Unmanned aerial vehicle movement control method and device, unmanned aerial vehicle, and storage medium

Abstract

The application discloses a mobile control method and device of a UAV, the UAV and a storage medium, relates to the technical field of the UAV, and the method comprises the steps of acquiring two adjacent route segments in a preset flight route; determining a first arc-shaped transition segment between the two adjacent route segments based on an included angle and a joint point between the two adjacent route segments; and controlling the UAV to move from a previous route segment to a subsequent route segment in the two adjacent route segments based on the first arc-shaped transition segment. Through the technical means, the arc-shaped transition segment is planned between the two adjacent route segments, the UAV is controlled to quickly move from the previous route segment to the subsequent route segment through the arc-shaped transition segment, the problem that the UAV is accurately moved to the route inflection point and the moving speed is affected in the prior art is solved, and the operation efficiency of the UAV is ensured.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and in particular to a mobile control method, device, unmanned aerial vehicle (UAV), and storage medium for a UAV. Background Technology

[0002] With the rapid development of unmanned equipment technology, more and more drones are being used for high-altitude operations on various sites. Before operating on a site, the drone plans a global flight path covering the entire site. This global flight path is often composed of multiple flight path segments, and the drone can track each flight path segment to perform operations on different areas of the site.

[0003] In existing technology, since the connection point between two flight segments is the inflection point of the global flight path, when the drone moves to the inflection point, it will reduce its speed to zero, then adjust its movement direction to match the direction of the next flight segment before continuing to move, in order to accurately track the global flight path. However, in actual operation, the drone does not need to precisely reach every inflection point. Reducing its movement speed to reach an inflection point is an unnecessary and time-consuming behavior that affects the drone's operational efficiency. Summary of the Invention

[0004] This application provides a mobile control method, device, drone, and storage medium for unmanned aerial vehicles (UAVs). An arc-shaped transition section is planned between two adjacent flight path segments to control the UAV to quickly move from the previous flight path segment to the next flight path segment through the arc-shaped transition section. This solves the problem in the prior art that UAVs need to reduce their speed to track the flight path, thus ensuring the operational efficiency of the UAV.

[0005] In a first aspect, this application provides a method for controlling the movement of an unmanned aerial vehicle (UAV), comprising:

[0006] Obtain two adjacent flight segments within the preset flight path;

[0007] Based on the included angle and connection point between the two adjacent route segments, the first arc-shaped transition segment between the two adjacent route segments is determined;

[0008] Based on the first arc-shaped transition section, the UAV is controlled to move from the previous route segment to the next route segment among the two adjacent route segments.

[0009] Secondly, this application provides a mobile control device for an unmanned aerial vehicle (UAV), comprising:

[0010] The flight segment acquisition module is configured to acquire two adjacent flight segments from a preset flight route.

[0011] The first transition segment determination module is configured to determine the first arc-shaped transition segment between the two adjacent route segments based on the included angle and connection point between the two adjacent route segments.

[0012] The first motion control module is configured to control the UAV to move from the first line segment to the second line segment of the two adjacent line segments based on the first arc transition section.

[0013] Thirdly, this application provides a drone, comprising:

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

[0015] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the motion control method as described in the first aspect.

[0016] In this application, an arc-shaped transition section connecting two adjacent flight path segments is planned based on the included angle and connection point between them. When the UAV moves from the previous flight path segment to the next, it can turn through the arc-shaped transition section to move to the next segment. Through this technical means, when the UAV moves from the previous flight path segment to the next, it can quickly turn to smoothly move from the previous segment to the next without having to reduce its speed to zero to track the flight path, thus ensuring the UAV's movement speed and improving its operational efficiency. Attached Figure Description

[0017] Figure 1 This is a flowchart of a mobile control method for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0018] Figure 2 This is a first schematic diagram of the flight route provided in the embodiments of this application;

[0019] Figure 3 This is a second schematic diagram of the flight route provided in the embodiments of this application;

[0020] Figure 4 This is a first schematic diagram of the first arc-shaped transition segment provided in the embodiments of this application;

[0021] Figure 5 This is a second schematic diagram of the first arc-shaped transition segment provided in the embodiments of this application;

[0022] Figure 6 This is a schematic diagram of the first arc-shaped transition segment provided in the embodiment of this application;

[0023] Figure 7This is a third schematic diagram of the first arc-shaped transition segment provided in the embodiments of this application;

[0024] Figure 8 This is a flowchart of determining the first arc-shaped transition segment provided in an embodiment of this application;

[0025] Figure 9 This is a schematic diagram of the second arc-shaped transition segment provided in an embodiment of this application;

[0026] Figure 10 This is a schematic diagram of the third arc-shaped transition segment provided in the embodiments of this application;

[0027] Figure 11 This is a schematic diagram of the structure of a mobile control device for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0028] Figure 12 This is a schematic diagram of the structure of a drone provided in an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0030] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0031] The drone mobility control method provided in this embodiment can be executed by the drone, which can be implemented through software and / or hardware. The drone can consist of two or more physical entities, or it can consist of a single physical entity. Here, "drone" refers to a flying device that operates according to remote control commands or preset commands.

[0032] The drone is equipped with at least one type of operating system, and can install at least one application based on the operating system. The application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the drone has at least one application capable of executing the drone's motion control methods.

[0033] For ease of understanding, this embodiment uses a drone as the subject of the motion control method for description.

[0034] In one embodiment, a flight path covering the work area is pre-planned. The flight path includes multiple flight segments connected to form the flight path, with a certain angle between two adjacent flight segments. When the UAV moves from one flight segment to the next, it decelerates to the connection point between two adjacent flight segments, and its speed drops to zero upon reaching the connection point. The UAV then adjusts its direction of movement to align with the flight path of the next flight segment and continues flying along that segment. Alternatively, the UAV can decompose its flight speed, ensuring that the velocity component in the direction of the previous flight segment is zero when it reaches the connection point, while the velocity component in the direction of the next flight segment is greater than zero. This allows the UAV to continue flying along the next flight segment with a certain initial velocity upon reaching the connection point. However, regardless of whether the speed is reduced to zero at the connection point or the initial velocity in the direction of the next flight segment is retained, the UAV's speed at the connection point is significantly reduced. When the work area is large or has a complex shape, with multiple connection points in a single flight path, the UAV will frequently reduce its flight speed to successfully track the flight path, impacting its operational efficiency. The inventors discovered that some connection points in the flight path are designed to allow the drone to smoothly switch its direction of movement from the previous flight path to the next flight path. In other words, the drone does not need to precisely reach each connection point during actual operation. Reducing the speed of movement in order to reach the connection point is an unnecessary and time-consuming behavior.

[0035] To address the issue in the prior art where drones need to reduce speed to track flight paths, this embodiment provides a drone movement control method that plans an arc-shaped transition section between two adjacent flight path segments. The drone can quickly navigate the curve through the arc-shaped transition section to move from the previous flight path segment to the next.

[0036] Figure 1 A flowchart of a motion control method for a drone provided in an embodiment of this application is given. (Reference) Figure 1 The motion control method specifically includes:

[0037] S110. Obtain two adjacent flight segments from the preset flight path.

[0038] For example, Figure 2 This is a first schematic diagram of the flight path provided in an embodiment of this application. For example... Figure 2 As shown, the flight path includes a first flight path segment 11 and a second flight path segment 12, which are alternately connected. First flight path segment AB and second flight path segment BC are two adjacent segments in the flight path, and can be used as adjacent segments for a planned arc transition section. Second flight path segment BC and first flight path segment CD are also two adjacent segments in the flight path, and can also be used as adjacent segments for a planned arc transition section. After obtaining all combinations of two adjacent segments in the flight path, an arc transition section can be planned between each group of two adjacent segments to allow the UAV to quickly move from one segment to the next.

[0039] When obstacles exist in the work area, the flight path includes obstacle avoidance segments to avoid them. If an arc transition section is also planned between the obstacle avoidance segment and its corresponding adjacent segment, the drone may collide with the obstacle when passing through the arc transition section. For the safety of the drone operation, it is not necessary to plan an arc transition section between the obstacle avoidance segment and its corresponding adjacent segment. For example, two adjacent segments are obtained from the preset flight path segments other than the obstacle avoidance segment. Figure 3 This is a second schematic diagram of the flight path provided in the embodiments of this application. For example... Figure 3 As shown, the flight path includes flight path segments EF, FG, GH, HJ, JK, and KL. Among them, flight path segments FG, GH, and HJ are obstacle avoidance flight path segments planned to bypass obstacle 13. After removing flight path segments FG, GH, and HJ from the flight path, the remaining flight path segments are flight path segments EF, JK, and KL. Among the remaining flight path segments, flight path segments JK and KL are adjacent flight path segments. Therefore, flight path segments JK and KL are obtained as adjacent flight path segments of a set of arc transition segments to be planned.

[0040] S120. Based on the included angle and connection point between two adjacent route segments, determine the first arc-shaped transition segment between the two adjacent route segments.

[0041] The first arc-shaped transition segment refers to an arc-shaped flight path segment set between two adjacent flight path segments to adjust the flight direction of the UAV. The arc-shaped flight path segment can be a circular arc or an elliptical arc, etc. For example, based on the included angle between the two adjacent flight path segments and the coordinates of the connection point, a ray is determined with the connection point as the starting point and bisects the included angle. A center point of a circle or ellipse is determined on the ray. Based on the center point of the circle or ellipse, a circle or ellipse tangent to each of the two flight path segments is drawn. The arc segment between the tangent points of the drawn circle or ellipse and the two flight path segments is used as the first arc-shaped transition segment between the two adjacent flight path segments. Figure 4 and Figure 5 This is a schematic diagram of the first arc-shaped transition segment provided in an embodiment of this application. For example... Figure 4 As shown, point B is the connecting point between the first route segment AB and the second route segment BC. 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 90° angle, a ray 14 can be determined, originating from point B and forming an angle of 45° with both the first route segment AB and the second route segment BC. When planning the first arc transition segment of the ellipse, a point is randomly selected on ray 14 as the center point O1 of the ellipse. Based on the center point O1, an ellipse 15 is determined that is tangent to both the first route segment AB and the second route segment BC. Ellipse 15 is tangent to the first route segment AB and the second route segment BC at points q1 and p1, respectively. The shorter arc segment between points q1 and p1 in ellipse 15 is taken as the first arc transition segment 16. Figure 5 As shown, when planning the first arc-shaped transition segment, a point is randomly selected on ray 14 as the center point O2. Based on the center point O2, circles 17 are determined that are tangent to the first flight segment AB and the second flight segment BC, respectively. Circles 17 are tangent to the first flight segment AB and the second flight segment BC at points q2 and p2, respectively. The shorter arc segment between points q2 and p2 in circle 17 is taken as the first arc-shaped transition segment 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 segment 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 segment 16 to point B. If the planned first arc-shaped transition segment 16 is too close to point B, the distance between the center point O2 or the ellipse center point O1 and point B can be increased, and a new first arc-shaped transition segment 16 can be planned. If the first arc transition segment 16 is planned to be far from point B, the distance between the center point O2 or the center point O1 of the ellipse and point B can be reduced, and a new first arc transition segment 16 can be planned.

[0042] Depend on Figure 4 and Figure 5As shown in the first arc-shaped transition segment 16, when the UAV navigates based on this segment, it will not pass through the connection point between two adjacent flight segments. If the connection point is a work point for refined operations, the UAV will precisely move to that point to perform the operation. For example, if there is a plant at the work point, the UAV will fly over it to spray pesticides; or, if there is a marker at the work point, the UAV will fly over it to take a picture of the marker. Therefore, to achieve refined operations by the UAV, after obtaining two adjacent flight segments, it can be determined whether the connection point between them is a work point. If the connection point is not a work point, the first arc-shaped transition segment between the two adjacent flight segments is determined based on the included angle and the connection point. If the connection point is not a work point, it means the UAV does not need to move over that connection point to perform the operation. Therefore, a first arc-shaped transition segment can be planned between the two adjacent flight segments so that the UAV can quickly move to the next flight segment based on this transition segment. If the connection point between two adjacent flight segments is the work point, it means that the drone needs to move above the connection point to perform the operation. Therefore, a first arc-shaped transition section is not planned between the two adjacent flight segments so that the drone can fly accurately above the connection point.

[0043] In one embodiment, to improve the efficiency of planning the first arc-shaped transition segment, the first arc-shaped transition segment can be determined based on the pre-defined distance from the connection point between two adjacent route segments to the first arc-shaped transition segment, the included angle between the two adjacent route segments, and the coordinates of the connection point. Specifically, a ray bisecting the included angle between the two adjacent route segments, originating from the connection point, intersects the first arc-shaped transition segment at a single point. The straight-line distance between this intersection point and the connection point is the distance from the connection point to the corresponding first arc-shaped transition segment. In this embodiment, the pre-defined first distance represents the maximum distance from the connection point to the first arc-shaped transition segment; that is, the distance from the subsequently planned first arc-shaped transition segment to the connection point can be less than or equal to the first distance, but cannot be greater than the first distance. The start and end points of the first arc-shaped transition segment include the starting point and the ending point, which are the points of tangency between the ellipse or circle corresponding to the first arc-shaped transition segment and the two adjacent route segments.

[0044] For example, Figure 6 This is a schematic diagram of the first arc-shaped transition segment provided in an embodiment of this application. For example... Figure 6 As shown, points B, O2, and p2 form a right triangle. The first distance d1 and the radius R satisfy the following relationship: α is the angle between two adjacent flight segments. The formula for calculating the radius is... Based on the radius calculation formula, the radius R of the circle corresponding to the first arc transition segment 16 can be calculated using the first distance d1 and the included angle α. The sum of radius R and the first distance d1 is the interval between the center point O2 of the circle corresponding to the first arc transition segment 16 and point B. The function expression of ray 14 can be determined based on the coordinates of point B and the second flight segment BC or the first flight segment AB. According to the function expression of ray 14, the coordinates of the center point O2, which is the sum of the radius R and the first distance d1, can be determined on ray 14. Based on the coordinates of the center point O2 and the radius R, the first arc transition segment 16 is planned between points p2 and q2.

[0045] When a flight path includes multiple types of flight segments, different first distances can be set according to the type of flight segment. For example, when a flight path is divided into operational and non-operational flight paths, a first preset distance and a second preset distance are pre-set, with the first preset distance being smaller than the second preset distance. If two adjacent flight segments include an operational flight segment, the first preset distance is used as the first distance; if two adjacent flight segments do not include an operational flight segment, the second preset distance is used as the first distance. It is easy to understand that when two adjacent flight segments include an operational flight segment, the UAV will perform operations on the operational area below while flying on the operational flight segment. If a smaller first distance is used to plan the corresponding first arc-shaped transition segment, the first arc-shaped transition segment can be set close to the connection point. When the UAV moves based on the first arc-shaped transition segment, it will not deviate too far from the operational flight segment, ensuring operational effectiveness while improving operational efficiency. When two adjacent flight paths do not include the operational flight path, that is, when both adjacent flight paths are non-operational flight paths, the UAV does not need to perform operations on the operational area below when it is flying on the non-operational flight path. Therefore, planning the corresponding first arc-shaped transition section with a larger first distance can keep the first arc-shaped transition section away from the connection point, so that the UAV can quickly move to the next flight path based on the first arc-shaped transition section, thereby improving operational efficiency.

[0046] Due to the limitations on the length of each segment of the flight path, the distance from the starting or ending point of the first arc transition segment to the connection point cannot be too long. Figure 7 This is a third schematic diagram of the first arc-shaped transition segment provided in the embodiments of this application. For example... Figure 7As shown, a first arc-shaped transition segment 16 is planned at point B, a first arc-shaped transition segment 16 is planned at point C, point p2 is the end point of the first arc-shaped transition segment 16 planned at point B, and q3 is the start point of the first arc-shaped transition segment 16 planned at point C. The second distance d2 is the distance from the start and end points of the first arc-shaped transition segment 16 to the connection point, including the start and end points. 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 segment corresponding to point B and the first arc-shaped transition segment corresponding to point C may intersect, causing the UAV to be unable to navigate normally based on the first arc-shaped transition segment. Therefore, the second distance can be determined first based on the first distance, and then the first arc-shaped transition segment can be reasonably planned according to the second distance. In this embodiment, Figure 8 This is a flowchart illustrating the determination of the first arc-shaped transition segment provided in an embodiment of this application. For example... Figure 8 As shown, the step of determining the first arc-shaped transition segment specifically includes S1201-S1203:

[0047] S1201. Determine the second distance based on the preset first distance and the angle between two adjacent route segments.

[0048] This embodiment uses a circular arc shape as an example to illustrate the concept. For instance, the radius of the first arc-shaped transition segment is determined based on the included angle and a first distance, and a second distance is determined based on the radius, the first distance, and the included angle. (See reference...) Figure 6 Calculation formula based on radius The radius R of the circle corresponding to the first arc transition segment 16 can be calculated using the first distance d1 and the included angle α. The relationship between the second distance d2 and the radius R is d2=(R+d1)cos(0.5). Based on this relationship, the second distance can be calculated using the radius, the first distance, and the included angle.

[0049] It should be noted that, limited by the first distance, the second distance fluctuates within a certain range. Therefore, if the lengths of each flight segment are sufficiently long, adjacent first arc transition segments will not intersect, and thus the first arc transition segment can be planned based on the second distance calculated initially. However, if the lengths of each flight segment are 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 magnitude of the second distance calculated initially. In this embodiment, the second distance is determined to meet the preset limiting conditions based on the lengths of two adjacent flight segments and / or a preset distance threshold. If the second distance does not meet the preset limiting conditions, the second distance is adjusted based on the lengths of two adjacent flight segments and / or the preset distance threshold. If the second distance meets the preset limiting conditions, the second distance is not adjusted.

[0050] The limiting conditions include that the second distance is less than or equal to half the length of either 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 either of the two adjacent route segments and / or the second distance is greater than the preset distance threshold, then the second distance is determined not to meet the preset limiting conditions. For example, if the lengths of the two adjacent route segments corresponding to the second distance are less than a preset length, the limiting condition is that the second distance is greater than half the length of either of the two adjacent route segments. (Reference) 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 too short. In order to avoid the first arc transition segment between the first route segment AB and the second route segment BC 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 constraint condition. Then, based on the currently calculated second distance d2, the first arc route segment 16 between the first route segment AB and the second route segment BC can be planned. 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 constraint condition. Therefore, the second distance d2 is adjusted to the minimum value between half the length of the first route segment AB and half the length of the second route segment BC. Then, based on the adjusted second distance d2, the first arc-shaped route segment 16 between the first route segment AB and the second route segment BC is planned.

[0051] When the length of a flight path segment is long, the second distance, which is limited to half the length of the segment, will also be large. In engineering implementation, when the second distance is large, the UAV will prematurely deviate from the previous flight path segment when moving from the previous segment to the next based on the first arc transition section, affecting the UAV's operational accuracy. A distance threshold for the second distance can be preset based on the UAV's size and operational effect. Correspondingly, if the length of two adjacent flight paths corresponding to the second distance is greater than the preset length, the constraint condition is that the second distance is less than or equal to the preset distance threshold. For example, when the second distance is less than or equal to the preset distance threshold, it can be determined that the second distance meets the constraint condition, and then the first arc transition section 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 constraint condition, and then the second distance is adjusted to the distance threshold, and the first arc transition section is planned based on the adjusted second distance.

[0052] Furthermore, the limiting conditions can 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 can be understood that by simultaneously limiting the second distance using the lengths of the adjacent route segments and the preset distance threshold, the second distance simultaneously satisfies both length constraints, without needing to determine the comparison result between 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 limiting conditions. In this case, the second distance is adjusted to the minimum value between 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 ending segment of a flight route, then a first arc-shaped route segment is usually not planned after the ending segment. Therefore, the second distance of the first arc-shaped route segment between the ending segment and the preceding adjacent route segment can only consider the length of the preceding adjacent route segment and a preset distance threshold. For example, when the latter route segment of two adjacent route segments is the ending segment of a flight route, if the second distance is greater than half the length of the preceding route segment and / or greater than the preset distance threshold, then the second distance is determined not to meet the preset constraint condition. Specifically, when the constraint condition is that the second distance is greater than half the length of the preceding route segment, if the second distance is greater than half the length of the preceding route segment, then the second distance is determined not to meet the constraint condition, and the second distance is adjusted to half the length of the preceding route segment. When the constraint condition is that the second distance is less than the preset distance threshold, if the second distance is greater than the preset distance threshold, then the second distance is determined not to meet the constraint condition, and the second distance is adjusted to the preset distance threshold. If the constraint is that the second distance is less than or equal to half the length of the preceding route segment in two adjacent route segments and the second distance is less than or equal to a preset distance threshold, then if the second distance is greater than half the length of the preceding route segment in two adjacent route segments and the second distance is greater than the preset distance threshold, then it is determined that the second distance does not meet the constraint, and the second distance is adjusted to the minimum value between half the length of the preceding route segment in two adjacent route segments and the distance threshold.

[0054] Similarly, if a certain route segment is the starting route segment of a flight route, then a first arc route segment is usually not 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 a preset distance threshold. For example, if the preceding route segment of two adjacent route segments is the starting route segment of the flight route, and the second distance is greater than half the length of the next route segment of the two adjacent route segments and / or greater than the preset distance threshold, then it is determined that the second distance does not meet the preset restriction condition.

[0055] S1202. Based on the second distance and the coordinates of the connection point, determine the coordinates of the start and end points of the first arc transition segment.

[0056] refer to Figure 6 Assume the starting and ending points of the first flight segment AB are points A and B, respectively. That is, when the flight path is based on the first flight segment, the direction of movement is from point A to point B. The starting and ending points of the second flight segment BC are points B and C, respectively. Based on the coordinates of point B, point q2 on the first flight segment AB, which is a second distance d2 away from point B, is taken as the starting point of the first arc-shaped transition segment, and its coordinates are obtained. Based on the coordinates of point B, point p2 on the second flight segment BC, which is a second distance away from point B, is taken as the ending point of the first arc-shaped transition segment, and its coordinates are obtained.

[0057] S1203. Based on the coordinates of the starting and ending points and the coordinates of the connecting points, determine the first arc-shaped transition section between two adjacent route segments.

[0058] For example, the coordinates of the center point of the first arc-shaped transition segment are determined based on the coordinates of the start and end points and the coordinates of the connection point; the first arc-shaped transition segment is then determined based on the coordinates of the center point and the radius. (Reference) Figure 6 , Where c is a constant coefficient that makes the equation true. This can be determined based on the coordinates of point p2 and point B. The vector is determined based on the coordinates of point q2 and point B. The vector, according to vectors, Using the vector and the coordinates of point B, the coordinates of the center point O2 are determined. Based on the coordinates of the center point O2 and the radius R, the arc between points p2 and q2 is planned as the first arc transition segment 16.

[0059] S130. Based on the first arc-shaped transition section, control the UAV to move from the previous route segment to the next route segment among two adjacent route segments.

[0060] refer to Figure 6When the UAV moves from the first flight segment AB to the second flight segment BC, it follows the flight direction of the first flight segment AB. Since the first arc-shaped transition segment 16 is tangent to both the first and second flight segments AB and BC, the tangent direction at point q2 is the same as the flight direction of the first flight segment AB, and the tangent direction at point p2 is the same as the flight direction of the second flight segment BC. Therefore, when the UAV reaches point q2, it can turn and move onto the first arc-shaped transition segment, and then move along the first arc-shaped transition segment to point p2. After moving to point p2, the UAV moves based on the tangent direction of point p2, which is also the flight direction of the second flight segment BC. This allows the UAV to quickly turn and move from the previous flight segment to the next, improving the UAV's operational efficiency. During the above movement, the UAV completes the turn at a certain speed, so that it retains a large initial velocity when moving to the next flight segment, further improving the UAV's operational efficiency.

[0061] Since flight path segments often have corresponding maximum speeds, the UAV plans its flight strategy based on the length of the flight path segment and its maximum speed during flight. This flight strategy controls the UAV's flight, improving its operational efficiency. Specifically, the process involves: determining the UAV's maximum speed within the first arc-shaped transition segment based on its maximum acceleration and the radius; and controlling the UAV's movement based on the length and maximum speed of the first arc-shaped transition segment, as well as the lengths and maximum speeds of two adjacent flight path segments. For example, when the first arc-shaped transition segment is circular, the centripetal acceleration a = v during circular motion can be obtained using the circular motion formula. 2 Based on the radius R of the circle corresponding to the first arc transition segment calculated above, the maximum speed of the UAV when navigating the first arc transition segment can be determined. Based on the radius of the circle corresponding to the first arc-shaped transition segment and the included angle between two adjacent flight path segments, the length of the first arc-shaped transition segment, l = 2πR*(α / 360), can be determined. The maximum speed of each flight path segment can be preset based on the operation type and / or UAV type, and the length of the flight path segment can also be directly obtained. Furthermore, using a T-shaped speed curve control algorithm, an S-shaped speed curve control algorithm, or a sinusoidal acceleration / deceleration control algorithm, based on the maximum speed and length of the first arc-shaped transition segment and the maximum speed and length of the flight path segment, a navigation strategy including uniform acceleration, uniform speed, and uniform deceleration phases is determined when the UAV navigates in the first arc-shaped transition segment or flight path segment, so that the UAV moves accordingly on the first arc-shaped transition segment or flight path segment.

[0062] It should be noted that the flight path is a route planned for the operational area. After taking off from the takeoff point, the UAV needs to move a certain distance to reach the starting point of the flight path. In existing technology, when the UAV takes off and moves to the starting point of the flight path, it stops moving, adjusts its direction of movement to the direction of the starting flight path segment, and then continues moving. To improve the efficiency of the UAV entering the flight path, this embodiment proposes to determine a takeoff flight path segment from the takeoff point to the starting point of the flight path based on the UAV's takeoff point and the starting point of the flight path; to determine a second arc-shaped transition segment between the takeoff flight path segment and the starting flight path segment based on the angle between the takeoff flight path segment and the starting flight path segment; and to control the UAV to move from the takeoff flight path segment to the starting flight path segment based on the second arc-shaped transition segment. For example, Figure 9 This is a schematic diagram of the second arc-shaped transition segment provided in an embodiment of this application. For example... Figure 9 As shown, the takeoff point N of the UAV is generally set on flat ground, point A is the starting point of the flight path, and the first flight path segment AB is the initial flight path segment. Based on the coordinates of takeoff point N and point A, a takeoff flight path segment 18 between takeoff point N and point A can be planned. The angle between takeoff flight path segment 18 and the first flight path segment AB is determined. Based on the angle between takeoff flight path segment 18 and the first flight path segment AB, and the coordinates of point A, a second arc-shaped flight path segment 19 between takeoff flight path segment 18 and the first flight path segment AB is determined. After taking off from the takeoff point, the UAV ascends along takeoff flight path segment 18. Through the second arc-shaped flight path segment 19, the upward movement direction is gradually adjusted to the flight path direction of the first flight path segment AB, and the UAV smoothly enters the first flight path segment AB, greatly improving the efficiency of the UAV entering the flight path. The step of determining the second arc-shaped flight path segment can refer to the process of determining the first arc-shaped flight path segment in step S120, and the process of controlling the UAV to move based on the second arc-shaped flight path segment can refer to the process of controlling the UAV to move based on the first arc-shaped flight path segment in step S130.

[0063] Similarly, the drone moves a certain distance backward from the end point of its flight path before reaching the landing point. To improve the efficiency of drone landing, this embodiment proposes to determine a landing path segment from the end point of the flight path to the landing point based on the drone's landing point and the end point of the flight path; to determine a third arc-shaped transition segment between the landing path segment and the end path segment of the flight path based on the angle between the landing path segment and the end path segment of the flight path; and to control the drone to move from the end path segment to the landing path segment based on the third arc-shaped transition segment. For example, Figure 10 This is a schematic diagram of the third arc-shaped transition segment provided in an embodiment of this application. For example... Figure 10As shown, the landing point M of the UAV is generally set on flat ground, point L is the end point of the flight path, and flight path segment KL is the end segment of the flight path. Based on the coordinates of landing point M and point L, landing path segment 20 between landing point M and point L can be planned. The angle between landing path segment 20 and flight path segment KL is determined. Based on the angle between landing path segment 20 and flight path segment KL and the coordinates of point L, a third arc-shaped flight path segment 21 between landing path segment 20 and flight path segment KL is determined. When the UAV flies along flight path segment KL to the starting point of the third arc-shaped flight path segment 21, it gradually adjusts its movement direction to the flight path direction of landing path segment 20. The UAV then smoothly enters landing path segment 20 and reaches landing point M along landing path segment 20, greatly improving the landing efficiency of the UAV. The process of determining the third arc-shaped flight path segment can refer to the process of determining the first arc-shaped flight path segment in step S120, and the process of controlling the UAV to move based on the third arc-shaped flight path segment can refer to the process of controlling the UAV to move based on the first arc-shaped flight path segment in step S130.

[0064] It should be noted that the takeoff route segment can be a straight path from the takeoff point to the starting point of the flight path, or it can include an ascent route segment (vertical ascent to the altitude of the starting point) and a horizontal route segment (horizontal flight to the starting point). When the takeoff route segment includes both an ascent and a horizontal route segment, an arc-shaped transition section can be planned between the ascent and horizontal routes, as well as between the horizontal route segment and the starting route segment of the flight path. Similarly, the landing route segment can be a straight path from the end point of the flight path to the landing point, or it can include a horizontal route segment (horizontal flight to above the landing point) and a descent route segment (vertical descent to the landing point). When the landing route segment includes both a horizontal and a descent route segment, an arc-shaped transition section can be planned between the end route segment of the flight path and the horizontal route segment, as well as between the horizontal route segment and the descent route segment.

[0065] In summary, the UAV movement control method provided in this application plans an arc-shaped transition segment connecting two adjacent flight path segments based on the included angle and connection point between them. When the UAV moves from the previous flight path segment to the next, it can turn through the arc-shaped transition segment to move to the next segment. Through this technical means, when the UAV moves from the previous flight path segment to the next, it can quickly turn to smoothly move from the previous segment to the next without having to reduce its speed to zero to track the flight path, thus ensuring the UAV's movement speed and improving its operational efficiency.

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

[0067] Among them, 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 the first arc-shaped transition segment between two adjacent route segments based on the included angle and connection point between the two adjacent route segments.

[0069] The first motion control module 33 is configured to control the UAV to move from the previous flight segment to the next flight segment between two adjacent flight segments based on the first arc transition section.

[0070] Based on the above embodiments, the route segment acquisition module 31 includes: an acquisition unit configured to acquire two adjacent route segments in a preset flight route, excluding obstacle avoidance route segments.

[0071] Based on the above embodiments, the first transition segment determination module 32 includes: a first transition segment determination unit, configured to 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 when the connection point between the two adjacent route segments is not a work point.

[0072] Based on the above embodiments, the first transition segment determination module 32 includes: a second distance determination unit configured to determine a second distance based on a preset first distance and the included angle between two adjacent line segments, wherein the first distance is the distance from the connection point between two adjacent line segments to the corresponding first arc transition segment, and the second distance is the distance from the start and end points of the first arc transition segment to the connection point; a coordinate determination unit configured to determine the coordinates of the start and end points of the first arc transition segment based on the second distance and the coordinates of the connection point; and a second transition segment determination unit configured to determine the first arc transition segment between two adjacent line segments based on the coordinates of the start and end points and the coordinates of the connection point.

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

[0074] Based on the above embodiments, the second transition segment determination unit includes: a center coordinate determination subunit, configured to determine the coordinates of the center point of the first arc transition segment based on the coordinates of the start and end points and the coordinates of the connection point; and a transition segment determination subunit, configured to determine the first arc transition segment based on the coordinates of the center point and the radius.

[0075] Based on the above embodiments, the first transition segment determination module 32 includes: a constraint condition judgment unit, configured to determine whether the second distance meets the preset constraint condition based on the length of two adjacent route segments and / or a preset distance threshold before determining the coordinates of the start and end points of the first arc transition segment according to the second distance and the coordinates of the connection point; and a second distance adjustment unit, configured to adjust the second distance according to the length of two adjacent route segments and / or the preset distance threshold if the second distance does not meet the preset constraint condition.

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

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

[0078] Based on the above embodiments, the first transition segment determination module 32 includes: a first distance acquisition unit, configured to acquire a first preset distance as the first distance when the two adjacent route segments include a work route segment before determining the second distance based on a preset first distance and the included angle between the two adjacent route segments; and a second distance acquisition unit, configured to acquire a second preset distance as the first distance when the two adjacent route segments do not include a work route segment; wherein the first preset distance is less than the second preset distance.

[0079] Based on the above embodiments, the first motion control module 33 includes: a motion speed determination unit, configured to determine the maximum motion speed of the UAV when it travels on the first arc transition section based on the maximum acceleration of the UAV and the radius of the first arc transition section; and a motion control unit, configured to control the UAV to move based on the length of the first arc transition section and the maximum motion speed, as well as the length and maximum motion speed of the two adjacent line segments.

[0080] Based on the above embodiments, the motion control device further includes: a takeoff route segment determination module, configured to determine a takeoff route segment from the takeoff point to the starting point of the flight path based on the takeoff point of the UAV and the starting point of the flight path; a second transition segment determination module, configured to determine a second arc-shaped transition segment between the takeoff route segment and the starting route segment in the flight path based on the angle between the takeoff route segment and the starting route segment in the flight path; and a second motion control module, configured to control the UAV to move from the takeoff route segment to the starting route segment based on the second arc-shaped transition segment.

[0081] Based on the above embodiments, the motion control device further includes: a landing path segment determination module, configured to determine a landing path segment from the end point to the landing point of the flight path based on the landing point of the UAV and the end point of the flight path; a third transition segment determination module, configured to determine a third arc-shaped transition segment between the landing path segment and the end path segment in the flight path based on the angle between the landing path segment and the end path segment in the flight path; and a third motion control module, configured to control the UAV to move from the end path segment to the landing path segment based on the third arc-shaped transition segment.

[0082] The UAV motion control device provided in this application, based on the angle and connection point between two adjacent flight path segments, plans an arc-shaped transition segment connecting the two adjacent flight path segments. When the UAV moves from the previous flight path segment to the next, it can turn through the arc-shaped transition segment to move to the next flight path segment. Through this technical means, when the UAV moves from the previous flight path segment to the next, it can quickly turn to smoothly move from the previous flight path segment to the next, without needing to reduce its speed to zero to track the flight path, thus ensuring the UAV's movement speed and improving its operational efficiency.

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

[0084] Figure 12 This is a schematic diagram of the structure of a drone provided in an embodiment of this application, with reference to... Figure 12 The drone includes a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The drone may have one or more processors 41 and one or more memory units 42. The processor 41, memory 42, communication device 43, input device 44, and output device 45 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 motion control method in any embodiment of this application (e.g., the flight path acquisition module 31, the first transition segment determination module 32, and the first motion control module 33 in the motion control device of an unmanned aerial vehicle). The memory 42 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 42 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations 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 software programs, instructions and modules stored in the memory 42, thereby realizing the above-mentioned mobile control method for the UAV.

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

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

[0090] This application also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a mobile control method for an unmanned aerial vehicle (UAV). The mobile control method includes: acquiring two adjacent flight path segments in a preset flight path; determining a first arc-shaped transition segment between the two adjacent flight path segments based on the included angle and connection point between the two adjacent flight path segments; and controlling the UAV to move from the former flight path segment to the latter flight path segment based on the first arc-shaped transition segment.

[0091] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; 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 (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system 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” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0092] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned mobile control method for drones, but can also execute related operations in the mobile control method provided in any embodiment of this application.

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

[0094] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for controlling the movement of an unmanned aerial vehicle (UAV), characterized in that, include: Obtain two adjacent flight segments within the preset flight path; Based on the included angle and connection point between the two adjacent route segments, the first arc-shaped transition segment between the two adjacent route segments is determined; This includes: determining a second distance based on a 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 transition segment, and the second distance is the distance from the start and end points of the first arc transition segment to the connection point; Based on the length of the two adjacent route segments and / or a preset distance threshold, determine whether the second distance meets the preset restriction conditions; if the second distance does not meet the preset restriction conditions, adjust the second distance according to the length of the two adjacent route segments and / or the preset distance threshold; based on the second distance and the coordinates of the connection point, determine the coordinates of the start and end points of the first arc-shaped transition segment; based on the coordinates of the start and end points and the coordinates of the connection point, determine the first arc-shaped transition segment between the two adjacent route segments; Based on the first arc-shaped transition section, the UAV is controlled to move from the previous route segment to the next route segment among the two adjacent route segments.

2. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, The step of acquiring two adjacent flight segments in a preset flight path includes: In the preset flight path, excluding the obstacle avoidance segment, obtain two adjacent flight path segments.

3. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, The determination of the first arc-shaped transition segment between the two adjacent route segments based on the included angle and connection point between the two adjacent route segments includes: If the connection point between the two adjacent route segments is not a work point, the first arc-shaped transition segment between the two adjacent route segments is determined based on the included angle between the two adjacent route segments and the connection point.

4. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, When the first arc-shaped transition segment is circular, determining the second distance based on the preset first distance and the angle between the two adjacent route segments includes: The radius of the first arc-shaped transition segment 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.

5. The mobile control method for an unmanned aerial vehicle according to claim 4, characterized in that, The step of determining the first arc-shaped transition segment between the two adjacent route segments based on the coordinates of the start and end points and the coordinates of the connection point includes: Based on the coordinates of the start and end points and the coordinates of the connection point, determine the coordinates of the center point of the first arc-shaped transition segment; The first arc-shaped transition segment is determined based on the coordinates of the center point and the radius.

6. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, The step of determining whether the second distance meets the preset constraint condition based on the length of the two adjacent route segments and / or a preset distance threshold includes: If the second distance is greater than half the length of either of the two adjacent route segments and / or the second distance is greater than a preset distance threshold, then the second distance is determined not to meet the preset restriction conditions.

7. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, The step of determining whether the second distance meets the preset constraint condition based on the length of the two adjacent route segments and / or a preset distance threshold includes: If the latter of the two adjacent flight segments is the end of the flight route, and if the second distance is greater than half the length of the former of the two adjacent flight segments and / or the second distance is greater than a preset distance threshold, then the second distance is determined not to meet the preset restriction conditions.

8. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, Before determining the second distance based on the preset first distance and the angle between the two adjacent route segments, the method further includes: In the case where the two adjacent route segments include the operation route segment, a first preset distance is obtained as the first distance; In the case that the two adjacent route segments do not include the operation route segment, a second preset distance is obtained as the first distance; wherein, the first preset distance is less than the second preset distance.

9. The mobile control method for an unmanned aerial vehicle according to claim 4, characterized in that, The step of controlling the UAV to move from the previous route segment to the next route segment based on the first arc-shaped transition segment includes: The maximum speed of the UAV when navigating the first arc transition section is determined based on the maximum acceleration of the UAV and the radius of the first arc transition section. The UAV is controlled to move based on the length and maximum speed of the first arc transition section and the length and maximum speed of the two adjacent flight lines.

10. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, The method further includes: Based on the takeoff point of the UAV and the starting point of the flight path, determine the takeoff route segment from the takeoff point to the starting point of the flight path; The second arc-shaped transition segment between the takeoff route segment and the starting route segment in the flight path is determined based on the angle between the takeoff route segment and the starting route segment. Based on the second arc-shaped transition section, the UAV is controlled to move from the takeoff route segment to the starting route segment.

11. The mobile control method for an unmanned aerial vehicle according to claim 1, characterized in that, The method further includes: Based on the landing point of the UAV and the end point of the flight path, determine the landing path segment from the end point to the landing point of the flight path; The third arc-shaped transition segment between the landing route segment and the end route segment in the flight route is determined based on the angle between the landing route segment and the end route segment. Based on the third arc-shaped transition section, the UAV is controlled to move from the end route segment to the landing route segment.

12. A mobile control device for an unmanned aerial vehicle (UAV), characterized in that, include: The flight segment acquisition module is configured to acquire two adjacent flight segments from a preset flight route. The first transition segment determination module is configured to determine a first arc-shaped transition segment between two adjacent route segments based on the included angle and connection point between the two adjacent route segments; specifically, the first transition segment determination module is configured to: determine a second distance based on a preset first distance and the included 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 start and end points of the first arc-shaped transition segment to the connection point; determine whether the second distance meets a preset constraint condition based on the length of the two adjacent route segments and / or a preset distance threshold; adjust the second distance based on the length of the two adjacent route segments and / or the preset distance threshold if the second distance does not meet the preset constraint condition; determine the coordinates of the start and end points of the first arc-shaped transition segment based on the second distance and the coordinates of the connection point; and determine the first arc-shaped transition segment between the two adjacent route segments based on the coordinates of the start and end points and the coordinates of the connection point. The first motion control module is configured to control the UAV to move from the first line segment to the second line segment of the two adjacent line segments based on the first arc transition section.

13. A drone, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the mobile control method for the unmanned aerial vehicle as described in any one of claims 1-11.

14. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the mobile control method for the UAV as described in any one of claims 1-11.

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