Unmanned aerial vehicle homing method, unmanned aerial vehicle and computer readable storage medium

Abstract

Embodiments of the present application relate to the technical field of unmanned aerial vehicle, and particularly relate to a method for returning of unmanned aerial vehicle, the unmanned aerial vehicle and a computer readable storage medium. The method comprises: when the unmanned aerial vehicle inspects a target inspection line, detecting whether the unmanned aerial vehicle meets a preset return condition, the target inspection line comprising a plurality of reference objects arranged along the way; if the unmanned aerial vehicle meets the preset return condition, obtaining airspace control points, the airspace control points being associated with target objects, the target objects being the reference objects passed by the unmanned aerial vehicle; generating a return path according to the airspace control points; and controlling the unmanned aerial vehicle to perform a return operation according to the return path. The embodiments can generate a return path according to the reference objects passed by the unmanned aerial vehicle when the unmanned aerial vehicle needs to return during inspection, thereby reducing the probability of scratching and collision with obstacles during the return of the unmanned aerial vehicle, and improving the safety of the return flight of the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of unmanned aerial vehicle, and particularly, to a return method of unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium. BACKGROUND

[0002] An unmanned aerial vehicle is a kind of unmanned aerial vehicle widely used in patrol, map data collection, stunt shooting and other different fields. The unmanned aerial vehicle can be used to perform automatic patrol tasks, such as performing patrol operations on power transmission equipment, pipelines, vegetation and coastlines. In the related art, when the unmanned aerial vehicle cannot continue to perform the patrol task, the unmanned aerial vehicle is controlled to automatically return along a straight line. Since the straight return path is usually different from the patrol route of the unmanned aerial vehicle, when the unmanned aerial vehicle returns along the straight line, the straight return path is prone to have obstacles, resulting in scratching, collision and other situations of the unmanned aerial vehicle, thereby reducing the safety of the unmanned aerial vehicle flight. SUMMARY

[0003] An object of embodiments of the present application is to provide a return method of unmanned aerial vehicle, unmanned aerial vehicle and computer readable storage medium, to solve the technical problem of low safety of the return of the unmanned aerial vehicle in the related art.

[0004] In a first aspect, embodiments of the present application provide a return method of unmanned aerial vehicle, comprising:

[0005] When the unmanned aerial vehicle patrols a target patrol route, it is detected whether the unmanned aerial vehicle meets a preset return condition, the target patrol route comprising a plurality of reference objects deployed along the way;

[0006] If the unmanned aerial vehicle meets the preset return condition, an airspace control point is obtained, the airspace control point being associated with a target object, the target object being a reference object passed by the unmanned aerial vehicle;

[0007] A return path is generated according to each airspace control point;

[0008] The unmanned aerial vehicle is controlled to perform a return operation according to the return path.

[0009] Optionally, the obtaining of the airspace control point comprises:

[0010] An object position and an altitude of the target object are obtained;

[0011] A return flight plane is determined according to the altitude of each target object;

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

[0013] The embodiment can reduce the probability of obstacles appearing around the airspace control point except for the target object, thereby reducing the probability of scratching and collision with obstacles during the return flight of the unmanned aerial vehicle, and improving the safety of the return flight of the unmanned aerial vehicle.

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

[0015] determining a minimum altitude from the altitudes of the target objects;

[0016] determining the return flight plane according to the minimum altitude, wherein the altitude of the return flight plane is greater than or equal to the minimum altitude.

[0017] The embodiment can control the altitude of the return flight plane, reduce the probability of obstacles appearing at the altitude of the return flight plane except for the target object, thereby reducing the probability of scratching and collision with obstacles during the return flight of the unmanned aerial vehicle, and further improving the safety of the return flight of the unmanned aerial vehicle.

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

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

[0020] determining the airspace control point matching the target object according to the object projection position.

[0021] The embodiment can associate the airspace control point with the target object passed by the unmanned aerial vehicle along the target inspection route, thereby making the return path generated by each airspace control point related to the target inspection route, reducing the probability of obstacles appearing in the return path, and further improving the safety of the return flight of the unmanned aerial vehicle.

[0022] Optionally, the determining the airspace control point matching the target object according to the object projection position comprises:

[0023] creating a circular region on the return flight plane with the object projection position as the center and a preset safety radius;

[0024] determining the airspace control point on the circular region, and the flight route sequentially connected by each airspace control point being the shortest flight route.

[0025] The embodiment can make the unmanned aerial vehicle return along the shortest flight route, reduce the time of the return flight of the unmanned aerial vehicle, and reduce the power consumption.

[0026] Optionally, the airspace control points include a return starting control point, and the determining the airspace control points on the circular region includes:

[0027] obtaining a starting return position of the UAV and a terminal object, the terminal object being a target object last passed through by the UAV before the return;

[0028] determining a starting projection position of the starting return position projected onto the return flight plane, a terminal circular region corresponding to the terminal object, and a terminal connecting line between the starting projection position and a center of the terminal circular region;

[0029] determining an intersection of the terminal connecting line and the terminal circular region as a return starting control point.

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

[0031] Optionally, the airspace control points include a return ending control point, and the determining the airspace control points on the circular region includes:

[0032] obtaining a return landing position of the UAV and a head object, the head object being a target object first passed through by the UAV before the return;

[0033] determining a terminal projection position of the return landing position projected onto the return flight plane, a head circular region corresponding to the head object, and a head connecting line between the terminal projection position and a center of the head circular region;

[0034] determining an intersection of the head connecting line and the head circular region as a return ending control point.

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

[0036] Optionally, the airspace control points include a return starting control point, a return intermediate control point, and a return ending control point, and the determining the airspace control points on the circular region includes:

[0037] obtaining an intermediate object, the intermediate object being a target object passed through by the UAV before the return and deployed between a head object and a terminal object, the head object being a target object first passed through by the UAV before the return, the terminal object being a target object last passed through by the UAV before the return, and a circular region of the intermediate object being an intermediate circular region;

[0038] According to the preset path planning algorithm, a boundary point meeting a preset shortest path condition is searched on the boundary of the intermediate circular region as a return intermediate control point, and a route sequentially connecting the return starting control point, the return intermediate control point and the return ending control point is a shortest route.

[0039] The embodiment can improve the accuracy of determining the return intermediate control point, make the return path a shortest route, reduce the time of the return flight of the unmanned aerial vehicle, and reduce the power consumption.

[0040] In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle, comprising a memory and a processor, the memory being connected to the processor, the processor being used to execute one or more computer programs stored in the memory, and the processor, when executing the one or more computer programs, causes the computer device to implement the return method of the unmanned aerial vehicle.

[0041] In a third aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program comprising program instructions, and the program instructions, when executed by a processor, causing the processor to execute the return method of the unmanned aerial vehicle.

[0042] The embodiment of the present application can achieve the following technical effects: in the return method of the unmanned aerial vehicle provided by the embodiment of the present application, when the unmanned aerial vehicle performs inspection on a target inspection route, it is detected whether the unmanned aerial vehicle meets a preset return condition, the target inspection route comprising a plurality of reference objects arranged along the way; if the unmanned aerial vehicle meets the preset return condition, airspace control points are obtained, the airspace control points being associated with target objects, the target objects being reference objects passed by the unmanned aerial vehicle; a return path is generated according to the airspace control points; and the unmanned aerial vehicle is controlled to perform a return operation according to the return path. The embodiment can generate a return path according to reference objects passed by the unmanned aerial vehicle when the unmanned aerial vehicle needs to return during inspection, reduce the probability of scratching and colliding with obstacles during the return of the unmanned aerial vehicle, and thus improve the safety of the return flight of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without 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 by an embodiment of the present application;

[0046] Figure 3 is a flow diagram of a return method of a UAV provided by an embodiment of the present application;

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

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

[0049] Figure 6 is a structural schematic diagram of a return device of a UAV provided by an embodiment of the present application;

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

[0051] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0052] It should be noted that the various features in the embodiments of the present application can be combined with each other without conflict, and all fall within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. Furthermore, the "first", "second", "third" and the like used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0053] When the unmanned aerial vehicle inspects other objects such as power transmission equipment, pipelines, vegetation or coastlines, the inspection route passes through multiple inspection objects, is usually a curve, and the unmanned aerial vehicle flies at a certain altitude within the airspace flight strip range when inspecting each inspection object. Therefore, the unmanned aerial vehicle can avoid obstacles around the inspection objects when flying along the inspection route. When the unmanned aerial vehicle cannot continue to perform the inspection task at a certain location due to insufficient power and the like, it needs to return to the take-off point. In the related art, when the unmanned aerial vehicle cannot continue to perform the inspection task, the unmanned aerial vehicle is controlled to automatically return along a straight line, that is, the unmanned aerial vehicle 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 unmanned aerial vehicle returns along the straight line, the straight return path is likely to have obstacles at multiple altitudes, which causes the unmanned aerial vehicle to scratch, collide and the like, thereby reducing the safety of the unmanned aerial vehicle flight.

[0054] Based on this, the embodiments of the present application provide a return method of an unmanned aerial vehicle, which associates airspace control points with reference objects passed through by the unmanned aerial vehicle, and generates a return path according to each airspace control point, so as to reduce the probability of scratching and collision with obstacles during the return of the unmanned aerial vehicle, thereby improving the safety of the return flight of the unmanned aerial vehicle.

[0055] Please refer to Figure 1 , Figure 1 is a schematic diagram of a first application environment provided by the embodiments of the present application. As shown in Figure 1 , the application environment 100 includes a management platform 10, a nest 20 and an unmanned aerial vehicle 30. The management platform 10 and the nest 20 are connected through a wired network or a wireless network, and the nest 20 and the unmanned aerial vehicle 30 are connected through a wireless network. The wireless network can be a 2G, 3G, 4G, 5G, wireless local area network, Bluetooth network or the like, or a combination thereof, and the wired network can be a serial port line, a network cable or the like, or a combination thereof, which is not limited herein.

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

[0057] The management platform 10 is configured to plan a target inspection route for the UAV 30, the target inspection route being a flight path for the UAV to perform an inspection task, and the inspection object of the inspection task can be power transmission equipment, a pipeline, a road, or vegetation, etc. The management platform 10 is further configured to determine whether the flight path of the UAV 30 needs airspace restriction, and when the flight path of the UAV 30 needs airspace restriction, the UAV 30 can only fly within a corresponding airspace flight band range, and when the flight path of the UAV 30 does not need airspace restriction, the flight position of the UAV 30 in the air is not restricted. The airspace flight band range is a range in which the UAV can legally fly in the air, and each UAV corresponds to an airspace flight band range, and the corresponding airspace flight band range is applied for the UAV by a relevant operator before the UAV flies.

[0058] The management platform 10 can include a display screen, or display through connection with other display devices, and the display screen can be configured to display various data of the nest and / or the UAV, such as the cover state (open or closed) of the nest, the airspace flight band range corresponding to the UAV, the flight path of the UAV, the flight video of the UAV, etc. The management platform 10 can further include an input device configured to input a control instruction of a relevant operator and send the control instruction to the nest 20, wherein the control instruction is, for example, an inspection task instruction, a UAV landing instruction, a UAV return control instruction, etc., and the input device is, for example, a touch screen, a button, or a mouse, etc.

[0059] The nest 20 is configured to place the UAV 30, and can meet the needs of take-off, landing, battery replacement, and charging of the UAV 30. The nest 20 generally includes a cabinet body and a cover, and the cabinet body and the cover form a closed space, so that the UAV 30 can be protected from sun and rain when placed therein. The nest 20 can further include a charging module configured to charge the UAV when placed therein.

[0060] The nest 20 is specifically configured to receive the control instruction sent by the management platform 10 and control the UAV according to the control instruction. For example, when the control instruction is an inspection task instruction, the inspection task instruction includes a target inspection route and an airspace restriction requirement, the nest 20 sends the target inspection route and the inspection task instruction to the UAV 30, so that the UAV 30 performs the inspection task according to the target inspection route, and the nest 20 controls the UAV 30 to mark whether the flight path needs airspace restriction according to the airspace restriction requirement. When the control instruction is a UAV landing instruction, the nest 20 sends the control instruction to the UAV 30, so that the UAV 30 lands. When the control instruction is a UAV return control instruction, the nest 20 sends the control instruction to the UAV 30, so that the UAV 30 returns.

[0061] The UAV 30 can be any type of powered unmanned aerial vehicle, including but not limited to a tilt-rotor UAV, a fixed-wing UAV, a parafoil UAV, an ornithopter UAV, a helicopter model, and the like. The UAV 30 can have a corresponding size or power according to actual needs, so as to provide a load capacity, a flight speed, and a flight endurance that can meet the needs of use.

[0062] The UAV 30 is configured to receive instructions sent by the receiver nest 20 and perform corresponding actions according to the instructions. For example, the UAV 30 starts to perform a patrol task according to an instruction sent by the receiver nest 20 to perform the patrol task; or the UAV 30 lands according to an instruction sent by the receiver nest 20 to land; or the UAV 30 returns according to an instruction sent by the receiver nest 20 to return. The UAV 30 is also configured to take pictures of a patrol object during the patrol and transmit image information or video information obtained to the receiver nest 20, so as to be sent to the management platform 10 by the receiver nest 20. The patrol object for which the UAV 30 performs the patrol task can be power transmission equipment, a pipeline, a road, or vegetation, and the like.

[0063] Please refer to Figure 2 , Figure 2 is a schematic diagram of a second application scenario provided by the embodiments of the present application. Figure 2 The patrol object is taken as a high-voltage transmission line including a plurality of pole towers on which transmission cables are erected. As shown in Figure 2 , the application scenario 200 includes transmission cables 40, a pole tower 51, a pole tower 52, a pole tower 53, a pole tower 54, a pole tower 55, an obstacle 60, an obstacle 61, an obstacle 62, and an obstacle 63.

[0064] The two transmission cables 40 are erected between the pole tower 51 and the pole tower 52, between the pole tower 52 and the pole tower 53, between the pole tower 53 and the pole tower 54, and between the pole tower 54 and the pole tower 55. The pole towers 51-55 have different object positions and altitudes. The obstacles 60-63 are objects with different altitudes distributed around the pole towers 51-55 and obstructing the flight of the UAV, Figure 2 taken as trees.

[0065] The UAV performs a patrol task along the line connecting the pole towers 51-55. Each pole tower can correspond to an observation point. When the UAV is at the observation point, the UAV can take pictures of one or more components of the pole tower, such as one or more components of the pole tower, for example, an insulator, a anti-drop spike, a hanging point bolt, a shock absorber, and the like. When the UAV is between two pole towers, the UAV can take pictures of the plurality of transmission cables. Until the UAV completes the taking of pictures of all the pole towers that need to be patrolled, the UAV completes the patrol task.

[0066] It should be noted that the above only exemplarily describes that the inspection object is the high-voltage transmission line, and does not cause any limitation to the inspection object. In some embodiments, the inspection object can also be a road, a factory, a farmland, a forest, or the like.

[0067] Please refer to Figure 3 , Figure 3 is a flowchart of a method for returning a UAV provided by an embodiment of the present application.

[0068] The method for returning the UAV is applied to the UAV, and specifically, an execution subject of the method for returning the UAV can be one or more processors of the UAV.

[0069] As shown in Figure 3 , the method for returning the UAV includes the following steps.

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

[0071] In this step, the target inspection line includes a plurality of reference objects arranged along the way, and the preset return condition is a condition that needs to be met when the UAV performs a return operation.

[0072] In some embodiments, the target inspection line is a route on which the UAV detects the inspection object in a preset scene, the reference object is any object in the inspection object that has coordinate information and an actual height, the inspection object is an object that needs to be detected for potential safety hazards, and the inspection object includes, but is not limited to, a tower for erecting a power cable, a road, a factory, a farmland, a forest, and the like. The coordinate information is represented by latitude and longitude, and the object with the actual height refers to an object that meets 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, the high-voltage transmission line includes a plurality of towers for erecting power cables, the target inspection line is a route on which the UAV detects the high-voltage transmission line, the target inspection line includes a plurality of towers for erecting power cables arranged along the way and power cables between the towers, and the reference object is each tower for erecting power cables. It can be understood that the present application not only includes the return method of the UAV in the power inspection scene, but also needs to include other inspection scenes.

[0074] In one example, please refer to Figure 2 , when the inspection object is Figure 2The high-voltage transmission lines shown between the towers 51 to 55 are the target inspection lines, which are the lines connected to the tower 51, the transmission cable between the tower 51 and the tower 52, the tower 52, the transmission cable between the tower 52 and the tower 53, the tower 53, the transmission cable between the tower 53 and the tower 54, the tower 54, the transmission cable between the tower 54 and the tower 55, and the tower 55. The towers 51, 52, 53, 54, and 55 are all reference objects.

[0075] In some embodiments, the preset return condition includes at least one of the following: the power of the UAV is less than or equal to a preset power, the UAV is disconnected from the nest, and the UAV receives a UAV return control instruction sent by the nest. The UAV return control instruction is used to instruct the UAV to return from the current position to the return landing position. The preset power is defined by a person skilled in the art according to the inspection scene and engineering experience, which is not limited herein. It can be understood that other situations requiring the UAV to return are also included in the protection scope of the present application.

[0076] In some embodiments, the inspection of the target inspection line by the UAV includes the following steps: flying along the target inspection line and performing photographing detection on the target inspection line to obtain inspection information. The inspection information is the information of the target inspection line photographed by the UAV, and the inspection information includes image information or video information.

[0077] In some embodiments, when the UAV inspects the target inspection line, the detection of whether the UAV meets the preset return condition includes the following steps: during the flying of the UAV along the target inspection line and the photographing detection of the UAV on the target inspection line, the power of the UAV is detected in real time to determine whether the power is less than or equal to the preset power, whether the UAV is disconnected from the nest, and whether the UAV receives the UAV return control instruction sent by the nest.

[0078] If the power of the UAV is less than or equal to the preset power, or the UAV is disconnected from the nest, or the UAV receives the UAV return control instruction sent by the nest, the UAV meets the preset return condition. If the power of the UAV is greater than the preset power, and the UAV is not disconnected from the nest, and the UAV does not receive the UAV return control instruction sent by the nest, the UAV does not meet the preset return condition at this time, the UAV continues to inspect the target inspection line, and the UAV detects in real time whether the UAV meets the preset return condition until the UAV completes the inspection of the target inspection line or stops performing step S31 when the preset return condition is met.

[0079] In some embodiments, before the UAV inspects the target inspection line, the UAV return method further comprises the following steps: receiving the target inspection line information sent by the nest, and starting to fly along the target inspection line to inspect the target inspection line in response to the inspection task execution instruction sent by the nest. The target inspection line information includes the path direction and distance information of the target inspection line on the map, the coordinates and altitude of each reference object, and the coordinates are represented by latitude and longitude 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 condition, obtain the airspace control point.

[0081] In this step, the airspace control point is associated with the target object, and the target object is a reference object passed through by the UAV.

[0082] In some embodiments, the target object is a reference object that has been passed through when the UAV detects that the preset return condition is met during the inspection along the target inspection line.

[0083] In one example, please refer to Figure 2 When the UAV inspects the transmission cable between the tower 51 and the tower 52 along the tower 51 and reaches the tower 52, the target object is the tower 51 and the tower 52 when the preset return condition is detected.

[0084] In some embodiments, each target object is matched with an airspace control point, and the airspace control point is determined according to the object projection position of the target object orthogonally projected onto the return flight plane. The return flight plane is a horizontal plane, and the altitude of the return flight plane is determined according to the altitude of each target object.

[0085] In some embodiments, the airspace control point is the object projection position of the target object orthogonally 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 orthogonally projected onto the return flight plane is less than or equal to the preset safety radius.

[0087] In some embodiments, the preset safety radius is the radius length of a circular region with the target object as the center, and the circular region meets the condition that there is no obstacle in the circular region. The preset safety radius is defined by a person skilled in the art according to the surrounding obstacle situation of the target object and engineering experience, and is not limited herein.

[0088] In a preset safety radius range with the target object as the center, there is no obstacle to hinder the flight of the UAV, and when the distance between the airspace control point and the object projection position of the target object orthogonally projected to the return flight plane is less than or equal to the preset safety radius, the airspace control point is located in the circular region without obstacles, the probability of obstacles appearing on the return path is reduced, the probability of scratching and collision between the UAV and the obstacles during the return process is reduced, and the safety of the return flight of the UAV is improved.

[0089] In some embodiments, the preset safety radius is the radius length of a circular region with the target object as the center, which meets the condition that the circular region is located in the airspace flight lane range of the application. The airspace control point is located in the legal airspace flight lane range, so that the return path of the UAV is located in the legal airspace flight lane range.

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

[0091] In this step, the return path includes a starting return position, each airspace control point, and a return landing position. The starting return position is the position of the UAV when the UAV detects that the preset return condition is met, and the return landing position is the landing position of the UAV.

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

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

[0094] In this step, the embodiment controls the UAV 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 UAV to perform a return operation according to the return path includes the following steps: controlling the UAV to fly along the return path from the starting return position to the return landing position at the altitude of the return flight plane, and land at the return landing position.

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

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

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

[0099] S323: determining a space control point matching the target object on the homeward flight plane according to the object position of the target object.

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

[0101] In some embodiments, the obtaining of the object position and the altitude of the target object includes the following steps: receiving target inspection route information sent by the receiver nest, and parsing the coordinates and the altitude of each reference object from the target inspection route information; when the UAV is inspecting along the target inspection route and detects that a preset homeward condition is met, taking the coordinates and the altitude of the reference objects that have been passed as the object position and the altitude of the target object respectively.

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

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

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

[0105] In S323, the embodiment determines a space control point matching each target object on the homeward flight plane according to the coordinates of each target object.

[0106] By determining the homeward flight plane according to the altitudes of the target objects, and determining a space control point matching each target object on the homeward flight plane according to the object position of the target object, the embodiment can reduce the probability of obstacles other than the target objects appearing around the space control point, thereby reducing the probability of scratching and collision with obstacles during the homeward flight of the UAV, and improving the safety of the homeward flight of the UAV.

[0107] In some embodiments, the determining of the homeward flight plane according to the altitudes of the target objects includes the following steps:

[0108] S3221: determining the minimum altitude from the altitudes of the target objects.

[0109] S3222: determining the homeward flight plane according to the minimum altitude.

[0110] In S3221, the embodiment takes the minimum value in the altitude of each target object as the minimum altitude.

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

[0112] In some embodiments, determining the homeward flight plane according to the minimum altitude comprises the following steps: creating the homeward flight plane, and the altitude of the homeward flight plane is equal to the minimum altitude.

[0113] In some embodiments, determining the homeward flight plane according to the minimum altitude comprises the following steps: determining the maximum altitude in the altitude of each target object; obtaining the average altitude by averaging the maximum altitude and the minimum altitude; and creating the homeward flight plane, and the altitude of the homeward flight plane is equal to the average altitude.

[0114] By controlling the altitude of the homeward flight plane, the embodiment can reduce the probability of obstacles other than target objects appearing at the altitude of the homeward flight plane, thereby reducing the probability of scratching and collision with obstacles during the homeward flight of the unmanned aerial vehicle, and further improving the safety of the homeward flight of the unmanned aerial vehicle.

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

[0116] S3231: determining the object projection position of the target object orthogonally projected onto the homeward flight plane according to the object position of the target object.

[0117] S3232: determining the airspace control point matching the target object according to the object projection position.

[0118] In S3231, the embodiment orthogonally projects each target object onto the homeward 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 homeward flight plane.

[0119] Please refer to Figure 2 and Figure 4 , Figure 4 is a schematic diagram of an object projection position on a homeward flight plane provided by an embodiment of the present application. Figure 4 Take the target objects as the tower 51, the tower 52, the tower 53, and the tower 54, respectively, as an example.

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

[0121] In S3232, the present embodiment determines a space control point matched with each target object according to the object projection position of each target object on the homeward flight plane. The present embodiment can associate the space control point with the target object passed by the UAV along the target inspection route, so that the homeward path generated by each space control point is related to the target inspection route, reducing the probability of obstacles in the homeward path, and further improving the safety of the UAV homeward flight.

[0122] In some embodiments, determining the space control point matched with each target object according to the object projection position comprises the following steps: taking the object projection position of each target object on the homeward flight plane as the space control point matched with each target object, and sequentially connecting each space control point to obtain a flight route.

[0123] Please refer again to Figure 4 , Figure 4 In S3232, the present embodiment determines a space control point matched with each target object according to the object projection position of each target object on the homeward flight plane. The present embodiment can associate the space control point with the target object passed by the UAV along the target inspection route, so that the homeward path generated by each space control point is related to the target inspection route, reducing the probability of obstacles in the homeward path, and further improving the safety of the UAV homeward flight.

[0124] Compared with the existing scheme of homeward flight along a straight line which is easy to exceed the legal airspace band of the application, the present embodiment takes the object projection position of each target object on the homeward flight plane as the space control point matched with each target object, so that the flight route sequentially connected by these space control points can be used during homeward flight, ensuring that the homeward path is always within the range of the legal airspace band of the application.

[0125] In some embodiments, determining the space control point matched with each target object according to the object projection position comprises the following steps:

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

[0127] S42: Determine the space control points on the circular region, and sequentially connect each space control point to obtain a shortest flight route.

[0128] In S41, the embodiment creates a circular region corresponding to each object projection position on the homeward flight plane, with each object projection position as the center and a preset safety radius as the radius. In the circular region, there is no obstacle except the target object, and the UAV can fly safely in the circular region.

[0129] In S42, the embodiment determines airspace control points on each circular region, and the airspace control points are sequentially connected to obtain a shortest flight path. The embodiment can make the UAV return along the shortest flight path, reduce the time of the UAV homeward flight, and reduce the power consumption.

[0130] In some embodiments, the airspace control points include a homeward starting control point, and determining the airspace control points on the circular region includes the following steps:

[0131] S421: Obtain a starting homeward position and an end object of the UAV.

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

[0133] S423: Determine an intersection point of the end connecting line and the end circular region as the homeward starting control point.

[0134] In S421, the end object is the last target object passed by the UAV before the UAV returns.

[0135] In some embodiments, obtaining the starting homeward position of the UAV includes the following steps: when the UAV detects that a preset homeward condition is met while the UAV is inspecting the target inspection line, the position of the UAV at this time is taken as the starting homeward position.

[0136] In some embodiments, obtaining the end object includes the following steps: when the UAV detects that a preset homeward condition is met while the UAV is inspecting the target inspection line, the last target object passed by the UAV along the target inspection line is taken as the end object.

[0137] For example, when the UAV inspects the transmission cable between the tower 51 and the tower 52 to reach the tower 52 along the tower 51 and the transmission cable between the tower 51 and the tower 52, and detects that a preset homeward condition is met, the target objects are the tower 51 and the tower 52, and the end object is the tower 52.

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

[0139] In S423, the circular region corresponding to the terminal object is a terminal circular region, the line connecting the starting projection position and the center of the terminal circular region is a terminal line, and the return starting control point is an airspace control point matched with the terminal object on the return flight plane.

[0140] By determining the return starting control point as the intersection of the terminal line and the terminal circular region, the embodiment can improve the accuracy of determining the return starting control point, thereby improving the accuracy of the return path and reducing the probability of obstacles on the return path.

[0141] Please refer to Figure 2 and Figure 5 , Figure 5 is a schematic diagram of the object projection position and the airspace control point on the return flight plane provided by an embodiment of the present application. Figure 5 Take the target objects as the tower 51, the tower 52, the tower 53, and the tower 54, and the terminal object as the tower 54 as an example.

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

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

[0144] S424: obtaining the return landing position of the unmanned aerial vehicle and the first terminal object.

[0145] S425: determining the terminal projection position of the return landing position orthogonally projected onto the return flight plane.

[0146] S426: determining the intersection of the first terminal line and the first terminal circular region as the return ending control point.

[0147] In S424, the first terminal object is the target object first passed through by the unmanned aerial vehicle before the return.

[0148] In some embodiments, the inspection task instruction includes the coordinates of the return landing position of the unmanned aerial vehicle, and obtaining the return landing position of the unmanned aerial vehicle includes the following steps: analyzing the execution inspection task instruction sent by the nest to obtain the coordinates of the return landing position.

[0149] In some embodiments, the UAV return control instruction comprises coordinates of the return landing position of the UAV, and the return landing position of the UAV is obtained by parsing the UAV return control instruction sent by the nest.

[0150] In some embodiments, the first end object is obtained by the following steps: when the UAV detects that the preset return condition is met during the inspection of the target inspection line, the first target object passed through by the UAV when the inspection is started is taken as the first end object.

[0151] For example, when the UAV detects that the preset return condition is met after the inspection along the transmission cable between the tower 51 and the tower 52 reaches the tower 52, the target objects are the tower 51 and the tower 52, and the first end object is the tower 51.

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

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

[0154] By determining the intersection of the first end connecting line and the first end circular region as the return end control point, the 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 in the return path.

[0155] Please refer to Figure 5 When the tower 51 is the first end object, the first end circular region 71 is a circular region with the coordinate point 501 as the center, the line connecting the terminal projection position 85 and the center 501 of the first end circular region 71 is the first end connecting line 76, and the intersection of the first end connecting line 76 and the first end circular region 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, and the airspace control points on the circular region are determined by the following steps:

[0157] S427: Obtain an intermediate object;

[0158] S428: According to a preset path planning algorithm, search for a boundary point on the boundary of the intermediate circular region that meets a preset shortest path condition as the return intermediate control point.

[0159] In S427, the intermediate objects are target objects that the UAV passes through before returning and are arranged between the first end object and the last end object, and the number of the intermediate objects is at least one.

[0160] In some embodiments, the intermediate objects are obtained by the following steps: among the target objects that the UAV passes through along the target inspection line, the target objects arranged between the first end object and the last end object are taken as the intermediate objects.

[0161] For example, when the UAV inspects along the tower 51, the power transmission cable between the tower 51 and the tower 52, the tower 52, and the power transmission cable between the tower 52 and the tower 53 to the tower 53, and it is detected that the preset return condition is met, the target objects are the tower 51, the tower 52, and the tower 53, the first end object is the tower 51, the last end object is the tower 53, and the intermediate object is the tower 52.

[0162] In S428, the circular area of the intermediate object is an intermediate circular area, and the flight path obtained by sequentially connecting the return starting control point, the boundary point on the intermediate circular area, and the return ending control point is a shortest flight path.

[0163] The preset shortest path condition is that the line obtained by sequentially connecting the return starting control point, the boundary point on the intermediate circular area, and the return ending control point is the shortest, and the preset path planning algorithm is used to search the boundary point on the boundary of the intermediate circular area that meets 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 the like. The preset path planning algorithm is set by a person skilled in the art according to the target object, which is not limited herein.

[0165] The depth first search algorithm is an algorithm for traversing or searching a graph or a tree, which starts from a starting node, goes along a path until it cannot continue, and then backtracks to the last node to continue exploring.

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

[0167] In some embodiments, searching for the boundary point on the boundary of the intermediate circular region according to the preset path planning algorithm to meet the preset shortest path condition comprises the following steps: establishing a coordinate system according to the coordinate points of the projection positions of the plurality of objects on the homeward flight plane; performing grid division on the homeward flight plane based on the coordinate system to obtain a plurality of grids, each grid corresponding to a grid coordinate, the grid coordinate being used to represent the row number and column number of a grid on the homeward flight plane; searching for the boundary point on the boundary of each intermediate circular region according to the grid coordinate of the homeward starting control point and the grid coordinate of the homeward ending control point, so that the connecting line obtained by sequentially connecting the homeward starting control point, the boundary point on each intermediate circular region and the homeward ending control point is the shortest; and taking each boundary point as the homeward intermediate control point matched with the corresponding intermediate object.

[0168] By searching for the boundary point on the boundary of the intermediate circular region to meet the preset shortest path condition as the homeward intermediate control point, and the connecting line obtained by sequentially connecting the homeward starting control point, the homeward intermediate control point and the homeward ending control point being the shortest flight path, the embodiment can improve the accuracy of determining the homeward intermediate control point, make the homeward path the shortest flight path, reduce the time of the homeward flight of the unmanned aerial vehicle, and reduce the power consumption.

[0169] Please refer to Figure 5 When the tower 52 and the tower 53 are intermediate objects, the intermediate circular region 72 is a circular region with the coordinate point 502 as the center, the intermediate circular region 73 is a circular region with the coordinate point 503 as the center, the boundary point 82 is searched on the boundary of the intermediate circular region 73, the boundary point 83 is searched on the boundary of the intermediate circular region 72, and the connecting line obtained by sequentially connecting the homeward starting control point 81, the boundary point 82, the boundary point 83 and the homeward ending control point 84 is the shortest. At this time, the boundary point 82 is the homeward intermediate control point matched with the tower 53, the boundary point 83 is the homeward intermediate control point matched with the tower 52, the connecting line obtained by sequentially connecting the homeward starting control point 81, the boundary point 82, the boundary point 83 and the homeward ending control point 84 is the flight path 90 adopted by the homeward path of the unmanned aerial vehicle.

[0170] It should be noted that in the above various embodiments, there is no certain sequence between the above steps. Those skilled in the art can understand from the description of the embodiments of the present application that the above steps can have different execution sequences in different embodiments, that is, they can be executed in parallel, or they can be exchanged and executed, and the like.

[0171] As another aspect of the embodiments of the present application, the embodiments of the present application provide a return device of a UAV. The return device of the UAV can be a software module, which includes a plurality of instructions stored in a memory, and a processor can access the memory and call the instructions to perform to complete the return method of the UAV described in the various embodiments.

[0172] In some embodiments, the return device of the UAV can also be built by hardware devices, for example, the return device of the UAV can be built by one or more chips, and each chip can work in coordination to complete the return method of the UAV described in the various embodiments. For another example, the return device of the UAV can also be built by various logic devices, such as general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), single-chip microcomputers, ARM (Acorn RISC Machine), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of these components.

[0173] Please refer to Figure 6 , Figure 6 is a structural schematic diagram of a return device of a UAV provided by the embodiments of the present application. The return device of the UAV 600 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 configured to detect whether the UAV meets a preset return condition when the UAV inspects a target inspection route, and the target inspection route includes a plurality of reference objects arranged along the way. The airspace control point acquisition module 602 is configured to acquire an airspace control point if the UAV meets the preset return condition, and the airspace control point is associated with a target object, and the target object is a reference object passed by the UAV. The path generation module 603 is configured to generate a return path according to each airspace control point, and the return execution module 604 is configured to control the UAV to perform a return operation according to the return path. The embodiments can generate a return path according to the reference objects passed by the UAV in the case that the UAV needs to return during inspection, reduce the probability of scratching and colliding with obstacles during the return of the UAV, and thus improve the safety of the return flight of the UAV.

[0175] In some embodiments, the airspace control point acquisition module 602 is specifically configured to: acquire object positions and altitudes of the target objects; determine a return flight plane according to the altitudes of the target objects; and determine airspace control points matching the target objects on the return flight plane according to the object positions of the target objects.

[0176] In some embodiments, the airspace control point obtaining module 602 is further specifically configured to: determine a minimum altitude from the altitudes of the target objects; and determine a return flight plane according to the minimum altitude, the return flight plane having an altitude greater than or equal to the minimum altitude.

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

[0178] In some embodiments, the airspace control point obtaining module 602 is further specifically configured to: create a circular region on the return flight plane with the object projection position as the center of the circle according to a preset safety radius; and determine the airspace control points on the circular region, each of the airspace control points sequentially connecting a flight path to be the shortest flight path.

[0179] In some embodiments, the airspace control points include a return start control point, and the airspace control point obtaining module 702 is further specifically configured to: obtain a start return position of the UAV and an end object, the end object being a target object last passed through by the UAV before the return; determine a start projection position of the start return position projected onto the return flight plane, a circular region corresponding to the end object being an end circular region, and a line connecting the start projection position and a center of the end circular region being an end connecting line; and determine an intersection of the end connecting line and the end circular region as the return start control point.

[0180] In some embodiments, the airspace control points include a return end control point, and the airspace control point obtaining module 602 is further specifically configured to: obtain a return landing position of the UAV and a start object, the start object being a target object first passed through by the UAV before the return; determine a terminal projection position of the return landing position projected onto the return flight plane, a circular region corresponding to the start object being a start circular region, and a line connecting the terminal projection position and a center of the start circular region being a start connecting line; and determine an intersection of the start connecting line and the start circular region 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, and the airspace control point obtaining module 602 is further specifically configured to: obtain an intermediate object, the intermediate object being a target object that the UAV passes through before returning and is deployed between a first end object and a last end object, the first end object being a target object that the UAV first passes through before returning, the last end object being a target object that the UAV last passes through before returning, and a circular region of the intermediate object being an intermediate circular region; and search for a boundary point on a boundary of the intermediate circular region that satisfies a preset shortest path condition as the return intermediate control point according to a preset path planning algorithm, the return start control point, the return intermediate control point and the return end control point being sequentially connected to obtain the shortest flight route.

[0182] It should be noted that the return device of the UAV described above can perform the return method of the UAV provided in the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method. Technical details not described in detail in the embodiment of the return device of the UAV can be referred to the return method of the UAV provided in the embodiments of the present application.

[0183] Referring to Figure 7 , Figure 7 is a structural schematic diagram of a UAV provided in an embodiment of the present application. The UAV 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 through a bus.

[0184] The processor 701 is configured to support the UAV 700 to perform the corresponding functions in the method in the method embodiments described above. The processor 701 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The hardware chip described above can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD described above 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 configured to store program codes and the like. The memory 702 can include a volatile memory (VM), for example, a random access memory (RAM); the memory can also include a non-volatile memory (NVM), for example, a read-only memory (ROM), a flash memory, a hard disk (HDD) or a solid-state disk (SSD); and the memory 702 can also include a combination of the above-mentioned memories.

[0186] The memory 702 can be configured 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 unmanned aerial vehicle in the embodiments of the present application. The processor 701 executes the return method of the unmanned aerial vehicle and various functional applications and data processing of the return device of the unmanned aerial vehicle by running the non-volatile software programs, instructions and modules stored in the memory 702, that is, realizes the functions of each module or unit of the return method of the unmanned aerial vehicle and the return device of the unmanned aerial vehicle provided by the above method embodiments.

[0187] The memory 702 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function. The data storage area can store data created according to the use of the return device of the unmanned aerial vehicle and the like. In some embodiments, the memory 702 can optionally include a memory remotely arranged with respect to the processor, and these remote memories can be connected to the return device of the unmanned aerial vehicle through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

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

[0189] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, the computer program includes program instructions, and the program instructions make the computer execute the method as described in the above embodiments when the computer executes the program instructions.

[0190] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The program can be stored in a computer readable storage medium, and when the program is executed, the processes of the above-mentioned embodiment methods can be included. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), or the like.

[0191] The above disclosure is only the preferred embodiment of the present application, and of course cannot limit the scope of the right of the present application, so the equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. A method for returning a UAV, characterized in that, The method comprises the following steps: When the unmanned aerial vehicle inspects a target inspection line, it is detected whether the unmanned aerial vehicle meets a preset return condition, and the target inspection line comprises a plurality of reference objects arranged along the way; If the unmanned aerial vehicle meets the preset return 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; A return path is generated according to each airspace control point; The unmanned aerial vehicle is controlled to perform a return operation according to the return path; The method comprises the following steps: An object position and an altitude of the target object are obtained; A return flight plane is determined according to the altitude of each target object; An airspace control point matching the target object is determined on the return flight plane according to the object position of the target object; The method comprises the following steps: The object projection position of the target object projected onto the return flight plane is determined according to the object position of the target object; The airspace control point matching the target object is determined according to the object projection position; The method comprises the following steps: A circular region is created on the return flight plane with the object projection position as the center and according to a preset safety radius; The airspace control point on the circular region is determined, and the flight path sequentially connected by each airspace control point is the shortest flight path.

2. The return method of claim 1, wherein, The method comprises the following steps: The minimum altitude is determined from the altitudes of the target objects; The 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.

3. The return method of claim 1, wherein, The airspace control point comprises a return starting control point, and the method comprises the following steps: The starting return position of the unmanned aerial vehicle and a terminal object are obtained, and the terminal object is the target object last passed by the unmanned aerial vehicle before the return; The starting projection position of the starting return position projected onto the return flight plane is determined, the circular region corresponding to the terminal object is a terminal circular region, and the line connecting the starting projection position and the center of the terminal circular region is a terminal connecting line; The intersection point of the terminal connecting line and the terminal circular region is determined as the return starting control point.

4. The return method of claim 1, wherein, The airspace control point comprises a return ending control point, and the method comprises the following steps: The return landing position of the unmanned aerial vehicle and a head object are obtained, and the head object is the target object first passed by the unmanned aerial vehicle before the return; The terminal projection position of the return landing position projected onto the return flight plane is determined, the circular region corresponding to the head object is a head circular region, and the line connecting the terminal projection position and the center of the head circular region is a head connecting line; The intersection point of the head connecting line and the head circular region is determined as the return ending control point.

5. The return method of claim 1, wherein, The airspace control points include a return starting control point, a return intermediate control point and a return ending control point, and the airspace control points on the circular region are determined as follows: An intermediate object is acquired, the intermediate object being a target object that the UAV passes through before returning and is deployed between a first end object and a last end object, the first end object being a target object that the UAV first passes through before returning, the last end object being a target object that the UAV last passes through before returning, and a circular region of the intermediate object being an intermediate circular region; According to a preset path planning algorithm, a boundary point on a boundary of the intermediate circular region that satisfies a preset shortest path condition is searched as a return intermediate control point, and a route obtained by sequentially connecting the return starting control point, the return intermediate control point and the return ending control point is a shortest route.

6. A drone, characterized in that, The UAV includes a memory and a processor, the memory being connected to the processor, the processor being used to execute one or more computer programs stored in the memory, and the processor, when executing the one or more computer programs, causing the UAV to implement the return method of the UAV according to any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, the computer program including program instructions, the program instructions, when executed by a processor, causing the processor to execute the return method of the UAV according to any one of claims 1-5.

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