A numbering method, system, storage medium and device

Abstract

The present invention relates to the technical field of numbering, and discloses a numbering method, system, storage medium and device. The numbering method obtains position deviation s1 between object No. 1 and other objects at preset placement positions, and obtains position deviation s2 between object No. 1 and other objects when they are actually placed, and compares whether s2 is within the difference range of s1. If so, the number of the preset placement position is assigned to the object at the actual placement position. Even if there is a position deviation when the object is placed, the numbering of each object is independent. Even if some objects are not numbered, the numbers of other numbered objects can be guaranteed to be correct, with high accuracy, and the problem of collision after startup can be prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of numbering, and particularly to a numbering method, system, storage medium and device. Background Art

[0002] When arranging objects, in order to facilitate the control of the objects, numbers are usually assigned to each object in a cluster. For example, in drone shows, robot shows, or the arrangement of equipment, after the objects are arranged according to a preset formation, numbers are assigned to each object. When numbering, the specific device numbers of the objects are input into the system, and the user manually numbers them. This numbering method is time-consuming and laborious, and has low efficiency.

[0003] Taking the numbering of drones as an example. At present, with the continuous development of drone technology and the increasingly wide range of drone application scenarios, drone formation shows have emerged. Drone formation shows use multiple drones to perform through specific flight paths, lighting scripts, etc. of each drone. In order to make the show orderly, each drone must have its own number, which can facilitate the editing of the show script and enable each drone to navigate according to the show script.

[0004] The previous numbering method was manual numbering, that is, after the drones were arranged, the numbers were manually entered into the system for the drones. For example, the drone with the serial number C0056 was the No. 1 drone, and the drone with the serial number C0003 was the No. 2 drone, etc. However, the number of drones in a drone formation show is relatively large, and the efficiency is low when manually numbering. At present, a method of numbering drones according to their placement positions has emerged. That is, before taking off, hundreds or thousands of drones are arranged manually by humans. After the drones are arranged, according to their placement positions, their numbers are burned into each drone. The encoding is burned in a rectangle in the software. However, due to the placement position deviation, it is impossible to find the drone at the position corresponding to the specific number during the software burning process. As Figure 1 shown, in the script, the placement formation of the drones before takeoff is pre-edited, usually in a rectangular array. Then, starting from the first drone in the upper left corner, the drones are sequentially numbered from left to right and from top to bottom. Then, according to the placement formation of the drones before takeoff in the script, the drones are manually placed on the ground. Due to manual placement errors, there are deviations in the distance, direction, etc. between the drones, as Figure 2As shown in the figure, when the drone numbered 36 is placed, if the actual placement position of the drone numbered 36 is lower and to the right relative to its preset placement position, it is easy to skip this drone, that is, this drone numbered 36 does not obtain a number, and the drone numbered 37 should obtain the number 36, resulting in a numbering error. Since each numbered drone has a specific flight route, it leads to the problem of drones colliding after taking off in formation. Furthermore, due to terrain limitations, the placement of drones may not be on the same horizontal line, which will create a height difference and cause an uneven problem during flight.

[0005] The prior art discloses a numbering method, device and ground station for drones. The drone numbering method includes: receiving the position information sent by each drone in the drone formation; wherein, the take-off area of the drone formation includes multiple take-off points, and the multiple drones included in the drone formation are respectively located at the multiple take-off points; determining the number of each drone in the drone formation according to the position information and the arrangement positions of the multiple take-off points; and sending the number of each drone in the drone formation to the corresponding drone. Although this patent application numbers according to the position information sent by the drones, the drones are placed according to the formation edited in the script at the take-off points, and the drones are placed manually, resulting in a deviation in the placement position of the drones. If only numbering according to the received position information sent by the drones, when the positions of the drones are deviated, some drones will be skipped during numbering, resulting in a numbering error and causing the problem of collision after take-off. Summary of the Invention

[0006] The object of the present invention is to provide a numbering method, system, storage medium and device with high accuracy.

[0007] To achieve the above object, the present invention provides a numbering method, including the following steps:

[0008] S1. Preset the placement formation of the objects in advance;

[0009] S2. Edit the placement formation of the objects to determine the preset placement positions of the objects;

[0010] S3. Assign numbers to the objects at each preset placement position;

[0011] S4. After the objects are placed according to the formation set in step S1, assign the numbers at each preset placement position to the objects at the corresponding actual positions one by one until all the objects placed at the actual positions are numbered.

[0012] As a preferred solution, in step S4, it includes:

[0013] S4.1. Designate an object with a starting number according to the formation. The position of this object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the editing formation, and assign the number 1 to this object. The object numbered 1 is the No. 1 object;

[0014] S4.2. Obtain the preset placement position p1 and the actual position c1 of the No. 1 object;

[0015] S4.3. Obtain the preset placement position p of the next unassigned object other than the No. 1 object. If p exists, proceed to step S4.4. If p does not exist, end;

[0016] S4.4. Calculate the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3;

[0017] S4.5. Obtain the actual position c of the next unnumbered object other than the No. 1 object. If c exists, proceed to step S4.6. If c does not exist, end;

[0018] S4.6. Calculate the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5;

[0019] S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the object at the actual position c, and then return to step S4.3 until all objects other than the No. 1 object are traversed; otherwise, return to step S4.5.

[0020] As a preferred solution, in step S4.4, the position deviation s1 is the relative position of the projections of p1 and p on the same projection plane; in step S4.6, the position deviation s2 is the relative position of the projections of c1 and c on the same projection plane.

[0021] As a preferred solution, when setting the object placement formation, construct a two-dimensional coordinate system. According to the preset placement positions of the objects, determine the coordinates of each object. Then the preset placement position p1 of the No. 1 object is (x p1 , y p1 ), the preset placement position p of the unnumbered object is (x p , y p ), and the position deviation s1 is the deviation s1 x of p1 and p on the x-axis and the deviation s1 y in the y-axis direction;

[0022] After the objects are placed, construct a two-dimensional coordinate system. According to the actual positions of the objects, determine the coordinates of each object. Then the actual position c1 of the No. 1 object is (x c1 , yc1 ),The true position p of the unnumbered object is (x c , y c ), and the position deviation s2 is the deviation s2 of c1 and c on the x-axis x and the deviation s2 in the y-axis direction y ;

[0023] If the deviation between s1 x and s2 x and the deviation between s1 y and s2 y are within the preset range, the number corresponding to the preset placement position p is assigned to the object at the true position c.

[0024] As a preferred solution, in step S4.7, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing.

[0025] As a preferred solution, the object is a flying device, and the method further includes:

[0026] S5. After the object takes off and before the performance, adjust the relative positions of the objects according to the position deviation s1 and the position deviation s2.

[0027] As a preferred solution, in step S5, before the objects adjust their relative positions, obtain the altitude of each object, and make each object at the same altitude based on the altitude of the object with the highest altitude.

[0028] As a preferred solution, the numbering method further includes:

[0029] S6. Perform height compensation adjustment according to the difference between the preset starting altitude of each object and the altitude of the object with the highest true altitude, and then perform the performance task after the adjustment is completed.

[0030] As a preferred solution, in steps S4.2 and S4.5, obtain the true positions of the objects according to the position information modules on the objects.

[0031] The present invention also provides a numbering system, including a computer terminal, an object, and a positioning system,

[0032] The computer terminal includes software for numbering the objects;

[0033] The object includes a communication module and a position information module. The communication module is used to communicate with the computer terminal, and the position information module is used to output the position information of the object;

[0034] The positioning system is used to achieve relative positioning of the objects, and the positioning system is communicatively connected to the position information module.

[0035] As a preferred solution, the object is a flying device, the positioning system is a differential positioning system, and the object further includes a lighting module, a numbering module, a power module, a flight control module, and rotors. The lighting module is used for emitting light, the numbering module is used for storing the number of the object, the power module is used for supplying power to the whole object, the flight control module is used for controlling the flight of the object, the rotors are arranged on the object, and the rotors are used for providing lift for the object.

[0036] As a preferred solution, the software includes:

[0037] A formation editing module, which is used for editing the placement formation of objects, determining the preset placement positions of each object, and assigning numbers to the objects at each preset placement position;

[0038] A number assignment module, which is used for assigning the numbers at each preset placement position to the objects at the corresponding actual positions.

[0039] As a preferred solution, the number assignment module includes:

[0040] A No. 1 object designation unit, which is used for designating the No. 1 object according to the formation, and the position of the No. 1 object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the edited formation;

[0041] A preset placement position acquisition unit, which is used for acquiring the preset placement positions of each object in the formation editing module;

[0042] An actual position acquisition unit, which is used for acquiring the actual positions of each object;

[0043] A first position deviation calculation unit, which is used for calculating the position deviation s1 between the preset placement position of the No. 1 object and the preset placement position of the next object without an assigned number;

[0044] A second position deviation calculation unit, which is used for calculating the position deviation s2 between the actual position of the No. 1 object and the actual position of the next object without an assigned number;

[0045] A judgment unit, which is used for judging whether the difference between the position deviation s1 calculated by the first position deviation calculation unit and the position deviation s2 calculated by the second position deviation calculation unit is within a preset range. If so, the number of this preset placement position is assigned to the object at this actual position. If not, the preset placement position unit is called to acquire the preset placement position of the next object.

[0046] In addition, the present invention also provides a computer storage medium storing a computer program, and when the computer program is executed by a processor, the processor is caused to execute the above method.

[0047] In addition, the present invention also provides a computer device, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor is caused to execute the above method.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0049] When editing according to a preset object placement formation, the present invention determines the preset placement positions of each object, assigns numbers to the objects at each preset placement position, that is, there is one number at one preset position. After the objects are actually arranged according to the preset formation, for each preset placement position, the corresponding actual position is searched. If the preset placement position corresponds to the actual position, the number of the preset placement position is assigned to this actual position; otherwise, the object at this actual position is not numbered. This can prevent numbering errors caused by numbering according to a rectangular array or position order, and the numbering method of the present invention has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of the preset placement of objects in the script of the embodiment of the present invention.

[0051] Figure 2 is a schematic diagram of the actual placement of objects in the embodiment of the present invention.

[0052] Figure 3 is a flowchart of the numbering method in the embodiment of the present invention.

[0053] Figure 4 is a schematic diagram of determining the position deviation s1 in the embodiment of the present invention.

[0054] Figure 5 is a schematic diagram of determining the position deviation s2 in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The following combines the drawings and embodiments to further describe in detail the specific embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0056] Embodiment 1

[0057] As Figures 1 to 5 shown, a numbering method of a preferred embodiment of the present invention includes the following steps:

[0058] S1. Preset the placement formation of the objects;

[0059] S2. Edit the placement formation of the objects and determine the preset placement positions of each object;

[0060] S3. Assign numbers to the objects at each preset placement position;

[0061] S4. After the objects are placed in the formation set in step S1, assign the numbers at each preset placement position to the objects at the corresponding actual positions one by one until all the objects placed at the actual positions are numbered.

[0062] When editing according to the preset object placement formation in this embodiment, determine the preset placement positions of each object and number the objects at each preset placement position, that is, there is one number at one preset position. After the objects are actually placed in the preset formation, find the corresponding actual position for each preset placement position. If the preset placement position corresponds to the actual position, assign the number of the preset placement position to the object at this actual position; otherwise, do not number the object at this actual position. This can prevent numbering errors caused by numbering according to a rectangular array or position sequence. The numbering method in this embodiment has high accuracy.

[0063] Specifically, in step S4, it includes:

[0064] S4.1. Designate the object with the starting number according to the formation. The position of this object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the editing formation, and assign the number 1 to this object. The object numbered 1 is the No. 1 object.

[0065] S4.2. Obtain the preset placement position p1 and the actual position c1 of the No. 1 object.

[0066] S4.3. Obtain the preset placement position p of the next unassigned numbered object except the No. 1 object. If p exists, proceed to step S4.4; if p does not exist, end.

[0067] S4.4. Calculate the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3.

[0068] S4.5. Obtain the actual position c of the next unnumbered object except the No. 1 object. If c exists, proceed to step S4.6; if c does not exist, end.

[0069] S4.6. Calculate the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5.

[0070] S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the object at the actual position c, and then return to step S4.3 until all objects except the No. 1 object are traversed; otherwise, return to step S4.5.

[0071] In this embodiment, the position deviation s1 between the No. 1 object and other objects at the preset placement positions is obtained, and the position deviation s2 between the No. 1 object and other objects during actual placement is obtained. Then, it is compared whether s2 is within the difference range of s1. If it is, the number of the preset placement position is assigned to the object at the actual placement position. Different from the existing sequential numbering, this embodiment has a certain deviation range, so that the object can obtain a number even if there is a position deviation during placement. Moreover, the numbers of each object are independent. Even if some objects do not obtain numbers, it can ensure that the numbers of other objects that obtain numbers are correct, and the problem of collision after takeoff can be prevented. Therefore, the numbering method of this embodiment has high accuracy.

[0072] Specifically, in this embodiment, the numbers of other objects in the formation except the No. 1 object are determined by their relative positions to the No. 1 object respectively, which has nothing to do with the numbers of other numbered objects, making the numbers of each object independent. As Figure 2 shown, even if the object numbered 36 is placed with a deviation, according to the method of this embodiment, the object still matched to the one in the oval circle in the figure for the number 36, while the objects numbered 37 and 38 will still be matched from the rectangular circles in the figure. This avoids the situation where the object that should be numbered 37 obtains the number 36 because the object numbered 36 is skipped.

[0073] In steps S4.2 and S4.5 of this embodiment, the actual positions of each object are obtained according to the position information modules on each object. For example, if each object is equipped with a GPS positioning system, the positioning information of the object can be sent.

[0074] In addition, in step S4.1, before the user designates the No. 1 object, it is necessary to check whether the objects at the preset placement positions in the script are numbered. If not, the remaining steps are not executed, and the process ends with a prompt. Also, it is necessary to check whether it is possible to communicate with each actual object that has been placed. If the actual objects cannot be connected, the remaining steps are not executed either, and the process ends with a prompt to ensure that each object can send its actual position. The "script" is a file that records the preset placement positions of multiple objects and the numbers of each preset placement position.

[0075] In addition, in step S4.7, after assigning a number to an actual object, return to step S4.3 to continue obtaining the preset placement position p of other unnumbered objects until the numbers of the objects at each preset placement position in the script are all matched.

[0076] Embodiment 2

[0077] The difference between this embodiment and Embodiment 1 is that, on the basis of Embodiment 1, this embodiment further elaborates on the calculation of the position deviation s1 and the position deviation s2.

[0078] In this embodiment, in step S6, the position deviation s1 is the relative position of the projections of p1 and p on the same projection plane; in step S8, the position deviation s2 is the relative position of the projections of c1 and c on the same projection plane. When placing objects, due to terrain limitations, not all objects are necessarily on the same horizontal plane, that is, each object has both a relative position in the horizontal direction and a relative position in the vertical direction. When actually placing objects, it is difficult to determine the positions of each object in the vertical direction. Therefore, the actual placement is based on the relative positions of each object in the horizontal direction. So, only the relative positions of other objects except the No. 1 object and the No. 1 object in the horizontal direction need to be numbered.

[0079] Specifically, when editing the object placement formation, a two-dimensional coordinate system is constructed. According to the preset placement positions of each object, the coordinates of each object are determined. Then, the preset placement position p1 of the No. 1 object is (x p1 , y p1 ), and the preset placement position p of the unnumbered object is (x p , y p ). The position deviation s1 is the deviation s1 x of p1 and p on the x-axis and the deviation s1 y in the y-axis direction; after the objects are placed, a two-dimensional coordinate system is constructed. According to the actual positions of each object, the coordinates of each object are determined. Then, the actual position c1 of the No. 1 object is (x c1 , y c1 ), and the actual position p of the unnumbered object is (x c , y c ). The position deviation s2 is the deviation s2 x of c1 and c on the x-axis and the deviation s2 y in the y-axis direction; if the deviations of s1 x and s2 x and the deviations of s1 y and s2 y are within the preset range, the number corresponding to the preset placement position p is assigned to the object at the actual position c.

[0080] When establishing the two-dimensional coordinate system during the preset placement and the two-dimensional coordinate system during the actual placement in this embodiment, x p1 and y p1 are not both 0 at the same time and x c1 , y c1 are not both 0 at the same time, that is, the coordinate system during the preset placement and the coordinate system during the actual placement are not established with the No. 1 object as the origin, which helps to determine the x-axis and y-axis of the coordinate system. In this embodiment, the No. 1 object and the position where the object to be numbered are the two endpoints of the hypotenuse of a right triangle, and the two right sides of this right triangle are the x-axis and y-axis of the coordinate system.

[0081] And, s1 x = x p - x p1 ; s1 y = y p1 - y p ; s2 x = x c - x c1 ; s2 y = y c - y c1 。If s2 x - s1 x and s2 y - s1 y are within the deviation range, that is, when s2 x ≈ s1 x , s2 y ≈ s1 y then the number of the preset placement position is assigned to the object at the actual placement position. The deviation range in this embodiment is ±0.5 m. In some cases where very high precision is required, the deviation range is ±0.05 m.

[0082] In addition, in step S9 of this embodiment, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing. Because at this time, the placement deviation of the object at this position is too large and needs to be manually repositioned. Or there is no object placed at this position, and manual placement is also required.

[0083] Other steps of this embodiment are the same as those of Embodiment 1 and will not be elaborated here.

[0084] Embodiment 3

[0085] The difference between this embodiment and Embodiment 2 is that, based on Embodiment 2, this embodiment specifically describes the numbering of the formation flight devices.

[0086] In this embodiment, the object is a flight device. The numbering method includes:

[0087] S1. Preset the placement formation of the flight device before takeoff; in this embodiment, according to the preset performance pattern, the placement formation of the flight device before takeoff is formulated;

[0088] S2. Edit the placement formation of the object and determine the preset placement positions of each object;

[0089] S3. Assign numbers to the objects at each preset placement position;

[0090] S4. After the objects are placed in the formation set in step S1, assign the numbers at each preset placement position to the corresponding flying devices at the actual positions one by one until all the flying devices placed at the actual positions are numbered.

[0091] Specifically, in step S4, it includes:

[0092] S4.1. Designate the flying device with the starting number according to the formation. The position of this flying device in the actual placement formation corresponds to the position of the flying device at the preset placement position numbered 1 in the edited formation. Assign the number 1 to this flying device, and the flying device numbered 1 is the No. 1 flying device.

[0093] S4.2. Obtain the preset placement position p1 and the actual position c1 of the No. 1 flying device.

[0094] S4.3. Obtain the preset placement position p of the next unassigned flying device other than the No. 1 flying device. If p exists, proceed to step S4.4; if p does not exist, end.

[0095] S4.4. Calculate the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3.

[0096] S4.5. Obtain the actual position c of the next unnumbered flying device other than the No. 1 flying device. If c exists, proceed to step S4.6; if c does not exist, end.

[0097] S4.6. Calculate the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5.

[0098] S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within the preset range, assign the number corresponding to the preset placement position p to the flying device at the actual position c, and then return to step S4.3 until all the flying devices other than the No. 1 flying device are traversed; otherwise, return to step S4.5.

[0099] In this embodiment, in step S4.7, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing. Because at this time, the placement deviation of the drone at this position is too large, and it will also affect other flying devices after taking off after being assigned a number, and there is also a risk of collision during takeoff, so manual rearrangement is required. Or there is no flying device placed at this position, and manual placement is also required.

[0100] In addition, the method of this embodiment further includes:

[0101] S5. After the flying devices take off and before the performance, adjust the relative positions between the flying devices according to the position deviation s1 and the position deviation s2. The flight path of the flying devices during the performance has a predetermined route. If there is a deviation in the starting position, there will also be a deviation in the position during the performance, which will lead to an uneven formation and an unattractive pattern. Therefore, before the performance, the flying devices are adjusted according to the obtained position deviation s1 and position deviation s2. The position adjustment is carried out by the flying of the flying devices themselves, not manually.

[0102] Specifically, in step S5, before the flying devices adjust their relative positions, obtain the altitude of each flying device, and take the altitude of the flying device with the highest altitude as the reference to make each flying device at the same altitude. This facilitates the subsequent altitude adjustment of the flying devices. That is, after taking off and before the performance, reserve 3 to 5 seconds for all the flying devices in the formation to fly at the same altitude, and then adjust the positions of the x-axis and y-axis of each flying device according to the numbers.

[0103] The method of this embodiment further includes S6. Perform height compensation adjustment according to the difference between the preset starting altitude of each flying device and the height of the flying device with the highest actual altitude, and then perform the performance task after the adjustment is completed. In actual placement, due to terrain limitations, the placement ground is not necessarily flat, and not all flying devices are on the same horizontal plane, that is, there are also deviations in the vertical direction among the flying devices. If no adjustment is made before the performance, it will lead to deviations in the flight height of the flying devices during the performance, resulting in an unattractive pattern and affecting the neatness and accuracy during the performance. Therefore, in this embodiment, after the positions of the x-axis and y-axis of each flying device are adjusted, the height compensation operation is automatically performed according to the difference from the height of the flying device with the highest altitude.

[0104] Specifically, the position adjustment is divided into four stages. The first stage is that the flying positions take off and rise to a certain height according to the instruction and stay at this height for a period of time to obtain the altitude of each flying device. The second stage is that with the altitude of the flying device with the highest altitude as the reference, the other flying devices rise to make each flying device at the same altitude. The third stage is that according to the position deviation s1 and the position deviation s2, each flying device adjusts the positions of the x-axis and y-axis through its own flight. The fourth stage is that according to the height difference in the vertical direction between the flying device with the highest altitude and the other flying devices, perform height compensation, that is, the flying devices with preset positions higher than the flying device with the highest altitude rise, and the flying devices with preset positions lower than the flying device with the highest altitude descend. After the positions are adjusted, that is, the formation before the performance is set up, and then fly to the performance location according to the preset flight trajectory to perform.

[0105] Other steps of this embodiment are the same as those of Embodiment 2 and will not be elaborated here.

[0106] Example 4

[0107] The difference between this example and Example 2 is that, on the basis of Example 2, this example specifically describes the machine numbers applied in confrontation games.

[0108] In this example, the object is a machine, and the numbering method includes:

[0109] S1. Preset the placement formation of the machines before takeoff; in this example, through the simulation of the game in the software, a confrontation strategy is formulated, and the initial placement formation of each machine is determined according to the confrontation strategy;

[0110] S2. Edit the placement formation of the objects to determine the preset placement positions of each object;

[0111] S3. Assign numbers to the objects at each preset placement position;

[0112] S4. After the objects are placed according to the formation set in step S1, assign the numbers at each preset placement position to the machines at the corresponding actual positions one by one until all the machines placed at the actual positions are numbered.

[0113] Specifically, in step S4, it includes:

[0114] S4.1. Designate the machine with the starting number according to the formation. The position of this machine in the actual placement formation corresponds to the position of the machine at the preset placement position numbered 1 in the edited formation, and assign the number 1 to this machine. The machine numbered 1 is the No. 1 machine;

[0115] S4.2. Obtain the preset placement position p1 and the actual position c1 of the No. 1 machine;

[0116] S4.3. Obtain the preset placement position p of the next unassigned numbered machine other than the No. 1 machine. If p exists, perform step S4.4. If p does not exist, end;

[0117] S4.4. Calculate the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3;

[0118] S4.5. Obtain the actual position c of the next unnumbered machine other than the No. 1 machine. If c exists, perform step S4.6. If c does not exist, end;

[0119] S4.6. Calculate the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5;

[0120] S4.7. If the difference between the position deviation s1 obtained in step S4.4 and the position deviation s2 obtained in step S4.6 is within a preset range, then assign the number corresponding to the preset placement position p to the machine at the actual position c, and then return to step S4.3 until all machines except the No. 1 machine are traversed; otherwise, return to step S4.5.

[0121] Other steps of this embodiment are the same as those of the second embodiment and will not be elaborated here.

[0122] Embodiment Five

[0123] This embodiment provides a numbering system based on the numbering method of the second embodiment, including a computer terminal, an object, and a positioning system. The computer terminal includes software for numbering the object; the object includes a communication module and a position information module. The communication module is used to communicate with the computer terminal, and the position information module is used to output the position information of the object; the positioning system is used to realize the relative positioning of the object, and the positioning system is communicatively connected to the position information module.

[0124] The object of this embodiment is a flying device, and the positioning system is a differential positioning system. The object further includes a lighting module, a numbering module, a power module, a flight control module, and rotors. The lighting module is used for emitting light, the numbering module is used for storing the number of the object, the power module is used for supplying power to the whole object, the flight control module is used for the flight control of the object, and the rotors are arranged on the object and are used for providing lift for the object.

[0125] In this embodiment, the positioning system includes a plurality of differential base stations. The differential base stations are communicatively connected to the position information module of the object and are used to provide differential data for the object. The object obtains the actual position information through its own carried positioning device. The position information module performs positioning according to the obtained actual position information and differential data. The differential data can correct the obtained actual position information, and in areas where the differential base stations are not covered or the signal is poor, the object can still perform positioning through its own positioning device and position information module.

[0126] The object of this embodiment further includes a buzzer module, which is used to emit a prompt sound. Moreover, the lighting module of this embodiment is specifically used for lighting performances and indicating the state of the object. When the lighting module indicates the state of the object, the lighting module and the buzzer module can be used as feedback on whether the object numbering is successful simultaneously or separately. After the object is successfully numbered, the lighting module on the object can emit green light to prompt the staff that the numbering is normal. At this time, in the numbering software on the computer side, the corresponding object is also marked with the same color, such as green being constantly on; when the object is not successfully numbered, the lighting module on the object can emit red light, and at the same time, the buzzer module can give an alarm to prompt the staff that the numbering is abnormal. At this time, in the numbering software on the computer side, the corresponding object is also marked with the same color, and this marking method is different from the marking method in the case of normal numbering, such as a red breathing light, or a red light flashing according to a certain rule, etc.

[0127] The software on the computer side of this embodiment includes:

[0128] A formation editing module, which is used to edit the placement formation of the objects, determine the preset placement positions of each object, and assign numbers to the objects at each preset placement position;

[0129] A number assignment module, which is used to assign the numbers at each preset placement position to the objects at the corresponding actual positions.

[0130] Specifically, the number assignment module of this embodiment includes:

[0131] A No. 1 object designation unit, which is used to designate the No. 1 object according to the formation. The position of the No. 1 object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the edited formation;

[0132] A preset placement position acquisition unit, which is used to acquire the preset placement positions of each object in the formation editing module;

[0133] An actual position acquisition unit, which is used to acquire the actual positions of each object;

[0134] A first position deviation calculation unit, which is used to calculate the position deviation s1 between the preset placement position of the No. 1 object and the preset placement position of the next object without an assigned number;

[0135] A second position deviation calculation unit, which is used to calculate the position deviation s2 between the actual position of the No. 1 object and the actual position of the next object without an assigned number;

[0136] A judgment unit is configured to judge whether the difference between the position deviation s1 calculated by the first position deviation calculation unit and the position deviation s2 calculated by the second position deviation calculation unit is within a preset range. If so, the number of the preset placement position is assigned to the object at the actual position. If not, the preset placement position unit is called to obtain the preset placement position of the next object.

[0137] The numbering system of this embodiment is used to implement the numbering method of Embodiment 1 or Embodiment 2.

[0138] Embodiment 6

[0139] This embodiment provides a computer storage medium storing a computer program, which when executed by a processor causes the processor to execute the method described in Embodiment 1 or Embodiment 2 or Embodiment 3 or Embodiment 4.

[0140] Embodiment 7

[0141] This embodiment provides a computer device including a memory and a processor. The memory stores a computer program, which when executed by the processor causes the processor to execute the method described in Embodiment 1 or Embodiment 2 or Embodiment 3 or Embodiment 4.

[0142] In summary, the embodiments of the present invention provide a numbering method. By obtaining the position deviation s1 of the No. 1 object from other objects at the preset placement positions and the position deviation s2 of the No. 1 object from other objects during actual placement, and comparing whether s2 is within the difference range of s1. If so, the number of the preset placement position is assigned to the object at the actual placement position. Different from the existing sequential numbering, the embodiments of the present invention have a certain deviation range, and even if the objects have position deviations during placement, they can still obtain numbers. Moreover, the numbers of each object are independent. Even if some objects do not obtain numbers, it can ensure that the numbers of other objects that obtain numbers are correct, and can prevent the problem of collision after startup. Therefore, the numbering method of the embodiments of the present invention has high accuracy. In addition, the embodiments of the present invention also provide a numbering system based on the above numbering method, and provide a storage medium storing a computer program for implementing the above method. Furthermore, the embodiments of the present invention provide a computer device including a memory storing a computer program for implementing the above method and a processor for execution.

[0143] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A numbering method, characterized in that: The steps include: S1. Preset the placement of objects; S2, edit the placement formation of the objects and determine the preset placement positions of the objects; S3, assigning numbers to objects at each preset placement position; S4, after the objects are placed in the formation set in step S1, the numbers on the preset placement positions are assigned to the objects at the corresponding real positions one by one until all the objects placed at the real positions have been numbered; In step S4, it includes: S4.

1. According to the object with the starting number specified in the formation, the position of the object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the edited formation, and the object is assigned the number 1, and the object numbered 1 is object No. 1; S4.2, obtaining the preset placement position p1 and the actual position c1 of object No. 1; S4.3, obtaining the preset placement position p of the next unnumbered object other than object No. 1, if p exists, proceed to step S4.4, if p does not exist, end; S4.4, calculating the position deviation s1 between p1 obtained in step S4.2 and p obtained in step S4.3; S4.5, obtain the real position c of the next unnumbered object other than object No. 1, if c exists, proceed to step S4.6, if c does not exist, end; S4.6, calculating the position deviation s2 between c1 obtained in step S4.2 and c obtained in step S4.5; S4.

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

5.

2. The numbering method according to claim 1, characterized in that: In step S4.4, the position deviation s1 is the relative position of the projections of p1 and p on the same projection plane; in step S4.6, the position deviation s2 is the relative position of the projections of c1 and c on the same projection plane.

3. The numbering method according to claim 1, characterized in that: When setting the object placement formation, a two-dimensional coordinate system is constructed, and the coordinates of each object are determined according to the preset placement position of each object. The preset placement position p1 of object No. 1 is (x p1 ,y p1 ), the preset placement position p of the unnumbered object is (x p ,y p ), the position deviation s1 is the deviation s1 between p1 and p on the x-axis x and the deviation s1 in the y-axis direction y ; After placing the objects, construct a two-dimensional coordinate system and determine the coordinates of each object according to its real position. The real position c1 of object 1 is (x c1 ,y c1 ), the true position c of the unnumbered object is (x c ,y c ), the position deviation s2 is the deviation s2 between c1 and c on the x-axis x and the deviation s2 in the y-axis direction y ; If s1 x and s2 x The deviation and s1 y and s2 y If the deviation is within the preset range, the number corresponding to the preset placement position p is assigned to the object at the actual position c.

4. The numbering method according to claim 1, characterized in that: In step S4.7, if the difference between the position deviation s1 and the position deviation s2 is not within the preset range, an alarm is issued to notify manual processing.

5. The numbering method according to claim 1, characterized in that: The object is a flying device, and the method further comprises: S5. After the objects take off and before the performance, the relative positions of the objects are adjusted according to the position deviation s1 and the position deviation s2.

6. The numbering method according to claim 5, characterized in that: In step S5, before the objects adjust their relative positions, the altitude of each object is obtained, and the altitude of the object with the highest altitude is used as a reference to make all objects at the same altitude.

7. The numbering method according to claim 5 or 6, characterized in that: Also includes: S6. Perform height adjustment based on the difference between the preset starting altitude of each object and the actual altitude of the highest object. After the adjustment is completed, perform the performance task.

8. The numbering method according to claim 1, characterized in that: In step S4.2 and step S4.5, the real position of each object is obtained according to the position information module on each object.

9. A numbering system, characterized in that: Including computer, object and positioning system, The computer terminal includes software for numbering objects; The object includes a communication module and a position information module, the communication module is used to communicate with the computer terminal, and the position information module is used to output the position information of the object; The positioning system is used to achieve relative positioning of an object, and the positioning system is communicatively connected with the position information module; The software includes: The formation editing module is used to edit the placement formation of objects, determine the preset placement position of each object, and assign numbers to the objects at each preset placement position; A number assignment module, used to assign numbers on each preset placement position to objects at corresponding real positions; The number allocation module comprises: The No. 1 object designation unit is used to designate the No. 1 object according to the formation, and the position of the No. 1 object in the actual placement formation corresponds to the position of the object at the preset placement position numbered 1 in the edited formation; A preset placement position acquisition unit, used to acquire the preset placement position of each object in the formation editing module; A real position acquisition unit, used to acquire the real position of each object; A first position deviation calculation unit, used to calculate a position deviation s1 between a preset placement position of object No. 1 and a preset placement position of a next unnumbered object; A second position deviation calculation unit, used to calculate a position deviation s2 between the real position of object No. 1 and the real position of the next unnumbered object; The judgment unit is used to judge whether the difference between the position deviation s1 calculated by the first position deviation calculation unit and the position deviation s2 calculated by the second position deviation calculation unit is within a preset range. If so, the number of the preset placement position is assigned to the object at the actual position. If not, the preset placement position unit is called to obtain the preset placement position of the next object.

10. The numbering system according to claim 9, characterized in that The object is a flying device, the positioning system is a differential positioning system, the object also includes a lighting module, a numbering module, a power module, a flight control module and a rotor, the lighting module is used to emit light, the numbering module is used to store the number of the object, the power module is used to supply power to the entire object, the flight control module is used for flight control of the object, the rotor is provided on the object, and the rotor is used to provide lift for the object.

11. A computer storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 8.

12. A computer device, characterized in that: The computer device comprises a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

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