Ground mark of unmanned aerial vehicle landing site, ground mark system and identification method thereof

Abstract

This invention provides a ground marking system and identification method for unmanned aerial vehicle (UAV) take-off and landing sites, relating to the field of low-altitude traffic management technology. The ground marking system includes a positioning circle and a standardized QR code within the positioning circle. The standardized QR code comprises multiple QR code areas of different sizes. The overall size of the standardized QR code is determined based on the UAV category, and the different sized QR code areas are used for identification by UAVs in different flight states. Each QR code area integrates a globally unique take-off and landing site identifier and basic take-off and landing site information. This invention employs a composite marking system that integrates a positioning circle and a standardized QR code, combining multiple QR code areas of different sizes and their integrated globally unique take-off and landing site identifiers, thus alleviating the problems of limited information carrying capacity, low standardization, and low information acquisition efficiency inherent in traditional ground marking systems.

Description

Technical Field

[0001] This invention relates to the field of low-altitude traffic management technology, and in particular to a ground marking system for unmanned aerial vehicle (UAV) take-off and landing sites, and a method for identifying such markings. Background Technology

[0002] With the rapid development of low-altitude transportation, the application of drones, flying cars, and electric vertical takeoff and landing aircraft is becoming increasingly widespread. This has led to a significant increase in the demand for drone takeoff and landing sites and related infrastructure, creating an urgent need for specialized ground marking systems. In the construction of urban air traffic systems, the extensive deployment of drone-compatible takeoff and landing sites is crucial for optimizing urban airspace resource allocation and improving the efficiency of low-altitude transportation operations.

[0003] In existing technologies, ground marking systems for UAV take-off and landing sites are mostly designed based on the marking standards of traditional manned aircraft take-off and landing sites, relying mainly on simple geometric patterns, color codes, and text labels to provide basic visual guidance. However, with the continuous improvement of UAVs' autonomous flight capabilities, the limited information carrying capacity and low standardization of traditional ground marking systems can no longer meet the needs of autonomous UAV operations. This makes it difficult for UAVs to quickly and accurately obtain key information during take-off and landing, hindering efficient autonomous decision-making and severely restricting the development of UAV traffic management systems. Summary of the Invention

[0004] The purpose of this invention is to provide a ground marking system for UAV take-off and landing sites, and a method for identifying it, so as to alleviate the problems of limited information carrying capacity, low standardization, and low information acquisition efficiency of traditional ground marking systems.

[0005] In a first aspect, the present invention provides a ground marker for the take-off and landing site of an unmanned aerial vehicle (UAV), comprising a positioning circle and a standardized QR code disposed within the positioning circle; The standardized QR code includes QR code areas of various sizes. The overall size of the standardized QR code is determined based on the type of drone. QR code areas of different sizes are used for identification by drones in different flight states. Each QR code area integrates a globally unique take-off and landing location identifier and basic take-off and landing location information.

[0006] In an optional implementation, the globally unique take-off and landing site identifier adopts a hierarchical coding structure; the basic take-off and landing site information includes geographic information, management information, technical information, and security information; The QR code area is generated based on the globally unique take-off and landing site identifier, version information, and core information and index links obtained through layered compression of basic take-off and landing site information. The core information includes take-off and landing site type, coordinate information, and security level, while the index links are used to obtain detailed information on basic take-off and landing site information online.

[0007] In an optional implementation, the standardized QR code occupies between 40% and 63.7% of the area within the positioning circle; the outer ring of the positioning circle is coated with a high-contrast finish; and the standardized QR code is made of reflective material.

[0008] In an optional implementation, the standardized QR code is arranged in a square layout, and the standardized QR code is formed by arranging multiple QR code areas in a centrally symmetrical manner.

[0009] In an optional implementation, the standardized QR code includes four small QR code areas, a medium QR code area, and a large QR code area. The four small QR code areas are located at the four corners of the standardized QR code, the medium QR code area is located in the center of the standardized QR code, and the large QR code area is the entire area of ​​the standardized QR code with the four corners and the center as positioning angles.

[0010] In an optional implementation, the overall size of the standardized QR code is equal to the maximum size of each QR code area; The size of the QR code area is determined as follows: the identifiable altitude range and image resolution are determined based on the drone type; multiple different flight altitudes corresponding one-to-one with the type of QR code area are determined based on the identifiable altitude range, and the field of view angle at each flight altitude is determined; the ground resolution corresponding to each QR code area is calculated based on the flight altitude and field of view angle corresponding to each QR code area, combined with the image resolution; the size of each QR code area is calculated based on the ground resolution corresponding to each QR code area, combined with the preset number of modules and minimum number of pixels.

[0011] Secondly, the present invention provides a ground marking system, including multiple ground markings of different levels of UAV take-off and landing sites as described in any of the foregoing embodiments. The overall size of the standardized QR code in the ground markings of different levels of UAV take-off and landing sites is different, and the ground marking of each UAV take-off and landing site is arranged on the corresponding take-off and landing site.

[0012] In an optional implementation, the ground marking system also includes a distributed information network located above the ground markings at the UAV take-off and landing sites, for providing real-time status updates and access verification services.

[0013] In an optional implementation, the distributed information network adopts a decentralized information synchronization network formed by connecting nodes at each take-off and landing site.

[0014] Thirdly, the present invention provides an identification method for the ground marking system according to the foregoing embodiments, applied to unmanned aerial vehicles (UAVs); the identification method for the ground marking system includes: The ground marking system identifies the QR code area that matches the current flight status of the drone to obtain relevant status information of the current take-off and landing site; The data is verified with the distributed information network to obtain the verification result related to the current take-off and landing site status information. When the verification result indicates that the information has expired, the latest status information of the current take-off and landing site is obtained through the backup communication link.

[0015] The ground marking system and identification method for UAV take-off and landing sites provided by this invention include a positioning circle and a standardized QR code set within the positioning circle. The standardized QR code includes QR code areas of various sizes. The overall size of the standardized QR code is determined based on the UAV category, and the different sized QR code areas are used for identification by UAVs in different flight states. Each QR code area integrates a globally unique take-off and landing site identifier and basic take-off and landing site information. This composite identifier, which integrates a positioning circle and a standardized QR code, provides a precise positioning reference and visual navigation, while the standardized QR code provides information acquisition functionality. This maintains the original navigation and positioning functions while adding take-off and landing site identification and basic information acquisition capabilities, improving information acquisition efficiency and meeting the operational needs of rapid identification and precise positioning. The different sized QR code areas within the standardized QR code are suitable for identification by UAVs in different flight states, further improving information acquisition efficiency. Furthermore, this UAV take-off and landing site ground marking achieves cross-regional and cross-operator information consistency management through a globally unique take-off and landing site identifier, eliminating identity confusion and permission conflicts. Therefore, this invention alleviates the problems of limited information carrying capacity, low standardization, and low information acquisition efficiency of traditional ground marking systems. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a ground marker for a drone take-off and landing site provided in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the nesting of multi-size QR code regions in a standardized QR code, provided as an embodiment of the present invention. Figure 3 This is a flowchart illustrating a ground marking system identification method provided in an embodiment of the present invention.

[0018] Icons: 110 - Positioning circle; 120 - Standardized QR code. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Currently, ground marking systems for UAV take-off and landing sites largely follow the marking standards of traditional aircraft take-off and landing sites, which presents significant problems in terms of applicability. While traditional ground markings can provide basic visual navigation functions, their information transmission efficiency is low and their level of intelligence is insufficient, making it difficult to meet the technical requirements of autonomous UAV operations. Specifically, existing ground markings rely on simple geometric shapes and color codes, resulting in limited information carrying capacity and an inability to provide key data such as detailed geographical coordinates, management authority, and technical parameters of the take-off and landing site; UAVs need to obtain information through complex wireless communication links, increasing system complexity and communication latency; the lack of a unified information coding standard leads to poor system compatibility between different manufacturers and operators; and information updates are delayed when the status of the take-off and landing site changes, affecting operational safety.

[0021] The aforementioned problems make it difficult for drones to quickly and accurately obtain key information during takeoff and landing, hindering efficient autonomous decision-making and severely restricting the development of drone traffic management systems. Therefore, there is an urgent need for a standardized and intelligent ground marking system for drone takeoff and landing sites to support the standardized and information-based construction of takeoff and landing site infrastructure required for the high-density node layout of future Urban Air Mobility (UAM). Based on this, this invention provides a ground marking system and identification method for drone takeoff and landing sites. It integrates standardized QR codes into the Touchdown / Liftoff Position Circle (TLPC) to establish a unified takeoff and landing site information coding and identification system, providing drones with accurate geographic information, management permissions, technical parameters, and safety requirements. This design significantly improves the safety and efficiency of autonomous takeoff and landing of drones, and is particularly suitable for urban drone logistics and delivery networks, emergency rescue drone bases, agricultural plant protection operation sites, and information management scenarios for takeoff and landing sites (points) of vertical takeoff and landing aircraft such as electric vertical takeoff and landing (eVTOL) and flying cars in future urban air transportation. Here, "takeoff and landing site" refers to the takeoff and landing field or point, i.e., the takeoff and landing area (point).

[0022] This invention proposes a QR code-based ground identification system for drone take-off and landing sites (points). It integrates functions such as identity recognition, geolocation, access verification, and technical parameter acquisition into a single visual identifier, achieving an information acquisition mode of "one-glance recognition, instant access, and autonomous decision-making." Addressing issues such as take-off and landing site (point) identity confusion, difficulties in access control, and information acquisition delays that may arise in large-scale drone operations in the future, this invention fundamentally solves the problem of take-off and landing site (point) identification in complex environments and improves management efficiency by constructing a globally unique take-off and landing site (point) identification code (Global Vertiport Identity Code, GVIC) system, innovating a three-layer fusion identification architecture of "code circle information," and adopting a distributed information verification mechanism.

[0023] The embodiments of the present invention can achieve the following beneficial effects: (1) Efficient information acquisition: Through the standardized information coding system (GVIC), the efficiency of information acquisition is greatly improved, avoiding the delay caused by manual confirmation and complex communication, adapting to a variety of vertical take-off and landing aircraft, and meeting the standardized information acquisition needs of UAVs of different sizes and uses.

[0024] (2) Multi-dimensional verification system: The innovative concept of "code circle information" three-layer integrated identification is proposed to construct a multi-dimensional verification system. The QR code mainly provides identity identification and basic information, the positioning circle mainly provides accurate positioning benchmark and visual navigation, and the distributed information network ensures real-time information synchronization and permission verification, thereby meeting the operational needs of rapid identification, accurate positioning and permission verification.

[0025] (3) Three-level information acquisition system: A three-level information acquisition system consisting of offline basic information, online real-time status, and detailed cloud archives is established. Permissions, technical parameters, and security requirements are encoded into ground identifiers to form a "one-code access to all information" model. This replaces the traditional multi-communication confirmation mechanism, meets the needs of high-density node layout, reduces communication complexity and manual intervention costs, and supports rapid deployment and standardized operation.

[0026] (4) Unified Standards and Scalability: Through globally unified identification standards and distributed information synchronization mechanisms, cross-regional and cross-operator information consistency management is achieved, eliminating identity confusion and permission conflicts. A scalable technical architecture is established to support integration with emerging technologies such as artificial intelligence, the Internet of Things, and blockchain, providing standardized interfaces and information services for smart city air traffic management systems, and possessing good technological foresight and industrial adaptability.

[0027] To facilitate understanding of this embodiment, a detailed description of a ground marking for the take-off and landing site of an unmanned aerial vehicle (UAV) disclosed in this embodiment of the invention will be provided first.

[0028] This invention aims to address the shortcomings of existing technologies by proposing a standardized ground marking system for takeoff and landing sites (points) applicable to unmanned aerial vehicles (UAVs) and other vertical takeoff and landing (VTOL) aircraft. Addressing the limitations of traditional takeoff and landing site (point) ground markings, such as limited information carrying capacity, low standardization, and inability to meet the autonomous operation requirements of UAVs, this invention constructs an information encoding system centered on QR codes, innovatively designs an integrated ground / off-ground positioning circle marking concept, and establishes a rapid information acquisition mechanism based on visual recognition. This achieves a synergistic improvement in the efficiency of takeoff and landing site (point) information transmission and the autonomous decision-making capabilities of UAVs. This system can significantly improve the standardization and intelligence level of UAV takeoff and landing site (point) information marking, providing crucial technical support for the construction of low-altitude transportation infrastructure.

[0029] like Figure 1 As shown, the ground markings for the drone's take-off and landing site include a positioning circle 110 and a standardized QR code 120 set within the positioning circle 110. The standardized QR code 120 includes QR code areas of various sizes. The overall size of the standardized QR code 120 is determined based on the drone category. QR code areas of different sizes are used for identification by drones in different flight states. Each QR code area integrates a globally unique take-off and landing site identifier code and basic take-off and landing site information.

[0030] The Ground / Off-Ground Positioning Circle (TLPC) is a composite signage integrating the positioning circle 110 and the standardized QR code 120. The positioning circle 110 primarily provides a visual navigation reference, while the standardized QR code 120 primarily provides information retrieval functionality. The overall signage effect is defined by parameters such as size ratio and spatial layout. This composite signage retains the original navigation and positioning functions of the TLPC while adding takeoff and landing site (point) identification and information retrieval capabilities. It should be noted that both the positioning circle 110 and the standardized QR code 120 can provide some visual navigation and reference positioning functions.

[0031] This composite identifier, which integrates a positioning circle 110 and a standardized QR code 120, provides precise positioning and visual navigation, while the standardized QR code 120 primarily offers information retrieval. This approach maintains the original navigation and positioning functions while adding takeoff and landing site identification and basic information retrieval capabilities, improving information acquisition efficiency and meeting operational needs for rapid identification and precise positioning. The different sizes of the QR code areas within the standardized QR code 120 are suitable for identifying drones in different flight states, further enhancing information acquisition efficiency. Furthermore, the ground identification of the drone takeoff and landing site achieves cross-regional and cross-operator information consistency management through a globally unique takeoff and landing site identifier, eliminating identity confusion and access conflicts. Therefore, the ground identification of drone takeoff and landing sites provided by this embodiment of the invention alleviates the problems of limited information carrying capacity, low standardization, and low information acquisition efficiency inherent in traditional ground identification systems.

[0032] The aforementioned globally unique arrival / departure site identifier is the core carrier of arrival / departure site information. Optionally, to enhance readability, the globally unique arrival / departure site identifier can adopt a hierarchical coding structure. Further, the hierarchical coding structure may include a country code, region code, arrival / departure site type / operator code, serial number, and check digit. The arrival / departure site type may include logistics / emergency / agriculture, etc.

[0033] Considering the application scenarios of globally unique take-off and landing site identifiers (GVICs), and for ease of differentiation and management, a hierarchical coding structure for GVICs can be set according to the level of the take-off and landing sites (points). A globally unique take-off and landing site identifier can be a 128-bit coded identifier used to uniquely identify a UAV's take-off and landing site (point). For example, the hierarchical coding structure of the GVIC value can be: National-level take-off and landing field (site): GVIC = Country Code (8 digits) + Region Code (16 digits) + Take-off and landing field (site) Type (8 digits) + Serial Number (32 digits) + Check Code (64 digits); Regional take-off and landing field (site): GVIC = Country Code (8 digits) + Region Code (16 digits) + Carrier Code (8 digits) + Serial Number (32 digits) + Check Code (64 digits); Enterprise-level landing field (site): GVIC = Country Code (8 digits) + Enterprise Code (16 digits) + Landing Field (site) Type (8 digits) + Serial Number (32 digits) + Check Code (64 digits).

[0034] The aforementioned standardized QR code 120 is a visual identifier that integrates the GVIC (Global Voucher Index) and basic information about the takeoff and landing site (i.e., basic information about the takeoff and landing location). It can be arranged in a square layout and used as an information carrying area. Before generating the standardized QR code 120, basic information such as the geographical coordinates of the takeoff and landing site (location), the management entity, technical specifications, and safety requirements can be collected. Based on this information, the GVIC can be generated, and then the standardized QR code 120 can be generated.

[0035] To ensure the uniqueness of data values ​​identified from the standardized QR code 120 globally and to support the identity management of tens of millions of takeoff and landing sites (nodes), the generation of data values ​​corresponding to the standardized QR code 120 comprehensively considers factors such as the geographical, management, technical, and temporal attributes of the takeoff and landing sites (nodes). It also takes into account potential changes in management entities, technological upgrades, or functional adjustments that may occur during the operation of takeoff and landing sites (nodes). These factors are all addressed by reserving expansion space in the coding rules of the standardized QR code 120, ensuring that the coding system can adapt to the management needs of the entire lifecycle of takeoff and landing sites (nodes).

[0036] Specifically, the standardized QR code 120 integrates four major categories of information modules: geographic, management, technical, and safety. The geographic information module can contain precise navigation reference data such as WGS84 coordinate system latitude and longitude, altitude, and magnetic declination; the management information module can contain management attributes such as the GVIC globally unique takeoff and landing site identifier, owner information, operating permits, and access permissions; the technical information module can contain technical specifications such as apron parameters, load-bearing capacity, weather restrictions, and communication frequencies; and the safety information module can contain critical safety data such as emergency contact information, restricted flight areas, and safety precautions. Information encoding can employ a layered compression algorithm, with core information directly encoded into the standardized QR code 120 for offline retrieval, while detailed information can be accessed online via index links.

[0037] Based on the above, the basic information of the take-off and landing site can include geographic information, management information, technical information, and security information. Each QR code area can be generated based on the globally unique take-off and landing site identifier, version information, and core information and index links obtained by layering and compressing the basic information of the take-off and landing site. The core information includes the take-off and landing site type, coordinate information, and security level, and the index links are used to obtain detailed information of the basic information of the take-off and landing site online.

[0038] In one possible implementation, the data values ​​identified from the standardized QR code 120 may include GVIC (128-bit encoding, 16 bytes), landing site type identifier (2-4 characters), coordinate information abbreviation (8-10 characters), security level (1-2 characters), and version number (2 characters), etc. Total: approximately 50-70 characters.

[0039] The following is an example of the data value identified from the standardized QR code 120: GVIC:086-3101-01-00001234-A7B9C2D4; TYPE (i.e., landing site type identifier): LOGISTICS; COORD (Coordinate Information Abbreviation): 31.2304, 121.4737; SAFE (Safety Level): L3; VER (Version Number): 1.0.

[0040] Optionally, the standardized QR code 120 occupies between 40% and 63.7% of the area within the positioning circle 110; the outer ring of the positioning circle 110 is coated with a high-contrast finish; and the standardized QR code 120 is made of reflective material.

[0041] In this embodiment, the standardized QR code 120 is integrated as the core information carrier in the central area of ​​the positioning circle 110, establishing a standardized geometric relationship between the standardized QR code 120 and the positioning circle 110, such as... Figure 1 As shown, the area of ​​the standardized QR code 120 occupies 40% to 63.7% of the total area of ​​the positioning circle 110. This ensures that the original visual navigation function of TLPC is not affected while providing sufficient information recognition area. The outer ring of TLPC uses a high-contrast coating, with a white background and black boundary line, and a line width of not less than 0.1 meters, to ensure visibility under various lighting conditions. The area where the standardized QR code 120 is located is made of reflective material with a black-and-white contrast of not less than 80% to support recognition at night and in low-light conditions. The overall ground markings form a "circle on the outside, square on the inside" geometric layout within the TLPC ring. The ring provides a positioning reference, while the standardized QR code 120 within the square area provides information retrieval. The two complement each other functionally and are visually harmonious.

[0042] The standardized QR code 120 can be divided into multiple functional levels, that is, into QR code areas of various sizes. The size of the QR code area is adapted according to the type of drone and its visual capabilities. The following is an introduction to the size design of the QR code area.

[0043] The dimensions of the standardized QR code 120 adapted for drones are dynamic dimensions based on the identifiable altitude H and the drone category. The drone category is determined by weight and can include micro drones (empty weight < 0.25 kg, flight clearance ≤ 50 meters), light drones (maximum takeoff weight ≤ 25 kg), medium drones (25 kg < maximum takeoff weight ≤ 150 kg), and large drones (maximum takeoff weight > 150 kg). Based on this, the standardized QR code 120 can be divided into four levels: micro drones (H = 5~20 meters) correspond to a 1×1 meter standardized QR code 120, light drones (H = 20~80 meters) correspond to a 3×3 meter standardized QR code 120, medium drones (H = 50~150 meters) correspond to a 5×5 meter standardized QR code 120, and large drones (H = 100~300 meters) correspond to a 9×9 meter standardized QR code 120.

[0044] In this embodiment, a tiered adaptation mechanism is established based on UAV weight classification and actual flight characteristics. Micro UAVs (empty weight < 0.25 kg, flight clearance ≤ 50 meters) are adapted to micro ground markers: the standardized QR code 120 is 1×1 meter in size, with a primary recognition altitude of 5-20 meters; light and small UAVs (maximum takeoff weight ≤ 25 kg) are adapted to small ground markers: the standardized QR code 120 is 3×3 meters in size, with a recognition altitude of 20-80 meters; medium-sized UAVs (25 kg < maximum takeoff weight ≤ 150 kg) are adapted to medium-sized ground markers: the standardized QR code 120 is 5×5 meters in size, with a recognition altitude of 50-150 meters; large UAVs (maximum takeoff weight > 150 kg) are adapted to large ground markers: the standardized QR code 120 is 9×9 meters in size, with a recognition altitude of 100-300 meters. Each level of ground marker uses the same information encoding format and recognition protocol, achieving precise adaptation to UAVs with different performance levels through differences in physical size.

[0045] In some possible embodiments, the overall size of the standardized QR code 120 can be equal to the maximum size of each QR code region. The size of the QR code region can be determined as follows: the identifiable altitude range and image resolution are determined based on the drone type; multiple different flight altitudes corresponding one-to-one with the type of QR code region are determined based on the identifiable altitude range, and the field of view angle at each flight altitude is determined; the ground resolution corresponding to each QR code region is calculated based on the flight altitude and field of view angle corresponding to each QR code region, combined with the image resolution; the size of each QR code region is calculated based on the ground resolution corresponding to each QR code region, combined with the preset number of modules and minimum number of pixels. Here, image resolution refers to the image resolution of the drone camera, which is related to the drone type.

[0046] Optionally, when determining the size of the QR code area, the relevant calculation formula can be as follows: Ground resolution = 2 × flight altitude × tan(field of view / 2) / image resolution; QR code area size = ground resolution × number of modules × minimum number of pixels. Each QR code area can use QR Code Version 3 (29×29 modules), and the number of modules is 29×29=841. The size of a single module can be calculated using the following formula: Size of a single module = size of QR code area / number of modules. The minimum number of pixels is set to ensure accurate identification of a single module, and the minimum number of pixels can be between 2 and 4, for example, the minimum number of pixels can be 4.

[0047] This invention adopts QR Code Version 3 (29×29 module) as the standard QR code specification. This version can store 50 alphanumeric characters under H-level error correction, fully meeting the storage requirements of 128-bit GVIC encoding and related additional information (approximately 40-50 characters), while reserving appropriate expansion space. Optical calculations based on a 4K (3840×2160) camera show that the 29×29 module can reliably identify ground markings at all levels. Compared to the 25×25 module (only 32 character capacity), the 29×29 module avoids the data capacity bottleneck; compared to 33×33 and higher versions, the 29×29 module has a larger module size, making long-distance recognition more reliable. Furthermore, Version 3 technology is mature, hardware support is widespread, and it achieves an optimal balance between data capacity, recognition performance, and implementation cost.

[0048] Table 1 below is a comparison table of the QR code area size and flight altitude calculation. Table 1 comprehensively considers the visual recognition capability parameters of different types of drones, and is calculated based on the recognition accuracy of 4K cameras. Micro drones are usually equipped with basic cameras for close-range recognition. Light and small drones are usually equipped with cameras with a resolution of 1080P / 4K recognition rate, which can provide clear QR code recognition results under standard lighting conditions. Medium and large commercial drones are even equipped with dedicated machine vision systems, with recognition accuracy reaching the sub-pixel level, which can support reliable recognition at a greater distance.

[0049] Table 1

[0050] The aforementioned standardized QR code 120 can be arranged in a square layout. The standardized QR code 120 can be formed by arranging multiple QR code areas in a centrally symmetrical manner to ensure that drones with different recognition capabilities and flight states can quickly and reliably obtain information.

[0051] Optionally, the standardized QR code 120 can be divided into three functional layers, that is, using three different sized QR code areas. The standardized QR code 120 integrates the three different sized QR codes in a centrally symmetrical manner. Each size of QR code carries the same complete takeoff and landing field (point) information, ensuring that drones with different recognition capabilities and flight states can reliably obtain information. Based on this, this embodiment provides a nesting method for multi-sized QR code areas in the standardized QR code 120. For example... Figure 2As shown, the standardized QR code 120 may include four small QR code areas, a medium QR code area, and a large QR code area. The four small QR code areas are located at the four corners of the standardized QR code 120, the medium QR code area is located in the center of the standardized QR code 120, and the large QR code area is the entire area of ​​the standardized QR code 120 with the four corners and the center as positioning angles. That is, the large QR code area is the entire area of ​​the standardized QR code 120, and the four small QR code areas and the medium QR code area serve as positioning angles for the large QR code area.

[0052] The following are examples of the size design for ground markings at four levels of drone take-off and landing sites, where "large code" refers to a large QR code area, "medium code" refers to a medium-sized QR code area, and "small code" refers to a small QR code area: Miniature ground markers (1×1 meter area): large size 1×1 meter, medium size 0.5×0.5 meter, small size 0.3×0.3 meter, with individual module dimensions of 2.8cm, 1.7cm, and 1.0cm respectively, optimized for low-altitude short-range identification of miniature drones; Small ground markers (3×3 meter area): large size 3×3 meters, medium size 1.5×1.5 meters, small size 0.9×0.9 meters, with individual module dimensions of 8.3cm, 5.2cm, and 3.1cm respectively, ensuring reliable identification of lightweight drones at various altitudes; Medium-sized ground markings (5×5 meter area): large size 5×5 meters, medium size 2.5×2.5 meters, small size 1.5×1.5 meters, with individual module dimensions of 13.8cm, 8.6cm, and 5.2cm respectively, suitable for medium-sized drones' high-altitude operation needs; Large ground markings (9×9 meter area): large size 9×9 meters, medium size 4.5×4.5 meters, small size 2.7×2.7 meters, with individual module dimensions of 24.8cm, 15.5cm, and 9.3cm respectively, meeting the high-altitude long-distance identification requirements of large drones.

[0053] This invention also provides a ground marking system, which includes ground markings for multiple different levels of UAV take-off and landing sites. The overall size of the standardized QR code in the ground markings for different levels of UAV take-off and landing sites is different, and the ground marking for each UAV take-off and landing site is arranged on the corresponding take-off and landing site. The take-off and landing site can be a take-off and landing field or a take-off and landing point.

[0054] Drones can automatically adapt to the most suitable level of ground markings and the most suitable size of QR code areas for identification based on their own category and actual conditions such as current flight altitude, camera resolution, flight speed, and lighting conditions. This significantly improves the recognition success rate and decoding efficiency under different flight conditions and equipment performance, ensuring the reliability and real-time nature of takeoff and landing site (point) information acquisition. Ground markings at all levels form a complete identification guarantee system, avoiding resource waste while ensuring identification efficiency.

[0055] To address the limitations of existing UAV take-off and landing site (UAV) ground marking systems, such as limited information carrying capacity, low standardization, and inability to meet the needs of large-scale operation and management, this embodiment proposes a standardized information encoding method based on the globally unique take-off and landing site (UAV) identifier code (GVIC). Specifically, for each UAV take-off and landing site (UAV) marking deployment task, the standardized information configuration is achieved through the following core steps: obtaining basic information such as the geographical coordinates, management entity, technical specifications, and safety requirements of the UAV take-off and landing site (UAV); calculating the GVIC value based on this basic information; and generating a standardized QR code by combining the GVIC value with the basic information, the size design of the QR code area, and the nesting method; painting a positioning circle at the UAV take-off and landing site (UAV) and creating the standardized QR code within the positioning circle, thus completing the marking deployment task for one UAV take-off and landing site (UAV).

[0056] Optionally, the aforementioned ground marking system further includes a Distributed Information Network (DIN), located above the ground markings at the UAV take-off and landing sites, for providing real-time status updates and access verification services. Each UAV take-off and landing site has a node (i.e., a take-off and landing site node) that provides wireless network access in the space above the corresponding ground markings for UAVs to connect to; these nodes can connect to each other to form the Distributed Information Network. The Distributed Information Network can construct a virtual information space above the ground markings at the take-off and landing sites (i.e., the ground markings at the UAV take-off and landing sites), thereby providing real-time status updates and access verification services.

[0057] The aforementioned distributed information network can be a decentralized information synchronization network formed by connecting nodes at each take-off and landing site. This enhances the system's reliability and stability, and improves efficiency and speed.

[0058] The aforementioned ground marking system supports a dynamic information update mechanism. This embodiment of the invention establishes a multi-level information update and permission verification system. Each QR code area of ​​the standardized QR code embeds a version number and timestamp. After the UAV identifies the code, it can automatically verify the data with the distributed information network. When expired information is detected, the latest status can be obtained through a backup communication link. To improve security, permission verification can be performed during both the data verification process and the process of obtaining the latest status. This embodiment of the invention supports real-time changes to the status of take-off and landing sites (points), such as temporary closure due to weather, permission adjustments, and technical parameter updates. Changes can be synchronized within the distributed information network within seconds. Permission verification can employ a digital signature mechanism to prevent unauthorized identification and impersonation of unauthorized take-off and landing sites (points), ensuring the authenticity and reliability of the information obtained by the UAV. This embodiment of the invention also supports temporary permission adjustments and broadcast updates in emergency situations, providing rapid response capabilities for emergency rescue and other special circumstances.

[0059] The UAV take-off and landing site (site) ground marking system proposed in this invention establishes a standardized information coding system centered on the globally unique take-off and landing site (site) identifier code (GVIC) to meet the needs of large-scale UAV operation and management. It adopts a composite marking scheme integrating standardized QR codes and positioning circles, achieving standardization, intelligence, and efficiency in take-off and landing site (site) marking. This ground marking system is fully adapted to the autonomous operation characteristics of UAVs, significantly improving the efficiency of take-off and landing site (site) information acquisition, reducing operation and management costs, and providing important technical support for the large-scale deployment of urban air traffic infrastructure. With the rapid development of low-altitude traffic, this ground marking system will play a crucial role in the future construction and operation management of UAV take-off and landing sites (sites).

[0060] The ground marking system provided in this embodiment has the same implementation principle and technical effect as the aforementioned ground marking embodiment for UAV take-off and landing sites. For the sake of brevity, any parts not mentioned in the ground marking system embodiment can be referred to the corresponding content in the aforementioned ground marking embodiment for UAV take-off and landing sites.

[0061] This invention also provides an identification method for the above-described ground marking system, which is applied to a drone, meaning the method is executed by the drone. See also... Figure 3 The diagram shows a flowchart of a ground marking system identification method, which mainly includes the following steps S310 to S330: Step S310: Identify the QR code area that matches the current flight status of the UAV in the ground identification system to obtain the relevant status information of the current take-off and landing site. This relevant status information may include a version number and a timestamp.

[0062] Step S320: Verify the relevant status information of the current takeoff and landing location with the distributed information network to obtain the verification result. Data validity can be verified based on version number and timestamp.

[0063] Step S330: When the verification result indicates that the information has expired, obtain the latest status information of the current take-off and landing location through the backup communication link.

[0064] When the verification result indicates that the information has not expired, takeoff and landing operations can be performed based on the relevant status information of the current takeoff and landing location.

[0065] The identification method of the ground marking system provided in this embodiment has the same implementation principle and technical effect as the aforementioned ground marking system embodiment. For the sake of brevity, any parts of the identification method of the ground marking system not mentioned in the embodiment can be referred to the corresponding content in the aforementioned ground marking system embodiment.

[0066] 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.

[0067] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0068] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground marking for the take-off and landing site of an unmanned aerial vehicle (UAV), characterized in that, Includes a positioning circle and a standardized QR code set within the positioning circle; The standardized QR code includes QR code areas of various sizes; the overall size of the standardized QR code is determined based on the drone category, and the QR code areas of different sizes are used for identification by drones in different flight states. Each QR code area integrates a globally unique take-off and landing location identifier and basic take-off and landing location information.

2. The ground marking of the UAV take-off and landing site according to claim 1, characterized in that, The globally unique take-off and landing site identifier adopts a hierarchical coding structure; the basic take-off and landing site information includes geographic information, management information, technical information, and security information. The QR code area is generated based on the globally unique take-off and landing site identifier, version information, and core information and index links obtained by layered compression of the basic take-off and landing site information. The core information includes take-off and landing site type, coordinate information, and security level. The index links are used to obtain detailed information about the basic take-off and landing site information online.

3. The ground markings for the take-off and landing sites of unmanned aerial vehicles according to claim 1, characterized in that, The standardized QR code occupies between 40% and 63.7% of the area within the positioning circle; the outer ring of the positioning circle is coated with a high-contrast finish; and the standardized QR code is made of reflective material.

4. The ground markings for the take-off and landing sites of unmanned aerial vehicles according to claim 1, characterized in that, The standardized QR code has a square layout, and it is formed by arranging multiple QR code areas in a centrally symmetrical manner.

5. The ground markings for the take-off and landing sites of unmanned aerial vehicles according to claim 4, characterized in that, The standardized QR code includes four small QR code areas, a medium QR code area, and a large QR code area. The four small QR code areas are located at the four corners of the standardized QR code, the medium QR code area is located in the center of the standardized QR code, and the large QR code area is the entire area of ​​the standardized QR code with the four corners and the center as its positioning angles.

6. The ground markings for the take-off and landing sites of unmanned aerial vehicles according to any one of claims 1-5, characterized in that, The overall size of the standardized QR code is equal to the maximum size of each of the QR code regions; The size of the QR code area is determined as follows: The identifiable altitude range and image resolution are determined based on the drone type; multiple different flight altitudes corresponding one-to-one with the type of QR code area are determined based on the identifiable altitude range, and the field of view angle at each flight altitude is determined; the ground resolution corresponding to each QR code area is calculated based on the flight altitude and field of view angle corresponding to each type of QR code area, combined with the image resolution; the size of each QR code area is calculated based on the ground resolution corresponding to each type of QR code area, combined with the preset number of modules and minimum number of pixels.

7. A ground marking system, characterized in that, The system includes ground markings for drone take-off and landing sites at multiple different levels as described in any one of claims 1-6. The overall size of the standardized QR code in the ground markings for drone take-off and landing sites at different levels is different, and each ground marking for a drone take-off and landing site is placed on the corresponding take-off and landing site.

8. The ground marking system according to claim 7, characterized in that, The ground marking system also includes a distributed information network located above the ground markings at the UAV take-off and landing site, which provides real-time status updates and access verification services.

9. The ground marking system according to claim 8, characterized in that, The distributed information network adopts a decentralized information synchronization network formed by connecting nodes at each take-off and landing site.

10. A method for identifying the ground marking system according to claim 8 or 9, characterized in that, Applied to unmanned aerial vehicles (UAVs); the identification method of the ground marking system includes: The ground marking system identifies a QR code area that matches the current flight status of the UAV, thereby obtaining relevant status information of the current take-off and landing site. The data of the current take-off and landing site status information is verified with the distributed information network to obtain the verification result; When the verification result indicates that the information has expired, the latest status information of the current take-off and landing site is obtained through the backup communication link.

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