EP-4335755-B1 - MARKER ALLOCATION METHOD AND APPARATUS IN AN UNMANNED AERIAL VEHICLE AIRPORT

EP4335755B1EP 4335755 B1EP4335755 B1EP 4335755B1EP-4335755-B1

Inventors

CAI, Jiancheng
LIU, XINMIN
MAO, YINIAN

Dates

Publication Date: 20260506
Application Date: 20230106

Claims (10)

A marker allocation method in an unmanned aerial vehicle airport, comprising: Determining (S100) a target layout of an unmanned aerial vehicle airport according to a first condition and a second condition, wherein the target layout comprises multiple takeoff and landing points, wherein the first condition is an airport shape and an airport size of the unmanned aerial vehicle airport, and wherein the second condition is a predetermined standard shape and a predetermined standard size of the takeoff and landing points; Determining (S102) an initial takeoff and landing point from the multiple takeoff and landing points comprised in the target layout; and Determining (S104) markers respectively allocated to the multiple takeoff and landing points from a predetermined marker set by using the initial takeoff and landing point as a start point, according to a predetermined search algorithm, and with a constraint that similarity between a marker of any one of the multiple takeoff and landing points and markers of other takeoff and landing points in a specified neighborhood thereof is the lowest, wherein the marker is an identifier with an image, and wherein image content of each marker in the marker set is different.
The method according to claim 1, wherein determining (S100) the target layout of the unmanned aerial vehicle airport according to the first condition and the second condition comprises: determining multiple takeoff and landing point layouts of the unmanned aerial vehicle airport according to the first condition and the second condition; and determining the target layout of the unmanned aerial vehicle airport from the multiple takeoff and landing point layouts according to the quantity of takeoff and landing points comprised in each takeoff and landing point layout of the multiple takeoff and landing point layouts.
The method according to claim 2, wherein determining multiple takeoff and landing point layouts of the unmanned aerial vehicle airport according to the first condition and the second condition comprises: determining each takeoff and landing point layout of the multiple takeoff and landing point layouts, wherein determining the takeoff and landing point layout comprises: randomly determining a first takeoff and landing point as one of the multiple takeoff and landing points, which is considered as a reference point, within a range of the unmanned aerial vehicle airport according to the first condition; and determining, along a normal direction of any boundary of the reference point according to the second condition, a second takeoff and landing point as another one of the multiple takeoff and landing points, which is at a predetermined spacing from the reference point in the range of the unmanned aerial vehicle airport, re-using the second takeoff and landing point as a new reference point, continuing to determine another takeoff and landing point as another one of the multiple takeoff and landing points in another region different from any determined takeoff and landing point in the range of the unmanned aerial vehicle airport until any takeoff and landing point cannot be determined; determining whether the quantity of the determined takeoff and landing point layouts is less than a predetermined quantity threshold; and if the quantity of determined takeoff and landing point layouts is less than the predetermined quantity threshold, randomly re-determining a third takeoff and landing point as one of the multiple takeoff and landing points in the range of the unmanned aerial vehicle airport, and continuing to determine a takeoff and landing point layout as one of the multiple takeoff and landing point layouts until the quantity of determined takeoff and landing point layouts reaches the quantity threshold; or if the quantity of generated takeoff and landing point layouts is greater than or equal to the predetermined quantity threshold, skipping continuing to determine a takeoff and landing point layout.
The method according to claim 1, wherein determining (S102) the initial takeoff and landing point from the multiple takeoff and landing points comprised in the target layout comprises: determining, according to positions of the multiple takeoff and landing points in the target layout and from the multiple takeoff and landing points comprised in the target layout, a takeoff and landing point positioned in a center of the unmanned aerial vehicle airport as the initial takeoff and landing point.
The method according to claim 4, wherein determining, according to positions of the multiple takeoff and landing points in the target layout, the takeoff and landing point positioned in the center of the unmanned aerial vehicle airport comprises: determining a central position of the unmanned aerial vehicle airport according to the airport shape and the airport size; for each takeoff and landing point in the target layout, determining a distance between the takeoff and landing point and the central position of the unmanned aerial vehicle airport; and sorting the multiple takeoff and landing points according to determined distances, and determining, according to the sorting, the takeoff and landing point positioned in the center of the unmanned aerial vehicle airport from the multiple takeoff and landing points.
The method according to claim 1, wherein determining (S104) markers respectively allocated to the multiple takeoff and landing points from the predetermined marker set by using the initial takeoff and landing point as the start point, according to the predetermined search algorithm, and with the constraint that similarity between a marker of any one of the multiple takeoff and landing points and markers of other takeoff and landing points in the specified neighborhood thereof is the lowest comprises: determining a marker corresponding to the initial takeoff and landing point from the predetermined marker set; determining a takeoff and landing point from the multiple takeoff and landing points to which no marker is allocated and adjacent to the initial takeoff and landing point; determining a marker allocated to the adjacent takeoff and landing point from the marker set by using similarity between the marker of the adjacent takeoff and landing point and markers of other takeoff and landing points in a specified neighborhood thereof being lowest as a constraint; and re-using the adjacent takeoff and landing point as the initial takeoff and landing point, and continuing to allocate a marker to a takeoff and landing point from the multiple takeoff and landing points to which no marker is allocated until the markers are allocated to the multiple takeoff and landing points.
The method according to claim 1, wherein determining (S104) markers respectively allocated to the multiple takeoff and landing points from the predetermined marker set by using the initial takeoff and landing point as the start point, according to the predetermined search algorithm, and with the constraint that similarity between a marker of any one of the multiple takeoff and landing points and markers of other takeoff and landing points in the specified neighborhood thereof is the lowest comprises: searching for the multiple takeoff and landing points in the target layout according to the predetermined search algorithm by using the initial takeoff and landing point as the start point, and determining a search sequence that traverses the multiple takeoff and landing points; and determining, for each found takeoff and landing point according to the search sequence, a marker allocated to the takeoff and landing point from the predetermined marker set with a constraint that similarity between a marker of the takeoff and landing point and markers of other takeoff and landing points in a specified neighborhood of the takeoff and landing point is the lowest.
The method according to claim 7, wherein determining, for each found takeoff and landing point according to the search sequence, the marker allocated to the takeoff and landing point from the predetermined marker set with the constraint that similarity between the marker of the takeoff and landing point and markers of other takeoff and landing points in the specified neighborhood of the takeoff and landing point is the lowest comprises: allocating a marker to each of the multiple takeoff and landing points according to the search sequence of the multiple takeoff and landing points and a sequence of markers in the predetermined marker set; when all markers in the marker set are allocated, determining whether a takeoff and landing point to which no marker is allocated exists in the multiple takeoff and landing points of the target layout; and if a takeoff and landing point to which no marker is allocated exists in the multiple takeoff and landing points in the target layout, determining, for each takeoff and landing point to which no marker is allocated, a distance between each takeoff and landing point to which a marker is allocated and the takeoff and landing point, as a distance between a marker corresponding to each takeoff and landing point to which a marker is allocated and the takeoff and landing point, and allocating a marker to the takeoff and landing point according to the distance between a marker corresponding to each takeoff and landing point to which a marker is allocated and the takeoff and landing point.
A computer readable storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 8.
An electronic device, comprising a memory, a processor, and a computer program that is stored in the memory and that is capable of running on the processor, wherein: when executing the program, the processor implements the method according to any one of claims 1 to 8.

Description

TECHNICAL FIELD This specification relates to the field of computer technologies, and in particular, to a marker allocation method and apparatus in an unmanned aerial vehicle airport and an unmanned aerial vehicle landing method and apparatus. BACKGROUND Currently, with advances in technologies and maturity of unmanned driving technologies, an unmanned driving device has successfully met application in the delivery field, and is often applied to scenarios such as take-out and express delivery. In a process of executing a task, an unmanned aerial vehicle usually needs to be controlled to land accurately, so as to ensure safety of the unmanned aerial vehicle. In a related technology, a vision-guided manner is generally used to implement landing of an unmanned aerial vehicle. Specifically, an identifier, such as a marker, used to cause an unmanned aerial vehicle to land may be predetermined in an unmanned aerial vehicle airport. When the unmanned aerial vehicle needs to land, a ground image can be collected first. Then, the unmanned aerial vehicle may perform target identification on the collected ground image, and determine a position of a marker in the image as a position of an unmanned aerial vehicle airport in the image. Finally, the unmanned aerial vehicle is controlled to land in the unmanned aerial vehicle airport according to the position of the unmanned aerial vehicle airport in the image. However, in the related technology, positions of markers in the unmanned aerial vehicle airport are generally determined by means of manual planning, but the long time and high costs of manual planning makes it less efficient to assign markers to takeoff and landing points within the unmanned aerial vehicle airport in the related technology. CN106127201B discloses a vision localization landing tail end-based unmanned aerial vehicle landing method. A used unmanned aerial vehicle airport consists of a plurality of gate position Markers; each unmanned aerial vehicle obtains Markers in a visual range through a visual module and verifies the ID of each Marker in the visual range, so as to estimate the own position to land accurately. US20170259912A1 discloses receiving information describing a flight plan for the UAV to implement, the flight plan identifying one or more waypoints associated with geographic locations assigned as ground control points. A first waypoint identified in the flight plan is traveled to, and an action to designate a surface at the associated geographic location is designated as a ground control point. Location information associated with the designated surface is stored. The stored location information is provided to an outside system for storage. SUMMARY This specification provides a marker allocation method and apparatus in an unmanned aerial vehicle airport and an unmanned aerial vehicle landing method and apparatus. This specification provides a marker allocation method in an unmanned aerial vehicle airport, including: determining a target layout of an unmanned aerial vehicle airport according to a first condition and a second condition, where the target layout includes multiple takeoff and landing points, wherein the first condition is an airport shape and an airport size of the unmanned aerial vehicle airport, and wherein the second condition is a predetermined standard shape and a predetermined standard size of the takeoff and landing points;determining an initial takeoff and landing point from the multiple takeoff and landing points included in the target layout; anddetermining markers respectively allocated to the multiple takeoff and landing points from a predetermined marker set by using the initial takeoff and landing point as a start point, according to a predetermined search algorithm, and by using a constraint that similarity between a marker of any one of the multiple takeoff and landing points and markers of other takeoff and landing points in a specified neighborhood thereof is the lowest, where the marker is an identifier with an image, and wherein image content of each marker in the marker set is different. Optionally, the determining a target layout of an unmanned aerial vehicle airport according to the first condition and the second condition includes: determining multiple takeoff and landing point layouts of the unmanned aerial vehicle airport according to the first condition and the second condition; anddetermining the target layout of the unmanned aerial vehicle airport from the multiple takeoff and landing point layouts according to the quantity of takeoff and landing points comprised in each takeoff and landing point layout of the multiple takeoff and landing point layouts. Optionally, the determining multiple takeoff and landing point layouts of the unmanned aerial vehicle airport according to the first condition and the second condition includes: determining each takeoff and landing point layout of the multiple takeoff and landing point layouts, wherein determining th