Methods, devices, equipment and media for determining take-off and landing points

Abstract

This invention provides a method, apparatus, device, and medium for determining takeoff and landing points, relating to the field of automatic control technology. The method includes: before the current takeoff of an autonomous vehicle, acquiring the current position of the autonomous vehicle; based on the current position and information related to the operational route of the previous flight, determining whether the takeoff and landing points of the current flight meet update conditions; determining a target takeoff and landing point based on whether the update conditions are met; and controlling the current flight of the autonomous vehicle to begin operation at the target takeoff and landing point. This improves the accuracy and rationality of takeoff and landing point determination.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and more specifically, to a method, apparatus, equipment, and medium for determining take-off and landing points. Background Technology

[0002] Flight planning is frequently involved in scenarios such as route planning, automatic control, and application of autonomous driving equipment. Reliable planning and execution of flight sorties are one of the important factors to ensure the accuracy and reliability of autonomous driving equipment operations. However, the accuracy and rationality of determining take-off and landing points during the take-off process of current autonomous driving equipment need to be improved. Summary of the Invention

[0003] One of the objectives of this invention includes, for example, providing a method, apparatus, device, and medium for determining take-off and landing points to at least partially improve the accuracy and rationality of take-off and landing point determination.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides a method for determining take-off and landing points, comprising:

[0006] Before the current flight of the autonomous driving equipment takes off, obtain the current position of the autonomous driving equipment;

[0007] Based on the current location and the relevant information of the operation route of the previous flight of the autonomous driving equipment, determine whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions.

[0008] Based on whether the update conditions are met, the target take-off and landing point is determined, and the autonomous driving equipment is controlled to start operation at the target take-off and landing point for the current flight.

[0009] In an optional implementation, determining whether the take-off and landing points of the current autonomous driving equipment meet the update conditions based on the current location and the operational route information of the previous flight of the autonomous driving equipment includes:

[0010] The current position is compared with the previous operation route information of the autonomous driving equipment to determine the difference information between the current position and the take-off and landing point of the previous operation of the autonomous driving equipment.

[0011] Determine whether the difference information reaches a first preset threshold;

[0012] If the first preset threshold is reached, the change information between the current position and the actual landing point of the previous flight of the autonomous driving device is determined;

[0013] Determine whether the change information reaches a second preset threshold;

[0014] If the second preset threshold is reached, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions.

[0015] In an optional implementation, the method further includes:

[0016] If the difference information does not reach the first preset threshold, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update conditions.

[0017] If the change information does not reach the second preset threshold, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update conditions.

[0018] In an optional implementation, the method further includes:

[0019] Record the current location information compared for each current flight, and overwrite the current location information compared for the previous flight with the latest compared current location information. Use the recorded current location information as the comparison object for the current location information of the next flight of the autonomous driving equipment.

[0020] In response to a request to generate a new take-off and landing point or to update the take-off and landing point, update the take-off and landing point and update the recorded information related to the current location.

[0021] In an optional implementation, determining whether the take-off and landing points of the current autonomous driving equipment meet the update conditions based on the current location and the operational route information of the previous flight of the autonomous driving equipment includes:

[0022] If there is information about the current location compared to the previous flight of the autonomous driving equipment, the current location compared to the previous flight of the autonomous driving equipment is used as the take-off and landing point of the previous flight of the autonomous driving equipment. The step of comparing the current location until determining whether the difference information reaches a first preset threshold is performed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions.

[0023] If the current location information compared with the previous flight on the autonomous driving equipment is empty, the steps of determining the change information between the current location and the actual landing point of the previous flight on the autonomous driving equipment and judging whether the change information reaches the second preset threshold are directly executed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions.

[0024] In an optional implementation, when executing a new task, generating a route, or updating a route, if a determination of whether the update conditions are met is triggered, the determination of the target take-off and landing point based on whether the update conditions are met includes:

[0025] If the update conditions are met, the current position of the current flight is determined as the target take-off and landing point of the current flight;

[0026] If the update conditions are not met, determine whether the distance between the take-off and landing point of the previous flight on the autonomous driving equipment and the current position is less than a preset distance; if it is less than the preset distance, determine the take-off and landing point of the previous flight on the autonomous driving equipment as the target take-off and landing point of the current flight; if it is greater than the preset distance or the take-off and landing point of the previous flight on the autonomous driving equipment is empty, determine the current position of the current flight as the target take-off and landing point of the current flight.

[0027] In an optional implementation, if a determination of whether an update condition is met is triggered during takeoff, determining the target takeoff and landing point based on whether the update condition is met includes:

[0028] If the update conditions are met, feedback is provided on whether to update the take-off and landing points. If a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight.

[0029] If the update conditions are not met, the take-off and landing point of the previous flight on the autonomous driving equipment will be determined as the target take-off and landing point of the current flight.

[0030] In an optional implementation, the method further includes:

[0031] If the actual landing point of the previous autonomous vehicle is not obtained during the process of determining the change information between the current position and the actual landing point of the previous autonomous vehicle, the update condition determination is determined to be a failure.

[0032] When executing a new task, generating a route, or updating a route, if a judgment is triggered regarding whether the update conditions are met, the determination of the target take-off and landing point based on whether the update conditions are met includes:

[0033] If the update condition determination fails, the current position of the current flight will be determined as the target take-off and landing point of the current flight.

[0034] When a check is triggered at takeoff to determine whether update conditions are met, the process of determining the target takeoff and landing point based on whether the update conditions are met includes:

[0035] If the update condition determination fails, it is determined whether the distance between the take-off and landing point of the previous flight on the autonomous driving equipment and the current position is less than a preset distance. If it is less than the preset distance, the take-off and landing point of the previous flight on the autonomous driving equipment is determined as the target take-off and landing point of the current flight. If it is greater than the preset distance, interactive information is provided to select whether to update the take-off and landing point. If a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight.

[0036] Secondly, embodiments of the present invention provide a take-off and landing point determination device, comprising:

[0037] The information acquisition module is used to obtain the current position of the autonomous driving equipment before the current flight takes off;

[0038] The information processing module is used to determine whether the take-off and landing point of the current autonomous driving equipment meets the update conditions based on the current location and the relevant information of the operation route of the previous flight of the autonomous driving equipment; based on whether the update conditions are met, the target take-off and landing point is determined, and the current flight of the autonomous driving equipment is controlled to start operation at the target take-off and landing point.

[0039] Thirdly, the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the take-off and landing point determination method described in any of the foregoing embodiments.

[0040] Fourthly, the present invention provides a computer-readable storage medium comprising a computer program, wherein the computer program, when executed, controls the electronic device containing the computer-readable storage medium to perform the take-off and landing point determination method described in any of the foregoing embodiments.

[0041] The beneficial effects of the embodiments of the present invention include, for example, by comparing and analyzing the real-time position (current position) of the autonomous driving device before the current takeoff and the relevant information of the operation route of the previous flight, it can be determined whether the takeoff and landing point of the autonomous driving device meets the update conditions, automatically generate a takeoff and landing point that meets the expectations and carry out the operation, thereby improving the accuracy and rationality of the determination of the takeoff and landing point. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 The diagram illustrates an application scenario provided by an embodiment of the present invention.

[0044] Figure 2 The diagram shows a flowchart of a method for determining take-off and landing points provided by an embodiment of the present invention.

[0045] Figure 3 This diagram illustrates another flowchart of a method for determining take-off and landing points provided by an embodiment of the present invention.

[0046] Figure 4 An exemplary structural block diagram of a take-off and landing point determination device provided in an embodiment of the present invention is shown.

[0047] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 140 - Take-off and landing point determination device; 141 - Information acquisition module; 142 - Information processing module. Detailed Implementation

[0048] Currently, the accuracy and rationality of determining takeoff and landing points during the takeoff of autonomous vehicles need to be improved. For example, when an autonomous vehicle takes off, the position coordinates at the time of takeoff are often used as the takeoff and landing points, or, in subsequent flights of the same mission, the takeoff and landing points of the first takeoff are retained by default as the takeoff and landing points of all subsequent flights.

[0049] Research has revealed that using the takeoff coordinates of autonomous vehicles as the takeoff and landing points can lead to inaccuracies. For example, autonomous vehicles may exhibit descent deviations, which can cause errors in the takeoff and landing points of subsequent flights. Continuous descent deviations can result in significant cumulative deviations. Using the takeoff and landing points of the first flight within the same mission as the takeoff and landing points for all subsequent flights can also lead to inaccurate and unreasonable results. For instance, if the user moves the autonomous vehicle during a mission, this fixed takeoff and landing point setting will cause the next landing to return to the previous point instead of the moved location, contrary to expectations.

[0050] Based on the above research, this invention provides a take-off and landing point determination scheme. By cleverly acquiring and analyzing various information of the autonomous driving equipment, the take-off and landing points of the autonomous driving equipment are automatically generated, thereby improving the accuracy and rationality of take-off and landing point determination during the take-off process of the autonomous driving equipment.

[0051] The shortcomings of the above solutions are the result of the inventors' practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present invention in the following text should be considered as contributions made by the inventors during the invention process.

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0054] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0056] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0057] Please refer to Figure 1 This is a block diagram of an electronic device 100 provided in this embodiment. The electronic device 100 in this embodiment can be a server, processing device, processing platform, etc., capable of data interaction and processing. For example, the electronic device 100 can be, but is not limited to, an autonomous driving device, a server capable of communicating with an autonomous driving device, a terminal device, etc.

[0058] The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0059] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0060] The processor 120 is used to read / write data or programs stored in the memory 110 and to perform corresponding functions.

[0061] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through the network, and to send and receive data through the network.

[0062] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0063] Please refer to the following: Figure 2 This is a flowchart illustrating a method for determining take-off and landing points according to an embodiment of the present invention. It can be derived from... Figure 1 The electronic device 100 performs the operation, for example, by the processor 120 within the electronic device 100. The landing point determination method includes steps S110, S120, and S130.

[0064] S110 obtains the current location of the autonomous driving equipment before the current flight takes off.

[0065] S120, based on the current location and the relevant information of the operation route of the previous flight of the autonomous driving equipment, determine whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions.

[0066] S130, based on whether the update conditions are met, determine the target take-off and landing point, and control the autonomous driving equipment to start operation at the target take-off and landing point for the current flight.

[0067] Based on the current position of the autonomous driving equipment before takeoff and the relevant information of the previous flight's operation route, it is determined whether the takeoff and landing points of the current flight of the autonomous driving equipment meet the update conditions. Thus, it automatically generates takeoff and landing points that meet the expectations and performs operations. This effectively improves the problems of takeoff and landing point errors and discrepancies with expectations caused by descent deviation, moving of autonomous driving equipment, etc. in the existing technology, and improves the accuracy and rationality of takeoff and landing point determination.

[0068] In S110, autonomous driving equipment can be various types of equipment that support automatic driving and flight, such as drones.

[0069] In S120, the operational route information for the previous flight of the autonomous driving equipment can include multiple types of information. For example, it can include at least one of the following: the previous flight ID, the previous flight's actual takeoff point, the previous flight's actual landing point, the previous flight's ideal takeoff and landing point, and the previous flight's route, or any combination of two or more. The flight ID, takeoff and landing point, actual landing point, and route of each flight can be stored in association, so that the corresponding flight and its operational route information can be determined by the flight ID.

[0070] The method for determining whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions can be flexibly configured. For example, it can be determined that the update conditions are met upon detecting a take-off and landing point update command sent by the user. Alternatively, it can be determined based on a set judgment logic.

[0071] The judgment logic can be set according to the actual needs of multiple takeoffs of the autonomous driving equipment. For example, it can be determined whether the autonomous driving equipment has been moved by the user based on the distance between the current position of the autonomous driving equipment and the actual takeoff point, actual landing point, and ideal takeoff and landing point of the previous flight. If it is determined that the autonomous driving equipment has been moved by the user, it is determined that the update conditions are met.

[0072] In one implementation, please refer to [the relevant documentation / reference]. Figure 3 An optional implementation of S120 is provided. For example... Figure 3 As shown, S120 may include S121 to S126.

[0073] S121, compare the current position with the information related to the operation route of the previous flight of the autonomous driving equipment, and determine the difference information between the current position and the take-off and landing point of the previous flight of the autonomous driving equipment.

[0074] S122, determine whether the difference information reaches a first preset threshold. If the first preset threshold is reached, execute S123; if the first preset threshold is not reached, execute S126.

[0075] S123, determine the change information between the current position and the landing point of the previous flight of the autonomous driving equipment.

[0076] S124, determine whether the change information reaches a second preset threshold. If the second preset threshold is reached, execute S125; if the second preset threshold is not reached, execute S126.

[0077] S125, determines that the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions.

[0078] S126, It is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update conditions.

[0079] The first and second preset thresholds can be flexibly set; for example, they can be the same or different. Alternatively, to reduce the chance of being falsely identified as meeting update conditions, the first and second preset thresholds can be set to relatively large values. Or, to better meet users' personalized settings needs, the first and second preset thresholds can be set to relatively small values.

[0080] By comparing the current position of the current flight with the current position (actual takeoff point) of the previous flight, the difference between the two is determined. If the difference is significant (reaching a first preset threshold), the current position of the current flight is further compared with the actual landing point of the previous flight to determine the change. If the change is significant (reaching a second preset threshold), the takeoff and landing points of the current flight of the autonomous driving equipment are determined to meet the update conditions. For example, if it is determined that the autonomous driving equipment has been moved and the user's expected takeoff and landing points have changed, the takeoff and landing points need to be updated to meet user expectations and improve the rationality of autonomous driving equipment operations. If the difference is small (not reaching the first preset threshold) or the change is small (not reaching the second preset threshold), the takeoff and landing points of the current flight of the autonomous driving equipment are determined not to meet the update conditions, thus ensuring the rationality of takeoff and landing point confirmation while improving the accuracy of takeoff and landing point confirmation.

[0081] To further improve the convenience and rationality of takeoff and landing point determination, relevant information about the current location compared for each current flight can be recorded. The latest compared information about the current location is then used to overwrite the information compared for the previous flight, and the recorded information about the current location is used as the comparison object for the next flight's current location information of the autonomous driving equipment. This process continues to update the compared current locations. When a takeoff or landing point meets the update conditions, such as when the autonomous driving equipment is moved, the compared current locations are updated simultaneously. Similarly, when a new takeoff or landing point request is generated or updated, the takeoff and landing points are also updated, and the recorded information about the current location is also updated. This ensures the reliability, accuracy, and rationality of subsequent takeoff and landing point determinations.

[0082] Correspondingly, in another implementation, S120 can be implemented in the following way: if there is information related to the current position compared by the previous flight of the autonomous driving equipment, the current position compared by the previous flight of the autonomous driving equipment is used as the take-off and landing point of the previous flight of the autonomous driving equipment, and S121 to S126 are executed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions.

[0083] If the current location information compared in the previous flight of the autonomous driving equipment is empty, execute S123 to S126 directly to determine whether the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions.

[0084] Considering that obtaining the landing point of the previous flight may fail in some scenarios, correspondingly, in the process of determining the change information between the current position and the actual landing point of the previous flight on the autonomous driving device, the actual landing point of the previous flight on the autonomous driving device may not be obtained. In this case, it can be determined that the update condition determination has failed.

[0085] Based on determining whether the take-off and landing points meet the update conditions using the above method, in S130, the target take-off and landing points can be flexibly determined for different scenarios based on whether the update conditions are met.

[0086] For example, when executing a new task, generating a route, or updating a route, if a judgment is triggered on whether the update conditions are met, the step of determining the target take-off and landing point based on whether the update conditions are met includes: if the update conditions are met, determining the current position of the current flight as the target take-off and landing point of the current flight.

[0087] If the update conditions are not met, determine whether the distance between the take-off and landing point of the previous flight on the autonomous driving equipment and the current position is less than a preset distance; if it is less than the preset distance, determine the take-off and landing point of the previous flight on the autonomous driving equipment as the target take-off and landing point of the current flight; if it is greater than the preset distance or the take-off and landing point of the previous flight on the autonomous driving equipment is empty, determine the current position of the current flight as the target take-off and landing point of the current flight.

[0088] If the update condition determination fails, the current position of the current flight will be determined as the target take-off and landing point for the current flight.

[0089] The preset distance can be flexibly set according to the actual scenario. For example, in scenarios where the environment has a significant impact on the operation of the autonomous driving equipment, the preset distance can be set to a relatively large value. Conversely, in scenarios where the environment has a relatively small impact on the operation of the autonomous driving equipment, the preset distance can be set to a relatively small value. Furthermore, when using positioning modes with different levels of accuracy for location acquisition, each preset threshold and preset distance can be set separately.

[0090] In this embodiment, the take-off and landing point is a collective term for the set ideal take-off point and landing point, also known as the home point. In the actual operation of the autonomous driving equipment, due to various factors, the actual take-off point and landing point may differ from the set ideal take-off and landing point.

[0091] For example, when a judgment is triggered at takeoff to determine whether the update conditions are met, the determination of the target takeoff and landing point based on whether the update conditions are met includes: if the update conditions are met, providing feedback on whether to update the takeoff and landing point; and if a confirmation update instruction is received, determining the current position of the current flight as the target takeoff and landing point of the current flight.

[0092] If the update conditions are not met, the take-off and landing point of the previous flight on the autonomous driving equipment will be determined as the target take-off and landing point of the current flight.

[0093] If the update condition determination fails, it is determined whether the distance between the take-off and landing point of the previous flight on the autonomous driving equipment and the current position is less than a preset distance. If it is less than the preset distance, the take-off and landing point of the previous flight on the autonomous driving equipment is determined as the target take-off and landing point of the current flight. If it is greater than the preset distance, interactive information is provided to select whether to update the take-off and landing point. If a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight.

[0094] To more clearly illustrate the overall implementation process of this embodiment, the following scenario will be used as an example to illustrate the overall implementation of the take-off and landing point determination method.

[0095] In RTK (Real-Time Kinematic) autonomous operation mode, whether the autonomous driving equipment has been moved is used as the basis for determining whether the update conditions are met. The electronic equipment records the current position of the autonomous driving equipment compared in the previous sortie, the sortie ID of the previous sortie, the actual landing point of the previous sortie, and the takeoff and landing points of the previous sortie. If a new current position of the autonomous driving equipment is generated in the current sortie, the information related to the new current position of the autonomous driving equipment is overwritten with the information related to the current position of the autonomous driving equipment compared in the previous sortie, and so on, using the latest compared information to be the basis for comparison in the next sortie. If a new takeoff and landing point is generated or updated, the compared current position is updated synchronously.

[0096] In the event of a new mission, generated flight path, or updated flight path, the take-off and landing point determination scheme is triggered. The following steps are used to determine whether the take-off and landing point of the autonomous driving equipment has been moved (meeting the update conditions):

[0097] The system compares the current position of the autonomous vehicle before takeoff with the position compared to the previous flight. If the difference is greater than or equal to 40cm, the position changes midway, or the position compared to the previous flight is empty, a comparison between the current position and the landing point of the previous flight is triggered. If the difference between the current position and the position compared to the previous flight is less than 40cm, and the position does not change midway, it is determined that there has been no movement (update conditions are not met).

[0098] If the current location differs from the landing point of the previous flight by 40cm or more, it is determined that the flight has been moved (update conditions are met). If the difference is less than 40cm, it is determined that the flight has not been moved (update conditions are not met).

[0099] If obtaining the landing point of the previous flight fails, the move decision is considered to have failed (update condition decision failed).

[0100] If the location has not been moved and the distance between the previous take-off and landing point and the current location is less than 1m, the previous take-off and landing point will be automatically used as the target take-off and landing point for this mission. If the previous take-off and landing point is empty, or the distance between the previous take-off and landing point and the current location is greater than 1m, the current location will be automatically used as the target take-off and landing point.

[0101] If there is any movement, the current location will be automatically used as the target take-off and landing point.

[0102] If the move fails to be determined, the current position will be automatically taken as the target take-off and landing point.

[0103] At takeoff, including situations where a flight path has already been generated and the flight continues, the takeoff and landing point determination scheme is triggered. The following steps are used to determine whether the takeoff and landing point of the autonomous driving equipment has been moved (meeting the update conditions):

[0104] The system compares the current position of the autonomous vehicle before takeoff with the position compared to the previous flight. If the difference is greater than or equal to 40cm, the position changes midway, or the position compared to the previous flight is empty, a comparison between the current position and the landing point of the previous flight is triggered. If the difference between the current position and the position compared to the previous flight is less than 40cm, and the position does not change midway, it is determined that there has been no movement (update conditions are not met).

[0105] If the current location differs from the landing point of the previous flight by 40cm or more, it is determined that the flight has been moved (update conditions are met). If the difference is less than 40cm, it is determined that the flight has not been moved (update conditions are not met).

[0106] If obtaining the landing point of the previous flight fails, the move decision is considered to have failed (update condition decision failed).

[0107] If no movement is made, the take-off and landing points remain unchanged; if the movement judgment fails and the distance between the current take-off and landing points and the current position is less than 1m, the take-off and landing points remain unchanged.

[0108] If the distance between the current take-off and landing point and the current location is greater than 1m, a pop-up window will appear to ask the user for confirmation.

[0109] If the aircraft has been moved, a pop-up window will appear asking whether the take-off and landing points need to be updated. If the take-off and landing points need to be updated, a pop-up window will appear to confirm the location of the take-off and landing points and the inbound and outbound flight paths.

[0110] It is understood that the above are merely illustrative examples, and the implementation methods and parameters can be flexibly selected according to the actual scenario and different modes. For example, based on accuracy considerations in different modes, in GPS (Global Positioning System) mode, at takeoff, if the distance between the current location and the takeoff / landing point exceeds 3 meters, the user is prompted to update the takeoff / landing point. As another example, in VRTK (Virtual Reality Toolkit) mode, at takeoff, if the distance between the current location and the takeoff / landing point exceeds 3 meters, the user is prompted to update the takeoff / landing point. This embodiment does not provide detailed examples of each of these scenarios.

[0111] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of the take-off and landing point determination device is given below. Please refer to... Figure 4 , Figure 4 This is a functional block diagram of a takeoff and landing point determination device 140 provided in an embodiment of the present invention. The takeoff and landing point determination device 140 can be applied to... Figure 1The electronic device 100 is shown. It should be noted that the basic principle and technical effects of the landing point determination device 140 provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The landing point determination device 140 includes an information acquisition module 141 and an information processing module 142.

[0112] The information acquisition module 141 is used to obtain the current position of the autonomous driving equipment before the current flight takes off.

[0113] The information processing module 142 is used to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions based on the current location and the relevant information of the operation route of the previous flight of the autonomous driving equipment; based on whether the update conditions are met, the target take-off and landing point is determined, and the current flight of the autonomous driving equipment is controlled to start operation at the target take-off and landing point.

[0114] Based on the above, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium including a computer program, wherein the computer program, when running, controls the electronic device where the computer-readable storage medium is located to execute the above-described take-off and landing point determination method.

[0115] By employing the above-described scheme in this embodiment of the invention, by comparing the previous takeoff point, the previous landing point, and the current real-time location of the autonomous driving equipment, it is determined whether the takeoff and landing points of the autonomous driving equipment meet the update conditions, such as whether they have been manually moved. This results in takeoff and landing points that meet the user's expectations, or related update guidance, such as guiding the user to update the takeoff and landing point location and the location of the inbound and outbound flight paths. This improves the accuracy and rationality of takeoff and landing point confirmation.

[0116] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0117] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0118] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0119] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining take-off and landing points, characterized in that, include: Before the current flight of the autonomous driving equipment takes off, obtain the current position of the autonomous driving equipment; Based on the current location and the relevant information of the operation route of the previous flight of the autonomous driving equipment, determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions, including: comparing the current location, and based on the current location and the relevant information of the operation route of the previous flight of the autonomous driving equipment, determining the difference information between the current location and the take-off and landing point of the previous flight of the autonomous driving equipment. Determine whether the difference information reaches a first preset threshold; If the first preset threshold is reached, the change information between the current position and the actual landing point of the previous flight of the autonomous driving device is determined; Determine whether the change information reaches a second preset threshold; If the second preset threshold is reached, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment meet the update conditions; Based on whether the update conditions are met, the target take-off and landing point is determined, and the autonomous driving equipment is controlled to start operation at the target take-off and landing point for the current flight.

2. The method for determining take-off and landing points according to claim 1, characterized in that, The method further includes: If the difference information does not reach the first preset threshold, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update conditions. If the change information does not reach the second preset threshold, it is determined that the take-off and landing points of the current flight of the autonomous driving equipment do not meet the update conditions.

3. The method for determining take-off and landing points according to claim 1, characterized in that, The method further includes: Record the current location information compared for each current flight, and overwrite the current location information compared for the previous flight with the latest compared current location information. Use the recorded current location information as the comparison object for the current location information of the next flight of the autonomous driving equipment. In response to a request to generate a new take-off and landing point or to update the take-off and landing point, update the take-off and landing point and update the recorded information related to the current location.

4. The method for determining take-off and landing points according to claim 3, characterized in that, The method further includes: If there is information about the current location compared to the previous flight of the autonomous driving equipment, the current location compared to the previous flight of the autonomous driving equipment is used as the take-off and landing point of the previous flight of the autonomous driving equipment. The step of comparing the current location until determining whether the difference information reaches a first preset threshold is performed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions. If the current location information compared with the previous flight on the autonomous driving equipment is empty, the steps of determining the change information between the current location and the actual landing point of the previous flight on the autonomous driving equipment and judging whether the change information reaches the second preset threshold are directly executed to determine whether the take-off and landing point of the current flight of the autonomous driving equipment meets the update conditions.

5. The method for determining take-off and landing points according to any one of claims 1 to 4, characterized in that, When executing a new task, generating a route, or updating a route, if a judgment is triggered regarding whether the update conditions are met, the determination of the target take-off and landing point based on whether the update conditions are met includes: If the update conditions are met, the current position of the current flight is determined as the target take-off and landing point of the current flight; If the update conditions are not met, determine whether the distance between the take-off and landing point of the previous flight on the autonomous driving equipment and the current position is less than a preset distance; if it is less than the preset distance, determine the take-off and landing point of the previous flight on the autonomous driving equipment as the target take-off and landing point of the current flight; if it is greater than the preset distance or the take-off and landing point of the previous flight on the autonomous driving equipment is empty, determine the current position of the current flight as the target take-off and landing point of the current flight.

6. The method for determining take-off and landing points according to any one of claims 1 to 4, characterized in that, When a check is triggered at takeoff to determine whether update conditions are met, the process of determining the target takeoff and landing point based on whether the update conditions are met includes: If the update conditions are met, feedback is provided on whether to update the take-off and landing points. If a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight. If the update conditions are not met, the take-off and landing point of the previous flight on the autonomous driving equipment will be determined as the target take-off and landing point of the current flight.

7. The method for determining take-off and landing points according to any one of claims 1 to 4, characterized in that, The method further includes: If the actual landing point of the previous autonomous vehicle is not obtained during the process of determining the change information between the current position and the actual landing point of the previous autonomous vehicle, the update condition determination is determined to be a failure. When executing a new task, generating a route, or updating a route, if a judgment is triggered regarding whether the update conditions are met, the determination of the target take-off and landing point based on whether the update conditions are met includes: If the update condition determination fails, the current position of the current flight will be determined as the target take-off and landing point of the current flight. When a check is triggered at takeoff to determine whether update conditions are met, the process of determining the target takeoff and landing point based on whether the update conditions are met includes: If the update condition determination fails, it is determined whether the distance between the take-off and landing point of the previous flight on the autonomous driving equipment and the current position is less than a preset distance. If it is less than the preset distance, the take-off and landing point of the previous flight on the autonomous driving equipment is determined as the target take-off and landing point of the current flight. If it is greater than the preset distance, interactive information is provided to select whether to update the take-off and landing point. If a confirmation update instruction is received, the current position of the current flight is determined as the target take-off and landing point of the current flight.

8. A device for determining take-off and landing points, characterized in that, include: The information acquisition module is used to obtain the current position of the autonomous driving equipment before the current flight takes off; The information processing module is used to determine whether the take-off and landing point of the current autonomous driving equipment meets the update conditions based on the current location and the relevant information of the operation route of the previous autonomous driving equipment. This includes: comparing the current location; determining the difference information between the current location and the take-off and landing point of the previous autonomous driving equipment based on the current location and the relevant information of the operation route of the previous autonomous driving equipment; determining whether the difference information reaches a first preset threshold; if the first preset threshold is reached, determining the change information between the current location and the actual landing point of the previous autonomous driving equipment; determining whether the change information reaches a second preset threshold; if the second preset threshold is reached, determining that the take-off and landing point of the current autonomous driving equipment meets the update conditions; and based on whether the update conditions are met, determining a target take-off and landing point and controlling the current autonomous driving equipment to start operation at the target take-off and landing point.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the take-off and landing point determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program that, when executed, controls the electronic device containing the computer-readable storage medium to perform the take-off and landing point determination method according to any one of claims 1 to 7.

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