Movement control method and device of unmanned aerial vehicle, unmanned aerial vehicle and storage medium

Abstract

The invention discloses a movement control method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: obtaining two adjacent route segments in a preset flight route; determining a first arc-shaped transition section between the two adjacent route sections based on the included angle and the connection point between the two adjacent route sections; and based on the first arc-shaped transition section, the unmanned aerial vehicle is controlled to move from the previous route section to the next route section in the two adjacent route sections. Through the technical means, the arc-shaped transition section is planned between the two adjacent route sections to control the unmanned aerial vehicle to quickly move from the previous route section to the next route section through the arc-shaped transition section, so that the problem that the moving speed is influenced when the unmanned aerial vehicle accurately moves to the inflection point of the route in the prior art is solved, and the working efficiency of the unmanned aerial vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned equipment, and in particular to a method and device for controlling the movement of an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium. Background Art

[0002] With the rapid development of unmanned equipment technology, more and more drones are being used for high-altitude operations in various plots. Before operating on a plot, the drone plans a global route covering the operation plot. The global route is often connected by multiple route segments. The drone can track each route segment to operate in various areas of the operation plot.

[0003] In the prior art, since the connection between two route segments is the turning point of the global route, when the drone moves to the turning point, the speed will be reduced to zero, and then the moving direction of the drone will be adjusted to match the direction of the next route segment before continuing to move, so as to accurately track the global route. In actual operation, the drone does not need to accurately reach each turning point. Reducing the moving speed in order to reach the turning point is an unnecessary time-consuming behavior, which will affect the operating efficiency of the drone. Summary of the invention

[0004] The present application provides a method and device for controlling the movement of an unmanned aerial vehicle (UAV), an unmanned aerial vehicle (UAV), and a storage medium, which plan an arc-shaped transition section between two adjacent route sections to control the UAV to quickly move from the previous route section to the next route section through the arc-shaped transition section, thereby solving the problem in the prior art that the UAV needs to reduce its speed to track the route, thereby ensuring the operating efficiency of the UAV.

[0005] In a first aspect, the present application provides a method for controlling the movement of a drone, comprising:

[0006] Obtain two adjacent flight segments in a preset flight route;

[0007] Determining a first arc-shaped transition section between the two adjacent route segments based on the included angle and the connection point between the two adjacent route segments;

[0008] Based on the first arc-shaped transition section, the UAV is controlled to move from a former route segment to a latter route segment of the two adjacent route segments.

[0009] In a second aspect, the present application provides a mobile control device for an unmanned aerial vehicle, comprising:

[0010] A route segment acquisition module is configured to acquire two adjacent route segments in a preset flight route;

[0011] A first transition segment determination module, configured to determine a first arc-shaped transition segment between the two adjacent route segments based on an included angle and a connection point between the two adjacent route segments;

[0012] The first movement control module is configured to control the UAV to move from a previous route segment to a subsequent route segment of the two adjacent route segments based on the first arc-shaped transition segment.

[0013] In a third aspect, the present application provides a drone, comprising:

[0014] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the mobile control method as described in the first aspect.

[0015] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the movement control method as described in the first aspect.

[0016] In this application, according to the angle and connection point between two adjacent route segments in the flight route, an arc transition segment connecting the two adjacent route segments is planned. When the drone moves from the previous route segment to the next route segment of the two adjacent route segments, it can turn and move to the next route segment through the arc transition segment between the two adjacent route segments. Through the above technical means, when the drone moves from the previous route segment to the next route segment, the drone can quickly turn to smoothly move from the previous route segment to the next route segment, without reducing the speed to zero to track the route, which ensures the movement speed of the drone and improves the operation efficiency of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a method for controlling the movement of a drone provided in an embodiment of the present application;

[0018] Figure 2 is a first schematic diagram of a flight route provided in an embodiment of the present application;

[0019] Figure 3 is a second schematic diagram of the flight route provided in an embodiment of the present application;

[0020] Figure 4 is a first schematic diagram of a first arc-shaped transition section provided in an embodiment of the present application;

[0021] Figure 5 is a second schematic diagram of the first arc-shaped transition section provided in an embodiment of the present application;

[0022] Figure 6 is a schematic diagram of a first arc-shaped transition section in an arc shape provided in an embodiment of the present application;

[0023] Figure 7is a third schematic diagram of the first arc-shaped transition section provided in an embodiment of the present application;

[0024] Figure 8 is a flow chart for determining a first arc-shaped transition segment provided in an embodiment of the present application;

[0025] Fig. 9 is a schematic diagram of a second arc-shaped transition section provided in an embodiment of the present application;

[0026] Fig.10 is a schematic diagram of a third arc-shaped transition section provided in an embodiment of the present application;

[0027] Fig.11 It is a structural schematic diagram of a mobile control device of a drone provided in an embodiment of the present application;

[0028] Fig.12 It is a structural schematic diagram of a drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0030] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0031] The mobile control method of the drone provided in this embodiment can be executed by a drone, which can be implemented by software and / or hardware, and the drone can be composed of two or more physical entities or one physical entity. The drone refers to a flying device that operates according to remote control instructions or preset instructions.

[0032] The drone is installed with at least one type of operating system, and the drone can install at least one application based on the operating system. The application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the drone has at least an application that can execute the mobile control method of the drone.

[0033] For ease of understanding, this embodiment is described by taking a drone as an example of a subject that executes the mobile control method.

[0034] In one embodiment, a flight route covering the operation plot is pre-planned, and the flight route includes multiple route segments, and multiple route segments are connected to form the flight route, and a certain angle is formed between two adjacent route segments. When the drone moves from the previous route segment to the next route segment, it will decelerate and move to the connection point of the two adjacent route segments, and the speed will be reduced to zero when reaching the connection point. After the drone adjusts the moving direction to the route direction of the next route segment, it continues to fly along the next route segment. Alternatively, the drone will decompose the flight speed, and when the drone is controlled to move to the connection point, the speed component in the direction of the previous route segment is zero, and the speed in the direction of the next route segment is greater than zero, so that the drone can continue to fly along the next route segment at a certain initial speed when it moves to the connection point. However, whether the speed is reduced to zero at the connection point or the initial speed in the direction of the next route segment is retained, the speed of the drone when it moves to the connection point will be greatly reduced. When the operation area is large or the shape is complex, a flight route includes multiple connection points, and the drone will frequently reduce the flight speed to smoothly track the route, affecting the operation efficiency of the drone. The inventors discovered that some of the connection points in the flight route are designed to allow the drone's movement direction to smoothly switch from the route direction of the previous route segment to the route direction of the next route segment. In other words, the drone does not need to accurately reach each connection point during actual operation, and reducing the movement speed in order to reach the connection point is an unnecessary and time-consuming behavior.

[0035] In order to solve the problem in the above-mentioned prior art that the drone needs to reduce its speed to track the route, the present embodiment provides a method for controlling the movement of a drone to plan an arc transition section between two adjacent route sections. The drone can quickly turn through the arc transition section to move from the previous route section to the next route section.

[0036] Figure 1 A flow chart of a method for controlling the movement of a drone provided in an embodiment of the present application is given. Figure 1 , the mobile control method specifically includes:

[0037] S110. Acquire two adjacent route segments in a preset flight route.

[0038] For example, Figure 2 is a first schematic diagram of the flight route provided in the embodiment of the present application. Figure 2 As shown, the flight route includes a first route segment 11 and a second route segment 12, and the flight route is formed by alternating the first route segment 11 and the second route segment 12. The first route segment AB and the second route segment BC are two adjacent route segments in the flight route, and the first route segment AB and the second route segment BC can be obtained as a group of adjacent route segments for an arc transition segment to be planned. The second route segment BC and the first route segment CD are also two adjacent route segments in the flight route, and the second route segment BC and the first route segment CD are also obtained as a group of adjacent route segments for an arc transition segment to be planned. After obtaining all combinations of two adjacent route segments in the flight route, an arc transition segment can be planned between the two adjacent route segments in each group for the drone to quickly move from the previous route segment to the next route segment.

[0039] When there are obstacles in the operation area, in order to avoid the obstacles, the flight route is planned with an obstacle avoidance route segment that avoids the obstacles. If an arc transition segment is also planned between the obstacle avoidance route segment and its corresponding adjacent route segment, the UAV may collide with the obstacle when passing through the arc transition segment. For the safety of the UAV operation, it is not necessary to plan an arc transition segment between the obstacle avoidance route segment and its corresponding adjacent route segment. Exemplarily, in the route segments other than the obstacle avoidance route segment in the preset flight route, two adjacent route segments are obtained. Figure 3 is a second schematic diagram of the flight route provided in the embodiment of the present application. Figure 3 As shown, the flight route includes route segment EF, route segment FG, route segment GH, route segment HJ, route segment JK and route segment KL, wherein route segment FG, route segment GH and route segment HJ are obstacle avoidance route segments planned to avoid obstacle 13. After removing route segment FG, route segment GH and route segment HJ from the flight route, the flight route has remaining route segments EF, route segment JK and route segment KL. Among the remaining route segments, route segment JK and route segment KL are adjacent route segments, then route segment JK and route segment KL are obtained as a group of adjacent route segments for the arc transition segment to be planned.

[0040] S120: Determine a first arc-shaped transition segment between two adjacent route segments based on the included angle and the connection point between the two adjacent route segments.

[0041] The first arc transition section refers to an arc route section set between two adjacent route sections of the flight route for adjusting the navigation direction of the UAV, and the arc route section can be a circular arc or an elliptical arc, etc. Exemplarily, according to the angle between the two adjacent route sections and the coordinates of the connection point, a ray starting from the connection point and bisecting the angle is determined, a center point of a circle or a center point of an ellipse is determined on the ray, and a circle or an ellipse tangent to the two route sections is drawn according to the center point of the circle or the center point of the ellipse, and the arc segment between the tangent points of the drawn circle or ellipse and the two route sections is used as the first arc transition section between the two adjacent route sections. Figure 4 and Figure 5 Schematic diagram of the first arc-shaped transition section provided in the embodiment of the present application. Figure 4 As shown, point B is the connecting point between the first route segment AB and the second route segment BC, and the angle between the first route segment AB and the second route segment BC is 90°. Based on the coordinates of point B and the angle of 90°, a ray 14 with point B as the starting point and an angle of 45° with the first route segment AB and the second route segment BC can be determined. When planning the first arc transition segment of the elliptical arc, a point is randomly selected on the ray 14 as the center point O1 of the ellipse, and an ellipse 15 that is tangent to the first route segment AB and the second route segment BC is determined based on the center point O1 of the ellipse. The ellipse 15 is tangent to the first route segment AB and the second route segment BC at points q1 and p1, respectively. The short arc segment between points q1 and p1 in the ellipse 15 is used as the first arc transition segment 16. As shown in FIG. Figure 5 As shown, when planning the first arc-shaped transition section, a point is randomly selected on the ray 14 as the center point O2, and a circle 17 tangent to the first route segment AB and the second route segment BC is determined according to the center point O2. The circle 17 and the first route segment AB and the second route segment BC are tangent at points q2 and p2 respectively, and the short arc segment between points q2 and p2 in the circle 17 is used as the first arc-shaped transition section 16. It should be noted that the distance between the center point O2 or the ellipse center point O1 and point B is positively correlated with the distance from the first arc-shaped transition section 16 to point B, that is, the greater the distance between the center point O2 or the ellipse center point O1 and point B, the greater the distance from the planned first arc-shaped transition section 16 to point B. If the planned first arc-shaped transition section 16 is close to point B, the distance between the center point O2 or the ellipse center point O1 and point B can be increased, and then a new first arc-shaped transition section 16 can be replanned. If the planned first arc-shaped transition section 16 is far from point B, the distance between the circle center point O2 or the ellipse center point O1 and point B can be reduced, and then a new first arc-shaped transition section 16 can be replanned.

[0042] Depend on Figure 4 and Figure 5It can be seen from the first arc transition section 16 shown that when the drone navigates based on the first arc transition section, it will not pass through the connection point between two adjacent route segments. If the connection point is a work point for refined operation, the drone will move accurately to the work point to perform the operation. For example, if there is a plant at the work point, the drone will fly above the work point to spray pesticides on the plant; or, if there is a marker at the work point, the drone will fly above the work point to take a photo of the marker. Therefore, in order to achieve the refined operation of the drone, after obtaining two adjacent route segments in the flight route, it can be determined whether the connection point between the two adjacent route segments is a work point. In the case where the connection point between the two adjacent route segments is not a work point, the first arc transition section between the two adjacent route segments is determined based on the angle and the connection point between the two adjacent route segments. If the connection point between the two adjacent route segments is not a work point, it means that the drone does not need to move above the connection point to perform the operation, so the first arc transition section can be planned between the two adjacent route segments so that the drone can quickly transfer to the next route segment based on the first arc transition section to navigate. If the connection point between two adjacent route segments is an operation point, it means that the UAV needs to move above the connection point to perform the operation. Therefore, the first arc-shaped transition section is not planned between the two adjacent route segments so that the UAV can fly accurately above the connection point.

[0043] In one embodiment, in order to improve the efficiency of planning the first arc-shaped transition section, the first arc-shaped transition section can be determined based on the distance from the connection point between two adjacent route segments to the first arc-shaped transition section, the angle between the two adjacent route segments, and the coordinates of the connection point. Among them, the ray that bisects the angle between the two adjacent route segments with the connection point as the starting point intersects with the first arc-shaped transition section at one point, and the straight-line distance between the intersection point and the connection point is the distance from the connection point to the corresponding first arc-shaped transition section. The first distance pre-set in this embodiment represents the maximum distance from the connection point to the first arc-shaped transition section, that is, the distance from the first arc-shaped transition section to the connection point subsequently planned can be less than or equal to the first distance, but cannot be greater than the first distance. The starting and ending points of the first arc-shaped transition section include the starting point and the ending point of the first arc-shaped transition section, which are respectively the tangent points where the ellipse or circle corresponding to the first arc-shaped transition section is tangent to the two adjacent route segments.

[0044] For example, Figure 6 Schematic diagram of the first arc-shaped transition section provided in the embodiment of the present application. Figure 6 As shown, point B, point O2 and point p2 form a right triangle, and the relationship between the first distance d1 and the radius R is: α is the angle between two adjacent route segments. The radius is calculated as Based on the calculation formula of the radius, the radius R of the circle corresponding to the first arc transition section 16 can be calculated by the first distance d1 and the angle α. The sum of the radius R and the first distance d1 is the interval between the center point O2 of the circle corresponding to the first arc transition section 16 and point B. The function expression of the ray 14 can be determined based on the coordinates of point B and the second route segment BC or the first route segment AB, and the coordinates of the center point O2 of the sum of the radius R and the first distance d1 separated from point B can be determined on the ray 14 according to the function expression of the ray 14. According to the coordinates of the center point O2 and the radius R, the first arc transition section 16 of the circular arc is planned between point p2 and point q2.

[0045] When the flight route includes multiple types of route segments, different first distances can be set according to the type of route segment. Exemplarily, when the flight route is divided into an operating route and a non-operating route, a first preset distance and a second preset distance are pre-set, and the first preset distance is smaller than the second preset distance. In the case where two adjacent route segments include an operating route segment, the first preset distance is obtained as the first distance; in the case where the two adjacent route segments do not include an operating route segment, the second preset distance is obtained as the first distance. It is easy to understand that when two adjacent route segments include an operating route segment, the drone will operate on the operating area below when navigating in the operating route segment. If the corresponding first arc transition segment is planned with a smaller first distance, the first arc transition segment can be set close to the connection point. When the drone moves based on the first arc transition segment, it will not deviate far from the operating route segment, thereby ensuring the operating effect while improving the operating efficiency. When two adjacent route segments do not include an operating route segment, that is, when both adjacent route segments are non-operating route segments, the UAV does not need to operate in the operating area below when navigating in the non-operating route segment. Therefore, the first arc transition segment corresponding to the larger first distance is planned, which can make the first arc transition segment away from the connection point, so that the UAV can quickly move to the next route segment based on the first arc transition segment, thereby improving the operating efficiency.

[0046] Due to the limitation of the length of each route segment in the flight route, the distance from the starting point or the end point of the first arc-shaped transition segment to the connection point cannot be too long. Figure 7 is a third schematic diagram of the first arc-shaped transition section provided in the embodiment of the present application. Figure 7As shown, a first arc-shaped transition section 16 is planned corresponding to point B, a first arc-shaped transition section 16 is planned corresponding to point C, point p2 is the end point of the first arc-shaped transition section 16 planned corresponding to point B, and q3 is the starting point of the first arc-shaped transition section 16 planned corresponding to point C. The second distance d2 is the distance from the starting and ending points of the first arc-shaped transition section 16 to the connection point, and the starting and ending points include the starting point and the ending point. When the second distance d2 between point B and point p2 is large or the second distance d2 between point C and point q3 is large, the first arc-shaped transition section corresponding to point B and the first arc-shaped transition section corresponding to point C may intersect, resulting in the drone being unable to navigate normally based on the first arc-shaped transition section. Therefore, the second distance can be determined based on the first distance first, and then the first arc-shaped transition section can be reasonably planned based on the second distance. In this embodiment, Figure 8 : is a flow chart of determining the first arc-shaped transition segment provided by an embodiment of the present application. Figure 8 As shown, the step of determining the first arc-shaped transition segment specifically includes S1201-S1203:

[0047] S1201. Determine a second distance according to a preset first distance and an angle between two adjacent route segments.

[0048] This embodiment is described by taking the first arc-shaped transition section as an arc-shaped example. Exemplarily, the radius of the first arc-shaped transition section is determined based on the included angle and the first distance, and the second distance is determined based on the radius, the first distance and the included angle. Figure 6 , based on the radius calculation formula The radius R of the circle corresponding to the first arc-shaped transition section 16 can be calculated by the first distance d1 and the angle α. The second distance d2 and the radius R satisfy the relationship d2=(R+d1)cos(0.5). Based on this relationship, the second distance can be calculated by the radius, the first distance and the angle.

[0049] It should be noted that, limited by the first distance, the second distance fluctuates within a certain range. Therefore, when the length of each route segment in the flight route is long enough, adjacent first arc transition segments will not intersect. Therefore, the first arc transition segment can be planned based on the second distance calculated for the first time. However, if the length of each route segment in the flight route is short, adjacent first arc transition segments may intersect. Therefore, it is necessary to determine whether the second distance needs to be adjusted based on the size of the second distance calculated for the first time. In this embodiment, based on the length of two adjacent route segments and / or a preset distance threshold, it is determined whether the second distance meets the preset restriction condition; if the second distance does not meet the preset restriction condition, the second distance is adjusted according to the length of the two adjacent route segments and / or the preset distance threshold. If the second distance meets the preset restriction condition, the second distance is not adjusted.

[0050] The restriction condition includes that the second distance is less than or equal to half the length of any one of the two adjacent route segments and / or the second distance is less than or equal to a preset distance threshold. If the second distance is greater than half the length of any one of the two adjacent route segments and / or the second distance is greater than the preset distance threshold, it is determined that the second distance does not meet the preset restriction condition. Exemplarily, when the length of the two adjacent route segments corresponding to the second distance is less than the preset length, the restriction condition is that the second distance is greater than half the length of any one of the two adjacent route segments. Figure 7 When the length of the first route segment AB or the second route segment BC is less than the preset length, it indicates that the length of the first route segment AB or the second route segment BC is shorter. In order to avoid the first arc transition segment between the first route segment AB and the second route segment BC from intersecting with the subsequent first arc transition segment, the second distance d2 between point B and point p2 can be compared with half the length of the first route segment AB and the second route segment BC respectively. If the second distance d2 between point B and point p2 is less than or equal to half the length of the first route segment AB and the second route segment BC, it can be determined that the second distance d2 between point B and point p2 meets the restriction condition, and then the first arc route segment 16 between the first route segment AB and the second route segment BC is planned based on the currently calculated second distance d2. If the second distance d2 between point B and point p2 is greater than half the length of the first route segment AB or half the length of the second route segment BC, it can be determined that the second distance d2 between point B and point p2 does not meet the restriction condition, and then the second distance d2 is adjusted to the minimum value of half the length of the first route segment AB and half the length of the second route segment BC, and then the first arc route segment 16 between the first route segment AB and the second route segment BC is planned based on the adjusted second distance d2.

[0051] When the length of the route segment in the flight route is long, the second distance limited by half the length of the route segment will also be large. In engineering implementation, when the second distance is large, when the drone moves from the previous route segment to the next route segment based on the first arc transition segment, it will offset the previous route segment prematurely, affecting the operation accuracy of the drone. The distance threshold of the second distance can be pre-set according to the size and operation effect of the drone. Correspondingly, when the length of the two adjacent route segments corresponding to the second distance is greater than the preset length, the restriction condition is that the second distance is less than or equal to the preset distance threshold. Exemplarily, when the second distance is less than or equal to the preset distance threshold, it can be determined that the second distance meets the restriction condition, and then the first arc transition segment is planned based on the second distance. When the second distance is greater than the preset distance threshold, it can be determined that the second distance does not meet the restriction condition, then the second distance is adjusted to the distance threshold, and then the first arc transition segment is planned based on the adjusted second distance.

[0052] Furthermore, the restriction condition may also be that the second distance is less than or equal to half the length of any one of the two adjacent route segments and the second distance is less than or equal to a preset distance threshold. It is understandable that the second distance is limited by the length of the adjacent route segment and the preset distance threshold at the same time, so that the second distance satisfies the restrictions of these two lengths at the same time, and there is no need to determine the comparison result of the length of the route segment and the preset length. In this embodiment, when the second distance is greater than half the length of any one of the two adjacent route segments or the second distance is greater than the preset distance threshold, it is determined that the second distance does not meet the restriction condition, and the second distance is adjusted to the minimum value of half the length of any one of the adjacent route segments and the distance threshold, so that the adjusted second distance is less than or equal to half the length of any one of the adjacent route segments and the distance threshold.

[0053] It should be noted that if a certain route segment is the end route segment of the flight route, then the end route segment usually does not need to plan the first arc route segment, so the second distance of the first arc route segment between the end route segment and the previous adjacent route segment can only consider the length of the previous adjacent route segment and the preset distance threshold. Exemplarily, in the case where the latter route segment of two adjacent route segments is the end route segment of the flight route, if the second distance is greater than half the length of the previous route segment of the two adjacent route segments and / or the second distance is greater than the preset distance threshold, it is determined that the second distance does not meet the preset restriction condition. Among them, when the restriction condition is that the second distance is greater than half the length of the previous route segment of the two adjacent route segments, if the second distance is greater than half the length of the previous route segment of the two adjacent route segments, it is determined that the second distance does not meet the restriction condition, and then the second distance is adjusted to half the length of the previous route segment of the two adjacent route segments. When the restriction condition is that the second distance is less than the preset distance threshold, if the second distance is greater than the preset distance threshold, it is determined that the second distance does not meet the restriction condition, and then the second distance is adjusted to the preset distance threshold. When the restriction condition is that the second distance is less than or equal to half the length of the previous route segment between two adjacent route segments and the second distance is less than or equal to a preset distance threshold, if the second distance is greater than half the length of the previous route segment between two adjacent route segments and the second distance is greater than the preset distance threshold, it is determined that the second distance does not meet the restriction condition, and the second distance is adjusted to the minimum value of half the length of the previous route segment between the two adjacent route segments and the distance threshold.

[0054] Similarly, if a route segment is the starting route segment of a flight route, then the first arc route segment does not need to be planned before the starting route segment. Therefore, the second distance of the first arc route segment between the starting route segment and the next adjacent route segment can only consider the length of the next adjacent route segment and the preset distance threshold. Exemplarily, in the case where the first route segment of two adjacent route segments is the starting route segment of the flight route, if the second distance is greater than half the length of the next route segment of the two adjacent route segments and / or the second distance is greater than the preset distance threshold, it is determined that the second distance does not meet the preset restriction condition.

[0055] S1202. Determine the coordinates of the starting and ending points of the first arc-shaped transition segment according to the second distance and the coordinates of the connection point.

[0056] refer to Figure 6 , assuming that the starting point and the ending point of the first route segment AB are point A and point B respectively, that is, the moving direction of the flight route when flying based on the first route segment is the direction from point A to point B, and the starting point and the ending point of the second route segment BC are point B and point C respectively. Based on the coordinates of point B, point q2 on the first route segment AB, which is separated from point B by a second distance d2, is taken as the starting point of the first arc-shaped transition segment, and the coordinates of the starting point are obtained; based on the coordinates of point B, point p2 on the second route segment BC, which is separated from point B by a second distance, is taken as the ending point of the first arc-shaped transition segment, and the coordinates of the ending point are obtained.

[0057] S1203: Determine a first arc-shaped transition segment between two adjacent route segments according to the coordinates of the starting and ending points and the coordinates of the connecting point.

[0058] Exemplarily, the coordinates of the center point of the first arc-shaped transition section are determined according to the coordinates of the starting and ending points and the coordinates of the connection point; the first arc-shaped transition section is determined according to the coordinates of the center point and the radius. Figure 6 , Where c is the constant coefficient that makes the equation valid. Based on the coordinates of point p2 and point B, we can determine The vector is determined based on the coordinates of point q2 and point B. The vector, according to The vector of The coordinates of the center point O2 are determined by using the vector of point P2 and the coordinates of point B. According to the coordinates of the center point O2 and the radius R, an arc line between point P2 and point Q2 is planned as the first arc transition section 16.

[0059] S130: Based on the first arc-shaped transition segment, control the UAV to move from a former route segment to a latter route segment of two adjacent route segments.

[0060] refer to Figure 6When the drone moves from the first route segment AB to the second route segment BC, the drone moves in the route direction of the first route segment AB. Since the first arc-shaped transition segment 16 is tangent to the first route segment AB and the second route segment BC, the tangent direction of point q2 is the same as the route direction of the first route segment AB, and the tangent direction of point p2 is the same as the route direction of the second route segment BC. Therefore, when the drone navigates to point q2, it can turn and move to the first arc-shaped transition segment, and move to point p2 along the first arc-shaped transition segment. After the drone moves to point p2, it moves based on the tangent direction of point p2, that is, the route direction of the second route segment BC, so that the drone can quickly turn to move from the previous route segment to the next route segment, thereby improving the drone's operating efficiency. In the above-mentioned moving process, the drone completes the turn at a certain speed, so that the drone still retains a large initial velocity when it moves to the next route segment, further improving the drone's operating efficiency.

[0061] Since the route segments are often set with corresponding maximum moving speeds, the drone plans its navigation strategy for navigating the route segment based on the length of the route segment and the maximum moving speed at the time of navigation, so as to control the flight of the mobile equipment according to the navigation strategy and improve the movement efficiency of the drone. The specific implementation process is as follows: according to the maximum acceleration of the drone and the radius of the first arc transition section, the maximum moving speed of the drone when navigating the first arc transition section is determined; according to the length and maximum moving speed of the first arc transition section and the length and maximum moving speed of the two adjacent route segments, the drone is controlled to move based on the two adjacent route segments and the first arc transition section. Exemplarily, when the first arc transition section is an arc, the centripetal acceleration a=v of the drone navigating the first arc transition section can be obtained according to the circular motion formula. 2 / R, based on the radius R of the circle corresponding to the first arc transition section calculated above, the maximum moving speed of the drone when it navigates in the first arc transition section can be determined According to the radius of the circle corresponding to the first arc transition section and the angle between two adjacent route segments, the length of the first arc transition section l = 2πR*(α / 360) can be determined. The maximum moving speed of each route segment in the flight route can be pre-set based on the operation type and / or the type of drone, and the length of the route segment can also be directly obtained. Furthermore, through a T-type speed curve control algorithm, an S-type speed curve control algorithm or a sinusoidal acceleration and deceleration control algorithm, based on the maximum moving speed and length of the first arc transition section and the maximum moving speed and length of the route segment, a navigation strategy including a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage is determined when the drone navigates in the first arc transition section or route segment, so that the drone moves on the first arc transition section or route segment according to the navigation strategy.

[0062] It should be noted that the flight route is a route planned for the operating area. After taking off from the take-off point, the UAV needs to move a certain distance to reach the starting point of the flight route. In the prior art, when the UAV takes off and moves to the starting point of the flight route, it will stop moving, adjust the moving direction to the route direction of the starting route segment of the flight route, and then continue to move. In order to improve the efficiency of the UAV entering the flight route, this embodiment proposes to determine the take-off route segment from the take-off point to the starting point of the flight route based on the take-off point of the UAV and the starting point of the flight route; determine the second arc transition segment between the take-off route segment and the starting route segment in the flight route based on the angle between the take-off route segment and the starting route segment in the flight route; and control the UAV to move from the take-off route segment to the starting route segment based on the second arc transition segment. Exemplarily, Fig. 9 Schematic diagram of the second arc-shaped transition section provided in the embodiment of the present application. Fig. 9 As shown, the take-off point N of the drone is generally set on a flat ground, point A is the starting point of the flight route, and the first route segment AB is the starting route segment of the flight route. Based on the coordinates of the take-off point N and the coordinates of point A, the take-off route segment 18 between the take-off point N and point A can be planned. The angle between the take-off route segment 18 and the first route segment AB is determined, and the second arc route segment 19 between the take-off route segment 18 and the first route segment AB is determined according to the angle between the take-off route segment 18 and the first route segment AB and the coordinates of point A. After the drone is controlled to take off from the take-off point, it rises along the take-off route segment 18, and after the oblique upward movement direction is slowly adjusted to the route direction of the first route segment AB through the second arc route segment 19, the drone smoothly enters the first route segment AB, which greatly improves the efficiency of the drone entering the flight route. Among them, the step of determining the second arc route segment can refer to the process of determining the first arc route segment in step S120, and the process of controlling the drone to move based on the second arc route segment can refer to the process of controlling the drone to move based on the first arc route segment in step S130.

[0063] Similarly, the drone will reach the landing point after moving a certain distance from the end point of the flight route. In order to improve the landing efficiency of the drone, this embodiment proposes to determine the landing route segment from the end point to the landing point of the flight route according to the landing point of the drone and the end point of the flight route; determine the third arc transition segment between the landing route segment and the end route segment according to the angle between the landing route segment and the end route segment in the flight route; and control the drone to move from the end route segment to the landing route segment based on the third arc transition segment. For example, Fig.10 Schematic diagram of the third arc-shaped transition section provided in the embodiment of the present application. Fig.10As shown, the landing point M of the drone is generally set on a flat ground, point L is the end point of the flight route, and route segment KL is the end route segment of the flight route. Based on the coordinates of the landing point M and the coordinates of point L, the landing route segment 20 between the landing point M and point L can be planned. The angle between the landing route segment 20 and the route segment KL is determined, and the third arc route segment 21 between the landing route segment 20 and the route segment KL is determined according to the angle between the landing route segment 20 and the route segment KL and the coordinates of point L. When the drone flies along the route segment KL to the starting point of the third arc route segment 21, after the drone's moving direction is slowly adjusted to the route direction of the landing route segment 20 through the third arc route segment 21, the drone smoothly enters the landing route segment 20 and reaches the landing point M along the landing route segment 20, which greatly improves the landing efficiency of the drone. Among them, the step of determining the third arc route segment can refer to the process of determining the first arc route segment in step S120, and the process of controlling the movement of the UAV based on the third arc route segment can refer to the process of controlling the movement of the UAV based on the first arc route segment in step S130.

[0064] It should be noted that the take-off route segment, in addition to being a straight line path from the take-off point to the starting point of the flight route, may also include an ascending route segment that vertically rises from the take-off point to the height of the starting point and a horizontal route segment that horizontally flies to the starting point. In the case where the take-off route segment includes an ascending route segment and a horizontal route segment, an arc-shaped transition segment may be planned between the ascending route segment and the horizontal route segment, and an arc-shaped transition segment may be planned between the horizontal route segment and the starting route segment of the flight route. Similarly, in addition to being a straight line path from the end point of the flight route to the landing point, the landing route segment may also include a horizontal route segment that horizontally flies from the end point to above the landing point and a descending route segment that vertically descends to the landing point. In the case where the landing route segment includes a horizontal route segment and a descending route segment, an arc-shaped transition segment may be planned between the end route segment of the flight route and the horizontal route segment, and an arc-shaped transition segment may be planned between the horizontal route segment and the descending route segment.

[0065] In summary, the mobile control method of the drone provided in the embodiment of the present application plans an arc transition section connecting the two adjacent route sections according to the angle and connection point between the two adjacent route sections in the flight route. When the drone moves from the previous route section to the next route section of the two adjacent route sections, it can turn and move to the next route section through the arc transition section between the two adjacent route sections. Through the above technical means, when the drone moves from the previous route section to the next route section, the drone can quickly turn to smoothly move from the previous route section to the next route section without reducing the speed to zero to track the route, thereby ensuring the movement speed of the drone and improving the operation efficiency of the drone.

[0066] Based on the above embodiments, Fig.11This is a schematic diagram of the structure of a mobile control device for a drone provided in an embodiment of the present application. Fig.11 The mobile control device provided in this embodiment specifically includes: a route segment acquisition module 31, a first transition segment determination module 32 and a first mobile control module 33.

[0067] The route segment acquisition module 31 is configured to acquire two adjacent route segments in a preset flight route;

[0068] The first transition segment determination module 32 is configured to determine a first arc-shaped transition segment between two adjacent route segments based on the angle and the connection point between the two adjacent route segments;

[0069] The first movement control module 33 is configured to control the UAV to move from a previous route segment to a subsequent route segment of two adjacent route segments based on the first arc-shaped transition segment.

[0070] On the basis of the above-mentioned embodiment, the route segment acquisition module 31 includes: an acquisition unit configured to acquire two adjacent route segments in the route segments other than the obstacle avoidance route segment in the preset flight route.

[0071] Based on the above embodiment, the first transition section determination module 32 includes: a first transition section determination unit, which is configured to determine the first arc-shaped transition section between two adjacent route segments based on the angle and the connection point between the two adjacent route segments when the connection point between the two adjacent route segments is not an operation point.

[0072] On the basis of the above embodiment, the first transition section determination module 32 includes: a second distance determination unit, configured to determine the second distance based on a preset first distance and the angle between two adjacent route segments, the first distance being the distance from the connection point between the two adjacent route segments to the corresponding first arc-shaped transition section, and the second distance being the distance from the starting and ending points of the first arc-shaped transition section to the connection point; a coordinate determination unit, configured to determine the coordinates of the starting and ending points of the first arc-shaped transition section based on the second distance and the coordinates of the connection point; and a second transition section determination unit, configured to determine the first arc-shaped transition section between two adjacent route segments based on the coordinates of the starting and ending points and the coordinates of the connection point.

[0073] Based on the above embodiment, the second distance determination unit includes: a second distance determination subunit configured to determine the radius of the first arc-shaped transition segment based on the angle and the first distance, and determine the second distance based on the radius, the first distance and the angle.

[0074] Based on the above embodiment, the second transition section determination unit includes: a center point coordinate determination subunit, which is configured to determine the coordinates of the center point of the first arc-shaped transition section based on the coordinates of the starting and ending points and the coordinates of the connection point; a transition section determination subunit, which is configured to determine the first arc-shaped transition section based on the coordinates of the center point and the radius.

[0075] On the basis of the above embodiment, the first transition section determination module 32 includes: a constraint judgment unit, configured to determine whether the second distance meets the preset constraint based on the length of two adjacent route segments and / or a preset distance threshold before determining the coordinates of the starting and ending points of the first arc-shaped transition section according to the second distance and the coordinates of the connection point; a second distance adjustment unit, configured to adjust the second distance according to the length of two adjacent route segments and / or a preset distance threshold when the second distance does not meet the preset constraint.

[0076] Based on the above embodiment, the restriction condition judgment unit includes: a first judgment subunit, configured to determine that the second distance does not meet the preset restriction condition if the second distance is greater than half the length of any one of two adjacent route segments and / or the second distance is greater than a preset distance threshold.

[0077] Based on the above embodiment, the restriction condition judgment unit includes: a second judgment subunit, which is configured to determine that the second distance does not meet the preset restriction condition when the second distance is greater than half the length of the previous route segment of the two adjacent route segments and / or the second distance is greater than a preset distance threshold when the latter route segment of the two adjacent route segments is the end route segment in the flight route.

[0078] On the basis of the above embodiment, the first transition section determination module 32 includes: a first distance acquisition unit, configured to acquire the first preset distance as the first distance before determining the second distance based on the preset first distance and the angle between two adjacent route segments, when the two adjacent route segments include an operating route segment; a second distance acquisition unit, configured to acquire the second preset distance as the first distance when the two adjacent route segments do not include an operating route segment; wherein the first preset distance is smaller than the second preset distance.

[0079] Based on the above embodiment, the first mobile control module 33 includes: a mobile speed determination unit, configured to determine the maximum moving speed of the UAV when navigating in the first arc transition section according to the maximum acceleration of the UAV and the radius of the first arc transition section; a mobile control unit, configured to control the UAV to move based on two adjacent route segments and the first arc transition section according to the length and maximum moving speed of the first arc transition section and the length and maximum moving speed of the two adjacent route segments.

[0080] On the basis of the above-mentioned embodiment, the mobile control device also includes: a take-off route segment determination module, which is configured to determine the take-off route segment from the take-off point to the starting point of the flight route according to the take-off point of the UAV and the starting point of the flight route; a second transition segment determination module, which is configured to determine the second arc-shaped transition segment between the take-off route segment and the starting route segment in the flight route according to the angle between the take-off route segment and the starting route segment in the flight route; and a second mobile control module, which is configured to control the UAV to move from the take-off route segment to the starting route segment based on the second arc-shaped transition segment.

[0081] On the basis of the above embodiment, the mobile control device also includes: a landing route segment determination module, which is configured to determine the landing route segment from the end point to the landing point of the flight route according to the landing point of the UAV and the end point of the flight route; a third transition segment determination module, which is configured to determine the third arc-shaped transition segment between the landing route segment and the end route segment in the flight route according to the angle between the landing route segment and the end route segment in the flight route; and a third mobile control module, which is configured to control the UAV to move from the end route segment to the landing route segment based on the third arc-shaped transition segment.

[0082] As described above, the mobile control device of the drone provided in the embodiment of the present application plans an arc transition section connecting two adjacent route sections according to the angle and connection point between two adjacent route sections in the flight route. When the drone moves from the previous route section to the next route section of the two adjacent route sections, it can turn and move to the next route section through the arc transition section between the two adjacent route sections. Through the above technical means, when the drone moves from the previous route section to the next route section, the drone can quickly turn to smoothly move from the previous route section to the next route section without reducing the speed to zero to track the route, thereby ensuring the movement speed of the drone and improving the operation efficiency of the drone.

[0083] The mobile control device provided in the embodiment of the present application can be used to execute the mobile control method of the drone provided in the above embodiment, and has corresponding functions and beneficial effects.

[0084] Fig.12 is a schematic diagram of the structure of a drone provided in an embodiment of the present application, with reference to Fig.12 The drone includes: a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 in the drone can be one or more, and the number of memories 42 in the drone can be one or more. The processor 41, memory 42, communication device 43, input device 44, and output device 45 of the drone can be connected via a bus or other means.

[0085] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the mobile control method of any embodiment of the present application (for example, the route segment acquisition module 31, the first transition segment determination module 32 and the first mobile control module 33 in the mobile control device of the drone). The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device 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 a combination thereof.

[0086] The communication device 43 is used for data transmission.

[0087] The processor 41 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 42, that is, realizes the above-mentioned mobile control method of the drone.

[0088] The input device 44 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 45 may include a display device such as a display screen.

[0089] The drone provided above can be used to execute the drone movement control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0090] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a method for controlling the movement of an unmanned aerial vehicle. The method includes: obtaining two adjacent route segments in a preset flight route; determining a first arc-shaped transition segment between the two adjacent route segments based on the angle and connection point between the two adjacent route segments; and controlling the unmanned aerial vehicle to move from a previous route segment to a subsequent route segment of the two adjacent route segments based on the first arc-shaped transition segment.

[0091] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0092] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above-mentioned UAV mobile control method, can also execute related operations in the mobile control method provided in any embodiment of the present application.

[0093] The mobile control device, storage medium and drone provided in the above embodiments can execute the mobile control method of the drone provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the mobile control method of the drone provided in any embodiment of the present application.

[0094] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for controlling the movement of an unmanned aerial vehicle, characterized in that: include: Obtain two adjacent flight segments in a preset flight route; Determining a first arc-shaped transition section between the two adjacent route segments based on the included angle and the connection point between the two adjacent route segments; Based on the first arc-shaped transition section, the UAV is controlled to move from a former route segment to a latter route segment of the two adjacent route segments.

2. The method for controlling the movement of a drone according to claim 1, characterized in that: The step of obtaining two adjacent flight route segments in a preset flight route includes: In the preset flight route, except for the obstacle avoidance route segment, two adjacent route segments are obtained.

3. The method for controlling the movement of an unmanned aerial vehicle according to claim 1, characterized in that: The step of determining a first arc-shaped transition section between the two adjacent route segments based on the included angle and the connection point between the two adjacent route segments comprises: In the case where the connection point between the two adjacent route segments is not an operation point, a first arc-shaped transition segment between the two adjacent route segments is determined based on the included angle and the connection point between the two adjacent route segments.

4. The method for controlling the movement of a drone according to any one of claims 1 to 3, characterized in that: The step of determining a first arc-shaped transition section between the two adjacent route segments based on the included angle and the connection point between the two adjacent route segments comprises: The second distance is determined according to the preset first distance and the angle between the two adjacent route segments, wherein the first distance is the distance from the connection point between the two adjacent route segments to the corresponding first arc-shaped transition segment, and the second distance is the distance from the starting and ending points of the first arc-shaped transition segment to the connection point; Determine the coordinates of the starting and ending points of the first arc-shaped transition section according to the second distance and the coordinates of the connection point; A first arc-shaped transition section between the two adjacent route sections is determined according to the coordinates of the starting and ending points and the coordinates of the connection point.

5. The method for controlling the movement of a drone according to claim 4, characterized in that: In the case where the first arc-shaped transition section is an arc, determining the second distance according to the preset first distance and the angle between the two adjacent route segments includes: The radius of the first arc-shaped transition section is determined based on the included angle and the first distance, and the second distance is determined based on the radius, the first distance and the included angle.

6. The method for controlling the movement of a drone according to claim 5, characterized in that: Determining the first arc-shaped transition section between the two adjacent route sections according to the coordinates of the starting and ending points and the coordinates of the connecting point comprises: Determine the coordinates of the center point of the first arc-shaped transition segment according to the coordinates of the starting and ending points and the coordinates of the connection point; The first arc-shaped transition section is determined according to the coordinates of the center point of the circle and the radius.

7. The method for controlling the movement of a drone according to claim 4, characterized in that: Before determining the coordinates of the starting and ending points of the first arc-shaped transition section according to the second distance and the coordinates of the connection point, the method further includes: Determining whether the second distance satisfies a preset restriction condition based on the lengths of the two adjacent route segments and / or a preset distance threshold; When the second distance does not satisfy a preset restriction condition, the second distance is adjusted according to the lengths of the two adjacent route segments and / or a preset distance threshold.

8. The method for controlling the movement of a drone according to claim 7, characterized in that: The determining whether the second distance satisfies a preset restriction condition based on the lengths of the two adjacent route segments and / or a preset distance threshold comprises: If the second distance is greater than half the length of any one of the two adjacent route segments and / or the second distance is greater than a preset distance threshold, it is determined that the second distance does not meet the preset restriction condition.

9. The method for controlling the movement of a drone according to claim 7, characterized in that: The determining whether the second distance satisfies a preset restriction condition based on the lengths of the two adjacent route segments and / or a preset distance threshold comprises: In the case where the latter of the two adjacent route segments is the end route segment in the flight route, if the second distance is greater than half the length of the former of the two adjacent route segments and / or the second distance is greater than a preset distance threshold, it is determined that the second distance does not meet the preset restriction condition.

10. The mobile control method according to claim 4, characterized in that: Before determining the second distance according to the preset first distance and the angle between the two adjacent route segments, the method further includes: In a case where the two adjacent route segments include an operating route segment, obtaining a first preset distance as the first distance; In a case where the two adjacent route segments do not include an operating route segment, a second preset distance is obtained as the first distance; wherein the first preset distance is smaller than the second preset distance.

11. The mobile control method according to claim 5, characterized in that: The controlling the UAV to move from a former route segment to a latter route segment of the two adjacent route segments based on the first arc-shaped transition segment comprises: Determining a maximum moving speed of the UAV when navigating in the first arc transition section according to the maximum acceleration of the UAV and the radius of the first arc transition section; According to the length and the maximum moving speed of the first arc-shaped transition section and the length and the maximum moving speed of the two adjacent route sections, the UAV is controlled to move based on the two adjacent route sections and the first arc-shaped transition section.

12. The method for controlling the movement of a drone according to claim 1, characterized in that: The method further comprises: Determine, according to the take-off point of the UAV and the starting point of the flight route, a take-off route segment from the take-off point to the starting point of the flight route; Determining a second arc-shaped transition section between the take-off route segment and the start route segment according to an included angle between the take-off route segment and the start route segment in the flight route; Based on the second arc-shaped transition segment, the UAV is controlled to move from the take-off route segment to the starting route segment.

13. The method for controlling the movement of a drone according to claim 1, characterized in that: The method further comprises: According to the landing point of the UAV and the end point of the flight route, determining a landing route segment from the end point to the landing point of the flight route; Determining a third arc-shaped transition section between the landing route segment and the ending route segment according to an included angle between the landing route segment and the ending route segment in the flight route; Based on the third arc-shaped transition segment, the UAV is controlled to move from the end route segment to the landing route segment.

14. A mobile control device for an unmanned aerial vehicle, characterized in that: include: A route segment acquisition module is configured to acquire two adjacent route segments in a preset flight route; A first transition segment determination module, configured to determine a first arc-shaped transition segment between the two adjacent route segments based on an included angle and a connection point between the two adjacent route segments; The first movement control module is configured to control the UAV to move from a previous route segment to a subsequent route segment of the two adjacent route segments based on the first arc-shaped transition segment.

15. A drone, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the mobile control method as described in any one of claims 1-13.

16. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the movement control method as described in any one of claims 1-13 when executed by a computer processor.

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