Granted Patent B2

US 12,619,251 · App. 18/573,443 · Granted May 5, 2026

Inventors: Jiancheng Cai (Beijing, CN); Xinmin Liu (Beijing, CN); Yinian Mao (Beijing, CN)

Assignee: Beijing Sankuai Online Technology Co., Ltd.

G05D1/244G05D1/654G06V20/17G05D2109/20G05D2111/10

Abstract

Claims (26)

1 . A marker allocation method in an unmanned aerial vehicle airport, comprising:

when an unmanned aerial vehicle performs visual-guided landing, determining a target layout of the unmanned aerial vehicle airport according to an airport shape and an airport size of the unmanned aerial vehicle airport in a field of view of an image collection device of the unmanned aerial vehicle, and a predetermined standard shape and a predetermined standard size of a takeoff and landing point, wherein the target layout comprises multiple takeoff and landing points;

determining an initial takeoff and landing point from the multiple takeoff and landing points comprised in the target layout; and

determining 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 of the multiple takeoff and landing points in a specified neighborhood thereof is the lowest, wherein image content of each marker in the marker set is different, wherein the unmanned aerial vehicle lands according to the markers respectively allocated to the multiple takeoff and landing points, and wherein determining 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 of the multiple 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 found takeoff and landing point from the predetermined marker set with the constraint that similarity between a marker of the found takeoff and landing point and markers of other takeoff and landing points of the multiple takeoff and landing points in the specified neighborhood of the found takeoff and landing point is the lowest.

2 . The method according to claim 1 , wherein determining the target layout of the unmanned aerial vehicle airport according to the airport shape and the airport size of the unmanned aerial vehicle airport and the predetermined standard shape and the predetermined standard size of the takeoff and landing point comprises:

determining multiple takeoff and landing point layouts of the unmanned aerial vehicle airport according to the airport shape and the airport size of the unmanned aerial vehicle airport and the predetermined standard shape and the predetermined standard size of the takeoff and landing point; and

determining the target layout of the unmanned aerial vehicle airport from the multiple takeoff and landing point layouts according to a quantity of takeoff and landing points comprised in the multiple takeoff and landing point layouts.

3 . The method according to claim 1 , wherein determining 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, the takeoff and landing point positioned in a center of the unmanned aerial vehicle airport as the initial takeoff and landing point.

4 . The method according to claim 3 , 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.

5 . The method according to claim 1 , wherein determining 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 of the multiple 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 an adjacent takeoff and landing point of 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 of the multiple takeoff and landing points in the specified neighborhood thereof being lowest as the constraint; and

re-using the adjacent takeoff and landing point as the initial takeoff and landing point, and continuing to allocate a marker to another takeoff and landing point of the multiple takeoff and landing points to which no marker is allocated until the markers are allocated to the multiple takeoff and landing points.

6 . A non-transitory computer readable storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement operations comprising:

when an unmanned aerial vehicle performs visual-guided landing, determining a target layout of the unmanned aerial vehicle airport according to an airport shape and an airport size of the unmanned aerial vehicle airport in a field of view of an image collection device of the unmanned aerial vehicle, and a predetermined standard shape and a predetermined standard size of a takeoff and landing point, wherein the target layout comprises multiple takeoff and landing points;

determining an initial takeoff and landing point from the multiple takeoff and landing points comprised in the target layout; and

determining 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 of the multiple takeoff and landing points in a specified neighborhood thereof is the lowest, wherein image content of each marker in the marker set is different, wherein the unmanned aerial vehicle lands according to the markers respectively allocated to the multiple takeoff and landing points, and wherein determining 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 of the multiple 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 found takeoff and landing point from the predetermined marker set with the constraint that similarity between a marker of the found takeoff and landing point and markers of other takeoff and landing points of the multiple takeoff and landing points in the specified neighborhood of the found takeoff and landing point is the lowest.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (32)