Return flight method of unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium

Abstract

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a return flight method of an unmanned aerial vehicle, the unmanned aerial vehicle and a computer readable storage medium. The method comprises the steps that when the unmanned aerial vehicle inspects a target inspection line, whether the unmanned aerial vehicle meets a preset return flight condition or not is detected, and the target inspection line comprises a plurality of reference objects deployed along the way; if the unmanned aerial vehicle meets the preset return voyage condition, an airspace control point is obtained, the airspace control point is associated with a target object, and the target object is a reference object passed by the unmanned aerial vehicle; generating a return path according to each airspace control point; and controlling the unmanned aerial vehicle to execute return flight operation according to the return flight path. According to the embodiment, under the condition that the unmanned aerial vehicle needs to return during inspection, the return path can be generated according to the reference object passed by the unmanned aerial vehicle, the probability of rubbing and collision between the unmanned aerial vehicle and an obstacle in the return process is reduced, and thus the safety of return flight of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a return method for an unmanned aerial vehicle, an unmanned aerial vehicle, and a computer-readable storage medium. Background Art

[0002] Drones are unmanned aerial vehicles that are widely used in many different fields, such as inspections, map data collection, and stunt shooting. Drones can be used to perform automatic inspection tasks, such as inspections of power transmission equipment, pipelines, vegetation, and coastlines. When the drone is unable to continue to perform the inspection task, the related technology controls the drone to automatically return along a straight line. Since the straight return path is usually different from the drone's inspection route, when the drone returns along a straight line, there are obstacles on the straight return path, which may cause the drone to be scratched or collided, reducing the safety of the drone's flight. Summary of the invention

[0003] One purpose of the embodiments of the present application is to provide a return method for a drone, a drone, and a computer-readable storage medium to solve the technical problem of low safety of returning drones in related technologies.

[0004] In a first aspect, an embodiment of the present application provides a method for returning a drone, comprising:

[0005] When the drone inspects a target inspection route, detecting whether the drone meets a preset return condition, the target inspection route includes a plurality of reference objects deployed along the route;

[0006] If the UAV meets the preset return conditions, an airspace control point is obtained, where the airspace control point is associated with a target object, and the target object is a reference object that the UAV passes by;

[0007] Generate a return path according to each of the airspace control points;

[0008] The drone is controlled to perform a return operation according to the return path.

[0009] Optionally, acquiring the airspace control point includes:

[0010] Obtaining the object position and altitude of the target object;

[0011] Determining a return flight plane according to the altitude of each target object;

[0012] According to the object position of the target object, an airspace control point matching the target object is determined on the return flight plane.

[0013] This embodiment can reduce the probability of obstacles other than the target object appearing around the airspace control point, thereby reducing the probability of the drone scratching or colliding with obstacles during the return flight, and improving the safety of the drone's return flight.

[0014] Optionally, determining the return flight plane according to the altitude of each target object includes:

[0015] Determining a minimum altitude among the altitudes of the target objects;

[0016] A return flight plane is determined according to the minimum altitude, and the altitude of the return flight plane is greater than or equal to the minimum altitude.

[0017] This embodiment can control the altitude of the return flight plane, reduce the probability of obstacles other than the target object appearing at the altitude of the return flight plane, thereby reducing the probability of the drone scratching or colliding with obstacles during the return process, thereby improving the safety of the drone's return flight.

[0018] Optionally, determining an airspace control point matching the target object on the return flight plane according to the object position of the target object includes:

[0019] Determining, according to the object position of the target object, the object projection position of the target object projected onto the return flight plane;

[0020] Determine a spatial control point that matches the target object according to the projection position of the object.

[0021] This embodiment can associate the airspace control points with the target objects that the UAV passes along the target inspection route, so that the return path generated by each airspace control point is related to the target inspection route, reducing the probability of obstacles appearing in the return path, thereby improving the safety of the UAV's return flight.

[0022] Optionally, determining a spatial control point matching the target object according to the projection position of the object includes:

[0023] According to a preset safety radius, a circular area is created on the return flight plane with the projection position of the object as the center of the circle;

[0024] The airspace control points on the circular area are determined, and the route obtained by connecting the airspace control points in sequence is the shortest route.

[0025] This embodiment can enable the drone to return along the shortest route, reduce the return flight time of the drone, and reduce power consumption.

[0026] Optionally, the airspace control point includes a return start control point, and the airspace control point determined on the circular area includes:

[0027] Obtaining the starting return position and the terminal object of the drone, wherein the terminal object is the target object that the drone passed by last before returning;

[0028] Determine the starting projection position of the starting return position projected onto the return flight plane, the circular area corresponding to the end object is the end circular area, and the line connecting the starting projection position and the center of the end circular area is the end line;

[0029] The intersection point of the terminal connecting line and the terminal circular area is determined as the return start control point.

[0030] This embodiment can improve the accuracy of determining the return start control point, thereby improving the accuracy of the return path and reducing the probability of obstacles appearing on the return path.

[0031] Optionally, the airspace control point includes a return end control point, and the airspace control point determined on the circular area includes:

[0032] Obtaining the return landing position and the first end object of the drone, where the first end object is the target object that the drone first passes by before returning;

[0033] Determine the terminal projection position of the return landing position projected onto the return flight plane, the circular area corresponding to the head end object is the head end circular area, and the line connecting the terminal projection position and the center of the head end circular area is the head end line;

[0034] The intersection point of the head end connecting line and the head end circular area is determined as the return end control point.

[0035] This embodiment can improve the accuracy of determining the return end control point, thereby improving the accuracy of the return path and reducing the probability of obstacles appearing on the return path.

[0036] Optionally, the airspace control points include a return start control point, a return intermediate control point and a return end control point, and the airspace control points determined on the circular area include:

[0037] Acquire an intermediate object, wherein the intermediate object is a target object that the drone passes by before returning and is deployed between the head object and the end object, the head object is the target object that the drone passes by first before returning, the end object is the target object that the drone passes by last before returning, and the circular area of ​​the intermediate object is the middle circular area;

[0038] According to the preset path planning algorithm, a boundary point that meets the preset shortest path conditions is searched on the boundary of the middle circular area as the return intermediate control point, and the route obtained by connecting the return starting control point, the return intermediate control point and the return end control point in sequence is the shortest route.

[0039] This embodiment can improve the accuracy of determining the intermediate control points for returning to the destination, make the return path the shortest route, reduce the return flight time of the drone, and reduce power consumption.

[0040] In a second aspect, an embodiment of the present application provides a drone, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the computer device implements the above-mentioned drone return method.

[0041] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the above-mentioned drone return method.

[0042] The embodiments of the present application can achieve the following technical effects: in the return method of the drone provided in the embodiments of the present application, when the drone inspects the target inspection route, it detects whether the drone meets the preset return conditions, and the target inspection route includes multiple reference objects deployed along the way; if the drone meets the preset return conditions, the airspace control point is obtained, and the airspace control point is associated with the target object, and the target object is the reference object passed by the drone; a return path is generated according to each airspace control point; and the drone is controlled to perform the return operation according to the return path. This embodiment can generate a return path according to the reference objects passed by the drone when the drone needs to return after inspection, reduce the probability of scratching and colliding with obstacles during the drone's return, and thus improve the safety of the drone's return flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 is a schematic diagram of the first application environment provided by the embodiment of the present application;

[0045] Figure 2is a schematic diagram of a second application scenario provided in an embodiment of the present application;

[0046] Figure 3 It is a schematic diagram of a flow chart of a method for returning to the home position of a drone provided in an embodiment of the present application;

[0047] Figure 4 is a schematic diagram of a projection position of an object on a return flight plane provided in an embodiment of the present application;

[0048] Figure 5 It is a schematic diagram of the projection position of an object and airspace control points on a return flight plane provided by an embodiment of the present application;

[0049] Figure 6 It is a structural schematic diagram of a return-to-home device of a drone provided in an embodiment of the present application;

[0050] Figure 7 It is a structural schematic diagram of a drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0052] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0053] When a drone is inspecting power transmission equipment, pipelines, vegetation or other inspection objects such as coastlines, the inspection route passes through multiple inspection objects, usually in a curve, and the drone flies at a certain altitude within the airspace flight belt range applied for when inspecting each inspection object. Therefore, the drone can avoid obstacles around the inspection object when flying along the inspection route. When a drone cannot continue to perform the inspection task at a certain location due to insufficient power or other reasons, it needs to return to the take-off point. Related technology When a drone cannot continue to perform the inspection task, the drone is controlled to return automatically along a straight line, that is, the drone is controlled to return to the take-off point along a straight line between the current location and the take-off point. Since the straight return path is usually different from the curved inspection route, when the drone returns along a straight line, there are obstacles at various altitudes on the straight return path, which may cause the drone to scratch or collide, reducing the safety of the drone flight.

[0054] Based on this, an embodiment of the present application provides a return method for a drone, which associates airspace control points with reference objects passed by the drone, and generates a return path based on each airspace control point, which can reduce the probability of scratches and collisions with obstacles during the drone's return process, thereby improving the safety of the drone's return flight.

[0055] See also Figure 1 , Figure 1 Schematic diagram of the first application environment provided by the embodiment of the present application. Figure 1 As shown, the application environment 100 includes a management platform 10, a machine nest 20, and a drone 30. The management platform 10 and the machine nest 20 are connected via a wired network or a wireless network, and the machine nest 20 and the drone 30 are connected via a wireless network. The wireless network can be a wireless network such as 2G, 3G, 4G, 5G, wireless LAN, Bluetooth network, or a combination thereof, and the wired network can be a wired network such as a serial cable, a network cable, or a combination thereof, which is not limited here.

[0056] The management platform 10 is a background monitoring system for unified management of the machine nest 20 and the drone 30, and can be any suitable electronic device with control function, such as a laptop computer, a desktop computer or a server cluster.

[0057] The management platform 10 is used to plan a target inspection route for the drone 30. The target inspection route is the flight route for the drone to perform inspection tasks. The inspection objects of the inspection tasks can be power transmission equipment, pipelines, roads or vegetation, etc. The management platform 10 is also used to determine whether the flight route of the drone 30 requires airspace restrictions. When the flight route of the drone 30 requires airspace restrictions, the drone 30 can only fly within the corresponding airspace flight belt range. When the flight route of the drone 30 does not require airspace restrictions, the flight position of the drone 30 in the air is not restricted. Among them, the airspace flight belt range is the range within which the drone can legally fly in the air. Each drone corresponds to an airspace flight belt range. Before the drone flies, the relevant operator applies for the corresponding airspace flight belt range for the drone.

[0058] The management platform 10 may include a display screen, or display by connecting to other display devices. The display screen may be used to display various data of the nest and / or the drone, for example: displaying the cover status of the nest (open or closed), the airspace flight zone range corresponding to the drone, the flight path of the drone, the flight video of the drone, etc. The management platform 10 may also include an input device for inputting the control instructions of the relevant operators and sending the control instructions to the nest 20, wherein the control instructions are such as inspection task instructions, drone landing instructions, drone return control instructions, etc., and the input device is such as a touch screen, a button or a mouse.

[0059] The machine nest 20 is used to place the drone 30 and can meet the needs of the drone 30 for take-off, landing, battery replacement, and charging. The machine nest 20 generally includes a cabinet and a cover, which form a closed space, and the drone 30 can be protected from the sun and rain when placed therein. The machine nest 20 can also include a charging module, which is used to charge the drone when placed therein.

[0060] The machine nest 20 is specifically used to: receive the control instructions sent by the management platform 10, and control the drone according to the control instructions. For example: when the control instruction is an inspection task instruction, the inspection task instruction includes the target inspection route and airspace restriction requirements. The machine nest 20 sends the target inspection route and the inspection task execution instruction to the drone 30, so that the drone 30 performs the inspection task according to the target inspection route. The machine nest 20 controls the drone 30 to mark whether its flight route requires airspace restrictions according to the airspace restriction requirements. When the control instruction is a drone landing instruction, the machine nest 20 sends the control instruction to the drone 30 to make the drone 30 land. When the control instruction is a drone return control instruction, the machine nest 20 sends the control instruction to the drone 30 to make the drone 30 return.

[0061] The drone 30 may be any type of powered unmanned aerial vehicle, including but not limited to a tilt-rotor drone, a fixed-wing drone, a paraglider drone, a flapping-wing drone, and a helicopter model, etc. The drone 30 may have a corresponding volume or power according to actual needs, thereby providing a load capacity, flight speed, and flight range that can meet the needs of use.

[0062] The drone 30 is used to receive instructions sent by the machine nest 20 and perform corresponding actions according to the instructions. For example: receiving the execution inspection task instruction sent by the machine nest 20 and starting to execute the inspection task; or receiving the drone landing instruction sent by the machine nest 20 and landing; or receiving the drone return control instruction sent by the machine nest 20 and returning. The drone 30 is also used to shoot and detect the inspection object during the inspection process, and transmit the acquired image information or video information to the machine nest 20, which is then sent to the management platform 10 by the machine nest 20. Among them, the inspection object of the drone 30 performing the inspection task can be power transmission equipment, pipelines, roads or vegetation, etc.

[0063] See also Figure 2 , Figure 2 It is a schematic diagram of the second application scenario provided in the embodiment of the present application. Figure 2 Take the high-voltage transmission line as an example, where the inspection object is a high-voltage transmission line, which includes multiple towers for erecting transmission cables. Figure 2 As shown, application scenario 200 includes transmission cable 40 , pole tower 51 , pole tower 52 , pole tower 53 , pole tower 54 , pole tower 55 , obstacle 60 , obstacle 61 , obstacle 62 , and obstacle 63 .

[0064] Among them, two transmission cables 40 are installed between tower 51 and tower 52, between tower 52 and tower 53, between tower 53 and tower 54, and between tower 54 and tower 55. The positions and altitudes of the objects in towers 51-55 are different. Obstacles 60-63 are objects with different altitudes distributed around towers 51-55 that hinder the flight of the drone. Figure 2 Take trees as an example.

[0065] The drone performs inspection tasks along the line connecting the towers 51-55. Each tower can correspond to an observation point. When the drone is at the observation point, it can shoot and inspect one or more components of the tower (such as one or more components of the tower's insulator, anti-drop pins, hanging point bolts, anti-vibration hammer, etc.). When the drone is between two towers, it can shoot and inspect multiple transmission cables. When the drone completes the shooting and inspection of all towers that need to be inspected, the drone completes the inspection task.

[0066] It is worth noting that the above is only an exemplary description of the inspection object being a high-voltage transmission line, and does not impose any restrictions on the inspection object. In some embodiments, the inspection object may also be a road, a factory, a farmland or a forest.

[0067] See also Figure 3 , Figure 3 It is a flow chart of a method for returning a drone provided in an embodiment of the present application.

[0068] The return method of the drone is applied to the drone. Specifically, the execution subject of the return method of the drone may be one or more processors of the drone.

[0069] like Figure 3 As shown, the return method of the drone includes the following steps:

[0070] S31: When the UAV inspects the target inspection route, it is detected whether the UAV meets the preset return conditions.

[0071] In this step, the target inspection route includes multiple reference objects deployed along the route, and the preset return conditions are the conditions that need to be met when the drone performs a return operation.

[0072] In some embodiments, the target inspection route is the route for the drone to shoot and inspect the inspection object in a preset scenario, the reference object is any object with coordinate information and actual height among the inspection objects, and the inspection object is the object that needs to be inspected for potential safety hazards, including but not limited to towers for laying power transmission cables, roads, factories, farmlands, mountains and forests, etc. Among them, the coordinate information is represented by longitude and latitude, and the object with actual height refers to the object that satisfies the condition that the highest point of the object has a height difference relative to the ground.

[0073] When the preset scene is a power inspection scene, in some embodiments, the inspection object is a high-voltage transmission line, which includes several towers for erecting transmission cables, and the target inspection route is the route for the drone to shoot and inspect the high-voltage transmission line. The target inspection route includes several towers for erecting transmission cables deployed along the way, and the transmission cables between the towers, and the reference object is each tower for erecting transmission cables. It can be understood that the embodiment of the present application not only includes the unmanned return method in the power inspection scene within the protection scope of the present application, but also needs to include other inspection scenes within the protection scope of the present application.

[0074] In an example, see again Figure 2 , when the inspection object is Figure 2When the high-voltage transmission line between tower 51 and tower 55 is shown, the target inspection route is along tower 51, the transmission cable between tower 51 and tower 52, tower 52, the transmission cable between tower 52 and tower 53, tower 53, the transmission cable between tower 53 and tower 54, tower 54, the transmission cable between tower 54 and tower 55, and the line connected to tower 55. Tower 51, tower 52, tower 53, tower 54, and tower 55 are all reference objects.

[0075] In some embodiments, the preset return conditions include at least one of the following situations: the power of the drone is less than or equal to the preset power, the drone is disconnected from the machine nest, and the drone receives a drone return control command sent by the machine nest. Among them, the drone return control command is used to instruct the drone to return from the current position to the return landing position. The preset power is customized by those skilled in the art based on the inspection scenario and engineering experience, and is not limited here. It is understandable that the embodiments of the present application also include other situations where the drone needs to return within the scope of protection of the present application.

[0076] In some embodiments, the inspection of a target inspection route by a drone includes the following steps: flying along the target inspection route, and photographing and detecting the target inspection route to obtain inspection information, wherein the inspection information is information of the target inspection route photographed by the drone, and the inspection information includes image information or video information.

[0077] In some embodiments, when a drone inspects a target inspection route, detecting whether the drone meets preset return conditions includes the following steps: while the drone is flying along the target inspection route and while the drone is photographing and inspecting the target inspection route, real-time detection is performed to determine whether the drone's power is less than or equal to a preset power, whether the drone is disconnected from the machine nest, and whether the drone has received a drone return control command sent by the machine nest.

[0078] If the power of the drone is less than or equal to the preset power, or the drone is disconnected from the machine nest, or the drone receives the drone return control command sent by the machine nest, then the drone meets the preset return condition. If the power of the drone is greater than the preset power, and the drone is not disconnected from the machine nest, and the drone does not receive the drone return control command sent by the machine nest, then the drone does not meet the preset return condition at this time, and the drone continues to inspect the target inspection route and detects in real time whether the drone meets the preset return condition until the drone completes the inspection of the target inspection route, or stops executing step S31 when it is detected that the preset return condition is met.

[0079] In some embodiments, before the drone inspects the target inspection route, the return method of the drone further includes the following steps: receiving the target inspection route information sent by the machine nest, responding to the execution inspection task instruction sent by the machine nest, and starting to fly along the target inspection route to inspect the target inspection route. The target inspection route information includes the path direction and distance information of the target inspection route on the map, the coordinates and altitude of each reference object, the coordinates are represented by longitude and latitude information, and the altitude of the reference object is the height difference between the highest point of the reference object and the sea level.

[0080] S32: If the UAV meets the preset return conditions, the airspace control point is obtained.

[0081] In this step, the airspace control point is associated with the target object, which is the reference object that the drone passes by.

[0082] In some embodiments, the target object is a reference object that the drone has passed when it detects that a preset return condition is met while inspecting along the target inspection route.

[0083] In an example, combine Figure 2 When the drone inspects the transmission cable between the pole tower 51 and the pole tower 52 and reaches the pole tower 52, and detects that the preset return conditions are met, the target objects are the pole tower 51 and the pole tower 52.

[0084] In some embodiments, each target object matches an airspace control point, which is determined based on the object projection position of the target object onto the return flight plane. The return flight plane is a horizontal plane, and the altitude of the return flight plane is determined based on the altitude of each target object.

[0085] In some embodiments, the airspace control point is the object projection position of the target object projected onto the return flight plane.

[0086] In some embodiments, the distance between the airspace control point and the object projection position of the target object projected onto the return flight plane is less than or equal to a preset safety radius.

[0087] In some embodiments, the preset safety radius is the radius length of the circular area with the target object as the center under the condition that there are no obstacles in the circular area. The preset safety radius is customized by those skilled in the art based on the surrounding obstacles of the target object and engineering experience, and is not limited here.

[0088] Within the preset safety radius with the target object as the center, there are no obstacles hindering the flight of the drone. When the distance between the airspace control point and the object projection position of the target object onto the return flight plane is less than or equal to the preset safety radius, the present application can make the airspace control point located in the obstacle-free circular area, thereby reducing the probability of obstacles appearing on the return path, thereby reducing the probability of scratches and collisions between the drone and obstacles during the return process, thereby improving the safety of the drone's return flight.

[0089] In some embodiments, the preset safety radius is the radius length of the circular area under the condition that the circular area with the target object as the center is within the airspace flight zone of the application. The present application can make the airspace control point within the legal airspace flight zone, so that the return path of the drone is within the legal airspace flight zone.

[0090] S33: Generate a return path according to each airspace control point.

[0091] In this step, the return path includes the starting return position, each airspace control point, and the return landing position. Among them, the starting return position is the position of the drone when the drone detects that the preset return conditions are met, and the return landing position is the landing position of the drone.

[0092] In some embodiments, generating a return path based on each airspace control point includes the following steps: based on the starting return position, the coordinates of each airspace control point and the coordinates of the return landing position, the starting return position, the coordinates of each airspace control point and the return landing position are sequentially connected to obtain a route as the return path.

[0093] S34: Control the UAV to perform a return operation according to the return path.

[0094] In this step, the embodiment controls the drone to fly along the return path from the starting return position to the return landing position, and lands at the return landing position.

[0095] In some embodiments, controlling the drone to perform a return operation according to the return path includes the following steps: controlling the drone to fly from a starting return position to a return landing position along the return path at an altitude of the return flight plane, and landing at the return landing position.

[0096] In some embodiments, obtaining an airspace control point comprises the following steps:

[0097] S321: Obtain the object position and altitude of the target object.

[0098] S322: Determine the return flight plane according to the altitude of each target object.

[0099] S323: Determine an airspace control point matching the target object on the return flight plane according to the object position of the target object.

[0100] In S321 , the object position of the target object includes the coordinates of the target object, and the altitude of the target object is the height difference between the highest point of the target object and the sea level.

[0101] In some embodiments, obtaining the object position and altitude of the target object includes the following steps: receiving the target inspection route information sent by the drone, parsing the target inspection route information to obtain the coordinates and altitude of each reference object; when the drone inspects along the target inspection route and detects that the preset return conditions are met, the coordinates and altitude of the reference object that has been passed are used as the object position and altitude of the target object.

[0102] In S322, this embodiment determines the altitude of the return flight plane according to the altitudes of each target object, and creates the return flight plane, which is a virtual horizontal plane.

[0103] In some embodiments, the altitude of the return flight plane is greater than or equal to a minimum altitude, and the minimum altitude is a minimum value among the altitudes of several target objects.

[0104] In some embodiments, the altitude of the return flight plane is greater than or equal to the minimum altitude, and the altitude of the return flight plane is less than the maximum altitude, and the maximum altitude is the maximum value of the altitudes of several target objects.

[0105] In S323, this embodiment determines an airspace control point matching each target object on the return flight plane according to the coordinates of each target object.

[0106] By determining the return flight plane according to the altitude of each target object, and determining the airspace control point matching the target object on the return flight plane according to the object position of the target object, this embodiment can reduce the probability of obstacles other than the target object appearing around the airspace control point, thereby reducing the probability of the drone scratching or colliding with obstacles during the return process, and improving the safety of the drone's return flight.

[0107] In some embodiments, determining the return flight plane according to the altitude of each target object includes the following steps:

[0108] S3221: Determine the minimum altitude among the altitudes of each target object.

[0109] S3222: Determine the return flight plane based on the minimum altitude.

[0110] In S3221, this embodiment uses the minimum value of the altitudes of the target objects as the minimum altitude.

[0111] In S3222, this embodiment determines the altitude of the return flight plane according to the minimum altitude, and creates the return flight plane.

[0112] In some embodiments, determining the return flight plane according to the minimum altitude includes the following steps: creating a return flight plane, the altitude of the return flight plane being equal to the minimum altitude.

[0113] In some embodiments, determining the return flight plane based on the minimum altitude includes the following steps: determining the maximum altitude among the altitudes of each target object; calculating the average of the maximum altitude and the minimum altitude to obtain the average altitude; and creating a return flight plane, the altitude of the return flight plane being equal to the average altitude.

[0114] This embodiment controls the altitude of the return flight plane to reduce the probability of obstacles other than the target object appearing at the altitude of the return flight plane, thereby reducing the probability of the drone scratching or colliding with obstacles during the return process, thereby improving the safety of the drone's return flight.

[0115] In some embodiments, according to the object position of the target object, determining the airspace control point matching the target object on the return flight plane includes the following steps:

[0116] S3231: According to the object position of the target object, determine the object projection position of the target object projected onto the return flight plane.

[0117] S3232: Determine the spatial control point that matches the target object according to the projection position of the object.

[0118] In S3231, this embodiment projects each target object onto the return flight plane according to the coordinates of each target object to obtain the object projection position of each target object, and each object projection position corresponds to a coordinate point on the return flight plane.

[0119] Please combine Figure 2 and Figure 4 , Figure 4 It is a schematic diagram of the projection position of an object on a return flight plane provided in an embodiment of the present application. Figure 4 An example is given in which the target objects are pole tower 51, pole tower 52, pole tower 53, and pole tower 54.

[0120] like Figure 4As shown, coordinate point 501 is the object projection position of the pole tower 51 on the return flight plane 300, coordinate point 502 is the object projection position of the pole tower 52 on the return flight plane 300, coordinate point 503 is the object projection position of the pole tower 53 on the return flight plane 300, and coordinate point 504 is the object projection position of the pole tower 54 on the return flight plane 300.

[0121] In S3232, this embodiment determines the airspace control point that matches each target object one by one according to the object projection position of each target object on the return flight plane. This embodiment can associate the airspace control point with the target object that the drone passes along the target inspection route, so that the return path generated by each airspace control point is related to the target inspection route, reducing the probability of obstacles appearing in the return path, thereby improving the safety of the drone's return flight.

[0122] In some embodiments, determining the airspace control point that matches the target object based on the object projection position includes the following steps: using the object projection position of each target object on the return flight plane as the airspace control point that matches each target object, and connecting the airspace control points in sequence to obtain a route.

[0123] Please refer again Figure 4 , Figure 4 Coordinate point 501 is the airspace control point matched by tower 51, coordinate point 502 is the airspace control point matched by tower 52, coordinate point 503 is the airspace control point matched by tower 53, and coordinate point 504 is the airspace control point matched by tower 54. At this time, coordinate point 501, coordinate point 502, coordinate point 503, and coordinate point 504 are connected in sequence to obtain route 70, which is the route adopted by the return path of the drone.

[0124] Compared with the existing scheme that returns in a straight line and is prone to exceed the applied legal airspace belt, this embodiment uses the object projection position of each target object on the return flight plane as the airspace control point matched by each target object. When returning, it can adopt the route connected by these airspace control points in sequence to ensure that the return path is always within the applied legal airspace belt.

[0125] In some embodiments, determining a spatial control point matching a target object according to the projection position of the object comprises the following steps:

[0126] S41: Create a circular area on the return flight plane with the projection position of the object as the center according to the preset safety radius.

[0127] S42: Determine the airspace control points on the circular area, and the route obtained by connecting the airspace control points in sequence is the shortest route.

[0128] In S41, this embodiment creates a circular area corresponding to each object projection position on the return flight plane, with each object projection position as the center and a preset safety radius as the radius. There are no obstacles in the circular area except the target object, and the drone can fly safely in the circular area.

[0129] In S42, the present embodiment determines the airspace control points on each circular area, and the route obtained by sequentially connecting the airspace control points is the shortest route. The present embodiment can make the drone return along the shortest route, reduce the drone return flight time, and reduce power consumption.

[0130] In some embodiments, the airspace control point includes a return start control point, and determining the airspace control point on the circular area includes the following steps:

[0131] S421: Obtain the starting return position and terminal object of the drone.

[0132] S422: Determine the starting projection position of the starting return position projected onto the return flight plane.

[0133] S423: Determine the intersection point of the end connection line and the end circular area as the return start control point.

[0134] In S421, the terminal object is the target object that the drone passes by last before returning.

[0135] In some embodiments, obtaining the starting return position of the drone includes the following steps: when the drone inspects the target inspection route and detects that the preset return conditions are met, the current position of the drone is used as the starting return position.

[0136] In some embodiments, obtaining the end object includes the following steps: when the drone inspects the target inspection route and detects that the preset return conditions are met, the last target object that the drone has passed along the target inspection route is taken as the end object.

[0137] For example, when the drone inspects the transmission cables along pole tower 51 and between pole tower 51 and pole tower 52 and reaches pole tower 52 and detects that the preset return conditions are met, the target objects are pole tower 51 and pole tower 52 and the end object is pole tower 52.

[0138] In S422, this embodiment projects the starting return position onto the return flight plane to obtain a starting projection position, where the starting projection position is a projection position of the starting return position on the return flight plane.

[0139] In S423, the circular area corresponding to the end object is the end circular area, the line connecting the starting projection position and the center of the end circular area is the end line, and the return starting control point is the airspace control point matching the end object on the return flight plane.

[0140] By determining the return start control point by the intersection of the end line and the end circular area, this embodiment can improve the accuracy of determining the return start control point, thereby improving the accuracy of the return path and reducing the probability of obstacles appearing on the return path.

[0141] Please combine Figure 2 and Figure 5 , Figure 5 It is a schematic diagram of the projection position of an object and airspace control points on a return flight plane provided in an embodiment of the present application. Figure 5 An example is given in which the target objects are pole tower 51, pole tower 52, pole tower 53, and pole tower 54, and the terminal object is pole tower 54.

[0142] like Figure 5 As shown, coordinate point 501 is the object projection position of the pole tower 51 on the return flight plane 300, coordinate point 502 is the object projection position of the pole tower 52 on the return flight plane 300, coordinate point 503 is the object projection position of the pole tower 53 on the return flight plane 300, coordinate point 504 is the object projection position of the pole tower 54 on the return flight plane 300, the terminal circular area 74 is a circular area with coordinate point 504 as the center, the line connecting the starting projection position 80 and the center 504 of the terminal circular area 74 is the terminal line 75, and the intersection of the terminal line 75 and the terminal circular area 74 is the return starting control point 81.

[0143] In some embodiments, the airspace control point includes a return end control point, and determining the airspace control point on the circular area includes the following steps:

[0144] S424: Obtain the return landing position and the first end object of the drone.

[0145] S425: Determine the end point projection position of the return landing position projected onto the return flight plane.

[0146] S426: Determine the intersection point of the head end connection line and the head end circular area as the return end control point.

[0147] In S424, the first-end object is the target object that the drone passes by first before returning.

[0148] In some embodiments, the inspection mission instruction includes the coordinates of the return landing position of the UAV, and obtaining the return landing position of the UAV includes the following steps: parsing the inspection mission execution instruction sent by the machine nest to obtain the coordinates of the return landing position.

[0149] In some embodiments, the drone return control instruction includes the coordinates of the drone's return landing position, and obtaining the drone's return landing position includes the following steps: parsing the drone's return control instruction sent by the machine nest to obtain the coordinates of the return landing position.

[0150] In some embodiments, obtaining the first-end object includes the following steps: when the drone inspects the target inspection route and detects that the preset return conditions are met, the first target object passed by the drone when it starts inspecting along the target inspection route is taken as the first-end object.

[0151] For example, when the drone inspects the transmission cable along the pole tower 51 and between the pole tower 51 and the pole tower 52 and reaches the pole tower 52, and detects that the preset return conditions are met, the target objects are the pole tower 51 and the pole tower 52, and the head end object is the pole tower 51.

[0152] In S425, this embodiment projects the return landing position onto the return flight plane to obtain the terminal projection position, which is the projection position of the return landing position on the return flight plane.

[0153] In S426, the circular area corresponding to the first end object is the first end circular area, the line connecting the end point projection position and the center of the first end circular area is the first end line, and the return end control point is the airspace control point matching the first end object on the return flight plane.

[0154] By determining the intersection of the head end line and the head end circular area as the return end control point, this embodiment can improve the accuracy of determining the return end control point, thereby improving the accuracy of the return path and reducing the probability of obstacles appearing on the return path.

[0155] Please refer again Figure 5 When the pole tower 51 is the head end object, the head end circular area 71 is a circular area with the coordinate point 501 as the center, the line connecting the end point projection position 85 and the center 501 of the head end circular area 71 is the head end line 76, and the intersection of the head end line 76 and the head end circular area 71 is the return end control point 84.

[0156] In some embodiments, the airspace control points include a return start control point, a return intermediate control point, and a return end control point. Determining the airspace control points on the circular area includes the following steps:

[0157] S427: Get the intermediate object;

[0158] S428: According to the preset path planning algorithm, a boundary point satisfying the preset shortest path condition is searched on the boundary of the middle circular area as the return intermediate control point.

[0159] In S427, the intermediate object is a target object that the drone passes by before returning and is deployed between the head end object and the end object, and the number of the intermediate object is at least one.

[0160] In some embodiments, obtaining the intermediate object includes the following steps: among the target objects that the drone passes along the target inspection route, the target object deployed between the head end object and the end end object is regarded as the intermediate object.

[0161] For example, when the drone inspects pole tower 51, the transmission cable between pole tower 51 and pole tower 52, pole tower 52, and the transmission cable between pole tower 52 and pole tower 53 and reaches pole tower 53, when it detects that the preset return conditions are met, the target objects are pole tower 51, pole tower 52, and pole tower 53, the head end object is pole tower 51, the end object is pole tower 53, and the middle object is pole tower 52.

[0162] In S428, the circular area of ​​the middle object is the middle circular area, and the route obtained by sequentially connecting the return start control point, the return middle control point and the return end control point is the shortest route.

[0163] The preset shortest path condition is that the line obtained by connecting the return starting control point, the boundary point on the middle circular area, and the return ending control point in sequence is the shortest. The preset path planning algorithm is used to search for boundary points on the boundary of the middle circular area that meet the preset shortest path condition.

[0164] The preset path planning algorithm includes, but is not limited to, a depth first search algorithm (DFS), a breadth first search algorithm (BFS), and other path planning algorithms. The preset path planning algorithm is set by those skilled in the art according to the target object and is not limited here.

[0165] The depth-first search algorithm is an algorithm for traversing or searching a graph or tree by starting at a starting node, following a path until it can no longer proceed, and then backtracking to the previous node to continue exploring.

[0166] The breadth-first search algorithm uses the queue as its core. The core of the search is to start from the starting node, find a legal and feasible point that can be reached in one step, add it to the queue, then pop out the starting node, and perform search operations on the nodes in the queue in turn until the queue is empty.

[0167] In some embodiments, according to a preset path planning algorithm, searching for boundary points on the boundary of the middle circular area that meet preset shortest path conditions includes the following steps: on the return flight plane, a coordinate system is established according to the coordinate points of the projection positions of several objects; based on the coordinate system, the return flight plane is grid-divided to obtain several grids, each grid corresponds to a grid coordinate, and the grid coordinates are used to represent the row number and column number of a grid in the return flight plane; according to the grid coordinates of the return start control point and the grid coordinates of the return end control point, the boundary points are searched on the boundary of each middle circular area so that the line obtained by connecting the return start control point, the boundary points on each middle circular area, and the return end control point in sequence is the shortest; each boundary point is used as a return intermediate control point matching the corresponding intermediate object.

[0168] By searching for a boundary point on the boundary of the middle circular area that meets the preset shortest path conditions as the return intermediate control point, and the route obtained by sequentially connecting the return start control point, the return intermediate control point and the return end control point is the shortest route, this embodiment can improve the accuracy of determining the return intermediate control point, make the return path the shortest route, reduce the return flight time of the drone, and reduce power consumption.

[0169] Please refer again Figure 5 When the poles 52 and 53 are intermediate objects, the middle circular area 72 is a circular area with the coordinate point 502 as the center, and the middle circular area 73 is a circular area with the coordinate point 503 as the center. The boundary point 82 is searched out on the boundary of the middle circular area 73, and the boundary point 83 is searched out on the boundary of the middle circular area 72. The line obtained by sequentially connecting the return start control point 81, the boundary point 82, the boundary point 83, and the return end control point 84 is the shortest. At this time, the boundary point 82 is the return intermediate control point matching the pole 53, and the boundary point 83 is the return intermediate control point matching the pole 52. The return start control point 81, the boundary point 82, the boundary point 83, and the return end control point 84 are sequentially connected to obtain the route 90, and the route 90 is the route adopted by the return path of the drone.

[0170] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0171] As another aspect of the embodiment of the present application, the embodiment of the present application provides a return device for a drone. The return device for a drone can be a software module, and the software module includes a number of instructions stored in a memory, and the processor can access the memory and call the instructions for execution to complete the return method of the drone described in the above embodiments.

[0172] In some embodiments, the return device of the drone can also be constructed by hardware devices. For example, the return device of the drone can be constructed by one or more chips, and each chip can work in coordination with each other to complete the return method of the drone described in the above embodiments. For another example, the return device of the drone can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0173] See also Figure 6 , Figure 6 The structure diagram of a return device of a drone provided in an embodiment of the present application is shown in FIG. The return device 600 of the drone includes a condition detection module 601 , an airspace control point acquisition module 602 , a path generation module 603 and a return execution module 604 .

[0174] The condition detection module 601 is used to detect whether the drone meets the preset return conditions when the drone inspects the target inspection route. The target inspection route includes multiple reference objects deployed along the way. The airspace control point acquisition module 602 is used to obtain the airspace control point if the drone meets the preset return conditions. The airspace control point is associated with the target object, and the target object is the reference object passed by the drone. The path generation module 603 is used to generate a return path according to each airspace control point, and the return execution module 604 is used to control the drone to perform the return operation according to the return path. This embodiment can generate a return path based on the reference objects passed by the drone when the drone needs to return after inspection, thereby reducing the probability of scratches and collisions with obstacles during the drone's return process, thereby improving the safety of the drone's return flight.

[0175] In some embodiments, the airspace control point acquisition module 602 is specifically used to: obtain the object position and altitude of the target object; determine the return flight plane according to the altitude of each target object; and determine the airspace control point matching the target object on the return flight plane according to the object position of the target object.

[0176] In some embodiments, the airspace control point acquisition module 602 is further specifically used to: determine the minimum altitude among the altitudes of each target object; determine the return flight plane according to the minimum altitude, and the altitude of the return flight plane is greater than or equal to the minimum altitude.

[0177] In some embodiments, the airspace control point acquisition module 602 is further specifically used to: determine the object projection position of the target object projected onto the return flight plane according to the object position of the target object; and determine the airspace control point matching the target object according to the object projection position.

[0178] In some embodiments, the airspace control point acquisition module 602 is also specifically used to: create a circular area on the return flight plane with the object projection position as the center according to a preset safety radius; determine the airspace control points on the circular area, and the route obtained by connecting the airspace control points in sequence is the shortest route.

[0179] In some embodiments, the airspace control point includes a return start control point, and the airspace control point acquisition module 702 is also specifically used to: obtain the starting return position and the end object of the drone, the end object is the target object that the drone passed last before returning; determine the starting projection position of the starting return position projected onto the return flight plane, the circular area corresponding to the end object is the end circular area, and the line connecting the starting projection position and the center of the end circular area is the end line; determine the intersection of the end line and the end circular area as the return start control point.

[0180] In some embodiments, the airspace control point includes a return end control point, and the airspace control point acquisition module 602 is also specifically used to: obtain the return landing position and the first end object of the drone, the first end object is the target object that the drone first passes by before returning; determine the end point projection position of the return landing position projected onto the return flight plane, the circular area corresponding to the first end object is the first end circular area, and the line connecting the end point projection position and the center of the first end circular area is the first end line; determine the intersection of the first end line and the first end circular area as the return end control point.

[0181] In some embodiments, the airspace control points include a return start control point, a return intermediate control point and a return end control point. The airspace control point acquisition module 602 is also specifically used to: obtain an intermediate object, the intermediate object is a target object that the drone passes through before returning and is deployed between the head object and the end object. The head object is the target object that the drone passes through first before returning, and the end object is the target object that the drone passes through last before returning. The circular area of ​​the intermediate object is the middle circular area; according to the preset path planning algorithm, the boundary point that meets the preset shortest path condition is searched on the boundary of the middle circular area as the return intermediate control point, and the route obtained by connecting the return start control point, the return intermediate control point and the return end control point in sequence is the shortest route.

[0182] It should be noted that the above-mentioned drone return device can execute the drone return method provided in the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the drone return device embodiment, please refer to the drone return method provided in the embodiment of the present application.

[0183] See also Figure 7 , Figure 7 700 is a schematic diagram of a structure of a drone provided in an embodiment of the present application. The drone 700 includes one or more processors 701 and a memory 702. The memory 702 is connected to the one or more processors 701, for example, connected to the processor 701 via a bus.

[0184] The processor 701 is configured to support the drone 700 to perform the corresponding functions in the method in the above method embodiment. The processor 701 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0185] The memory 702 is used to store program codes, etc. The memory 702 may include a volatile memory (VM), such as a random access memory (RAM); the memory may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory 702 may also include a combination of the above-mentioned types of memory.

[0186] The memory 702 can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the return method of the drone in the embodiment of the present application. The processor 701 executes the various functional applications and data processing of the return method of the drone and the return device of the drone by running the non-volatile software programs, instructions and modules stored in the memory 702, that is, realizes the functions of the return method of the drone and the various modules or units of the return device of the drone provided in the above method embodiment.

[0187] The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function. The data storage area may store data created according to the use of the return device of the drone, etc. In some embodiments, the memory 702 may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the return device of the drone via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0188] The one or more modules are stored in the memory, and when executed by the one or more processors, the return method of the drone in any of the above method embodiments is executed, for example, the method steps described in the above method embodiments are executed to realize the functions of the modules described in the above device embodiments.

[0189] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method described in the above embodiment.

[0190] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0191] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for returning a drone, characterized in that: include: When the drone inspects a target inspection route, detecting whether the drone meets a preset return condition, the target inspection route includes a plurality of reference objects deployed along the route; If the UAV meets the preset return conditions, an airspace control point is obtained, where the airspace control point is associated with a target object, and the target object is a reference object that the UAV passes by; Generate a return path according to each of the airspace control points; The drone is controlled to perform a return operation according to the return path.

2. The return method according to claim 1, characterized in that: The obtaining of airspace control points comprises: Obtaining the object position and altitude of the target object; Determining a return flight plane according to the altitude of each target object; According to the object position of the target object, an airspace control point matching the target object is determined on the return flight plane.

3. The return method according to claim 2, characterized in that: Determining the return flight plane according to the altitude of each target object includes: Determining a minimum altitude among the altitudes of the target objects; A return flight plane is determined according to the minimum altitude, and the altitude of the return flight plane is greater than or equal to the minimum altitude.

4. The return method according to claim 2, characterized in that: Determining, on the return flight plane, an airspace control point matching the target object according to the object position of the target object comprises: Determining, according to the object position of the target object, the object projection position of the target object projected onto the return flight plane; Determine a spatial control point that matches the target object according to the projection position of the object.

5. The return method according to claim 4, characterized in that: The determining of the spatial control point matching the target object according to the projection position of the object comprises: According to a preset safety radius, a circular area is created on the return flight plane with the projection position of the object as the center of the circle; The airspace control points on the circular area are determined, and the route obtained by connecting the airspace control points in sequence is the shortest route.

6. The return method according to claim 5, characterized in that: The airspace control point includes a return start control point, and the airspace control points determined on the circular area include: Obtaining the starting return position and the terminal object of the drone, wherein the terminal object is the target object that the drone passed by last before returning; Determine the starting projection position of the starting return position projected onto the return flight plane, the circular area corresponding to the end object is the end circular area, and the line connecting the starting projection position and the center of the end circular area is the end line; The intersection point of the terminal connecting line and the terminal circular area is determined as the return start control point.

7. The return method according to claim 5, characterized in that: The airspace control point includes a return end control point, and the airspace control points determined on the circular area include: Obtaining the return landing position and the first end object of the drone, where the first end object is the target object that the drone first passes by before returning; Determine the terminal projection position of the return landing position projected onto the return flight plane, the circular area corresponding to the head end object is the head end circular area, and the line connecting the terminal projection position and the center of the head end circular area is the head end line; The intersection point of the head end connecting line and the head end circular area is determined as the return end control point.

8. The return method according to claim 5, characterized in that: The airspace control points include a return start control point, a return intermediate control point and a return end control point, and the airspace control points determined on the circular area include: Acquire an intermediate object, wherein the intermediate object is a target object that the drone passes by before returning and is deployed between the head object and the end object, the head object is the target object that the drone passes by first before returning, the end object is the target object that the drone passes by last before returning, and the circular area of ​​the intermediate object is the middle circular area; According to the preset path planning algorithm, a boundary point that meets the preset shortest path conditions is searched on the boundary of the middle circular area as the return intermediate control point, and the route obtained by connecting the return starting control point, the return intermediate control point and the return end control point in sequence is the shortest route.

9. A drone, characterized in that: It includes a memory and a processor, the memory is connected to the processor, the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the drone implements the return method of the drone as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor executes the return method for the drone as described in any one of claims 1 to 9.

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