Dimming method, system and equipment of mooring unmanned aerial vehicle lighting system and medium

Abstract

The invention discloses a dimming method, system and device of a mooring unmanned aerial vehicle lighting system and a medium, and relates to the field of unmanned aerial vehicles. In the method, a first lamp of the mooring unmanned aerial vehicle is turned on according to a lighting instruction input by a user, and a night vision device of the mooring unmanned aerial vehicle is turned on to scan a target area; turning on a second lamp of the mooring unmanned aerial vehicle according to the first positioning information of the target object sent by the mooring unmanned aerial vehicle; predicting a predicted path of the target object according to the multiple pieces of first positioning information, generating a first adjustment instruction for adjusting the angle and brightness of a second lamp according to the predicted path, and correcting the first adjustment instruction in combination with second positioning information of the target object at the current moment to generate a second adjustment instruction; and adjusting the second lamp according to the second adjustment instruction, and adjusting the brightness of the first lamp according to the relative position of the second lamp and the target object and the angle and brightness of the second lamp. By implementing the technical scheme provided by the invention, the illumination precision is improved, and the energy consumption is reduced.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to a dimming method, system, device, and medium for a tethered unmanned aerial vehicle lighting system. Background Art

[0002] Unmanned aerial vehicle lighting systems have been widely used in recent years, especially in fields such as night search and rescue, emergency rescue, and security monitoring. These applications not only improve the operation efficiency but also significantly enhance safety. Traditional lighting systems usually rely on manual adjustment, which is difficult to meet the requirements of complex and changeable environments.

[0003] To address this challenge, existing tethered unmanned aerial vehicle lighting systems mainly rely on manual control or simple automatic adjustment in a preset trajectory mode. The manual control method has a slow response speed and a low automation level, making it difficult to quickly and accurately respond to emergencies; while the automatic adjustment based on a preset trajectory has poor adaptability in a dynamically changing environment, unable to track moving targets in real time, resulting in energy waste and reduced lighting efficiency.

[0004] Therefore, there is an urgent need for a more intelligent and flexible dimming method for tethered unmanned aerial vehicle lighting systems to overcome the defects of the existing technology. Summary of the Invention

[0005] This application provides a dimming method, system, device, and medium for a tethered unmanned aerial vehicle lighting system, which significantly improves the lighting effect and efficiency of the tethered unmanned aerial vehicle lighting system through strategies such as flexible response, precise positioning, intelligent prediction and adjustment, and collaborative adjustment.

[0006] In the first aspect of this application, a dimming method for a tethered unmanned aerial vehicle lighting system is provided, which is applied to an unmanned aerial vehicle control platform. The lighting system includes a first lamp and a second lamp. The first lamp is fixedly installed on the tethered unmanned aerial vehicle, and the second lamp is movably installed on the tethered unmanned aerial vehicle. The method includes: In response to receiving a lighting instruction input by a user, turn on the first lamp of the tethered unmanned aerial vehicle to illuminate a target area according to the lighting instruction, and turn on the night vision device of the tethered unmanned aerial vehicle to scan the target area; In response to receiving the first positioning information of a target object sent by the tethered unmanned aerial vehicle, turn on the second lamp of the tethered unmanned aerial vehicle to illuminate the target object according to the first positioning information; Predict the predicted path of the target object based on multiple pieces of the first positioning information, generate a first adjustment instruction for adjusting the angle and brightness of the second lamp according to the predicted path, and correct the first adjustment instruction in combination with the second positioning information of the target object at the current moment to generate a second adjustment instruction; Adjust the second light according to the second adjustment instruction, and adjust the brightness of the first light according to the relative position between the second light and the target object, the angle and brightness of the second light.

[0007] Optionally, the step of turning on the second light of the tethered drone according to the first positioning information to illuminate the target object includes: Obtain the initial positioning information of the tethered drone, where the initial positioning information includes an initial combination of longitude and latitude and an initial altitude. Determine the horizontal distance and altitude difference between the tethered drone and the target object according to the initial positioning information and the first positioning information. The first positioning information includes a first combination of longitude and latitude and a first altitude; Calculate the azimuth angle of the target object relative to the tethered drone according to the initial combination of longitude and latitude and the first combination of longitude and latitude, and calculate the pitch angle of the target object relative to the tethered drone according to the horizontal distance and the altitude difference; Determine the horizontal angle and vertical angle that the second light needs to be adjusted according to the current state of the second light, the azimuth angle and the pitch angle, adjust the second light according to the horizontal angle and the vertical angle, and turn on the adjusted second light.

[0008] Optionally, the step of turning on the second light of the tethered drone according to the first positioning information to illuminate the target object includes: Determine the straight-line distance between the tethered drone and the target object according to the horizontal distance and the altitude difference, obtain the current ambient brightness, and determine the brightness level of the second light according to the straight-line distance and the current ambient brightness.

[0009] Optionally, the step of predicting the predicted path of the target object according to a plurality of the first positioning information includes: Sort a plurality of the first positioning information in chronological order to form a continuous movement trajectory of the target object changing with time; Use a trajectory fitting algorithm to fit the continuous movement trajectory to generate a trajectory curve, and adjust the trajectory curve according to terrain factors to obtain a predicted path.

[0010] Optionally, the step of correcting the first adjustment instruction by combining the second positioning information of the target object at the current moment to generate a second adjustment instruction includes: Obtain the third positioning information corresponding to the current moment in the predicted path, and compare the third positioning information with the second positioning information to determine a path deviation; Calculate correction parameters based on the path deviation, and adjust the angle adjustment value and brightness adjustment value in the first adjustment instruction according to the correction parameters to generate a second adjustment instruction.

[0011] Optionally, the calculating correction parameters based on the path deviation includes: Analyze the direction and magnitude of the path deviation to determine the first deviation direction and the first deviation distance of the target object relative to the predicted path; Calculate the required first correction angle and correction time according to the first deviation direction and the first deviation distance; Predict the second deviation direction and the second deviation distance of the target object's continued deviation during the correction time according to the moving speed of the target object, and adjust the first correction angle according to the second deviation direction and the second deviation distance to obtain a second correction angle; Determine the correction value of the brightness level of the second light according to the current straight-line distance between the target object and the tethered drone and the current ambient brightness.

[0012] Optionally, the adjusting the brightness of the first light according to the relative position between the second light and the target object, the angle and brightness of the second light includes: Based on a preset brightness adjustment model, determine the light overlap effect according to the relative position between the second light and the target object, the angle and brightness of the second light, and the current brightness of the first light. The light overlap effect includes the position, size, and brightness level of the light overlap area; Calculate the brightness value that the first light needs to be adjusted according to the light overlap effect and the illumination characteristics of the first light and the second light. The illumination characteristics include the beam angle and light intensity distribution; Adjust the current brightness of the first light according to the brightness value.

[0013] In a second aspect of the present application, a dimming system for a tethered drone lighting system is provided, including a first lighting module, a second lighting module, a path prediction module, and a lighting adjustment module, where: The first lighting module is configured to, in response to receiving a lighting instruction input by a user, turn on the first light of the tethered drone to illuminate a target area according to the lighting instruction, and turn on the night vision device of the tethered drone to scan the target area; The second lighting module is configured to, in response to receiving the first positioning information of the target object sent by the tethered drone, turn on the second light of the tethered drone to illuminate the target object according to the first positioning information; A path prediction module, configured to predict the expected path of the target object according to multiple pieces of the first positioning information, generate a first adjustment instruction for adjusting the angle and brightness of the second lamp according to the expected path, and correct the first adjustment instruction by combining the second positioning information of the target object at the current moment to generate a second adjustment instruction; A lighting adjustment module, configured to adjust the second lamp according to the second adjustment instruction, and adjust the brightness of the first lamp according to the relative position between the second lamp and the target object, the angle and brightness of the second lamp.

[0014] In a third aspect of the present application, an electronic device is provided, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. Both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory so that the electronic device executes the method described in any one of the above.

[0015] In a fourth aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions, and when the instructions are executed, the method described in any one of the above is executed.

[0016] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. It can respond to the lighting instruction input by the user, quickly turn on the first lamp of the tethered drone to perform preliminary lighting on the target area, and at the same time turn on the night vision device for scanning. This instant response ability enables the lighting system to quickly adapt to different lighting needs, improving the flexibility and practicality of the system; 2. By receiving the first positioning information of the target object sent by the tethered drone, it can accurately turn on the second lamp to illuminate the target object. This precise positioning ability ensures that the lighting system can accurately illuminate the target that needs attention, improving the lighting effect; 3. It can predict the expected path of the target object according to multiple pieces of the first positioning information, and generate a first adjustment instruction for adjusting the angle and brightness of the second lamp accordingly. At the same time, the first adjustment instruction is corrected by combining the second positioning information of the target object at the current moment to generate a more accurate second adjustment instruction. This intelligent prediction and adjustment ability enables the lighting system to dynamically adapt to the movement of the target object and maintain a continuous lighting effect; 3. While adjusting the second lamp, the brightness of the first lamp is also adjusted according to the relative position between the second lamp and the target object, the angle and brightness of the second lamp. This collaborative adjustment strategy can ensure that the lighting effect of the entire lighting system reaches the best, while avoiding unnecessary energy waste and improving the lighting efficiency. Description of the Drawings

[0017] Figure 1 is a schematic flowchart of a dimming method for a tethered UAV lighting system disclosed in an embodiment of the present application; Figure 2 is a schematic diagram of modules of a dimming system for a tethered UAV lighting system disclosed in an embodiment of the present application; Figure 3 is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application.

[0018] Explanation of reference numerals: 201, the first lighting module; 202, the second lighting module; 203, the path prediction module; 204, the lighting adjustment module; 301, the processor; 302, the communication bus; 303, the user interface; 304, the network interface; 305, the memory. Detailed implementation manners

[0019] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0020] In the description of the embodiments of the present application, words such as "for example" or "for illustration" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "for example" or "for illustration" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "for example" or "for illustration" aims to present relevant concepts in a specific manner.

[0021] In the description of the embodiments of the present application, the meaning of the term "a plurality of" refers to two or more. For example, a plurality of systems refers to two or more systems, and a plurality of screen terminals refers to two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise particularly emphasized in other ways.

[0022] This embodiment discloses a dimming method for a tethered UAV lighting system, which is applied to a UAV control platform. The lighting system includes a first lamp and a second lamp. The first lamp is fixedly installed on the tethered UAV, and the second lamp is movably installed on the tethered UAV. Figure 1 is a schematic flowchart of a dimming method for a tethered UAV lighting system disclosed in an embodiment of the present application, as Figure 1As shown, the method includes the following steps: S101. In response to receiving a lighting instruction input by a user, turn on a first light of the tethered drone according to the lighting instruction to illuminate a target area, and turn on a night vision device of the tethered drone to scan the target area; S102. In response to receiving first positioning information of a target object sent by the tethered drone, turn on a second light of the tethered drone according to the first positioning information to illuminate the target object; S103. Predict a predicted path of the target object according to a plurality of the first positioning information, generate a first adjustment instruction for adjusting an angle and a brightness of the second light according to the predicted path, and correct the first adjustment instruction by combining second positioning information of the target object at a current moment to generate a second adjustment instruction; S104. Adjust the second light according to the second adjustment instruction, and adjust a brightness of the first light according to a relative position between the second light and the target object, an angle of the second light, and the brightness of the second light.

[0023] When the system receives a lighting instruction input by a user, it will first activate the first light of the tethered drone (which may be a floodlight or a searchlight for large - area lighting) to provide basic lighting for the specified target area. At the same time, the night vision device of the tethered drone is turned on to scan the target area with enhanced visual capabilities to search for possible target objects. The night vision device can provide clear images in low - light environments, helping the system identify and lock onto the target object. When the tethered drone detects the target object through the night vision device or other sensors and determines its first positioning information (such as position coordinates), the system will immediately respond by turning on the second light (which may be a more focused spotlight or an LED light) to precisely illuminate the target object. It is necessary to assign a unique identifier to the target object to avoid confusion when there are multiple target objects in the target area. The system will collect multiple first positioning information points and use these data points to predict the predicted movement path of the target object. Based on this predicted path, the system will generate a preliminary adjustment instruction (the first adjustment instruction) for adjusting the angle and brightness of the second light to ensure that the target object is always effectively illuminated. Subsequently, the system will combine the second positioning information of the target object at the current moment (i.e., real - time position data) to correct the preliminary adjustment instruction and generate a more accurate second adjustment instruction. According to the second adjustment instruction, the system will adjust the angle and brightness of the second light to ensure that it always aligns with and illuminates the target object. At the same time, the system will also dynamically adjust the brightness of the first light according to the relative position between the second light and the target object, the angle of the second light, and the brightness of the second light. This can balance the overall lighting effect, ensuring both the clear visibility of the target object and avoiding unnecessary energy waste.

[0024] The system can respond instantaneously to the lighting instructions input by the user, quickly turn on the first lamp to provide preliminary lighting for the target area, ensuring the immediacy and effectiveness of lighting. At the same time, the night vision device is turned on for scanning, providing the necessary visual information support for subsequent precise lighting. By receiving the first positioning information of the target object sent by the drone, the system can accurately turn on the second lamp to illuminate the target object, achieving precise and focused lighting. The system can predict the expected path of the target object based on multiple first positioning information, and accordingly generate a first adjustment instruction to adjust the angle and brightness of the second lamp. The first adjustment instruction is corrected by combining the second positioning information of the target object at the current moment to generate a more accurate second adjustment instruction, realizing the dynamic adjustment and intelligent control of lighting. While adjusting the second lamp, the system also adjusts the brightness of the first lamp according to the relative position, angle and brightness between the second lamp and the target object, realizing the cooperative lighting of the two lamps. This cooperative lighting strategy not only improves the overall lighting effect, but also achieves the purpose of energy optimization by reasonably allocating lighting resources. The system can provide a clear and stable lighting environment for users, especially at night or in low-light conditions, significantly improving the operation efficiency and safety. In application scenarios such as monitoring, search and rescue, the system can provide key visual support and accurate information for decision-makers.

[0025] Optionally, turning on the second lamp of the tethered drone according to the first positioning information to illuminate the target object includes: Obtain the initial positioning information of the tethered drone, where the initial positioning information includes an initial longitude and latitude combination and an initial altitude. Determine the horizontal distance and altitude difference between the tethered drone and the target object according to the initial positioning information and the first positioning information. The first positioning information includes a first longitude and latitude combination and a first altitude; Calculate the azimuth angle of the target object relative to the tethered drone according to the initial longitude and latitude combination and the first longitude and latitude combination, and calculate the pitch angle of the target object relative to the tethered drone according to the horizontal distance and the altitude difference; According to the current state of the second lamp, the azimuth angle and the pitch angle, determine the horizontal angle and vertical angle that the second lamp needs to be adjusted, adjust the second lamp according to the horizontal angle and the vertical angle, and turn on the adjusted second lamp.

[0026] The initial positioning information is the current position information of the tethered drone, including the initial longitude and latitude combination (indicating the position of the drone on the Earth's surface) and the initial altitude (indicating the vertical distance of the drone relative to the ground). The first positioning information is the position information of the target object, including the first longitude and latitude combination and the first altitude. This information may be provided by the drone's sensors (such as GPS, radar, etc.) or other positioning technologies (such as ground base stations, satellite positioning, etc.). By comparing the initial positioning information and the first positioning information, the horizontal distance (i.e., the straight-line distance between the longitudes and latitudes of the two) and the altitude difference (i.e., the difference between the altitudes of the two) between the tethered drone and the target object can be calculated. The azimuth angle is the horizontal direction angle of the target object relative to the tethered drone and can be obtained by calculating the longitude and latitude combinations of the two. The azimuth angle helps to determine the horizontal position of the target object in the drone's field of view. The pitch angle is the vertical direction angle of the target object relative to the tethered drone and is jointly determined by the horizontal distance and the altitude difference. The pitch angle helps to determine the vertical position of the target object relative to the drone. Before adjusting the second light, it is necessary to know the current state of the second light, and the current state includes whether it is turned on, the current angle and brightness, etc. According to the calculated azimuth angle and pitch angle, as well as the current state of the second light, the horizontal angle and vertical angle that the second light needs to be adjusted can be determined. The adjustment of these angles aims to make the light beam of the second light directly irradiate the target object. Adjust the second light according to the determined horizontal angle and vertical angle. This may require the participation of a mechanical structure (such as a rotating motor) to achieve the precise pointing of the light. After the adjustment is completed, turn on the second light so that it illuminates the target object.

[0027] The system can obtain the initial positioning information of the tethered drone and the first positioning information of the target object, including longitude, latitude and altitude, ensuring the accuracy of positioning. By calculating the horizontal difference and altitude difference, the system can accurately determine the positional relationship of the target object relative to the tethered drone. Further calculating the azimuth angle and pitch angle provides precise angle information for the adjustment of the second light. The system can intelligently determine the horizontal and vertical angles that the second light needs to be adjusted according to the current state of the second light, the calculated azimuth angle and pitch angle. This intelligent adjustment mechanism enables the second light to quickly and accurately point to the target object, achieving a fast response for lighting. By precisely adjusting the angle of the second light, the system can ensure that the light directly irradiates the target object, improving the lighting efficiency. At the same time, it avoids unnecessary expansion of the lighting range, thus saving energy. At night or under low light conditions, precise lighting can significantly improve the visibility of the operation area and reduce the operation risk. Especially in tasks that require precise identification, such as monitoring, search and rescue, this precise lighting can provide clearer and more stable visual support. Users do not need to manually adjust the lighting equipment, and the system can automatically complete this task, greatly enhancing the user experience. The precise lighting effect also enables users to see the target object more clearly, improving the accuracy and efficiency of the operation.

[0028] Optionally, the step of turning on the second light of the tethered drone to illuminate the target object according to the first positioning information includes: Determining the straight-line distance between the tethered drone and the target object according to the horizontal distance and the altitude difference, obtaining the current ambient brightness, and determining the brightness level of the second light according to the straight-line distance and the current ambient brightness.

[0029] The system has calculated the horizontal distance and height difference based on the initial positioning information of the tethered drone (including the initial latitude and longitude combination and the initial altitude) and the first positioning information of the target object (including the first latitude and longitude combination and the first altitude). Using the Pythagorean theorem or similar geometric principles, the system can calculate the straight-line distance between the tethered drone and the target object. This distance is the straight-line distance in three-dimensional space, taking into account the horizontal distance and height difference. The tethered drone may be equipped with ambient light sensors for real-time measurement of the brightness level of the surrounding environment. These sensors can measure the intensity of light, usually in lux. There may be a preset brightness level table or algorithm inside the system that determines the brightness level at which the second light should be set based on the straight-line distance and the current ambient brightness. For example, if the straight-line distance is far and the ambient brightness is low, the system may select a higher brightness level to ensure that the target object is adequately illuminated. Conversely, if the straight-line distance is close and the ambient brightness is high, the system may select a lower brightness level to avoid over-illumination or wasting energy. When the brightness level is determined, the system sends a corresponding instruction to the second light to adjust its brightness to match the required level. This may involve adjusting the power of the bulb, adjusting the focus of the light, or using other techniques to control the brightness.

[0030] By calculating the straight-line distance between the tethered drone and the target object, the system can more accurately evaluate the attenuation of light during propagation. Combining the current ambient brightness, the system can intelligently adjust the brightness level of the second light to ensure that the target object is adequately and not overly illuminated. Precise brightness adjustment means that the system can avoid unnecessary energy consumption. When the target object is far away or the ambient brightness is high, the system can reduce the brightness of the second light, thus saving energy. Conversely, when the target object is close or the ambient brightness is low, the system can increase the brightness of the second light to ensure the lighting effect. The system can automatically adjust the brightness level of the second light according to different ambient brightnesses to adapt to various operating environments. Whether in bright daylight or in dim night, the system can provide a suitable lighting effect. The user does not need to manually adjust the brightness of the lighting equipment, and the system can automatically complete this task, improving the user experience.

[0031] Optionally, the predicting the predicted path of the target object based on the multiple first positioning information includes: Sorting the multiple first positioning information in chronological order to form a continuous movement trajectory of the target object changing over time; Using a trajectory fitting algorithm to fit the continuous movement trajectory to generate a trajectory curve, and adjusting the trajectory curve according to terrain factors to obtain the predicted path.

[0032] The system needs to collect multiple first positioning information in chronological order. These positioning information usually include the longitude, latitude coordinates and altitude of the target object, etc., which change over time and can reflect the moving trajectory of the target object. Sort the collected first positioning information in chronological order. This is to ensure that the moving trajectory of the target object can be continuously analyzed in chronological order during subsequent processing. Through the sorted first positioning information, the system can construct a continuous moving trajectory of the target object over time. This trajectory is an intuitive representation of the moving path of the target object in space. Use a trajectory fitting algorithm to fit the continuous moving trajectory to generate a trajectory curve. The trajectory fitting algorithm is a mathematical method that can estimate a continuous curve based on a set of discrete points (i.e., the first positioning information). This curve can more accurately reflect the moving path of the target object. During the trajectory fitting process, various factors need to be considered, such as the smoothness of the curve and the fitting accuracy. Usually, appropriate fitting algorithms and parameters are selected to ensure that the generated trajectory curve not only conforms to the actual moving path of the target object but also has a certain degree of smoothness and accuracy. Since terrain factors (such as mountains, rivers, buildings, etc.) may affect the moving path of the target object, the generated trajectory curve needs to be adjusted. During the adjustment process, the system will correct the trajectory curve according to terrain information (such as terrain height, slope, obstacle position, etc.). This can ensure that the generated predicted path is more in line with the actual situation and avoid errors caused by terrain factors.

[0033] By sorting multiple first positioning information in chronological order, a continuous moving trajectory of the target object over time can be accurately constructed. The construction of this trajectory provides a reliable data basis for subsequent trajectory fitting and predicted path generation. Using a trajectory fitting algorithm to fit the continuous moving trajectory can generate a high-precision trajectory curve. This curve can well reflect the moving law and trend of the target object and provide an accurate reference for subsequent terrain factor adjustment and predicted path generation. At the same time, the trajectory fitting algorithm can also ensure that the generated trajectory curve is smooth and continuous, avoiding problems such as discontinuous or sudden changes in the trajectory caused by data fluctuations or noise. Adjusting the trajectory curve according to terrain factors can ensure that the generated predicted path is more in line with the actual situation. This adjustment takes into account the influence of terrain undulations, obstacle distributions, etc. on the movement of the target object, making the predicted path more reasonable and feasible. The intelligent adjustment mechanism can also update the predicted path in real time according to terrain changes, improving the real-time performance and accuracy of path prediction. The predicted path generated through the above technical process has high practicality and reliability.

[0034] Optionally, the correcting the first adjustment instruction by combining the second positioning information of the target object at the current moment to generate a second adjustment instruction includes: Obtain the third positioning information corresponding to the current moment in the predicted path, and compare the third positioning information with the second positioning information to determine the path deviation; Calculate correction parameters according to the path deviation, and adjust the angle adjustment value and brightness adjustment value in the first adjustment instruction according to the correction parameters to generate a second adjustment instruction.

[0035] The system first finds the predicted position corresponding to the current moment, that is, the third positioning information, according to the predicted path of the target object previously predicted through multiple first positioning information. This predicted position is predicted based on the past movement trajectory of the target object and possible future trends. The system compares the actual position (second positioning information) of the target object at the current moment with the predicted position (third positioning information). This comparison process is to determine whether the target object moves along the predicted path and whether there is a path deviation. Through the comparison, the system can calculate the deviation between the actual position and the predicted position of the target object, that is, the path deviation. This deviation may include the offset in the horizontal direction and the height difference in the vertical direction. According to the calculated path deviation, the system further calculates correction parameters. These correction parameters are used to guide how to adjust the lighting device on the tethered UAV to compensate for the path deviation. The system adjusts the angle adjustment value and brightness adjustment value in the initially generated first adjustment instruction according to the calculated correction parameters. This adjustment process is to ensure that the lighting device can accurately illuminate and track the target object even if there is a deviation between the actual movement path of the target object and the predicted path. After the above adjustment, the system generates a second adjustment instruction. This instruction contains more accurate angle adjustment values and brightness adjustment values, which are used to guide the actual adjustment operation of the lighting device on the tethered UAV.

[0036] By obtaining the third positioning information corresponding to the current moment in the predicted path and comparing it with the second positioning information of the actual target object, the system can detect path deviations in real time. This real-time deviation detection mechanism ensures that the system can quickly respond to the movement changes of the target object, improving the timeliness and accuracy of adjustments. According to the detected path deviations, the system can calculate accurate correction parameters. These correction parameters provide reliable data support for the generation of subsequent adjustment instructions, ensuring the accuracy and effectiveness of the adjustment instructions. The system can intelligently correct the angle adjustment value and brightness adjustment value in the first adjustment instruction according to the correction parameters to generate a second adjustment instruction. This intelligent correction mechanism enables the system to dynamically adjust the angle and brightness of the lighting device according to the actual movement of the target object, ensuring that the lighting effect always remains consistent with the target object. Through the above technical process, the lighting system can adjust the lighting parameters in real time according to the movement of the target object, improving the flexibility and adaptability of the system. This flexibility enables the system to handle various complex movement scenarios, ensuring that the lighting effect always meets the actual requirements. Precise adjustment instruction correction can avoid unnecessary lighting parameter adjustments, thereby optimizing resource utilization and reducing energy consumption. For example, when the movement direction of the target object changes slightly, the system can make fine adjustments through the correction parameters instead of large-scale adjustments, thus saving energy. Precise lighting adjustment can ensure that the target object always receives an appropriate lighting effect, enhancing the user experience and satisfaction.

[0037] Optionally, calculating the correction parameters according to the path deviation includes: Analyze the direction and magnitude of the path deviation to determine the first deviation direction and the first deviation distance of the target object relative to the predicted path; Calculate the required first correction angle and correction time according to the first deviation direction and the first deviation distance; Predict the second deviation direction and the second deviation distance by which the target object continues to deviate within the correction time according to the movement speed of the target object, and adjust the first correction angle according to the second deviation direction and the second deviation distance to obtain a second correction angle; Determine the correction value of the brightness level of the second lamp according to the current straight-line distance between the target object and the tethered drone and the current ambient brightness.

[0038] The system needs to determine the first offset direction of the target object relative to the expected path. This is typically done by comparing the actual position of the target object (i.e., the second positioning information) with the position at the corresponding time point on the expected path (i.e., the third positioning information). The direction can be east, south, west, north, or any angle in between these directions. The system calculates the first offset distance between the target object and the expected path. The first offset distance is the straight-line distance between the actual position of the target object and the nearest point on the expected path. Based on the first offset direction and the first offset distance, the system calculates the first correction angle required to direct the lighting device towards the target object. The first correction angle is the angle between the current direction of the lighting device and the direction required to point at the target object. The correction time refers to the time from the current moment until the lighting device is adjusted to the correct angle. This time depends on the adjustment speed of the lighting device (such as the rotation speed) and the severity of the path deviation. During the correction time, the target object may continue to move and generate additional offsets. The system predicts the second offset direction and the second offset distance during this time based on the movement speed of the target object. Based on the predicted second offset direction and the second offset distance, the system adjusts the first correction angle to obtain the second correction angle. This adjustment takes into account the possible movement of the target object during the correction time, ensuring that the lighting device can accurately point at the target object after adjustment. The system calculates the current straight-line distance between the target object and the tethered drone. The current straight-line distance is used to evaluate the attenuation of the light during propagation. The system obtains the current ambient brightness, which affects the brightness level that the lighting device needs to provide. Based on the current straight-line distance and the current ambient brightness, the system determines the correction value for the brightness level. This correction value is used to adjust the brightness of the lighting device to ensure that the target object is still properly illuminated considering the light attenuation and the ambient brightness.

[0039] The system can accurately analyze the direction and magnitude of the path deviation, and determine the first deviation direction and the first deviation distance of the target object relative to the predicted path. This precise analysis provides a reliable basis for the subsequent calculation of correction parameters. Based on the first deviation direction and the first deviation distance, the system can calculate the required first correction angle and correction time. More importantly, the system can also predict the second deviation direction and the second deviation distance that the target object may continue to deviate during the correction time according to the moving speed of the target object, and adjust the first correction angle accordingly to obtain a more accurate second correction angle. This dynamic correction mechanism ensures that the system can adjust the angle of the lighting device in real time according to the actual movement of the target object, so that it always points to the target object. The system can determine the correction value of the brightness level of the second lamp according to the current straight-line distance between the target object and the tethered drone and the current ambient brightness. This intelligent brightness correction mechanism enables the system to dynamically adjust the brightness of the lighting device according to the actual position of the target object and the ambient brightness, ensuring that the lighting effect always meets the actual requirements. Through the above technical process, the system can adjust the angle and brightness of the lighting device in real time according to factors such as the movement of the target object, position change, and ambient brightness, improving the flexibility and adaptability of the system. This flexibility enables the system to cope with various complex moving scenarios and environmental changes, ensuring that the lighting effect is always stable and reliable. Precise angle and brightness correction can avoid unnecessary adjustment of lighting parameters, thus optimizing resource utilization and reducing energy consumption. The system can make intelligent adjustments according to actual needs, ensuring the lighting effect while reducing energy waste.

[0040] Optionally, the adjusting the brightness of the first lamp according to the relative position of the second lamp and the target object, the angle and brightness of the second lamp includes: Based on a preset brightness adjustment model, determine the light overlap effect according to the relative position of the second lamp and the target object, the angle and brightness of the second lamp, and the current brightness of the first lamp. The light overlap effect includes the position, size, and brightness level of the light overlap area; According to the light overlap effect and the lighting characteristics of the first lamp and the second lamp, the lighting characteristics including the beam angle and light intensity distribution, calculate the brightness value that the first lamp needs to be adjusted; Adjust the current brightness of the first lamp according to the brightness value.

[0041] The preset brightness adjustment model is a tool or algorithm used to calculate the light overlap effect based on input parameters such as the position, angle, and brightness of the lights. The input parameters include the relative position (distance and direction) of the second light to the target object, the angle and brightness of the second light, and the current brightness of the first light. The output of the model is a description of the light overlap effect, including the position, size, and brightness level of the light overlap area. This information is crucial for subsequent calculations of the brightness value that the first light needs to be adjusted to. When two or more light sources shine on the same area, their light rays will overlap. The position, size, and brightness level of this overlap area depend on the positions, angles, and brightnesses of the light sources. Through the preset brightness adjustment model, the specific situation of the light rays of the second light and the first light overlapping around the target object can be calculated. This includes determining the position, size (i.e., the area or volume of the overlap area), and brightness level (i.e., the average brightness or brightness distribution of the overlap area) of the overlap area. The beam angle refers to the width of the light rays emitted by the light source distributed within a specific angle. It determines the area range that the light rays can illuminate. The light intensity distribution describes the brightness change of the light source in different directions and distances. It is crucial for calculating the brightness level of the overlap area. When adjusting the brightness of the first light, the beam angles and light intensity distributions of the first light and the second light need to be considered. These characteristics will affect the brightness level of the overlap area, thus requiring the brightness of the first light to be adjusted accordingly to maintain the optimization of the overall lighting effect. Based on the calculation results of the light overlap effect and the lighting characteristics of the first light and the second light, a preset algorithm or formula can be used to calculate the brightness value that the first light needs to be adjusted to. This calculation process may need to consider multiple factors, such as the brightness level of the overlap area, the lighting requirements of the target object, and the requirements of energy conservation and environmental protection, etc. The result of the calculation is a specific brightness value, indicating the target brightness that the first light needs to be adjusted to. When the brightness value that the first light needs to be adjusted to is calculated, the brightness of the first light can be actually adjusted through the control system. This adjustment process may take a certain amount of time to complete, depending on the response speed of the control system and the performance of the actuator. During the adjustment process, it may be necessary to continuously monitor the brightness change of the first light and the change of the overall lighting effect. This can be achieved through sensors or vision systems to ensure that the adjusted lighting effect meets the expectations.

[0042] The system can accurately evaluate the light overlap effect caused by factors such as the relative position between the second lamp and the target object, the angle and brightness of the second lamp, and the current brightness of the first lamp through a preset brightness adjustment model. This evaluation includes the position, size, and brightness level of the light overlap area, providing key data for subsequent adjustments. Based on the light overlap effect and the lighting characteristics of the first and second lamps (such as beam angle, light intensity distribution), the system can intelligently calculate the brightness value that the first lamp needs to be adjusted. This calculation takes into account various factors to ensure the accuracy and rationality of the brightness adjustment. By adjusting the brightness of the first lamp, the system can optimize the lighting effect and avoid problems such as over-illumination or under-illumination caused by light overlap. This optimization not only improves the lighting quality but also reduces energy consumption. This technical process enables the system to dynamically adjust the brightness of the first lamp according to the lighting state of the second lamp and the position of the target object, improving the flexibility and adaptability of the system. This flexibility enables the system to handle various complex lighting scenarios and requirements. Precise brightness adjustment avoids unnecessary lighting energy consumption and reduces energy waste. The system can make intelligent adjustments according to actual needs to ensure the lighting effect while achieving energy conservation and emission reduction.

[0043] This embodiment also discloses a dimming system for a tethered drone lighting system. Figure 2 It is a schematic diagram of the modules of the dimming system of the tethered drone lighting system disclosed in the embodiments of the present application. As Figure 2 shown, the system includes a first lighting module 201, a second lighting module 202, a path prediction module 203, and a lighting adjustment module 204, where: The first lighting module 201 is configured to respond to receiving a lighting instruction input by a user, turn on the first lamp of the tethered drone according to the lighting instruction to illuminate a target area, and turn on the night vision device of the tethered drone to scan the target area. The second lighting module 202 is configured to respond to receiving the first positioning information of the target object sent by the tethered drone, and turn on the second lamp of the tethered drone according to the first positioning information to illuminate the target object. The path prediction module 203 is configured to predict the expected path of the target object according to a plurality of the first positioning information, generate a first adjustment instruction for adjusting the angle and brightness of the second lamp according to the expected path, and correct the first adjustment instruction in combination with the second positioning information of the target object at the current moment to generate a second adjustment instruction. The lighting adjustment module 204 is configured to adjust the second lamp according to the second adjustment instruction, and adjust the brightness of the first lamp according to the relative position between the second lamp and the target object, the angle and brightness of the second lamp.

[0044] Optionally, the second lighting module 202 is configured to: Obtain the initial positioning information of the tethered UAV, where the initial positioning information includes the initial latitude and longitude combination and the initial altitude. Determine the horizontal distance and altitude difference between the tethered UAV and the target object based on the initial positioning information and the first positioning information, where the first positioning information includes the first latitude and longitude combination and the first altitude; Calculate the azimuth angle of the target object relative to the tethered UAV based on the initial latitude and longitude combination and the first latitude and longitude combination, and calculate the pitch angle of the target object relative to the tethered UAV based on the horizontal distance and the altitude difference; Determine the horizontal angle and vertical angle that the second light needs to be adjusted according to the current state of the second light, the azimuth angle, and the pitch angle. Adjust the second light according to the horizontal angle and the vertical angle, and turn on the adjusted second light.

[0045] Optionally, the second lighting module 202 is configured to: Determine the straight-line distance between the tethered UAV and the target object based on the horizontal distance and the altitude difference, obtain the current ambient brightness, and determine the brightness level of the second light according to the straight-line distance and the current ambient brightness.

[0046] Optionally, the path prediction module 203 is configured to: Sort the multiple first positioning information in chronological order to form a continuous movement trajectory of the target object over time; Use a trajectory fitting algorithm to fit the continuous movement trajectory to generate a trajectory curve, and adjust the trajectory curve according to terrain factors to obtain a predicted path.

[0047] Optionally, the path prediction module 203 is configured to: Obtain the third positioning information corresponding to the current moment in the predicted path, and compare the third positioning information with the second positioning information to determine the path deviation; Calculate a correction parameter according to the path deviation, and adjust the angle adjustment value and the brightness adjustment value in the first adjustment instruction according to the correction parameter to generate a second adjustment instruction.

[0048] Optionally, the path prediction module 203 is configured to: Analyze the direction and magnitude of the path deviation to determine the first deviation direction and the first deviation distance of the target object relative to the predicted path; Calculate the required first correction angle and correction time according to the first deviation direction and the first deviation distance; Predict a second deviation direction and a second deviation distance by which the target object continues to deviate within the correction time according to the moving speed of the target object, and adjust the first correction angle according to the second deviation direction and the second deviation distance to obtain a second correction angle; Determine a correction value for the brightness level of the second lamp according to the current straight-line distance between the target object and the tethered drone and the current ambient brightness.

[0049] Optionally, the lighting adjustment module 204 is configured to: Based on a preset brightness adjustment model, determine a light overlap effect according to the relative position between the second lamp and the target object, the angle and brightness of the second lamp, and the current brightness of the first lamp, where the light overlap effect includes the position, size, and brightness level of the light overlap area; According to the light overlap effect and the lighting characteristics of the first lamp and the second lamp, where the lighting characteristics include a beam angle and a light intensity distribution, calculate a brightness value that the first lamp needs to be adjusted; Adjust the current brightness of the first lamp according to the brightness value.

[0050] It should be noted that: when the device provided in the above embodiment realizes its functions, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process can be found in the method embodiment, which will not be elaborated here.

[0051] This embodiment also discloses an electronic device. Refer to Figure 3 , the electronic device may include: at least one processor 301, at least one communication bus 302, a user interface 303, a network interface 304, and at least one memory 305.

[0052] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0053] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0054] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0055] Among them, the processor 301 may include one or more processing cores. The processor 301 connects various parts within the entire server through various interfaces and lines, and executes various functions of the server and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305. Optionally, the processor 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 301 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 301 and may be implemented separately by a single chip.

[0056] Among them, the memory 305 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. Optionally, the memory 305 may further be at least one storage device located far from the aforementioned processor 301. As Figure 3 shown, the memory 305, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for the dimming method of the tethered drone lighting system.

[0057] In Figure 3In the electronic device shown, the user interface 303 is mainly used to provide an interface for the user to input and obtain the data input by the user; while the processor 301 can be used to call the application program stored in the memory 305 for the dimming method of the tethered drone lighting system. When executed by one or more processors 301, the electronic device is caused to execute the method as described in one or more of the above embodiments.

[0058] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0059] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0060] In several embodiments provided by this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some service interfaces. The indirect couplings or communication connections of the device or unit can be in electrical or other forms.

[0061] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0062] In addition, in each embodiment of this application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0063] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory 305 and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of this application. And the aforementioned memory 305 includes: various media such as USB flash drives, mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0064] The foregoing are only exemplary embodiments of the present disclosure and should not be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will readily think of other implementation manners of the present disclosure after considering the disclosure of the specification. This application aims to cover any variations, uses, or adaptive changes of the present disclosure, and these variations, uses, or adaptive changes follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and the embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A dimming method for a tethered drone lighting system, characterized in that, Applied to a drone control platform, the lighting system includes a first lamp and a second lamp. The first lamp is fixedly installed on the tethered drone, and the second lamp is movably installed on the tethered drone. The method includes: In response to receiving a lighting instruction input by the user, turn on the first lamp of the tethered drone according to the lighting instruction to illuminate the target area, and turn on the night vision device of the tethered drone to scan the target area; In response to receiving the first positioning information of the target object sent by the tethered drone, turn on the second lamp of the tethered drone according to the first positioning information to illuminate the target object; Predict the expected path of the target object based on multiple pieces of the first positioning information, generate a first adjustment instruction for adjusting the angle and brightness of the second lamp according to the expected path, and correct the first adjustment instruction in combination with the second positioning information of the target object at the current moment to generate a second adjustment instruction; Adjust the second lamp according to the second adjustment instruction, and adjust the brightness of the first lamp according to the relative position between the second lamp and the target object, the angle and brightness of the second lamp.

2. The dimming method of the tethered drone lighting system according to claim 1, characterized in that The step of turning on the second lamp of the tethered drone according to the first positioning information to illuminate the target object includes: Obtain the initial positioning information of the tethered drone, where the initial positioning information includes an initial latitude and longitude combination and an initial altitude. Determine the horizontal distance and altitude difference between the tethered drone and the target object according to the initial positioning information and the first positioning information. The first positioning information includes a first latitude and longitude combination and a first altitude; Calculate the azimuth angle of the target object relative to the tethered drone according to the initial latitude and longitude combination and the first latitude and longitude combination, and calculate the pitch angle of the target object relative to the tethered drone according to the horizontal distance and the altitude difference; Determine the horizontal angle and vertical angle that the second lamp needs to be adjusted according to the current state of the second lamp, the azimuth angle and the pitch angle, adjust the second lamp according to the horizontal angle and the vertical angle, and turn on the adjusted second lamp.

3. The dimming method of the tethered UAV lighting system according to claim 2, characterized in that, The step of turning on the second lamp of the tethered drone according to the first positioning information to illuminate the target object includes: Determine the straight-line distance between the tethered drone and the target object according to the horizontal distance and the altitude difference, obtain the current ambient brightness, and determine the brightness level of the second lamp according to the straight-line distance and the current ambient brightness.

4. The dimming method of the tethered UAV lighting system according to claim 1, characterized in that, The step of predicting the expected path of the target object based on multiple pieces of the first positioning information includes: Sort multiple pieces of the first positioning information in chronological order to form a continuous movement trajectory of the target object changing with time; Use a trajectory fitting algorithm to fit the continuous movement trajectory to generate a trajectory curve, and adjust the trajectory curve according to terrain factors to obtain the expected path.

5. The dimming method of the tethered UAV lighting system according to claim 1, characterized in that The step of correcting the first adjustment instruction in combination with the second positioning information of the target object at the current moment to generate a second adjustment instruction includes: Obtain the third positioning information corresponding to the current moment in the predicted path, and compare the third positioning information with the second positioning information to determine the path deviation; Calculate a correction parameter according to the path deviation, and adjust the angle adjustment value and the brightness adjustment value in the first adjustment instruction according to the correction parameter to generate a second adjustment instruction.

6. The dimming method of the tethered UAV lighting system according to claim 5, characterized in that, The calculating the correction parameter according to the path deviation includes: Analyze the direction and magnitude of the path deviation to determine the first offset direction and the first offset distance of the target object relative to the predicted path; Calculate the required first correction angle and correction time according to the first offset direction and the first offset distance; Predict the second offset direction and the second offset distance by which the target object continues to deviate within the correction time according to the moving speed of the target object, and adjust the first correction angle according to the second offset direction and the second offset distance to obtain a second correction angle; Determine the correction value of the brightness level of the second light according to the current straight-line distance between the target object and the tethered drone and the current ambient brightness.

7. The dimming method of the tethered UAV lighting system according to claim 1, characterized in that The adjusting the brightness of the first light according to the relative position between the second light and the target object, the angle and brightness of the second light includes: Based on a preset brightness adjustment model, determine the light overlap effect according to the relative position between the second light and the target object, the angle and brightness of the second light, and the current brightness of the first light. The light overlap effect includes the position, size and brightness level of the light overlap area; Calculate the brightness value that the first light needs to be adjusted according to the light overlap effect and the lighting characteristics of the first light and the second light. The lighting characteristics include the beam angle and the light intensity distribution; Adjust the current brightness of the first light according to the brightness value.

8. A dimming system for a tethered UAV lighting system, characterized in that, Includes a first lighting module, a second lighting module, a path prediction module and a lighting adjustment module, wherein: The first lighting module is configured to, in response to receiving a lighting instruction input by a user, turn on the first light of the tethered drone to illuminate a target area according to the lighting instruction, and turn on the night vision device of the tethered drone to scan the target area; The second lighting module is configured to, in response to receiving the first positioning information of the target object sent by the tethered drone, turn on the second light of the tethered drone to illuminate the target object according to the first positioning information; The path prediction module is configured to predict the predicted path of the target object according to a plurality of the first positioning information, generate a first adjustment instruction for adjusting the angle and brightness of the second light according to the predicted path, and correct the first adjustment instruction in combination with the second positioning information of the target object at the current moment to generate a second adjustment instruction; The lighting adjustment module is configured to adjust the second light according to the second adjustment instruction, and adjust the brightness of the first light according to the relative position between the second light and the target object, the angle and brightness of the second light.

9. An electronic device, characterized in that, It includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. Both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions which, when executed, execute the method according to any one of claims 1-7.

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