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, and discloses 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 return flight triggering information generated when an unmanned aerial vehicle inspects a target power line is obtained, the tower meeting a preset return flight condition is determined as a target tower in multiple towers in response to the return flight triggering information, and the target power line comprises multiple towers deployed along the way; according to the target pole tower, determining that the pole tower passed by the unmanned aerial vehicle in the inspection process is an intermediate pole tower, according to the position information of the target pole tower and the position information of at least one intermediate pole tower, generating a return path, and according to the return path, controlling the unmanned aerial vehicle to execute return operation. The homeward voyage path provided by the embodiment of the invention is associated with the pole tower, and the pole tower is generally a safe position point, so that the homeward voyage path provided by the embodiment of the invention is safe, the probability of collision between the unmanned aerial vehicle and an obstacle during homeward voyage can be reduced, and the homeward voyage flight safety of the unmanned aerial vehicle can be 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 method for returning an unmanned aerial vehicle, an unmanned aerial vehicle, and a computer-readable storage medium. Background Art

[0002] Drones are often used to inspect power lines in order to check whether there are any abnormalities in the power lines. During the inspection process, when the drone's battery is low, the drone needs to return along the return path for charging. The relevant technology is to directly use the straight path formed by the position where the drone starts to return and the take-off point as the return path, and then control the drone to return along the return path. However, the safety of this type of return path is relatively low. The drone is prone to encounter obstacles when returning along the return path, and it is easy for the drone to collide with obstacles, resulting in a failure to return. Summary of the invention

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

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

[0005] Acquire return trigger information generated when the drone inspects a target power line, wherein the target power line includes a plurality of pole towers deployed along the way;

[0006] In response to the return trigger information, determining a tower that meets a preset return condition among the plurality of towers as a target tower;

[0007] Determine, according to the target tower, that the tower passed by the drone during the inspection process is an intermediate tower;

[0008] Generate a return path according to the position information of the target tower and the position information of at least one intermediate tower;

[0009] The drone is controlled to perform a return operation according to the return path.

[0010] Optionally, in response to the return trigger information, determining a tower satisfying a preset return condition among the plurality of towers as a target tower includes:

[0011] In response to the return trigger information, obtaining the initial power of the drone before inspection;

[0012] Determining the available mileage according to the initial power level;

[0013] Determine the farthest position of the UAV on the target power line according to the flyable mileage;

[0014] Determine a pole tower that is closest to the farthest position point and close to the take-off point of the drone as a candidate pole tower, and the preset return condition is constrained by the candidate pole tower;

[0015] A tower satisfying a preset return condition is determined as a target tower according to the candidate towers.

[0016] Optionally, determining a tower satisfying a preset return condition as a target tower according to the candidate towers includes:

[0017] Determine a current pole tower, where the current pole tower is the pole tower that the drone is currently passing through;

[0018] Determining whether the location information of the current tower matches the location information of the candidate tower;

[0019] If there is a match, it is determined that the current tower is a candidate tower, the candidate tower meets the preset return condition, and the candidate tower is the target tower;

[0020] If there is no match, the real-time power change curve of the UAV when it arrives at the current tower is obtained, and the tower that meets the preset return condition is determined as the target tower according to the real-time power change curve and the preset power change curve.

[0021] Optionally, determining a pole tower that meets a preset return condition as a target pole tower according to the real-time power change curve and a preset power change curve includes:

[0022] Determine the deviation value between the real-time power change curve and the preset power change curve;

[0023] If the deviation value is less than or equal to a preset threshold value, the candidate tower is determined to be a tower that meets the preset return condition, and the candidate tower is the target tower;

[0024] If the deviation value is greater than a preset threshold value, a pole tower satisfying a preset return condition is determined as a target pole tower according to a preset screening condition.

[0025] Optionally, determining, according to a preset screening condition, a pole tower that meets a preset return condition as a target pole tower comprises:

[0026] Determine whether the i-th tower and the i+1-th tower satisfy the following formula:

[0027] Q-2(Qq i )>0

[0028] Q-2(Qk i+1 )<0

[0029] k i+1 =q i +Δk

[0030] If it is satisfied, the i-th tower is determined as the target tower;

[0031] The i-th tower is the current tower, the i+1-th tower is the tower arranged after the current tower according to the inspection direction of the drone, Q is the initial power, q i is the remaining power of the drone when it reaches the i-th tower, k i+1 is the remaining power of the UAV when it flies to the i+1th tower under normal environmental conditions, and Δk is the power required for the UAV to fly from the i-th tower to the i+1-th tower under normal environmental conditions.

[0032] Optionally, generating a return route according to the position information of the target tower and the position information of at least one of the intermediate towers includes:

[0033] Searching for a path pole tower in a normal environment and satisfying a preset density condition among all path pole towers as a reference pole tower, wherein the target pole tower and the intermediate pole tower are both path pole towers;

[0034] Generate a target straight path according to the position information of each reference tower, the target straight path is the shortest local straight path under preset safety conditions, the target straight path is obtained by being constrained by at least one first tower, the first tower is a tower among the reference towers, and the tower obtained by removing all the first towers from all the towers in the path is the second tower;

[0035] A return path is generated according to the position information of the second tower and the target straight path.

[0036] Optionally, generating a target straight path according to the position information of each reference tower includes:

[0037] Generate a candidate straight path by fitting according to the position information of each reference tower, wherein the candidate straight path can be divided into a plurality of path segments by each reference tower;

[0038] Checking in sequence according to the return direction whether the target path segment meets the preset safety conditions, the target path segment being one of the plurality of path segments;

[0039] If the conditions are met, selecting a path segment arranged after the target path segment according to the return direction as a new target path segment;

[0040] If not, the path segments arranged before the target path segment are combined into a target straight path in a direction opposite to the return direction.

[0041] Optionally, the target path segment is obtained by constraining the first reference tower and the second reference tower, and the checking in sequence according to the return direction whether the target path segment meets the preset safety condition includes:

[0042] Determine a first vertical distance from the first reference tower to the candidate straight path and a second vertical distance from the second reference tower to the candidate straight path;

[0043] Determining whether the first vertical distance is less than a preset distance threshold and whether the second vertical distance is less than a preset distance threshold;

[0044] If both are smaller than , it is determined that the target path segment meets the preset safety condition;

[0045] If they are not all smaller than, it is determined that the target path segment does not meet the preset safety condition.

[0046] Optionally, each of the pole towers on the route is configured with an environmental status identifier, and searching for a pole tower on the route that is in a normal environment and meets a preset density condition as a reference pole tower among all the pole towers on the route includes:

[0047] Searching among all the pole towers in the passage, the pole towers whose environmental status is marked as normal are the pole towers to be determined;

[0048] Put at least two pending towers with consecutive tower numbers into the corresponding preset queue;

[0049] Determine the number of pending towers included in each of the preset queues;

[0050] The preset queues whose number is lower than the preset number threshold are deleted, and the preset queues whose number exceeds the preset number threshold are retained as target queues, wherein the pending towers of the target queue meet the preset density condition, and the pending towers of the target queue are reference towers.

[0051] In a second aspect, an embodiment of the present application provides a drone, including:

[0052] body;

[0053] A machine arm connected to the machine body;

[0054] Wings, provided on the arms, for providing the UAV with flying power;

[0055] A sensor module, disposed on the fuselage, for collecting sensor data;

[0056] an aircraft communication module, arranged on the fuselage, and

[0057] The flight control module includes a memory and a processor, wherein the processor is respectively connected to the sensor module, the aircraft communication module and the memory for communication, 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 drone implements the above-mentioned drone return method.

[0058] 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.

[0059] The embodiment of the present application can achieve the following technical effects: obtaining the return trigger information generated when the drone inspects the target power line, the target power line includes multiple towers deployed along the way, responding to the return trigger information, and determining the tower that meets the preset return conditions among the multiple towers as the target tower. Next, the embodiment of the present application determines that the tower passed by the drone during the inspection process is an intermediate tower according to the target tower, that is, the intermediate tower is the intermediate path point of the return path. Next, the embodiment of the present application generates a return path according to the position information of the target tower and the position information of at least one intermediate tower, and controls the drone to perform the return operation according to the return path. The return path provided by the embodiment of the present application is associated with the tower, and the tower is usually a relatively safe location point. Therefore, the return path provided by the embodiment of the present application is relatively safe, which can reduce the probability of the drone colliding with obstacles when returning, and is conducive to improving the safety of the drone's return flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 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.

[0061] Figure 1 A schematic diagram of the system architecture of a drone return system provided in an embodiment of the present application;

[0062] Figure 2a A schematic diagram of a first state of a task creation page provided in an embodiment of the present application, wherein a user is creating a flight task on the task creation page;

[0063] Figure 2b A schematic diagram of a second state of a task creation page provided in an embodiment of the present application;

[0064] Figure 3A schematic diagram of a circuit structure of a drone provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of a flow chart of a method for returning a drone provided in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of a drone provided in an embodiment of the present application performing an inspection along a target power line;

[0067] Figure 6 A schematic diagram of a planned return route provided in an embodiment of the present application;

[0068] Figure 7 A schematic diagram of the structure of a return device for a drone provided in an embodiment of the present application;

[0069] Figure 8 A schematic diagram of the structure of a drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] 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.

[0071] 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.

[0072] This application embodiment provides a drone return system. Figure 1 The drone return system 100 includes a command center device 11, a machine nest 12 and a drone 13.

[0073] The command center device 11 is connected to the machine nest 12 for controlling the machine nest 12 and the drone 13. The communication connection includes a wireless connection and a wired connection. The wireless connection can be 2G, 3G, 4G, 5G, 6G, WIFI, Bluetooth, etc. The wired connection includes an Ethernet connection, an optical fiber connection, etc.

[0074] The command center device 11 can plan the line information of the target power line for the drone 13, and send the line information of the target power line to the drone 13 through the machine nest 12, and the drone 13 saves the line information of the target power line. It is understandable that the command center device 11 can be an electronic device such as a tablet computer, a desktop computer, a server, a mobile phone, etc.

[0075] The command center device 11 is equipped with a display screen, which is used to display various pages related to the drone. Figure 2a and Figure 2b The display screen presents a new task page 200, wherein the new task page 200 includes a new task bar 21 and a map presentation area 22, wherein the new task bar 21 is used to interact with the user to construct a flight mission, and the map presentation area 22 is used to present a flight map and present an inspection path corresponding to the flight mission on the flight map, wherein different inspection paths correspond to different power lines.

[0076] Please continue reading Figure 2a , the user can select the inspection route of the flight mission in the task creation bar 21, where the inspection route corresponds to the power line. When the user completes the parameter setting of the flight mission in the task creation bar 21, the command center device 11 presents the inspection route 23 of the flight mission in the map presentation area 22, and sends the flight mission to the machine nest 12, which sends the flight mission to the drone 13. After receiving the flight mission, the drone 13 starts to inspect the target power line according to the inspection route 23 of the flight mission. Figure 3 As shown, the user can view the flight status of the drone 13 in real time on the command center device 11.

[0077] The machine nest 12 is connected to the drone 13 for placing the drone 13 and can meet the needs of the drone 13 for take-off, landing, battery replacement, and charging. The machine nest 12 usually includes a cabinet and a cover, which form a closed space, and the drone 13 can be protected from the sun and rain when placed therein. The machine nest 12 can also include a charging module for charging the drone 13 when the drone is placed therein.

[0078] The drone 13 is used to receive the command sent by the machine nest 12 and perform corresponding actions according to the command, for example, the drone 13 receives the mission command sent by the machine nest 12 and performs the flight mission according to the mission command, or the drone 13 receives the landing command sent by the machine nest 12 and lands according to the landing command, or the drone 13 receives the return command sent by the machine nest 12 and returns according to the return command. The drone 13 is also used to shoot and detect the power lines during the inspection process, and transmit the acquired image information or video information to the machine nest 12, which is then sent to the command center device 11 by the machine nest 12.

[0079] Please combine Figure 1 and Figure 3 The UAV 13 includes a fuselage 131 , an arm 132 , a wing 133 , a sensor module 134 , an aircraft communication module 135 and a flight control module 136 .

[0080] The fuselage 131 is used as the body of the drone 13 to carry various parts. The arms 132 are connected to the fuselage 131. The wings 133 are provided on the arms 132 to provide the drone with power for flight.

[0081] The sensor module 134 is disposed on the body 131 and is used to collect sensor data. The sensor module 134 includes a radar, a camera, a gyroscope, an accelerometer, etc.

[0082] The aircraft communication module 135 is used to communicate with the background system 11 and the machine nest 12. The aircraft communication module 135 includes an image transmission module, a Bluetooth module, a WIFI module, a 6G module, a 5G module, a 4G module, a 3G module or a 2G module.

[0083] The flight control module 136 is electrically connected to the sensor module 134 and the aircraft communication module 135 respectively, and is used to control the flight status of the UAV 13 .

[0084] It is understandable that the drone 13 is an unmanned aerial vehicle driven by any type of power, 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 13 can have a corresponding volume or power according to the actual needs, so as to provide a load capacity, a flight speed, and a flight range that can meet the use needs.

[0085] As another aspect of the present application, the present application provides a method for returning a drone. Figure 4 , the return method of the drone includes the following steps:

[0086] S41: Acquire return trigger information generated when the UAV inspects the target power line.

[0087] In this step, the target power line is the power line that the drone needs to inspect, and the target power line includes multiple towers deployed along the way. The drone receives the flight mission sent by the machine nest, parses the line information of the target inspection path from the flight mission, and inspects the target power line according to the line information of the target inspection path. Among them, the line information of the target inspection path includes the location information of each tower, and the connection between each tower is the target power line.

[0088] The return trigger information is the information that triggers the drone to perform the return operation.

[0089] In some embodiments, when the drone inspects the target power line, it obtains the power of the drone and determines whether the power is less than or equal to a preset power threshold. If it is less than or equal to, a return trigger message is generated; if it is greater, a continue flight message is generated. The continue flight message is used to indicate that the drone continues to fly.

[0090] In some embodiments, when the drone inspects the target power line, it detects whether it has received the return command sent by the machine nest. If it has received it, it generates return trigger information; if not, it generates continue flight information.

[0091] S42: In response to the return trigger information, a tower satisfying a preset return condition is determined as a target tower among multiple towers.

[0092] In this step, the preset return condition is a condition for selecting a pole tower as the starting point of return from multiple pole towers. If the drone can return to the take-off point when starting from the nearest pole tower that the drone has not passed through corresponding to the current power level, then the pole tower meets the preset return condition. If the drone cannot return to the take-off point when starting from the nearest pole tower that the drone has not passed through corresponding to the current power level, then the pole tower does not meet the preset return condition.

[0093] Responding to the return trigger information, determining a pole tower that meets the preset return conditions among multiple pole towers as the target pole tower includes the following steps: responding to the return trigger information, obtaining the initial power of the drone before the inspection, determining the mileage that can be flown based on the initial power, determining the farthest position point of the drone on the target power line based on the mileage that can be flown, determining the pole tower that is closest to the farthest position point and close to the take-off point of the drone as the candidate pole tower, the preset return conditions are constrained by the candidate pole towers, and determining the pole tower that meets the preset return conditions based on the candidate pole towers as the target pole tower. The candidate pole tower is the farthest pole tower that the drone can return normally under normal environmental conditions. The embodiment of the present application uses the candidate pole tower as the critical pole tower of the return path, which is conducive to the drone being able to reliably find the target pole tower in the face of various uncertain environmental conditions, so as to improve the safety and reliability of the return.

[0094] The initial power is the power of the drone before flight. Obtaining the initial power of the drone before inspection includes the following steps: responding to the flight mission received by the drone, controlling the drone to access the drone's battery module, and obtaining the current power of the battery module. The current power of the battery module is the initial power.

[0095] The flyable mileage is the maximum flight distance of the UAV when it is conducting an inspection under the conditions of meeting the return flight. Determining the flyable mileage based on the initial power includes the following steps: obtaining the preset inspection speed of the UAV, determining the power change relationship corresponding to the preset inspection speed, wherein the power change relationship is the relationship between the power of the UAV and time under the premise that the preset inspection speed remains unchanged, determining the maximum flight time based on the power change relationship and the initial power, and multiplying the maximum flight time by the preset inspection speed to obtain the flyable mileage.

[0096] Determining the farthest position point of a drone on a target power line based on the flyable mileage includes the following steps: determining a target distance on the target power line that is consistent with the flyable mileage, the target distance being obtained by constraining a first endpoint and a second endpoint, wherein the first endpoint is the first pole tower of the target power line, and the second endpoint is the farthest position point.

[0097] In some embodiments, determining a tower satisfying a preset return condition as a target tower according to candidate towers includes the following steps: determining a candidate tower as a tower satisfying a preset return condition, and the candidate tower as the target tower.

[0098] See also Figure 5 The target power line 50 includes multiple towers, wherein the UAV 13 starts to perform the return operation at a position not far from the tower T7. The farthest position point of the UAV is the position point 51, and the tower T7 is the tower closest to the take-off point (i.e., the machine nest 12) with respect to the farthest position point 51. Therefore, the tower T7 is a candidate tower.

[0099] It is understandable that when the flight environment encountered by the drone during the inspection process is relatively friendly, the drone can directly use the candidate tower as the target tower. When the flight environment encountered by the drone during the inspection process is relatively harsh, the harsh environment will cause the drone to consume more power than the pre-planned situation. If the drone uses the candidate tower as the target tower and the target tower as the starting point for return, the drone will have consumed more power when inspecting the candidate tower compared to the pre-planned situation. Therefore, when the drone returns, it will easily lack sufficient power to return to the nest for charging.

[0100] In some embodiments, different from the above embodiments, determining a tower that meets the preset return conditions as a target tower based on candidate towers includes the following steps: determining the current tower, which is the tower that the drone is currently passing through, and judging whether the position information of the current tower matches the position information of the candidate tower. If they match, the current tower is determined to be a candidate tower, the candidate tower meets the preset return conditions, and the candidate tower is the target tower. If they do not match, the real-time power change curve when the drone arrives at the current tower is obtained, and the tower that meets the preset return conditions is determined to be the target tower based on the real-time power change curve and the preset power change curve.

[0101] The embodiment of the present application uses the candidate tower as the critical tower of the return path, and can determine in real time whether the current tower arranged before the candidate tower and currently in the path is the candidate tower. If so, it means that the UAV cannot continue to inspect forward and needs to return with the candidate tower as the target tower. If not, it means that the UAV has not yet arrived at the candidate tower. Since the harsh external environment will affect the power consumption of the UAV, the embodiment of the present application tracks the power information of the UAV in real time before the UAV arrives at the candidate tower, and determines the target tower according to the real-time power change curve and the preset power change curve. In this way, it can resist the influence of the harsh external environment and find a safe and reliable return starting point (i.e., the target tower), which is conducive to the safe and reliable return of the UAV.

[0102] Determining the pole tower that meets the preset return condition as the target pole tower according to the real-time power change curve and the preset power change curve includes the following steps: determining the deviation value between the real-time power change curve and the preset power change curve, if the deviation value is less than or equal to the preset degree threshold, determining the candidate pole tower as the pole tower that meets the preset return condition, and the candidate pole tower is the target pole tower, if the deviation value is greater than the preset degree threshold, then determining the pole tower that meets the preset return condition as the target pole tower according to the preset screening condition. The external harsh environment will increase the power consumption of the drone, causing the real-time power change curve of the drone to deviate from the preset power change curve under normal environment, which will affect the selection of the target pole tower, usually manifested as the target pole tower will be before the candidate pole tower. The drone monitors the comparison result of the real-time power change curve and the preset power change curve, and reversely infers whether the drone is in an external harsh environment, thereby triggering the drone to enter the process of finely determining the target pole tower, so that the influence of the external harsh environment on the selection of the target pole tower can be resisted, and the target pole tower can be reliably found.

[0103] The real-time power change curve is used to indicate the changes in power consumption when the drone inspects the target power line in the current environment, and the preset power change curve is used to indicate the changes in power consumption when the drone inspects the target power line in a normal environment.

[0104] It is understandable that if the current environment is normal, the real-time power change curve is consistent with the preset power change curve or the deviation between the two is not large. If the current environment is bad, the drone needs to consume more power when passing through the bad environment, which leads to a large deviation between the real-time power change curve and the preset power change curve.

[0105] The deviation degree value is used to indicate the similarity between the real-time power change curve and the preset power change curve. The embodiment of the present application obtains the deviation degree value between the real-time power change curve and the preset power change curve according to the preset curve similarity algorithm. The preset curve similarity algorithm includes the Euclidean distance algorithm, the dynamic time warping algorithm (Dynamic TimeWarping, DTW), the Fréchet distance algorithm, etc.

[0106] If the deviation value is less than or equal to the preset threshold value, it means that the current environment of the drone is a normal environment, so the embodiment of the present application can use the predetermined candidate tower as the target tower. If the deviation value is greater than the preset threshold value, it means that the current environment of the drone is a harsh environment, so the embodiment of the present application needs to determine the target tower according to the preset screening conditions.

[0107] When the embodiment of the present application determines that the tower that meets the preset return condition is the target tower according to the preset screening condition, it is determined whether the i-th tower and the i+1-th tower meet the following formula:

[0108] Q-2(Qq i )>0

[0109] Q-2(Qk i+1 )<0

[0110] k i+1 =q i +Δk

[0111] If it is satisfied, the i-th tower is determined as the target tower. If it is not satisfied, return to the step of determining the current tower.

[0112] The i-th tower is the current tower, the i+1-th tower is the tower arranged after the current tower according to the inspection direction of the drone, Q is the initial power, q i is the remaining power of the drone when it reaches the i-th tower, k i+1 is the remaining power of the UAV when it flies to the i+1th tower under normal environmental conditions, and Δk is the power required for the UAV to fly from the i-th tower to the i+1-th tower under normal environmental conditions.

[0113] For example, see Figure 5 , the UAV starts to inspect the target power line from tower T1. When the UAV inspects the target power line under normal conditions, the remaining power of the UAV at different towers is shown in Table 1:

[0114] Table 1

[0115] Tower T1 T2 T3 T4 T5 T6 T7 T8 T9 T10 Remaining power (%) 100 95 90 80 75 70 60 50 40 30

[0116] It can be seen from Table 1 that when the UAV inspects the target power line under normal conditions, when the UAV flies to tower T8, the remaining power is 50%. In order to ensure that the UAV can return normally, the UAV needs to use tower T8 as the starting point for return, that is, tower T8 is the target tower.

[0117] When the drone encounters an abnormal environment during the inspection process, the remaining power of the drone at different towers is shown in Table 2:

[0118] Table 2

[0119] Tower T1 T2 T3 T4 T5 T6 T7 T8 T9 T10 Remaining power (%) 100 95 90 80 75 70 55 45 35 25

[0120] There is vertical airflow near tower T7, and the surrounding environment of other towers is relatively normal. When the drone flies to tower T7, the drone needs to consume more power, resulting in the remaining power of the drone at tower T7 being 55%. Compared with the remaining power of the drone at tower T7 of 60% under normal conditions, the drone consumes 5% more power. If the drone returns in the normal way, the drone needs to fly to tower T8 when the current remaining power is 55%, and then return from tower T8. Since the remaining power of the drone when it flies to tower T8 is 45%, the remaining power of 45% cannot support the drone to return to the take-off point. Therefore, in order to ensure that the drone can return smoothly and normally, the drone cannot fly to tower T8 and then perform the return operation.

[0121] According to the preset screening conditions provided above, the embodiment of the present application will detect in real time whether the remaining power of the drone at each tower meets the return conditions. For example:

[0122] For tower T2, q 2 is 95%, k 3 is 90%, because 100-2(100-95)>0, but 100-2(100-90)>0, so tower T2 does not meet the condition. And so on.

[0123] For tower T7, q 7 is 55%, k 8 It is 45%. Since 100-2(100-55)>0 and 100-2(100-45)<0, tower T7 meets the conditions. Therefore, tower T7 is the target tower.

[0124] The embodiment of the present application adopts the above-mentioned method, which can track and detect in real time whether the remaining power of the drone when flying to each tower meets the return conditions, so as to reliably and safely control the drone to perform the return operation and avoid failure to return normally due to excessive flight.

[0125] S43: Determine, based on the target tower, that the tower that the drone passes through during the inspection process is an intermediate tower.

[0126] In this step, the drone determines the target number of the target tower in the target power line, and determines that the tower with a number before the target number is an intermediate tower. Referring to Figure 2, the tower T7 is numbered T7, and towers T1 to T6 are all intermediate towers.

[0127] S44: Generate a return path according to the position information of the target tower and the position information of at least one intermediate tower.

[0128] In this step, in some embodiments, the embodiment of the present application connects the target pole and all the intermediate poles to form a return path. In some embodiments, the embodiment of the present application uses the target pole and all the intermediate poles as constraint factors to generate the return path.

[0129] S45: Control the UAV to perform a return operation according to the return path.

[0130] In this step, the embodiment of the present application controls the drone to fly along the return path so as to return to the nest for charging. Since the return path is associated with the pole tower, which is usually a relatively safe location, the return path provided by the embodiment of the present application is relatively safe, which can reduce the probability of the drone colliding with obstacles when returning, and is conducive to improving the safety of the drone's return flight.

[0131] It is understandable that in the target power line, the path formed by each tower is relatively tortuous, resulting in a longer distance for the drone to fly. Based on this, in some embodiments, generating a return path according to the location information of the target tower, the location information of at least one intermediate tower, the location information of the head tower, and the location information of the take-off point includes the following steps:

[0132] S441: Search for a path tower in a normal environment and satisfying a preset density condition among all path towers as a reference tower, and the target tower and the intermediate tower are both path towers.

[0133] S442: Generate a target straight line path according to the position information of each reference tower.

[0134] S443: Generate a return path according to the position information of the second tower and the target straight path.

[0135] In S441, the passed pole tower is the pole tower that the drone passed. Since both the target pole tower and the intermediate pole tower have been passed by the drone, the target pole tower and the intermediate pole tower are both passed pole towers.

[0136] Each pole tower is equipped with an environmental status indicator, which is used to indicate whether the environment between the previous pole tower and the next pole tower of the drone is normal. The environmental status indicator includes a normal status indicator and an abnormal status indicator. The normal status indicator is used to indicate that the environment between the previous pole tower and the next pole tower of the drone is normal, and the abnormal status indicator is used to indicate that the environment between the previous pole tower and the next pole tower of the drone is abnormal.

[0137] Searching for path towers in a normal environment and satisfying a preset density condition from all path towers as reference towers comprises the following steps: searching for path towers whose environmental state identification is a normal state identification from all path towers as pending towers, placing at least two or more pending towers with consecutive tower numbers into corresponding preset queues, determining the number of pending towers included in each preset queue, deleting preset queues whose number is lower than a preset number threshold, and retaining preset queues whose number exceeds the preset number threshold as target queues, wherein the pending towers in the target queue satisfy the preset density condition, and the pending towers in the target queue are reference towers.

[0138] For example, the tower group T of the target power line 0 ={T 1 ,T 2 ,T 3 ,...,T i ,...T n}, where T i is the i-th tower, and N is 20. Among them, the drone is from the tower T 3 Fly to the tower T 4 The vertical airflow encountered on the way from the tower T 9 Fly to the tower T 11 On the way, it encounters vertical airflow, from the tower T 15 Fly to the tower T 16 There was heavy rain on the way, so the tower T 4 、Tower T 11 And tower T 16 The environmental status marks of all towers are abnormal status marks, and the environmental status marks of the remaining towers are normal status marks. Therefore, the remaining towers are pending towers.

[0139] In the present embodiment, the tower T 1 To tower T 3 Put into preset queue D 1 Middle, i.e. D 1 ={T 1 ,T 2 ,T 3}, the tower T 5 To tower T 10 Put into preset queue D 2 Middle, i.e. D2 ={T 5 ,T 6 ,T 7 ,T 8 ,T 9 ,T 10}, the tower T 12 To tower T 15 Put into preset queue D 3 Middle, i.e. D 3 ={T 12 ,T 13 ,T 14 ,T 15}, the tower T 17 To tower T 20 Put into preset queue D 4 Middle, i.e. D 4 ={T 17 ,T 18 ,T 19 ,T 20},

[0140] If the preset number threshold is 5, the embodiment of the present application needs to delete the preset queue D 1 , preset queue D 3 , preset queue D 4 , keep the preset queue D 2 , where the preset queue D 2 is the target queue, tower T 5 To tower T 10 All meet the preset density conditions and are reference towers.

[0141] In S442, the target straight path is the shortest local straight path under preset safety conditions. The target straight path is obtained by constraining at least one first tower. The first tower is a tower among the reference towers. The tower obtained by removing all the first towers from all the path towers is the second tower.

[0142] In some embodiments, the embodiment of the present application performs straight-line fitting on each reference tower according to the position information of each reference tower to obtain a target straight-line path. In some embodiments, the embodiment of the present application verifies the path generated by performing straight-line fitting on each reference tower to obtain a target straight-line path.

[0143] In S443, the embodiment of the present application connects the second pole tower with the target straight path to obtain the return path. The embodiment of the present application can find the target straight path between the target pole tower and multiple intermediate pole towers. The target straight path is shorter than the path formed along the pole tower, which is conducive to shortening the flight distance of the drone when returning, and thus can save power to the greatest extent, ensuring that the drone still has sufficient power to return when facing various emergencies during the return, thereby improving the reliability and safety of the drone's return.

[0144] In some embodiments, generating a target straight path according to the position information of each reference tower includes the following steps:

[0145] S4421: Generate a candidate straight path by fitting according to the position information of each reference tower. The candidate straight path can be divided into multiple path segments by each reference tower.

[0146] S4422: Check in sequence according to the return direction whether the target path segment meets the preset safety conditions, and the target path segment is one of the multiple path segments.

[0147] S4423: If the conditions are met, then a path segment arranged after the target path segment is selected as a new target path segment according to the return direction, and the process returns to the step of sequentially verifying whether the target path segment meets the preset safety conditions according to the return direction.

[0148] S4424: If not satisfied, the path segments arranged before the target path segment are combined into a target straight path in a direction opposite to the return direction.

[0149] In S4421, the embodiment of the present application fits each reference tower into a candidate straight path according to a straight line fitting algorithm. In particular, the embodiment of the present application draws a perpendicular line from the reference tower to the candidate straight path to obtain a perpendicular point, and every two perpendicular points can divide the candidate straight path into a path segment.

[0150] See also Figure 6 , towers T1 to T6 meet the preset dense condition, tower 7 does not meet the preset dense condition, so towers T1 to T6 are all reference towers. The embodiment of the present application generates a candidate straight path D0 about towers T1 to T6, and draws perpendicular lines perpendicular to the candidate straight path D0 through towers T1 to T6 in sequence, wherein the vertical points are C1 to C6 respectively. Vertical points C1 and C2 divide the candidate straight path D0 into the first path segment F1, and by analogy, the candidate straight path D0 can be divided into the following path segments by each vertical point: the second path segment F2, the third path segment F3, the fourth path segment F4, and the fifth path segment F5.

[0151] In S4422, the embodiment of the present application sequentially selects a path segment from each path segment as a target path segment, and sequentially checks whether each target path segment meets a preset safety condition according to the return direction.

[0152] The target path segment is obtained by constraining the first reference tower and the second reference tower. For example, when the target path segment is the first path segment F1, the reference tower T1 corresponding to the vertical point C1 of the first path segment F1 is the first reference tower, and the reference tower T2 corresponding to the vertical point C2 is the second reference tower. When the target path segment is the second path segment F2, the reference tower T2 corresponding to the vertical point C2 of the second path segment F2 is the first reference tower, and the reference tower T3 corresponding to the vertical point C3 is the second reference tower. And so on, which will not be repeated here.

[0153] Checking in sequence according to the return direction whether the target path segment meets the preset safety conditions includes the following steps: determining a first vertical distance from the first reference tower to the candidate straight path and a second vertical distance from the second reference tower to the candidate straight path, judging whether the first vertical distance is less than a preset distance threshold and whether the second vertical distance is less than a preset distance threshold; if both are less than, determining that the target path segment meets the preset safety conditions; if not, determining that the target path segment does not meet the preset safety conditions.

[0154] In S4423, if the target path segment meets the preset safety condition, it means that the drone is not likely to encounter obstacles when returning according to the target path segment, and it is relatively safe. Therefore, the target path segment can at least be used as a part of the target straight path. After verifying whether the current target path segment meets the preset safety condition, the embodiment of the present application selects a new target path segment, and returns to step S4422 to verify whether the new target path segment meets the preset safety condition. By analogy, the embodiment of the present application verifies whether all path segments meet the preset safety condition, thereby finding the path segment that can be combined into the target straight path.

[0155] In S4424, if the target path segment does not meet the preset safety conditions, it means that the UAV is likely to encounter obstacles when returning according to the target path segment, and the UAV cannot continue to return forward. Therefore, the embodiment of the present application arranges the path segments arranged before the target path segment in the direction opposite to the return direction to form a target straight path.

[0156] For example, the preset distance threshold is 2 meters. When the target path segment is the first path segment F1, the first vertical distance h1 from the first reference tower T1 to the candidate straight path D0 is 0.5 meters, and the second vertical distance h2 from the second reference tower T2 to the candidate straight path D0 is 0.5 meters. Since the first vertical distance h1 and the second vertical distance h2 are both less than the preset distance threshold, the first path segment F1 meets the preset safety condition.

[0157] Next, the embodiment of the present application sequentially checks whether the second path segment F2, the third path segment F3, and the fourth path segment F4 meet the preset safety conditions according to the above method. After checking, the second path segment F2, the third path segment F3, and the fourth path segment F4 all meet the preset safety conditions.

[0158] Next, when the embodiment of the present application verifies the fifth path segment F5 according to the above method, it is found that: the first vertical distance h1 from the first reference tower T5 to the candidate straight path D0 is 0.5 meters, and the second vertical distance h2 from the second reference tower T6 to the candidate straight path D0 is 2.5 meters. Since the second vertical distance h2 is greater than the preset distance threshold, the fifth path segment F5 does not meet the preset safety conditions.

[0159] In the embodiment of the present application, the first path segment F1, the second path segment F2, the third path segment F3, and the fourth path segment F4 are combined into a target straight path in a direction opposite to the return direction.

[0160] Among all the towers {T1, T2, T3, T7, T5, T6, T7} that the drone passes through, the embodiment of the present application performs position fitting on towers T1 to T5 to obtain the target straight path D1. Towers T6 and T7 are both second towers, so the embodiment of the present application connects the target straight path D1, towers T6 and T7 to obtain the return path.

[0161] The embodiment of the present application has combined multiple adjacent towers that meet the preset density conditions to the greatest extent to generate a target straight line path. The target straight line path is shorter than the broken line path formed by simply connecting the towers in series, which can shorten the flight distance of the drone. In addition, the towers constrained to generate the target straight line path are not necessarily on the target straight line path. Considering that the candidate straight line path generated by fitting will deviate from the towers and make a part of the path in the candidate straight line path unsafe, the embodiment of the present application will perform segmented safety verification on the candidate straight line path, thereby ensuring that the target straight line path has a high degree of safety, which can ensure the flight safety of the drone. In general, the return path provided by the embodiment of the present application can not only ensure safety, but also shorten the flight distance, thereby improving the return reliability, safety and stability of the drone.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] See also Figure 7 The return device 700 of the UAV includes a return trigger module 71, a target tower determination module 72, an intermediate tower determination module 73, a return path determination module 74 and a return operation control module 75.

[0166] The return trigger module 71 is used to obtain the return trigger information generated when the drone inspects the target power line, and the target power line includes multiple poles and towers deployed along the way. The target pole tower determination module 72 is used to respond to the return trigger information and determine the pole tower that meets the preset return condition among the multiple pole towers as the target pole tower. The intermediate pole tower determination module 73 is used to determine the pole tower that the drone passes through during the inspection process as the intermediate pole tower based on the target pole tower. The return path determination module 74 is used to generate a return path based on the position information of the target pole tower and the position information of at least one intermediate pole tower. The return operation control module 75 is used to control the drone to perform the return operation according to the return path.

[0167] The return path provided in the embodiment of the present application is associated with the pole tower. Usually, the pole tower is a relatively safe location point. Therefore, the return path provided in the embodiment of the present application is relatively safe, which can reduce the probability of the drone colliding with obstacles when returning, and is conducive to improving the safety of the drone's return flight.

[0168] In some embodiments, the target tower determination module 72 is specifically used to: respond to the return trigger information, obtain the initial power of the UAV before the inspection, determine the flight range based on the initial power, determine the farthest position point of the UAV on the target power line based on the flight range, determine the tower closest to the farthest position point and close to the take-off point of the UAV as the candidate tower, the preset return condition is subject to the constraints of the candidate towers, and determine the tower that meets the preset return condition based on the candidate towers as the target tower.

[0169] In some embodiments, the target tower determination module 72 is also specifically used to: determine the current tower, the current tower is the tower that the drone is currently passing through, determine whether the position information of the current tower matches the position information of the candidate tower, if it matches, determine that the current tower is the candidate tower, the candidate tower meets the preset return condition, and the candidate tower is the target tower; if it does not match, obtain the real-time power change curve when the drone arrives at the current tower, and determine that the tower that meets the preset return condition is the target tower based on the real-time power change curve and the preset power change curve.

[0170] In some embodiments, the target tower determination module 72 is also specifically used to: determine the deviation value between the real-time power change curve and the preset power change curve; if the deviation value is less than or equal to the preset degree threshold, the candidate tower is determined to be a tower that meets the preset return condition, and the candidate tower is the target tower; if the deviation value is greater than the preset degree threshold, the tower that meets the preset return condition is determined as the target tower according to the preset screening condition.

[0171] In some embodiments, the target tower determination module 72 is further specifically used to determine whether the i-th tower and the i+1-th tower satisfy the following formula:

[0172] Q-2(Qq i )>0

[0173] Q-2(Qk i+1 )<0

[0174] k i+1 =q i +Δk

[0175] If it is satisfied, the i-th tower is determined as the target tower;

[0176] The i-th tower is the current tower, and the i+1-th tower is the tower arranged after the current tower according to the inspection direction of the drone. Q is the initial power, q i is the remaining power of the drone when it reaches the i-th tower, k i+1 is the remaining power of the UAV when it flies to the i+1th tower under normal environmental conditions, and Δk is the power required for the UAV to fly from the i-th tower to the i+1-th tower under normal environmental conditions.

[0177] In some embodiments, the return path determination module 74 is specifically used to: search for a path tower in a normal environment and satisfying a preset density condition among all path towers as a reference tower, the path towers include a target tower and an intermediate tower, and generate a target straight path according to the position information of each reference tower. The target straight path is the shortest local straight path under preset safety conditions. The target straight path is obtained by constraining at least one first tower. The first tower is a tower among the reference towers. The tower obtained by removing all the first towers from all path towers is a second tower, and the return path is generated according to the position information of the second tower and the target straight path.

[0178] In some embodiments, the return path determination module 74 is also specifically used to: generate a candidate straight path based on the position information of each reference tower, the candidate straight path can be divided into multiple path segments by each reference tower, and check in sequence according to the return direction whether the target path segment meets the preset safety conditions. The target path segment is one of the multiple path segments. If the conditions are met, the path segment arranged after the target path segment is selected as the new target path segment according to the return direction. If the conditions are not met, the path segments arranged before the target path segment are combined into a target straight path in the direction opposite to the return direction.

[0179] In some embodiments, the target path segment is obtained by jointly constraining the first reference tower and the second reference tower, and the return path determination module 74 is also specifically used to: determine the first vertical distance from the first reference tower to the candidate straight path and the second vertical distance from the second reference tower to the candidate straight path, and determine whether the first vertical distance is less than a preset distance threshold and whether the second vertical distance is less than a preset distance threshold. If both are less than, it is determined that the target path segment meets the preset safety conditions; if not, it is determined that the target path segment does not meet the preset safety conditions.

[0180] In some embodiments, each passage tower is configured with an environmental status identifier, and the return path determination module 74 is further specifically used to: search for passage towers whose environmental status identifier is a normal status identifier among all passage towers as pending towers, put at least two or more pending towers with consecutive tower numbers into corresponding preset queues, determine the number of pending towers included in each preset queue, delete the preset queues with a number lower than a preset number threshold, and retain the preset queues with a number exceeding the preset number threshold as target queues, wherein the pending towers in the target queue meet the preset dense conditions, and the pending towers in the target queue are reference towers.

[0181] 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.

[0182] See also Figure 8 , Figure 8 A schematic diagram of the structure of a drone provided in an embodiment of the present application. The drone 800 includes one or more processors 81 and a memory 82. The memory 82 is connected to the one or more processors 81, for example, via a bus.

[0183] The processor 81 is configured to support the drone to perform the corresponding functions in the method in the above method embodiment. The processor 81 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.

[0184] The memory 82 is used to store program codes, etc. The memory 82 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 may also include a combination of the above types of memory.

[0185] The memory 82 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 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, that is, realizes the functions of the return method of the drone and the return device of the drone provided in the above method embodiment.

[0186] The memory 82 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 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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: Acquire return trigger information generated when the drone inspects a target power line, wherein the target power line includes a plurality of pole towers deployed along the way; In response to the return trigger information, determining a tower that meets a preset return condition among the plurality of towers as a target tower; Determine, according to the target tower, that the tower passed by the drone during the inspection process is an intermediate tower; Generate a return path according to the position information of the target tower and the position information of at least one intermediate tower; 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: In response to the return trigger information, determining a tower satisfying a preset return condition as a target tower among the plurality of towers includes: In response to the return trigger information, obtaining the initial power of the drone before inspection; Determining the available mileage according to the initial power level; Determine the farthest position of the UAV on the target power line according to the flyable mileage; Determine a pole tower that is closest to the farthest position point and close to the take-off point of the drone as a candidate pole tower, and the preset return condition is constrained by the candidate pole tower; A tower satisfying a preset return condition is determined as a target tower according to the candidate towers.

3. The return method according to claim 2, characterized in that: The step of determining a tower satisfying a preset return condition as a target tower according to the candidate towers includes: Determine a current pole tower, where the current pole tower is the pole tower that the drone is currently passing through; Determining whether the location information of the current tower matches the location information of the candidate tower; If there is a match, it is determined that the current tower is a candidate tower, the candidate tower meets the preset return condition, and the candidate tower is the target tower; If there is no match, the real-time power change curve of the UAV when it arrives at the current tower is obtained, and the tower that meets the preset return condition is determined as the target tower according to the real-time power change curve and the preset power change curve.

4. The return method according to claim 3, characterized in that: The step of determining a pole tower that meets a preset return condition as a target pole tower according to the real-time power change curve and the preset power change curve comprises: Determine the deviation value between the real-time power change curve and the preset power change curve; If the deviation value is less than or equal to a preset threshold value, the candidate tower is determined to be a tower that meets the preset return condition, and the candidate tower is the target tower; If the deviation value is greater than a preset threshold value, a pole tower satisfying a preset return condition is determined as a target pole tower according to a preset screening condition.

5. The return method according to claim 4, characterized in that: Determining the tower that meets the preset return condition as the target tower according to the preset screening condition includes: Determine whether the i-th tower and the i+1-th tower satisfy the following formula: Q-2(Q-q i )>0 Q-2(Q-k i+1 )<0 k i+1 =q i +Δk If it is satisfied, the i-th tower is determined as the target tower; The i-th tower is the current tower, the i+1-th tower is the tower arranged after the current tower according to the inspection direction of the drone, Q is the initial power, q i is the remaining power of the drone when it reaches the i-th tower, k i+1 is the remaining power of the UAV when it flies to the i+1th tower under normal environmental conditions, and Δk is the power required for the UAV to fly from the i-th tower to the i+1-th tower under normal environmental conditions.

6. The return method according to any one of claims 1 to 4, characterized in that: Generating a return route according to the location information of the target tower and the location information of at least one intermediate tower comprises: Searching for a path pole tower in a normal environment and satisfying a preset density condition among all path pole towers as a reference pole tower, wherein the target pole tower and the intermediate pole tower are both path pole towers; Generate a target straight path according to the position information of each reference tower, the target straight path is the shortest local straight path under preset safety conditions, the target straight path is obtained by being constrained by at least one first tower, the first tower is a tower among the reference towers, and the tower obtained by removing all the first towers from all the towers in the path is the second tower; A return path is generated according to the position information of the second tower and the target straight path.

7. The return method according to claim 6, characterized in that: Generating a target straight line path according to the position information of each reference tower comprises: Generate a candidate straight path by fitting according to the position information of each reference tower, wherein the candidate straight path can be divided into a plurality of path segments by each reference tower; Checking in sequence according to the return direction whether the target path segment meets the preset safety conditions, the target path segment being one of the plurality of path segments; If the condition is satisfied, then selecting a path segment arranged after the target path segment according to the return direction as a new target path segment, and returning to the step of sequentially verifying whether the target path segment meets the preset safety condition according to the return direction; If not, the path segments arranged before the target path segment are combined into a target straight path in a direction opposite to the return direction.

8. The return method according to claim 7, characterized in that: The target path segment is obtained by constraining the first reference tower and the second reference tower, and checking in sequence according to the return direction whether the target path segment meets the preset safety conditions includes: Determine a first vertical distance from the first reference tower to the candidate straight path and a second vertical distance from the second reference tower to the candidate straight path; Determining whether the first vertical distance is less than a preset distance threshold and whether the second vertical distance is less than a preset distance threshold; If both are smaller than , it is determined that the target path segment meets the preset safety condition; If they are not all smaller than, it is determined that the target path segment does not meet the preset safety condition.

9. The return method according to claim 6, characterized in that: Each of the pole towers on the way is equipped with an environmental status identifier, and the step of searching for a pole tower on the way that is in a normal environment and meets a preset density condition as a reference pole tower among all the pole towers on the way includes: Searching among all the pole towers in the passage, the pole towers whose environmental status is marked as normal are the pole towers to be determined; Put at least two pending towers with consecutive tower numbers into the corresponding preset queue; Determine the number of pending towers included in each of the preset queues; The preset queues whose number is lower than the preset number threshold are deleted, and the preset queues whose number exceeds the preset number threshold are retained as target queues, wherein the pending towers of the target queue meet the preset density condition, and the pending towers of the target queue are reference towers.

10. A drone, characterized in that: include: body; A machine arm connected to the machine body; Wings, provided on the arms, for providing the UAV with flying power; A sensor module, disposed on the fuselage, for collecting sensor data; an aircraft communication module, arranged on the fuselage, and A flight control module, comprising a memory and a processor, wherein the processor is respectively communicatively connected to the sensor module, the aircraft communication module and the memory, 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 drone implements the return method of the drone as described in any one of claims 1 to 9.

11. 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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