A method and device for allocating drone beacon codes and landing drones

Abstract

This specification discloses a method and apparatus for assigning drone beacon codes and landing drones. The method determines a target layout of a drone airport, including several take-off and landing points, based on the airport shape and dimensions of the drone airport and the standard shapes and dimensions of the take-off and landing points. Then, from each take-off and landing point included in the target layout, a take-off and landing point where an initial beacon code is placed is determined as the initial take-off and landing point. Using this initial take-off and landing point as the starting point, a pre-set search algorithm is used to determine the assigned beacon code for each take-off and landing point from a pre-set beacon code set containing beacon codes with different image content, using the constraint that the beacon code of any take-off and landing point must have a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood. This method eliminates the need for manual determination of the locations and corresponding relationships between each take-off and landing point and each beacon code within the airport area, thereby improving the efficiency of drone beacon code assignment.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a method and device for allocating drone beacon codes and landing a drone. Background Art

[0002] With advancements in technology and the maturity of autonomous driving technology, autonomous vehicles have been successfully applied in the delivery sector, often used in scenarios such as food delivery and express delivery. However, during drone missions, precise landing control is often required to ensure the safety of the drone.

[0003] In existing technology, drone landing is typically achieved using visual guidance. Specifically, a marker for drone landing, such as a beacon code, can be pre-placed at a drone airport. When a drone needs to land, it first captures a ground image. The drone then identifies objects in the captured ground image and determines the location of the beacon code within the image, which serves as the location of the drone airport within the image. Finally, based on the location of the drone airport within the image, the drone is controlled to land at the drone airport.

[0004] However, in the prior art, the locations of each beacon code in a drone airport are usually determined by manual planning. However, manual planning is time-consuming and costly, which makes the efficiency of allocating beacon codes to take-off and landing points in a drone airport in the prior art low. Summary of the Invention

[0005] This specification provides a method and device for allocating drone beacon codes and landing drones to partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This manual provides a method for allocating drone beacon codes, including:

[0008] Determining a target layout of the drone airport based on the airport shape and airport size of the drone airport and the standard shape and standard size of the preset take-off and landing points, wherein the target layout includes a plurality of take-off and landing points;

[0009] Determining, from among the take-off and landing points included in the target layout, a take-off and landing point where an initial beacon code is placed as the initial take-off and landing point;

[0010] Taking the initial take-off and landing point as a starting point, according to a preset search algorithm, and subjecting to a constraint that the beacon code of any take-off and landing point has a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood, a beacon code assigned to each take-off and landing point is determined from a preset beacon code set, wherein the image content of each beacon code in the beacon code set is different.

[0011] Optionally, the target layout of the drone airport is determined based on the airport shape and airport size of the drone airport and the standard shape and standard size of the preset take-off and landing points, specifically including:

[0012] Determining a layout of multiple take-off and landing points of the drone airport based on the airport shape and airport size of the drone airport and the standard shape and standard size of the preset take-off and landing points;

[0013] According to the number of take-off and landing points included in each take-off and landing point layout, the target layout of each take-off and landing point in the drone airport is determined.

[0014] Optionally, the layout of multiple take-off and landing points of the drone airport is determined according to the airport shape and airport size of the drone airport and the preset standard shape and standard size of the take-off and landing points, specifically including:

[0015] According to the airport shape and airport size of the drone airport, a take-off and landing point is randomly determined within the scope of the drone airport as the starting point;

[0016] According to the preset standard shape and standard size of the take-off and landing points, along the normal direction of any boundary of the starting point, within the range of the drone airport, a take-off and landing point separated from the starting point by a preset distance is determined, and the determined take-off and landing point is used as the starting point again. Other take-off and landing points are continuously determined in other areas of the airport range except for the determined take-off and landing point until no take-off and landing points can be determined, thereby determining the take-off and landing point layout;

[0017] Determining whether the number of generated take-off and landing point layouts is less than a preset number threshold;

[0018] If yes, randomly determine the take-off and landing points again within the range of the drone airport, and continue to determine the take-off and landing point layout until the number of determined take-off and landing point layouts reaches the threshold number;

[0019] If not, do not proceed with determining the take-off and landing point layout.

[0020] Optionally, based on the preset standard shape and standard size of the take-off and landing points, along the normal direction of any boundary of the starting point, within the range of the drone airport, a take-off and landing point separated from the starting point by a preset distance is determined, and the determined take-off and landing point is used as the starting point again. Other take-off and landing points are further determined in other areas of the airport range except for the determined take-off and landing point, specifically including:

[0021] Determine, along the normal direction of any boundary of the starting point, whether there is an area within the airport range that is separated from the starting point by a preset distance and is at least the preset distance from other determined take-off and landing points;

[0022] If so, determine the area as a take-off and landing point and update it as the starting point, and continue to determine the area within the airport as the take-off and landing point along the normal direction of any boundary of the updated starting point;

[0023] If not, continue to determine the take-off and landing points along the normal direction of other boundaries of the starting point, and use the take-off and landing points as the re-determined starting points.

[0024] Optionally, the method further includes:

[0025] When the take-off and landing points cannot be determined along the normal directions of the boundaries of the starting point, the previous starting point of the starting point is determined as the designated position according to the order in which the starting points are determined;

[0026] The designated location is re-determined as the starting point to continue determining the take-off and landing points until no take-off and landing points can be determined within the airport range.

[0027] Optionally, determining the take-off and landing points for placing the initial beacon code from among the take-off and landing points included in the target layout specifically includes:

[0028] According to the positions of the various take-off and landing points in the target layout, a take-off and landing point located at the center of the drone airport is determined from the various take-off and landing points included in the target layout as the take-off and landing point for placing the initial beacon code.

[0029] Optionally, determining the take-off and landing point located at the center of the drone airport according to the positions of each take-off and landing point in the target layout specifically includes:

[0030] Determining a center position of the drone airport based on the airport shape and the airport size;

[0031] For each take-off and landing point in the target layout, determining the distance between the take-off and landing point and the center position of the drone airport;

[0032] The take-off and landing points are sorted according to the determined distances, and a take-off and landing point located at the center of the drone airport is determined from the take-off and landing points according to the sorting.

[0033] Optionally, starting from the initial take-off and landing point, according to a preset search algorithm, with the beacon code of any take-off and landing point being constrained to have the minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood, a beacon code assigned to each take-off and landing point is determined from a preset beacon code set, specifically including:

[0034] Determining the beacon code corresponding to the initial take-off and landing point from a preset beacon code set;

[0035] Determine any take-off and landing point adjacent to the initial take-off and landing point that is not assigned a beacon code;

[0036] Determining, from the beacon code set, to assign a beacon code to the adjacent take-off and landing point, based on a constraint that the beacon code of the adjacent take-off and landing point has a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood;

[0037] The beacon codes of the adjacent take-off and landing points are re-used as the initial take-off and landing points, and beacon codes are continuously allocated to the take-off and landing points that have not been allocated beacon codes until a beacon code is allocated to each take-off and landing point.

[0038] Optionally, starting from the initial take-off and landing point, according to a preset search algorithm, with the beacon code of any take-off and landing point being constrained to have the minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood, a beacon code assigned to each take-off and landing point is determined from a preset beacon code set, specifically including:

[0039] Starting from the initial take-off and landing point, searching each take-off and landing point in the target layout according to a preset search algorithm, and determining a search order for traversing each take-off and landing point;

[0040] According to the search order, for each take-off and landing point searched, the beacon code assigned to the take-off and landing point is determined from a preset beacon code set, with the beacon code of the take-off and landing point having the lowest similarity with other beacon codes within the designated neighborhood of the take-off and landing point as a constraint.

[0041] Optionally, according to the search order, for each searched take-off and landing point, a beacon code assigned to the take-off and landing point is determined from a preset beacon code set, with the beacon code of the take-off and landing point having the lowest similarity with other beacon codes within a designated neighborhood of the take-off and landing point as a constraint, specifically including:

[0042] Allocating beacon codes to the take-off and landing points according to a search order of the take-off and landing points and an order of the beacon codes in a preset beacon code set;

[0043] When all beacon codes in the beacon code set have been assigned to each take-off and landing point, determining whether there is a take-off and landing point in the target layout that has not been assigned a beacon code;

[0044] If so, for each take-off and landing point that has not been assigned a beacon code, determine the distance between each take-off and landing point that has been assigned a beacon code and the take-off and landing point respectively, as the distance between the beacon code corresponding to each take-off and landing point that has been assigned a beacon code and the take-off and landing point, and assign a beacon code to the take-off and landing point based on the distance between each beacon code and the take-off and landing point.

[0045] This manual provides a method for landing a drone, including:

[0046] Determine the target take-off and landing point corresponding to the mission according to the mission information assigned to the UAV;

[0047] Determine environmental information of the target take-off and landing point, the environmental information including a beacon code corresponding to the target take-off and landing point and beacon codes of each take-off and landing point adjacent to the target take-off and landing point in the drone airport to which the target take-off and landing point belongs;

[0048] performing target object recognition on the collected ground image, and determining the position of the beacon code of the target take-off and landing point in the ground image as the position of the target take-off and landing point in the ground image;

[0049] According to the position of the target take-off and landing point, the UAV is controlled to land at the target take-off and landing point.

[0050] This specification provides a device for distributing drone beacon codes, including:

[0051] A first determination module is configured to determine a target layout of the drone airport based on the airport shape and airport size of the drone airport and the preset standard shape and standard size of the take-off and landing points, wherein the target layout includes a plurality of take-off and landing points;

[0052] A second determining module is configured to determine, from the take-off and landing points included in the target layout, a take-off and landing point where an initial beacon code is placed as the initial take-off and landing point;

[0053] an allocation module configured to determine, from the initial take-off and landing point as a starting point, a beacon code allocated to each take-off and landing point from a preset beacon code set according to a preset search algorithm and subject to a constraint that the beacon code of any take-off and landing point has a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood, wherein each beacon code in the beacon code set has a different image content.

[0054] This manual provides a UAV landing device, including:

[0055] A target determination module is used to determine the target take-off and landing point corresponding to the task assigned to the UAV based on the task information;

[0056] An environment determination module is used to determine the environment information of the target take-off and landing point, wherein the environment information includes a beacon code corresponding to the target take-off and landing point and beacon codes of each take-off and landing point surrounding the target take-off and landing point in the drone airport to which the target take-off and landing point belongs;

[0057] an identification module, configured to perform target object identification on the collected ground image, and determine the position of the beacon code of the target take-off and landing point in the ground image as the position of the target take-off and landing point in the ground image;

[0058] The landing module is used to control the UAV to land at the target take-off and landing point according to the position of the target take-off and landing point.

[0059] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned drone beacon code allocation method or drone landing method.

[0060] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for allocating drone beacon codes or the method for landing a drone is implemented.

[0061] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0062] In the method for allocating drone beacon codes provided in this specification, the target layout of the drone airport containing several take-off and landing points is determined based on the airport shape and airport size of the drone airport and the standard shape and standard size of the take-off and landing points, and then the take-off and landing point where the initial beacon code is placed is determined from the take-off and landing points included in the target layout, as the initial take-off and landing point, and with the initial take-off and landing point as the starting point, according to the preset search algorithm, with the minimum similarity between the beacon code of any take-off and landing point and the beacon code of other take-off and landing points within its specified neighborhood as the constraint, the beacon code allocated to each take-off and landing point is determined from a preset beacon code set containing beacon codes with different image content.

[0063] It can be seen from the above method that this method does not require manual determination of the positions and corresponding relationships of each take-off and landing point and each beacon code within the airport range, thereby improving the allocation efficiency of drone beacon codes. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The exemplary embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification. In the drawings:

[0065] Figure 1 A flowchart of a method for allocating drone beacon codes according to an embodiment of this specification;

[0066] Figure 2 A schematic diagram of the expansion area for determining the starting point provided in this manual;

[0067] Figure 3 A schematic diagram for determining the layout of take-off and landing points provided for this manual;

[0068] Figure 4 A schematic diagram for determining the layout of take-off and landing points provided for this manual;

[0069] Figure 5 A flowchart of the drone landing method provided in this manual;

[0070] Figure 6 Schematic diagram of the distribution device for drone beacon codes provided in this manual;

[0071] Figure 7 Schematic diagram of the device for landing the drone provided for this manual;

[0072] Figure 8 The corresponding Figure 1 or Figure 5 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0073] To make the objectives, technical solutions, and advantages of this specification more clear, the following will clearly and completely describe the technical solutions of this specification in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this specification.

[0074] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0075] Figure 1 A flowchart of a method for allocating drone beacon codes provided in an embodiment of this specification.

[0076] S100: Determine a target layout of the drone airport according to the airport shape and airport size of the drone airport and the standard shape and standard size of preset take-off and landing points, wherein the target layout includes a plurality of take-off and landing points.

[0077] Different from the prior art of manually setting the layout of beacons in drone airports, which is time-consuming and labor-intensive, this specification provides a method for allocating drone beacon codes executed by a server, so that beacon codes can be allocated to each take-off and landing point in a drone airport based on the airport shape and airport size of the drone airport, as well as the standard shape and standard size of the preset take-off and landing points.

[0078] Based on this, the server can determine the target layout of the drone airport according to the airport shape and airport size of the drone airport, as well as the standard shape and standard size of the preset take-off and landing points.

[0079] In one or more embodiments provided in this specification, the method for allocating drone beacon codes is applied to a scenario where beacon codes need to be allocated to each take-off and landing point in a drone airport, and is executed by a server of a service provider.

[0080] Specifically, the airport layout and airport size of the drone airport may be pre-stored in the server, and the server may determine the airport layout and airport size of the drone airport.

[0081] The server can then determine the target layout of each take-off and landing point in the drone airport based on the preset standard shape and standard size of the take-off and landing points.

[0082] Among them, the target layout can be that the server randomly places several take-off and landing points in the drone airport according to the preset standard shape and standard size of the take-off and landing points, as well as the airport layout and airport size of the drone airport, and determines the target layout based on the take-off and landing points placed in the drone airport.

[0083] Furthermore, in order to ensure the efficiency of drones in performing delivery tasks at the drone airport, the server can determine the take-off and landing point layout of the drone airport multiple times, and based on the number of take-off and landing points included in each take-off and landing point layout, determine the take-off and landing point layout with the largest number of take-off and landing points from each take-off and landing point layout as the target layout of take-off and landing points in the drone airport.

[0084] Furthermore, when determining the take-off and landing point layout, if only the take-off and landing points are randomly placed within the drone airport, the number of take-off and landing points included in the take-off and landing point layout will be small, resulting in a smaller number of take-off and landing points in the determined target layout. However, if a random take-off and landing point is determined within the drone airport as the starting point, and other take-off and landing points are determined around this starting point, the number of take-off and landing points determined in the take-off and landing point layout may be greater.

[0085] Therefore, in order to ensure the take-off and landing efficiency of the drone airport, the server can randomly determine the take-off and landing point from the drone as the starting point.

[0086] Then, the server may determine other take-off and landing points around the take-off and landing point based on the take-off and landing point, and then determine the take-off and landing point layout corresponding to the take-off and landing point according to the other determined take-off and landing points.

[0087] S102: Determine a take-off and landing point where an initial beacon code is placed from among the take-off and landing points included in the target layout as an initial take-off and landing point.

[0088] In one or more embodiments provided herein, the method for assigning drone beacon codes is intended to place beacon codes within a drone airport to ensure efficient takeoff and landing at the airport. However, the number of beacon codes is limited, and the number of takeoff and landing points identified in the target layout may exceed the number of beacon codes. During a drone landing, if the drone's image acquisition device has multiple beacon codes within its field of view that are identical to the beacon code at the drone's target landing point, the drone may be unable to land. Therefore, the server can search for each beacon code in the target layout and assign a beacon code to each takeoff and landing point.

[0089] Based on this, the server can determine the initial take-off and landing points from the target layout.

[0090] Specifically, the server may randomly determine any one of the take-off and landing points included in the target layout as the take-off and landing point for placing the initial beacon code, that is, the initial take-off and landing point.

[0091] Furthermore, if the initial take-off and landing point is located at the center of the drone airport, then when the various take-off and landing points in the drone airport are subsequently searched based on the initial take-off and landing point, the search speed and search efficiency are high. Therefore, the server can also determine the take-off and landing point located at the center of the drone airport from the various take-off and landing points according to the position of the target layout as the beacon code for placing the initial beacon code.

[0092] Specifically, the server may first determine the location of each take-off and landing point in the target layout. The location of each take-off and landing point may include the center of each take-off and landing point, the orientation of each take-off and landing point, or the location of each take-off and landing point. Each take-off and landing point has a standard shape and size. Of course, the specific content included in the location of the take-off and landing points in the target layout can be configured as needed.

[0093] The server can then determine the center location of the drone airport based on the airport shape of the drone airport.

[0094] Finally, the server can determine the distance between each take-off and landing point and the center position of the drone airport based on the location of each take-off and landing point, the center position of the drone airport, and the size of the drone airport, and select the take-off and landing point with the shortest distance to the center position of the drone airport as the take-off and landing point located in the center of the drone airport, and use the take-off and landing point located in the center of the drone airport as the initial take-off and landing point.

[0095] Of course, when the server determines the take-off and landing points located at the center of the drone airport, the server can also sort the take-off and landing points according to the distance between each take-off and landing point and the center of the drone airport, and determine the initial take-off and landing point from the take-off and landing points whose distance is less than a preset threshold based on the sorting.

[0096] Furthermore, the purpose of determining the take-off and landing point at the center of the drone airport as the initial take-off and landing point is to ensure efficient search for take-off and landing points. However, if the target layout contains a small number of take-off and landing points, the search efficiency of using the take-off and landing point at the center of the drone airport as the initial take-off and landing point is comparable to the search efficiency of randomly determining any take-off and landing point from the various take-off and landing points included in the target layout. Conversely, determining the take-off and landing point at the center of the drone airport takes a longer time, significantly impacting search efficiency. Therefore, in this specification, the server can also randomly determine any take-off and landing point from the various take-off and landing points included in the target layout as the initial take-off and landing point. Alternatively, step S104 can be omitted and a random take-off and landing point can be directly determined from the various take-off and landing points included in the target layout, with step S104 executed with the take-off and landing point as the center.

[0097] S104: Taking the initial take-off and landing point as the starting point, according to a preset search algorithm, with the minimum similarity between the beacon code of any take-off and landing point and the beacon codes of other take-off and landing points in its designated neighborhood as a constraint, determine the beacon code assigned to each take-off and landing point from a preset beacon code set, wherein the image content of each beacon code in the beacon code set is different.

[0098] In one or more embodiments provided in this specification, when a drone performs visually guided landing, it usually relies on the beacon code of the target take-off and landing point in the collected ground image. If there are other take-off and landing points with the same beacon code as the target take-off and landing point within the field of view of the drone, the drone may randomly select any take-off and landing point from the take-off and landing points corresponding to the beacon code of the target take-off and landing point within the field of view to land, resulting in a landing error, or the drone may be unable to identify the target take-off and landing point, stop descending and report the abnormal situation to the server, posing a safety hazard.

[0099] Based on this, in order to ensure that the drone can smoothly perform take-off and landing operations in the drone airport, when allocating beacon codes to the take-off and landing points, the server can determine the beacon code assigned to each take-off and landing point from the preset beacon code set based on the preset search algorithm, with the minimum similarity between the beacon code of any take-off and landing point and the beacon code of other take-off and landing points in its specified neighborhood as the constraint.

[0100] Specifically, for each searched take-off and landing point, the server may determine other take-off and landing points within a designated neighborhood of the searched take-off and landing point, and determine the beacon codes of each of the other take-off and landing points. The designated neighborhood may be a circular area centered on the searched take-off and landing point and defined by a preset radius. Of course, the designated area may also be a polygon or rectangle centered on the searched take-off and landing point. The specific shape and size of the designated area can be set as needed and are not limited in this specification.

[0101] The server can then determine, for each beacon code in the preset beacon code set, the similarity between the beacon code and the beacon codes of other take-off and landing points within a specified neighborhood of the searched take-off and landing point. The similarity can be the similarity between the image contents corresponding to each beacon code, such as a product.

[0102] Finally, the server may determine the beacon code assigned to the searched take-off and landing point from the beacon code set according to the determined similarities corresponding to the respective beacon codes in the beacon code set.

[0103] According to the above method of assigning beacon codes to each take-off and landing point included in the target layout, the drone airport is determined. When the drone performs a landing operation, the beacon code corresponding to the target landing point has the lowest similarity with the beacon codes corresponding to other take-off and landing points in its designated neighborhood. That is, when the drone performs visually guided landing, there are no other take-off and landing points with the same beacon code as the target take-off and landing point within its field of view, so that the drone can land smoothly in the drone airport.

[0104] Furthermore, in this specification, in order to ensure allocation efficiency, the server can take the initial take-off and landing point as the starting point, and allocate a beacon code to each take-off and landing point found in the search order.

[0105] Specifically, the server may randomly select any beacon code from a preset beacon code set as the beacon code corresponding to the initial take-off and landing point. Of course, the beacon code may also be determined based on the order of the beacon codes in the beacon code set. The specific method for determining the initial take-off and landing point can be configured as needed and is not limited in this specification.

[0106] The server can then use the initial take-off and landing point as a starting point and, using a preset search algorithm, search for take-off and landing points in the target layout. After each take-off and landing point is found, the server determines the beacon codes of each take-off and landing point within the designated neighborhood of the take-off and landing point. Furthermore, for each beacon code in the beacon code set, the server determines the similarity between the beacon code and the beacon codes of each take-off and landing point within the designated neighborhood of the take-off and landing point.

[0107] Finally, the server can select the beacon code with the lowest similarity with the beacon codes of each take-off and landing point in the specified neighborhood of the take-off and landing point from the beacon code set based on the determined similarity corresponding to each beacon code in the beacon code set, as the beacon code assigned to the take-off and landing point.

[0108] Of course, if the similarities of multiple beacon codes are all the lowest, any beacon code can be randomly determined from the multiple beacon codes with the lowest similarity and assigned to the take-off and landing point.

[0109] According to the above-mentioned method of allocating beacon codes to take-off and landing points while searching, beacon codes can be quickly allocated to each take-off and landing point in the target layout, thereby improving the allocation efficiency of each beacon code, allowing the service provider to place the beacon code in the drone airport more quickly based on the allocation results, thereby improving the delivery efficiency.

[0110] Furthermore, the beacon code assignment method provided in this manual is intended to assign a different beacon code to each takeoff and landing point in a drone airport than to the surrounding takeoff and landing points. However, determining the similarity between beacon codes based on the image content corresponding to each beacon code requires significant computational resources and time.

[0111] For each beacon code included in each beacon code set, if the beacon code is different from the beacon codes of all take-off and landing points within the specified neighborhood of the searched take-off and landing point, it can be considered that the similarity between the beacon code and the beacon codes of the take-off and landing points surrounding the take-off and landing point is a specified first value, and the condition for assigning the beacon code to the take-off and landing point is met. If the beacon code is the same as the beacon code of any take-off and landing point within the specified neighborhood of the searched take-off and landing point, it can be considered that the similarity between the beacon code and the beacon codes of the take-off and landing points surrounding the take-off and landing point is a specified second value, and the condition for assigning the beacon code to the take-off and landing point is not met.

[0112] Obviously, the beacon code assigned to the searched take-off and landing point can be determined based on the judgment result of whether the image content of each beacon code is the same, and the requirement for computing resources is lower and the determination time is faster.

[0113] Based on this, in order to ensure the efficiency of allocating beacon codes to take-off and landing points, the server can, when determining the beacon code to be assigned to the searched take-off and landing point, judge, based on the image content of each beacon code, for each beacon code in the beacon code set, whether the image content of the beacon code is the same as the image content of the beacon code of each take-off and landing point within the specified neighborhood of the take-off and landing point.

[0114] If so, it can be determined not to allocate the beacon code to the take-off and landing point.

[0115] If they are different, the beacon code can be assigned to the take-off and landing point.

[0116] Of course, if there are multiple beacon codes in the beacon code set whose similarity with the beacon codes of each take-off and landing point around the take-off and landing point is a first value, the server can select any beacon code from the beacon codes with a similarity of the first value as the beacon code assigned to the take-off and landing point.

[0117] According to the above method of determining the similarity based on the judgment result of whether the image content of each beacon code is the same, and then allocating the beacon code to each take-off and landing point with the minimum similarity as the constraint, when determining the similarity, the requirements for computing resources are lower and the determination time is faster, thereby ensuring the efficiency of beacon code allocation.

[0118] Furthermore, when determining the beacon code assigned to the searched take-off and landing point, it may also happen that the similarity between each beacon code in the beacon code set and the beacon code of each take-off and landing point in the designated neighborhood of the take-off and landing point is 1.

[0119] Taking the beacon code set containing four beacon codes, namely beacon code 1, beacon code 2, beacon code 3 and beacon code 4, as an example, assuming that there are four take-off and landing points, namely take-off and landing points B, take-off and landing points C, take-off and landing points D and take-off and landing points E, in the designated neighborhood of take-off and landing point A, and the beacon code assigned to take-off and landing point B is beacon code 1, the beacon code assigned to take-off and landing point C is beacon code 2, the beacon code assigned to take-off and landing point D is beacon code 3, and the beacon code assigned to take-off and landing point E is beacon code 4, then the similarity between each beacon code in the beacon code set and the beacon codes of the take-off and landing points around take-off and landing point A is the same, and the similarity is all 1.

[0120] Based on this, in order to avoid the situation where it is impossible to determine the beacon code to be assigned to the take-off and landing point when the above situation occurs, resulting in low allocation efficiency, the server can also determine the similarity between each beacon code in the beacon code set and the beacon code of each take-off and landing point in the specified neighborhood of the take-off and landing point based on the distance.

[0121] Specifically, for each take-off and landing point searched, the server may determine the distance between each take-off and landing point within the designated neighborhood of the take-off and landing point and the take-off and landing point, as the distance between each beacon code corresponding to each take-off and landing point within the designated neighborhood of the take-off and landing point and the take-off and landing point.

[0122] Then, for each beacon code, the server may determine, based on the distance between the beacon code and the take-off and landing point, the similarity between the beacon code and the beacon codes of each take-off and landing point in a designated neighborhood of the take-off and landing point, wherein the similarity is inversely proportional to the distance.

[0123] According to the above-mentioned method of determining similarity based on distance, when the similarities between each beacon code in the beacon code set and the beacon codes of each take-off and landing point around the searched take-off and landing point are the same, that is, when any beacon code in the beacon code set has been assigned to other take-off and landing points within the specified neighborhood of the take-off and landing point, a beacon code can still be assigned to the take-off and landing point based on the distance between each beacon code and the take-off and landing point, thereby ensuring search efficiency.

[0124] It should be noted that the above search algorithm can be a depth-first search algorithm, a breadth-first search algorithm, or other search algorithms. The specific type of search algorithm and the method of use can be set as needed, and this manual does not limit this.

[0125] based on Figure 1The illustrated method for assigning drone beacon codes determines a target layout of a drone airport containing several take-off and landing points based on the airport shape and dimensions and the standard shapes and dimensions of the take-off and landing points. From each take-off and landing point included in the target layout, a take-off and landing point where an initial beacon code is placed is determined as the initial take-off and landing point. Using this initial take-off and landing point as the starting point, a pre-set search algorithm is used to determine the assigned beacon code for each take-off and landing point from a pre-set beacon code set containing beacon codes with different image content, using the constraint that the beacon code of any take-off and landing point must have a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood. This method eliminates the need for manual determination of the locations and corresponding relationships between each take-off and landing point and beacon code within the airport area, thereby improving the efficiency of drone beacon code assignment.

[0126] Furthermore, to ensure server efficiency, the server executing this drone beacon code allocation method typically performs other tasks while simultaneously allocating beacon codes to take-off and landing points at drone airports. This simultaneous search and allocation of beacon codes to found take-off and landing points requires significant computing resources. Consequently, executing this drone beacon code allocation method may require significant computing resources, while the server's currently available computing resources may be insufficient to support the execution of this method, causing the server to become overloaded and crash.

[0127] Based on this, the server can divide the step of assigning beacon codes to the searched take-off and landing points into two stages: searching the take-off and landing points within the airport, determining a search order for each take-off and landing point, and then, based on the determined search order, determining, for each searched take-off and landing point, a beacon code from a set of beacon codes to assign to the take-off and landing point, subject to a constraint that the beacon code of the take-off and landing point has a minimum similarity with other beacon codes within a designated neighborhood of the take-off and landing point. Determining the search order can be performed at different times, and assigning beacon codes based on the search order can be performed at different times.

[0128] Specifically, the search algorithm may be a depth search algorithm, and the server may determine whether there are any take-off and landing points adjacent to the initial take-off and landing point along the normal direction of any boundary around the initial take-off and landing point, with the initial take-off and landing point as the center.

[0129] If so, the server may use the determined take-off and landing point adjacent to the initial take-off and landing point as the re-determined initial take-off and landing point, and continue to determine the take-off and landing points adjacent to the initial take-off and landing point with the re-determined initial take-off and landing point as the center.

[0130] If it does not exist, the server may continue to determine the take-off and landing points adjacent to the initial take-off and landing point along the normal direction of other boundaries of the initial take-off and landing point except the boundary until the initial take-off and landing point cannot be determined.

[0131] Then, the server may determine a search order for each take-off and landing point according to the order in which each take-off and landing point is determined as the initial take-off and landing point.

[0132] Finally, after determining the search order, the server can determine its current load situation, and when it is determined that the current computing resources are sufficient based on the load situation, according to the search order, for each take-off and landing point searched, the server determines the beacon code assigned to the take-off and landing point from the preset beacon code set, with the beacon code of the take-off and landing point and the beacon code of the take-off and landing point having the minimum similarity with other beacon codes in the specified neighborhood of the take-off and landing point as a constraint.

[0133] The content of allocating beacon codes to take-off and landing points based on similarity as a constraint may be the same as that in the above-mentioned step S104, and will not be described in detail in this specification.

[0134] Furthermore, during the aforementioned stages of determining the search order and assigning beacon codes to take-off and landing points based on the search order, the server may store the corresponding data and, upon detecting sufficient computing resources, execute the steps of the respective stages based on the stored data. The periods of time during which the stage of determining the search order and the stage of assigning beacon codes to take-off and landing points based on the search order are performed may be adjacent or different.

[0135] Of course, if no adjacent take-off and landing points can be determined based on the initial take-off and landing point, the server can also use the designated area corresponding to the initial take-off and landing point as a new initial take-off and landing point, and continue searching for each take-off and landing point in the target layout based on the new initial take-off and landing point, until all take-off and landing points in the target layout are determined as initial take-off and landing points.

[0136] The designated area is the initial take-off and landing point corresponding to the initial take-off and landing point when the initial take-off and landing point is used as the determined take-off and landing point adjacent to the initial take-off and landing point. For example, with initial take-off and landing point A as the center, take-off and landing point B adjacent to initial take-off and landing point A can be determined. When take-off and landing point B is used as the re-determined initial take-off and landing point, if no take-off and landing points adjacent to initial take-off and landing point B can be determined, the server may use take-off and landing point A as the re-determined initial take-off and landing point and continue to determine other take-off and landing points adjacent to initial take-off and landing point A, excluding take-off and landing point B, until no take-off and landing points can be determined based on initial take-off and landing point A.

[0137] According to the above method of first determining the search order and then allocating beacon codes to the take-off and landing points according to the search order, when the computing resources of the server are insufficient, the search order can be determined first, and then the beacon codes can be allocated to the take-off and landing points according to the search order, thereby avoiding the situation where the server crashes due to operating pressure. Moreover, when the computing resources are sufficient, the beacon codes can be allocated to the take-off and landing points according to the search order, thereby ensuring the allocation efficiency of the take-off and landing points.

[0138] It should be noted that the image contents of the above-mentioned beacon codes are different, and the image contents of the beacon codes allocated to adjacent take-off and landing points are different.

[0139] Furthermore, if the number of beacon codes in the beacon code set is no greater than the number of take-off and landing points in the target layout, a different beacon code can be assigned to each take-off and landing point simply based on the search order of each take-off and landing point and the order of their beacon codes. However, if the number of take-off and landing points in the target layout is greater than the number of beacon codes in the beacon code set, a different beacon code can be assigned to each take-off and landing point based on the search order of the take-off and landing points and the order of their beacon codes. Then, based on the constraint of minimum similarity between the beacon code of any one take-off and landing point and the beacon codes of other take-off and landing points within its designated neighborhood, the beacon codes assigned to the remaining take-off and landing points that have not yet been assigned a beacon code can be determined from the pre-set beacon code set, further reducing the required computing resources.

[0140] Specifically, when all beacon codes in the beacon code set have been allocated to each take-off and landing point, the server may determine whether there is a take-off and landing point in the target layout to which no beacon code is allocated.

[0141] If so, for each take-off and landing point that has not been assigned a beacon code, the server can determine the distance between each take-off and landing point that has been assigned a beacon code and the take-off and landing point, and use this as the distance between the beacon code corresponding to each take-off and landing point that has been assigned a beacon code and the take-off and landing point. Based on the distance between each beacon code and the take-off and landing point, the server can assign a beacon code to the take-off and landing point.

[0142] The step of assigning a beacon code to a take-off and landing point based on the distance between each beacon code and the take-off and landing point may include determining, for each beacon code, a minimum distance between the beacon code and the take-off and landing point. This minimum distance is the smallest distance between each of the take-off and landing points corresponding to the beacon code and the take-off and landing point. For example, assuming that the beacon codes correspond to take-off and landing points A and B, and a beacon code is currently to be assigned to take-off and landing point C, the distance between points A and C is 7 meters, and the distance between points B and C is 9 meters. Therefore, the minimum distance between the beacon code and take-off and landing point C is 7 meters.

[0143] After determining the minimum distance between each beacon code and the take-off and landing point, the server can sort the beacon codes based on this minimum distance and select the beacon code with the greatest distance from the take-off and landing point as the beacon code assigned to that take-off and landing point. Alternatively, the server can determine a distance threshold based on the drone's field of view during landing operations. Based on this distance threshold, the server determines the beacon code assigned to the take-off and landing point from among the take-off and landing points whose minimum distance from the take-off and landing point is at least the distance threshold.

[0144] If not, the server can determine that each take-off and landing point in the drone airport has been assigned a beacon code, and then in the drone airport, the drone can perform take-off and landing operations based on each take-off and landing point and its beacon code.

[0145] According to the above, beacon codes are first assigned to landing points according to the search order and beacon code order. Then, if all beacon codes are assigned but some landing points still have not been assigned a beacon code, a beacon code is assigned to the landing point without a beacon code, based on the constraint that the beacon code of the landing point has the lowest similarity with the beacon codes of other landing points around it. This can further reduce the computing resources required to assign beacon codes to landing points, thereby reducing the risk of server downtime due to excessive pressure when performing the beacon code assignment service.

[0146] Of course, the above step of assigning a beacon code to each take-off and landing point that has not been assigned a beacon code can refer to the description in the above step S104. According to the search order, for each take-off and landing point that has not been assigned a beacon code, the beacon code assigned to the take-off and landing point is determined from the beacon code set, with the constraint that the beacon code of the take-off and landing point has the lowest similarity with the beacon codes of other take-off and landing points in the specified neighborhood of the take-off and landing point, until all take-off and landing points in the target layout are assigned a beacon code.

[0147] In addition, because the existing technology does not take into account the impact of different beacon codes on the precise landing of drones, the service provider usually sets a beacon code for only one take-off and landing point at a target landing point to ensure that the drone can land accurately according to the beacon code of the take-off and landing point. As a result, when performing precise landing at the same target landing point, only one drone can land at a time, which makes the delivery efficiency of drones and the space utilization of the target landing point low. However, by adopting the drone beacon code allocation method provided in this manual, a drone airport containing multiple take-off and landing points can be generated for one target landing point, that is, the drone can

[0148] Furthermore, to ensure the drone's search efficiency, the search algorithm can also be a breadth-limited search algorithm. That is, with the initial take-off and landing point as the center, the algorithm searches for take-off and landing points adjacent to the initial take-off and landing point along the normal direction of each boundary of the initial take-off and landing point, which are used as the first take-off and landing point. Starting from each first take-off and landing point, the algorithm continues along the normal direction of all boundaries of the first take-off and landing point, excluding the boundary adjacent to the initial take-off and landing point, to search for take-off and landing points adjacent to each first take-off and landing point that have not yet been searched, which are used as the second take-off and landing points. Starting from each second take-off and landing point, the algorithm continues to search for a third take-off and landing point, and so on, until all take-off and landing points in the target layout have been searched. Of course, the search algorithm can also be other algorithms. The specific search algorithm type and usage method can be set as needed and are not limited in this specification.

[0149] Airports with dense take-off and landing operations improve the delivery efficiency of drones and the space utilization of target landing points.

[0150] In addition, since the take-off and landing points have standard shapes and sizes, and in order to ensure the safety of drones when landing, there is usually a distance between each take-off and landing point. According to the shape of the take-off and landing points and the preset distance, the number of take-off and landing points included in the determined take-off and landing point layout is generally large. Therefore, the server can determine the expansion area corresponding to the starting point based on the location of the starting point, the range of the drone airport, the standard shape, standard size and the preset distance. Figure 2 shown.

[0151] Figure 2 This is a schematic diagram of the extended area of ​​a starting point as provided in this manual. In the figure, the circle represents the drone airport, rectangle A represents the starting point, d and h represent the length and width determined by the standard size and shape of the take-off and landing point, respectively, and l represents the preset spacing. Based on the scope, standard shape, dimensioned dimensions, preset spacing, and location of the drone airport, the extended area of ​​the starting point can be determined by expanding outward from the starting point. Rectangle B represents the extended area of ​​the starting point, and the overlap between the extended area and the drone airport is considered the extended area of ​​the starting point. That is, the shaded area in the figure represents the extended area of ​​the starting point.

[0152] After determining the starting point, the server can determine the take-off and landing points that are spaced apart from the starting point by a preset distance along any normal direction of the starting point within the extended area corresponding to the starting point. The determined take-off and landing points that are spaced apart from the starting point by a preset distance have the same orientation as the starting point, but the line connecting the center point of the determined take-off and landing points and the center point of the starting point may not coincide with the normal direction of any boundary of the starting point. That is, the normal direction of any boundary of the starting point is any direction perpendicular to any boundary of the starting point that intersects with the boundary of the starting point. Figure 2 Taking rectangle A in as an example, if the normal direction of the right boundary of rectangle A is the extension line of the upper boundary and the extension line of the lower boundary of rectangle A, both are the normal directions of the right boundary of the starting point A.

[0153] It should be noted that the above-mentioned take-off and landing points that are separated from the starting point by a preset distance are not only separated from the starting point by a preset distance, but are also separated from the determined take-off and landing points by a preset distance or at least separated by a preset distance, so as to ensure the safety of the drone when performing take-off and landing operations in the drone airport.

[0154] After determining the take-off and landing points that are spaced apart from the starting point by a preset distance, the server may use the determined take-off and landing points that are spaced apart from the starting point by a preset distance as a new starting point, and determine an extended area of ​​the starting point. In the re-determined extended area, excluding the area that has been determined as the take-off and landing point, other take-off and landing points may be determined in other areas of the re-determined extended area until no take-off and landing points can be determined. The server may then determine a take-off and landing point layout based on the determined take-off and landing points. Figure 3 shown.

[0155] Figure 3 This is a schematic diagram of determining the layout of take-off and landing points provided in this specification. In the figure, rectangle A is the starting point, rectangle 1 surrounding rectangle A is the extended area of ​​starting point A, and the shaded portion of the extended area of ​​starting point A is the extended area of ​​starting point A. Along any normal direction of starting point A, take-off and landing point B can be determined in the extended area of ​​starting point A as the re-determined starting point, and based on starting point B, the extended area of ​​starting point B, i.e., rectangle 2, is determined. The gray portion in rectangle 2 is the extended area of ​​rectangle 2, and within the extended area of ​​starting point B, take-off and landing point C can be determined as the re-determined starting point. However, if no take-off and landing points adjacent to starting point C can be determined within the extended area determined by take-off and landing point C, the server can use the designated position of starting point C as the re-determined starting point. Among them, the designated position corresponding to starting point C is determined as the previous starting point of starting point C according to the order in which each starting point is determined, i.e., starting point B.

[0156] The server can then determine the take-off and landing point D based on the starting point B, along the normal direction of any boundary of the starting point B, in other areas within the extended area corresponding to the starting point, except for the areas that have been determined as the take-off and landing points. The server can then use the take-off and landing point D as the starting point.

[0157] Furthermore, since multiple take-off and landing point layouts need to be determined in step S100, after determining the take-off and landing point layout, the server may determine whether the number of already generated take-off and landing point layouts is less than a preset threshold. If so, the server may randomly re-determine take-off and landing points within the drone airport and continue determining the take-off and landing point layout until the number of determined take-off and landing point layouts reaches the preset threshold. If not, the server may determine not to continue determining the take-off and landing point layout. Taking the preset threshold of 100 as an example, if after determining the take-off and landing point layout, the number of already generated take-off and landing point layouts is 98, the server may determine that the number of already generated take-off and landing point layouts is less than a preset distance threshold, and further determination of the take-off and landing point layout is required. If after determining the take-off and landing point layout, the number of already generated take-off and landing point layouts is 100, the server may determine that the number of already generated take-off and landing point layouts is not less than the preset distance threshold, and no new take-off and landing point layout determination is required. The server may then determine the number of take-off and landing points included in each take-off and landing point layout, thereby determining the target layout. Of course, the number of the take-off and landing point layout can be set as needed, and this manual does not impose any restrictions on this.

[0158] In addition, it may be possible that the take-off and landing points cannot be determined along the normal direction of any boundary of the starting point, but the take-off and landing points can still be determined along the normal directions of other boundaries of the starting point except the boundary. Therefore, when the take-off and landing points cannot be determined within the extended area along the normal direction of any boundary of the starting point, the server may continue to determine the take-off and landing points along the normal directions of other boundaries of the starting point except the boundary until the take-off and landing points cannot be determined based on the starting point.

[0159] Furthermore, it is possible that a take-off and landing point located at a predetermined distance from the starting point cannot be determined along the starting point, but the take-off and landing point can still be determined within the drone airport. Therefore, when the take-off and landing point cannot be determined based on the starting point, that is, when the take-off and landing point cannot be determined along any normal direction of any boundary of the starting point, the server can re-determine the designated location of the take-off and landing point as the starting point to continue determining the take-off and landing point until the take-off and landing point cannot be determined within the drone airport.

[0160] The designated position corresponding to the starting point is the previous starting point of the current starting point in the order in which the take-off and landing points are determined as starting points. That is, the previous starting point of the current starting point is used as the designated position of the current starting point.

[0161] In addition, in order to ensure the efficiency of generating the target layout, the server can also determine the take-off and landing point layout according to the area shape, area size, preset spacing, etc. After determining the airport shape and airport size of the drone airport, the center position of the airport is randomly determined in the take-off and landing point layout according to the airport shape and airport size, and the take-off and landing point layout is determined according to the range and size of the drone airport and the various take-off and landing points included in the range of the drone airport. Figure 4 shown.

[0162] Figure 4 This is a schematic diagram of determining a take-off and landing point layout provided in this specification. In the figure, rectangles 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, and 16 represent the take-off and landing points included in the take-off and landing point layout, determined based on standard shapes, standard sizes, and preset spacing. The server can then randomly determine the center position of the drone airport within this take-off and landing point layout. For example, if a circle represents the scope of a drone airport, the take-off and landing points included in the shaded area are the take-off and landing points included in the drone airport. The take-off and landing points included in the drone airport are 2, 5, 6, and 10. The take-off and landing point layout can be determined based on take-off and landing points 2, 5, 6, and 10 and the shaded circle.

[0163] Of course, after determining the take-off and landing point layout, the server may also determine whether the number of generated take-off and landing point layouts is less than a preset threshold. If so, the server may randomly determine take-off and landing points within the drone airport and continue to determine the take-off and landing point layout until the number of determined take-off and landing point layouts reaches the preset threshold. If not, the server may determine not to continue determining the take-off and landing point layout.

[0164] In one or more embodiments provided in this specification, in order to ensure delivery efficiency, the server may determine that the number of take-off and landing points in the drone airport is maximized. Therefore, the server may determine the number of take-off and landing points included in each take-off and landing point layout, and determine the target layout based on each number.

[0165] Specifically, for each take-off and landing point layout, the server may determine the layout of the take-off and landing point.

[0166] Then, the server may sort the layouts of the take-off and landing points according to the determined numbers.

[0167] Finally, the server may select a take-off and landing point layout having the largest number of take-off and landing points based on the ranking as the target layout.

[0168] Of course, if there are multiple take-off and landing point layouts with the largest number of take-off and landing points, the server can randomly determine a take-off and landing point layout from the take-off and landing point layouts with the largest number of take-off and landing points as the target layout of the drone airport.

[0169] In addition, the server may also preset a take-off and landing point threshold. The server may then determine the number of take-off and landing points included in each take-off and landing point layout and select a take-off and landing point layout whose number of take-off and landing points exceeds the preset take-off and landing point threshold as a candidate take-off and landing point layout. The server may then randomly select any candidate take-off and landing point layout from the candidate take-off and landing point layouts as the target layout.

[0170] The specific method for determining the target layout can be set as needed, and this specification does not limit this.

[0171] based on Figure 1 The present specification also provides a method for landing a drone, such as Figure 5 shown.

[0172] Figure 5 The flowchart of the drone landing method provided for this manual includes:

[0173] S200: Determine a target take-off and landing point corresponding to the task assigned to the UAV according to the task information.

[0174] S202: Determine environmental information of the target take-off and landing point, where the environmental information includes a beacon code corresponding to the target take-off and landing point and beacon codes of each take-off and landing point surrounding the target take-off and landing point in the drone airport to which the target take-off and landing point belongs.

[0175] S204: performing target object recognition on the collected ground image, and determining the position of the beacon code of the target take-off and landing point in the ground image as the position of the target take-off and landing point in the ground image.

[0176] S206: Controlling the UAV to land at the target take-off and landing point according to the position of the target take-off and landing point.

[0177] Typically, in the drone delivery field, a drone controls its own landing at the target takeoff and landing point based on its own location and the location of the target takeoff and landing point. Then, at the target takeoff and landing point, steps such as battery replacement, placement of the delivery item, and loading of the delivery item are performed. The drone landing method provided in this specification is also applicable to scenarios where a drone lands at a target takeoff and landing point. Based on this, the drone can first determine the target takeoff and landing point.

[0178] In one or more embodiments provided herein, the drone landing method provided herein may be executed by a drone. Alternatively, a service provider's server may determine the location of a target take-off and landing point based on image data collected by the drone, and determine the drone's motion strategy based on the location of the target take-off and landing point and the drone's location, thereby controlling the drone to land. For ease of description, the following description will use the drone executing the drone landing method as an example.

[0179] Specifically, the drone can determine the delivery mission it is currently performing. It can then determine the corresponding target take-off and landing point based on the execution phase of the delivery mission. For example, during the pickup phase, the drone can determine the current target take-off and landing point as the pickup location. During the delivery phase, the drone can determine the current target take-off and landing point as the delivery location. The delivery missions in this manual are tasks assigned to drones by service providers, which can include not only express delivery, food delivery, and other tasks, but also scheduling tasks. The task types included in specific delivery missions can be set as needed, and this manual does not impose any restrictions on this.

[0180] Of course, the target take-off and landing point can also be pre-stored in the drone. When the drone determines that it needs to land, it obtains its own pre-stored target take-off and landing point and controls itself to descend to the target take-off and landing point.

[0181] After determining the target take-off and landing point, the drone can determine the environmental information of the target take-off and landing point, which includes the beacon code corresponding to the target take-off and landing point and the beacon codes of each take-off and landing point around the target take-off and landing point in the drone airport to which the target take-off and landing point belongs.

[0182] The drone can then identify the target object in the collected ground image and determine the position of the beacon code of the target take-off and landing point in the ground image as the position of the target take-off and landing point in the ground image, and then control the drone to land at the target take-off and landing point based on the position of the target take-off and landing point.

[0183] Furthermore, because the prior art doesn't consider the impact of different beacon codes on drone landing accuracy, it typically uses a single target landing point. The service provider only sets a beacon code for one take-off and landing point to ensure the drone can land accurately based on the beacon code at that take-off and landing point. To accurately land a drone, the drone must capture ground imagery, identify objects within the imagery, and determine the location of the target within the image. However, the prior art's single take-off and landing point designation can lead to errors or even failure to identify the take-off and landing point. The drone beacon code allocation method provided in this specification, however, allows for the generation of a drone airport containing multiple take-off and landing points for a single target landing point. When a drone identifies a drone airport in an image, since it contains multiple take-off and landing points, the drone airport occupies a larger area within the image. This improves recognition efficiency and success rate, thereby enhancing drone delivery efficiency.

[0184] The above is a method for allocating drone beacon codes and a method for landing drones provided in one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding drone beacon code allocation device and drone landing device, such as Figure 6 and Figure 7 shown.

[0185] Figure 6 The schematic diagram of the distribution device of the drone beacon code provided for this manual includes:

[0186] The first determination module 300 is used to determine the target layout of the drone airport according to the airport shape and airport size of the drone airport and the standard shape and standard size of the preset take-off and landing points, and the target layout includes a plurality of take-off and landing points.

[0187] The second determining module 302 is configured to determine, from among the take-off and landing points included in the target layout, a take-off and landing point where an initial beacon code is placed as the initial take-off and landing point.

[0188] The allocation module 304 is configured to determine, using the initial take-off and landing point as a starting point, a beacon code assigned to each take-off and landing point from a preset beacon code set according to a preset search algorithm, subject to a constraint that the beacon code of any take-off and landing point has a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood, wherein each beacon code in the beacon code set has different image content.

[0189] Optionally, the first determination module 300 is used to determine the layout of multiple take-off and landing points of the drone airport based on the airport shape and airport size of the drone airport, and the standard shape and standard size of the preset take-off and landing points, and determine the target layout of each take-off and landing point in the drone airport based on the number of take-off and landing points included in each take-off and landing point layout.

[0190] Optionally, the first determination module 300 is used to randomly determine a take-off and landing point within the range of the drone airport according to the airport shape and airport size of the drone airport, as a starting point, and determine a take-off and landing point with a preset distance from the starting point along the normal direction of any boundary of the starting point within the range of the drone airport according to the preset standard shape and standard size of the take-off and landing point, and use the determined take-off and landing point as the starting point again, and continue to determine other take-off and landing points in other areas of the airport range except the determined take-off and landing points until no take-off and landing points can be determined, determine the take-off and landing point layout, and judge whether the number of the generated take-off and landing point layouts is less than a preset number threshold. If so, randomly determine the take-off and landing point again within the range of the drone airport, and continue to determine the take-off and landing point layout until the number of determined take-off and landing point layouts reaches the number threshold. If not, no further determination of the take-off and landing point layout is continued.

[0191] Optionally, the first determination module 300 is used to determine whether there is an area within the airport range that is separated from the starting point by a preset distance and is not less than the preset distance from other determined take-off and landing points along the normal direction of any boundary of the starting point. If so, the area is determined to be the take-off and landing point and updated as the starting point. The area within the airport range that serves as the take-off and landing point is continued to be determined along the normal direction of any boundary of the updated starting point. If not, the take-off and landing points are continued to be determined along the normal directions of other boundaries of the starting point, and the take-off and landing points are used as the re-determined starting point.

[0192] Optionally, the first determination module 300 is used to determine the previous starting point of the starting point as the designated position in the order of determining each starting point when the take-off and landing point cannot be determined along the normal direction of each boundary of the starting point, and to re-determine the designated position as the starting point to continue determining the take-off and landing point until the take-off and landing point cannot be determined within the scope of the airport.

[0193] Optionally, the second determination module 302 is used to determine the take-off and landing point located at the center of the drone airport from the take-off and landing points included in the target layout according to the positions of each take-off and landing point in the target layout, as the take-off and landing point for placing the initial beacon code.

[0194] Optionally, the second determination module 302 is used to determine the center position of the drone airport based on the airport shape and the airport size, and for each take-off and landing point in the target layout, determine the distance between the take-off and landing point and the center position of the drone airport, sort the take-off and landing points according to the determined distances, and determine the take-off and landing point located at the center of the drone airport from the take-off and landing points based on the sorting.

[0195] Optionally, the allocation module 304 is configured to determine the beacon code corresponding to the initial take-off and landing point from a preset beacon code set, determine any take-off and landing point adjacent to the initial take-off and landing point that has not been assigned a beacon code, and, using as a constraint that the beacon code of the adjacent take-off and landing point has a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood, determine from the beacon code set to assign a beacon code to the adjacent take-off and landing point, re-use the beacon code of the adjacent take-off and landing point as the initial take-off and landing point, and continue to assign beacon codes to the take-off and landing points that have not been assigned a beacon code, until a beacon code is assigned to each take-off and landing point.

[0196] Optionally, the allocation module 304 is configured to search each take-off and landing point in the target layout according to a preset search algorithm, starting from the initial take-off and landing point, determine a search order for traversing the take-off and landing points, and determine, based on the search order, for each searched take-off and landing point, a beacon code to be allocated to the take-off and landing point from a preset beacon code set, with the beacon code of the take-off and landing point being constrained to have a minimum similarity with other beacon codes within a specified neighborhood of the take-off and landing point.

[0197] Optionally, the allocation module 304 is configured to allocate beacon codes to each take-off and landing point according to a search order of the take-off and landing points and an order of beacon codes in a preset beacon code set; when all beacon codes in the beacon code set have been allocated to each take-off and landing point, determine whether there are any take-off and landing points in the target layout to which no beacon codes have been allocated; if so, determine, for each take-off and landing point to which no beacon codes have been allocated, a distance between each take-off and landing point to which a beacon code has been allocated and the take-off and landing point; and allocate a beacon code to the take-off and landing point according to the distance between each beacon code and the take-off and landing point.

[0198] Figure 7 The schematic diagram of the drone landing device provided for this manual includes:

[0199] The target determination module 400 is used to determine the target take-off and landing point corresponding to the task assigned to the UAV based on the task information.

[0200] The environment determination module 402 is used to determine the environment information of the target take-off and landing point, where the environment information includes the beacon code corresponding to the target take-off and landing point and the beacon codes of each take-off and landing point around the target take-off and landing point in the drone airport to which the target take-off and landing point belongs.

[0201] The recognition module 406 is used to perform target object recognition on the collected ground image, and determine the position of the beacon code of the target take-off and landing point in the ground image as the position of the target take-off and landing point in the ground image.

[0202] The landing module 408 is used to control the UAV to land at the target take-off and landing point according to the position of the target take-off and landing point.

[0203] This specification also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 1 The method for allocating drone beacon codes and Figure 4 Any of the provided drone landing methods.

[0204] This manual also provides Figure 8 The schematic structure diagram of the electronic device shown in FIG. Figure 8 As mentioned above, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 The method for allocating drone beacon codes and Figure 5 Any of the provided drone landing methods. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0205] In the 1990s, technological improvements could be clearly distinguished as either hardware improvements (for example, improvements to circuit structures like diodes, transistors, and switches) or software improvements (improvements to process flows). However, with the advancement of technology, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. Therefore, it cannot be said that a process flow improvement cannot be implemented using hardware modules. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD through their own programming, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0206] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0207] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0208] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0209] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0210] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0211] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0212] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0213] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0214] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0215] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0216] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0217] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Thus, this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0218] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0219] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0220] The foregoing is merely an example of the present invention and is not intended to limit the present invention. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for allocating drone beacon codes, characterized in that: include: Determining a target layout of the drone airport based on the airport shape and airport size of the drone airport and the standard shape and standard size of the preset take-off and landing points, wherein the target layout includes a plurality of take-off and landing points; Determining, from among the take-off and landing points included in the target layout, a take-off and landing point where an initial beacon code is placed as the initial take-off and landing point; Starting from the initial take-off and landing point, according to a preset search algorithm, with the beacon code of any take-off and landing point being constrained by the minimum similarity between the beacon code of any take-off and landing point and the beacon codes of other take-off and landing points in its designated neighborhood, a beacon code assigned to each take-off and landing point is determined from a preset beacon code set, wherein each beacon code in the beacon code set has different image content; The process of determining the beacon code assigned to each take-off and landing point from a preset beacon code set is performed using the initial take-off and landing point as a starting point and a preset search algorithm, with the beacon code of any take-off and landing point having the minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood as a constraint. Specifically, the process includes: Determining the beacon code corresponding to the initial take-off and landing point from a preset beacon code set; Determine any take-off and landing point adjacent to the initial take-off and landing point that is not assigned a beacon code; Determining, from the beacon code set, to assign a beacon code to the adjacent take-off and landing point, based on a constraint that the beacon code of the adjacent take-off and landing point has a minimum similarity with the beacon codes of other take-off and landing points within its designated neighborhood; The beacon codes of the adjacent take-off and landing points are re-used as the initial take-off and landing points, and beacon codes are continuously allocated to the take-off and landing points that have not been allocated beacon codes until a beacon code is allocated to each take-off and landing point.

2. The method according to claim 1, wherein According to the airport shape and airport size of the drone airport, as well as the standard shape and standard size of the preset take-off and landing points, the target layout of the drone airport is determined, specifically including: Determining a layout of multiple take-off and landing points of the drone airport based on the airport shape and airport size of the drone airport and the standard shape and standard size of the preset take-off and landing points; According to the number of take-off and landing points included in each take-off and landing point layout, the target layout of each take-off and landing point in the drone airport is determined.

3. The method according to claim 2, wherein According to the airport shape and airport size of the drone airport, as well as the preset standard shape and standard size of the take-off and landing points, the layout of multiple take-off and landing points of the drone airport is determined, specifically including: According to the airport shape and airport size of the drone airport, a take-off and landing point is randomly determined within the scope of the drone airport as the starting point; According to the preset standard shape and standard size of the take-off and landing points, along the normal direction of any boundary of the starting point, within the range of the drone airport, a take-off and landing point separated from the starting point by a preset distance is determined, and the determined take-off and landing point is used as the starting point again. Other take-off and landing points are continuously determined in other areas of the airport range except for the determined take-off and landing point until no take-off and landing points can be determined, thereby determining the take-off and landing point layout; Determining whether the number of generated take-off and landing point layouts is less than a preset number threshold; If yes, randomly determine the take-off and landing points again within the range of the drone airport, and continue to determine the take-off and landing point layout until the number of determined take-off and landing point layouts reaches the threshold number; If not, do not proceed with determining the take-off and landing point layout.

4. The method according to claim 3, wherein According to the preset standard shape and standard size of the take-off and landing points, along the normal direction of any boundary of the starting point, within the range of the drone airport, a take-off and landing point separated from the starting point by a preset distance is determined, and the determined take-off and landing point is used as the starting point again. Other take-off and landing points are further determined in other areas of the airport range except for the determined take-off and landing points, specifically including: Determine, along the normal direction of any boundary of the starting point, whether there is an area within the airport range that is separated from the starting point by a preset distance and is at least the preset distance from other determined take-off and landing points; If so, determine the area as a take-off and landing point and update it as the starting point, and continue to determine the area within the airport as the take-off and landing point along the normal direction of any boundary of the updated starting point; If not, continue to determine the take-off and landing points along the normal direction of other boundaries of the starting point, and use the take-off and landing points as the re-determined starting points.

5. The method according to claim 4, wherein The method further comprises: When the take-off and landing points cannot be determined along the normal directions of the boundaries of the starting point, the previous starting point of the starting point is determined as the designated position according to the order in which the starting points are determined; The designated location is re-determined as the starting point to continue determining the take-off and landing points until no take-off and landing points can be determined within the airport range.

6. The method according to claim 1, wherein Determining the take-off and landing points for placing the initial beacon code from among the take-off and landing points included in the target layout, specifically comprising: According to the positions of the various take-off and landing points in the target layout, a take-off and landing point located at the center of the drone airport is determined from the various take-off and landing points included in the target layout as the take-off and landing point for placing the initial beacon code.

7. The method according to claim 6, wherein Determine the take-off and landing point located at the center of the drone airport based on the positions of each take-off and landing point in the target layout, specifically including: Determining a center position of the drone airport based on the airport shape and the airport size; For each take-off and landing point in the target layout, determining the distance between the take-off and landing point and the center position of the drone airport; The take-off and landing points are sorted according to the determined distances, and a take-off and landing point located at the center of the drone airport is determined from the take-off and landing points according to the sorting.

8. The method according to claim 1, wherein Starting from the initial take-off and landing point, according to a preset search algorithm, with the constraint that the beacon code of any take-off and landing point has the minimum similarity with the beacon codes of other take-off and landing points in its designated neighborhood, the beacon code assigned to each take-off and landing point is determined from a preset beacon code set, specifically including: Starting from the initial take-off and landing point, searching each take-off and landing point in the target layout according to a preset search algorithm, and determining a search order for traversing each take-off and landing point; According to the search order, for each take-off and landing point searched, the beacon code assigned to the take-off and landing point is determined from a preset beacon code set, with the beacon code of the take-off and landing point having the lowest similarity with other beacon codes within the designated neighborhood of the take-off and landing point as a constraint.

9. The method according to claim 8, wherein According to the search order, for each searched take-off and landing point, a beacon code assigned to the take-off and landing point is determined from a preset beacon code set, with the beacon code of the take-off and landing point having the lowest similarity with other beacon codes in a designated neighborhood of the take-off and landing point as a constraint, specifically including: Allocating beacon codes to the take-off and landing points according to a search order of the take-off and landing points and an order of the beacon codes in a preset beacon code set; When all beacon codes in the beacon code set have been assigned to each take-off and landing point, determining whether there is a take-off and landing point in the target layout that has not been assigned a beacon code; If so, for each take-off and landing point that has not been assigned a beacon code, determine the distance between each take-off and landing point that has been assigned a beacon code and the take-off and landing point respectively, as the distance between the beacon code corresponding to each take-off and landing point that has been assigned a beacon code and the take-off and landing point, and assign a beacon code to the take-off and landing point based on the distance between each beacon code and the take-off and landing point.

10. A method for landing a drone, characterized in that: include: Determine the target take-off and landing point corresponding to the mission according to the mission information assigned to the UAV; Determining environmental information of the target take-off and landing point, the environmental information including a beacon code corresponding to the target take-off and landing point and beacon codes of each take-off and landing point adjacent to the target take-off and landing point in the drone airport to which the target take-off and landing point belongs, wherein, with the initial take-off and landing point as the starting point, according to a preset search algorithm, the beacon codes of the target take-off and landing point and each take-off and landing point adjacent to the target take-off and landing point in the drone airport to which the target take-off and landing point belongs are determined from a preset beacon code set, such that the beacon code of any take-off and landing point has the lowest similarity with the beacon codes of other take-off and landing points within its specified neighborhood, wherein the image content of each beacon code in the beacon code set is different, and the initial take-off and landing point is located at the center of the drone airport; performing target object recognition on the collected ground image, and determining the position of the beacon code of the target take-off and landing point in the ground image as the position of the target take-off and landing point in the ground image; According to the position of the target take-off and landing point, the UAV is controlled to land at the target take-off and landing point.

11. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 10 is implemented.

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