory 42;

[0107] The processor 41 is used to execute the position marking program stored in the memory 42 to implement the following steps:

[0108] Obtaining basic information of the points to be marked in the area to be marked; wherein the basic information is used to characterize the size of the area to be marked;

[0109] Obtain the initial position of the initial point to be marked in the area to be marked;

[0110] Based on the basic information and the initial position, determine the position of each point to be marked in the area to be marked;

[0111] The drone is controlled to mark each to-be-marked point in the to-be-marked area based on the position of each to-be-marked point in the to-be-marked area.

[0112] In other embodiments of the present application, the processor 41 is used to execute the basic information and the initial position stored in the memory 42 to determine the position of each to-be-marked point in the to-be-marked area, so as to implement the following steps:

[0113] Based on the basic information, construct a rotation matrix for the area to be marked;

[0114] Control the drone to build a correction matrix based on basic information;

[0115] The control drone determines the position of each point to be marked in the area to be marked based on the rotation matrix, correction matrix and initial position.

[0116] In other embodiments of the present application, the processor 41 is used to execute the basic information stored in the memory 42 to generate a rotation matrix for the area to be marked, so as to implement the following steps:

[0117] Construct the first coordinate system;

[0118] Based on the basic information, construct a second coordinate system for the area to be marked;

[0119] A rotation matrix is ​​generated based on the first coordinate system and the second coordinate system.

[0120] In other embodiments of the present application, the basic information includes: the distance between adjacent points to be marked in the area to be marked, the first number of rows and the first number of columns of points to be marked included in the area to be marked, and the processor 41 is used to execute the basic information stored in the memory 42 to construct a second coordinate system for the area to be marked, so as to implement the following steps:

[0121] Determine the position of the initial point to be marked in the area to be marked;

[0122] A second coordinate system is constructed based on the positions of the initial points to be marked in the area to be marked, the first row number, the first column number, and the distances between adjacent points to be marked.

[0123] In other embodiments of the present application, the processor 41 is used to execute the steps stored in the memory 42 to generate a rotation matrix based on the first coordinate system and the second coordinate system to implement the following steps:

[0124] Determine the angle between the line where the first axis in the first coordinate system is located and the line where the second axis in the second coordinate system is located;

[0125] wherein the axis system of the first axis in the first coordinate system is the same as the axis system of the second axis in the second coordinate system;

[0126] Based on the angle, a rotation matrix from the second coordinate system to the first coordinate system is generated.

[0127] In other embodiments of the present application, the basic information includes: the distance between adjacent to-be-marked points in the to-be-marked area, and the processor 41 is used to execute the control drone stored in the memory 42 to construct a correction matrix based on the basic information to implement the following steps:

[0128] Control the UAV to obtain the second row number and the second column number of the to-be-marked point at the current to-be-determined position in the to-be-marked area;

[0129] The control drone constructs a correction matrix based on the second row number, the second column number and the distance between adjacent points to be marked.

[0130] In other embodiments of the present application, the processor 41 is used to execute the control of the drone stored in the memory 42 to determine the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position, so as to implement the following steps:

[0131] Control the drone based on the rotation matrix and correction matrix to obtain the intermediate values;

[0132] The control drone determines the position of each point to be marked in the area to be marked based on the intermediate value and the initial position.

[0133] In other embodiments of the present application, the processor 41 is used to execute the control of the drone stored in the memory 42 to mark each point to be marked in the area to be marked based on the position of each point to be marked in the area to be marked, so as to implement the following steps:

[0134] Control the drone to generate a marking order based on the row and column number of each to-be-marked point in the to-be-marked area;

[0135] The drone is controlled to mark each point to be marked in the area to be marked in the order of marking, based on the position of each point to be marked in the area to be marked.

[0136] It should be noted that the specific implementation process of the steps executed by the processor in this embodiment can refer to Figure 1, 2 The implementation process of the position marking method provided in the embodiment corresponding to 4 will not be repeated here.

[0137] The position marking device provided in the embodiments of the present application can automatically mark points based on the positions of the points to be marked in the area to be marked, without the need for manual calculations and manual marking. This solves the problem in the related art that a large amount of manpower is required to mark the points to be marked, and improves the accuracy and efficiency of point marking.

[0138] Based on the foregoing embodiments, an embodiment of the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the following steps:

[0139] Obtaining basic information of the points to be marked in the area to be marked; wherein the basic information is used to characterize the size of the area to be marked;

[0140] Obtain the initial position of the initial point to be marked in the area to be marked;

[0141] Based on the basic information and the initial position, determine the position of each point to be marked in the area to be marked;

[0142] The drone is controlled to mark each to-be-marked point in the to-be-marked area based on the position of each to-be-marked point in the to-be-marked area.

[0143] In other embodiments of the present application, the one or more programs may be executed by one or more processors to determine the position of each to-be-marked point in the to-be-marked area based on the basic information and the initial position, so as to implement the following steps:

[0144] Based on the basic information, construct a rotation matrix for the area to be marked;

[0145] Control the drone to build a correction matrix based on basic information;

[0146] The control drone determines the position of each point to be marked in the area to be marked based on the rotation matrix, correction matrix and initial position.

[0147] In other embodiments of the present application, the one or more programs may be executed by one or more processors to generate a rotation matrix for the area to be marked based on the basic information to implement the following steps:

[0148] Construct the first coordinate system;

[0149] Based on the basic information, construct a second coordinate system for the area to be marked;

[0150] A rotation matrix is ​​generated based on the first coordinate system and the second coordinate system.

[0151] In other embodiments of the present application, the basic information includes: the distance between adjacent points to be marked in the area to be marked, the first number of rows and the first number of columns of points to be marked in the area to be marked, and the one or more programs can be executed by one or more processors to construct a second coordinate system for the area to be marked based on the basic information to implement the following steps:

[0152] Determine the position of the initial point to be marked in the area to be marked;

[0153] A second coordinate system is constructed based on the positions of the initial points to be marked in the area to be marked, the first row number, the first column number, and the distances between adjacent points to be marked.

[0154] In other embodiments of the present application, the one or more programs may be executed by one or more processors to generate a rotation matrix based on the first coordinate system and the second coordinate system to implement the following steps:

[0155] Determine the angle between the line where the first axis in the first coordinate system is located and the line where the second axis in the second coordinate system is located;

[0156] wherein the axis system of the first axis in the first coordinate system is the same as the axis system of the second axis in the second coordinate system;

[0157] Based on the angle, a rotation matrix from the second coordinate system to the first coordinate system is generated.

[0158] In other embodiments of the present application, the basic information includes: the distance between adjacent points to be marked in the area to be marked, and the one or more programs can be executed by one or more processors to control the drone to construct a correction matrix based on the basic information to implement the following steps:

[0159] Control the UAV to obtain the second row number and the second column number of the to-be-marked point at the current to-be-determined position in the to-be-marked area;

[0160] The control drone constructs a correction matrix based on the second row number, the second column number and the distance between adjacent points to be marked.

[0161] In other embodiments of the present application, the one or more programs may be executed by one or more processors to control the drone to determine the position of each point to be marked in the area to be marked based on the rotation matrix, the correction matrix and the initial position, so as to implement the following steps:

[0162] Control the drone based on the rotation matrix and correction matrix to obtain the intermediate values;

[0163] The control drone determines the position of each point to be marked in the area to be marked based on the intermediate value and the initial position.

[0164] In other embodiments of the present application, the one or more programs may be executed by one or more processors to control the drone to mark each point to be marked in the area to be marked based on the position of each point to be marked in the area to be marked, so as to implement the following steps:

[0165] Control the drone to generate a marking order based on the row and column number of each to-be-marked point in the to-be-marked area;

[0166] The drone is controlled to mark each point to be marked in the area to be marked in the order of marking, based on the position of each point to be marked in the area to be marked.

[0167] It should be noted that the specific implementation process of the steps executed by the processor in this embodiment can refer to Figure 1 , 2 The implementation process of the position marking method provided in the embodiment corresponding to 4 will not be repeated here.

[0168] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0169] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0170] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0171] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0172] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0173] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0174] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A position marking method, characterized in that: The method comprises: Acquire basic information of the points to be marked in the area to be marked; wherein the basic information is used to characterize the size of the area to be marked; Obtaining the initial position of the initial to-be-marked point in the to-be-marked area; Based on the basic information and the initial position, determining the position of each to-be-marked point in the to-be-marked area; Controlling the drone to mark each of the to-be-marked points in the to-be-marked area based on the position of each of the to-be-marked points in the to-be-marked area; Wherein, determining the position of each to-be-marked point in the to-be-marked area based on the basic information and the initial position includes: generating a correction matrix based on the basic information; generating a second coordinate system for the area to be marked based on the basic information; Determine an angle based on the first coordinate system and the second coordinate system, and generate a rotation matrix based on the angle; Based on the rotation matrix, the correction matrix and the initial position, the position of each to-be-marked point in the to-be-marked area is determined.

2. The method according to claim 1, characterized in that: The determining the position of each to-be-marked point in the to-be-marked area based on the basic information and the initial position includes: Based on the basic information, construct a rotation matrix for the area to be marked; Controlling the UAV to construct a correction matrix based on the basic information; The drone is controlled to determine the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position.

3. The method according to claim 2, characterized in that The method further comprises: Construct the first coordinate system.

4. The method according to claim 3, characterized in that The basic information includes: the distance between adjacent to-be-marked points in the to-be-marked area, the first number of rows and the first number of columns of to-be-marked points in the to-be-marked area, and constructing a second coordinate system for the to-be-marked area based on the basic information includes: Determine the position of the initial point to be marked in the area to be marked; The second coordinate system is constructed based on the position of the initial to-be-marked point in the to-be-marked area, the first number of rows, the first number of columns, and the distance.

5. The method according to claim 3 or 4, characterized in that: The generating the rotation matrix based on the first coordinate system and the second coordinate system includes: Determine an angle between a line where a first axis in the first coordinate system is located and a line where a second axis in the second coordinate system is located; wherein an axis system of the first axis in the first coordinate system is the same as an axis system of the second axis in the second coordinate system; Based on the angle, the rotation matrix from the second coordinate system to the first coordinate system is generated.

6. The method according to claim 2, characterized in that The basic information includes: the distance between adjacent to-be-marked points in the to-be-marked area, and the controlling the drone to construct a correction matrix based on the basic information includes: Control the drone to obtain the second row number and the second column number of the to-be-marked point of the current to-be-determined position in the to-be-marked area; The drone is controlled to construct the correction matrix based on the second number of rows, the second number of columns, and the distance.

7. The method according to claim 2, characterized in that The controlling the drone to determine the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position includes: Controlling the UAV to obtain intermediate values ​​based on the rotation matrix and the correction matrix; The drone is controlled to determine the position of each to-be-marked point in the to-be-marked area based on the intermediate value and the initial position.

8. The method according to claim 1, characterized in that: The controlling the drone to mark each of the to-be-marked points in the to-be-marked area based on the position of each of the to-be-marked points in the to-be-marked area includes: Controlling the drone to generate a dot marking sequence based on the number of rows and columns to which each of the to-be-marked points belongs in the to-be-marked area; The drone is controlled to mark each of the to-be-marked points in the to-be-marked area in accordance with the marking sequence based on the position of each to-be-marked point in the to-be-marked area.

9. A position marking device, characterized in that: The device comprises: a processor, a memory and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute the position marking program stored in the memory to implement the following steps: Acquire basic information of the points to be marked in the area to be marked; wherein the basic information is used to characterize the size of the area to be marked; Obtaining the initial position of the initial to-be-marked point in the to-be-marked area; generating a correction matrix based on the basic information; generating a second coordinate system for the area to be marked based on the basic information; Determine an angle based on the first coordinate system and the second coordinate system, and generate a rotation matrix based on the angle; Determine the position of each to-be-marked point in the to-be-marked area based on the rotation matrix, the correction matrix and the initial position; The drone is controlled to mark each of the to-be-marked points in the to-be-marked area based on the position of each of the to-be-marked points in the to-be-marked area.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the position marking method according to any one of claims 1 to 8.

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