CN111727415A

CN111727415A - Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium

Info

Publication number: CN111727415A
Application number: CN201980008010.0A
Authority: CN
Inventors: 郭亚娜; 袁博; 张鹏辉
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-06-12
Filing date: 2019-06-12
Publication date: 2020-09-29
Also published as: WO2020248155A1

Abstract

A control method of a drone (11), a terminal (12), a drone (11), and a storage medium, wherein the method comprises: detecting editing operation of a user, and determining control strategy information (S201) of the unmanned aerial vehicle (11) moving along a reference identification line preset in space according to the editing operation, wherein the control strategy information comprises movement control information; sending the control policy information to the drone (11) to cause the drone (11) to control movement along the reference identification line according to the movement control information (S202). By the method, a user can formulate a line patrol control strategy of the unmanned aerial vehicle (11) through the control terminal (12), so that the flexibility of line patrol control of the unmanned aerial vehicle (11) is improved, and the individual requirements of the user can be met.

Description

Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium

Technical Field

The invention relates to the technical field of control, in particular to a control method of an unmanned aerial vehicle, a terminal, the unmanned aerial vehicle and a storage medium.

Background

At present, a mobile robot such as an unmanned aerial vehicle (unmanned aerial vehicle, unmanned ship) moves along a reference identification line preset in a space, and the line patrol control is widely applied to goods transportation, education and sports events. However, at present, the drone can only move along the reference marking line according to a fixed or uniform line patrol control strategy. This makes the unmanned aerial vehicle not high in the flexibility of the control strategy who moves along the reference sign line, can not satisfy user's individualized demand.

Disclosure of Invention

The embodiment of the invention provides a control method and terminal of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, so that the flexibility of line patrol control of the unmanned aerial vehicle is improved, and the individual requirements are met.

In a first aspect, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, which is applied to a control terminal of the unmanned aerial vehicle, and includes:

detecting editing operation of a user, and determining control strategy information of the unmanned aerial vehicle moving along a reference identification line preset in space according to the editing operation, wherein the control strategy information comprises movement control information;

and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information.

In a second aspect, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, where the method is applied to an unmanned aerial vehicle, and includes:

receiving control strategy information which is sent by a control terminal of an unmanned aerial vehicle and moves along a reference identification line preset in space, wherein the control strategy information is determined by the control terminal of the unmanned aerial vehicle according to user editing operation and comprises movement control information;

and controlling the unmanned aerial vehicle to move along the reference identification line according to the movement control information.

In a third aspect, an embodiment of the present invention provides a control terminal, including: a memory and a processor;

the memory to store program instructions;

the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:

In a fourth aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:

a body;

the power system is configured on the airframe and used for providing mobile power for the unmanned aerial vehicle;

a processor to:

In a fifth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect or the second aspect.

In the embodiment of the invention, the control terminal determines the control strategy information of the unmanned aerial vehicle moving along the reference identification line preset in the space according to the editing operation by detecting the editing operation of the user, and sends the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information. Through the mode, the user can formulate the line patrol control strategy of the unmanned aerial vehicle through the control terminal, the flexibility of line patrol control of the unmanned aerial vehicle is improved, and the personalized requirements of the user can be met.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic diagram of determining a motion trajectory according to a target feature point according to an embodiment of the present invention;

fig. 4 is a schematic diagram of determining a motion trajectory according to target feature points and condition information according to an embodiment of the present invention;

fig. 5 is a schematic flowchart of another control method for a drone according to an embodiment of the present invention;

FIG. 6a is a schematic diagram illustrating control of a T-intersection according to an embodiment of the present invention;

FIG. 6b is a schematic control diagram of a crisscross cross according to an embodiment of the present invention;

fig. 7 is a schematic flowchart of a control method for a drone according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The control method of the unmanned aerial vehicle provided by the embodiment of the invention can be executed by a control terminal in a control system of the unmanned aerial vehicle; in certain embodiments, the control system of the drone includes a control terminal and a drone. In some embodiments, the control terminal of the drone may be located on the drone; in some embodiments, the control terminal may be spatially independent of the drone. In some embodiments, a wireless or wired communication connection is established between the control terminal and the drone, which in some embodiments includes one or more motors for providing motive power to the drone. Unmanned aerial vehicle can be the task relies on motor autonomous movement's task robot, unmanned aerial vehicle can include movable equipment such as unmanned vehicles, unmanned ship.

The control method of the unmanned aerial vehicle provided by the embodiment of the invention can determine the control strategy information of the unmanned aerial vehicle moving along the reference identification line preset in the space by detecting the editing operation of a user, wherein the control strategy information comprises the movement control information; and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information.

Therefore, through the implementation mode, the control terminal can display a graphical control strategy editing interface, and a user can edit the control strategy editing interface, so that the user can make an unmanned aerial vehicle line patrol control strategy through the control terminal, the flexibility of line patrol control of the unmanned aerial vehicle is improved, and the personalized requirements of the user can be met.

In one embodiment, an Application program (APP) for providing an editing operation for a user may be included on a control terminal of the drone, a control policy editing interface may be included on the APP, a touch icon display area and a control area may be included on the control policy editing interface, the touch icon display area includes a plurality of touch icons, the user may drag at least one touch icon in the module area to the control area, and the control area may determine, according to the touch icon in the control area, control policy information that the drone indicated by the touch icon moves along a reference identification line preset in space. The control terminal can send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information.

In an embodiment, after a user can drag a motion trajectory control icon to a control area from a touch icon display area of an APP of a control terminal, the control area of the control terminal can determine identification information of target feature points according to the motion trajectory control icon, and send the identification information of the target feature points to an unmanned aerial vehicle, so that the unmanned aerial vehicle can determine the target feature points from a preset number of feature points of a reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information, and control a motion trajectory moving along the reference identification line according to a position of the target feature points in the image.

In one embodiment, if the unmanned aerial vehicle encounters a cross such as a cross or a t-shaped cross in the process of moving along the reference identification line, the unmanned aerial vehicle may send a direction identification indicating a target direction detected at the cross to the control terminal, and the control terminal may determine steering control information according to the direction identification and send the steering control information to the unmanned aerial vehicle, so that the unmanned aerial vehicle turns to the target direction corresponding to the steering control information at the cross according to the steering control information.

The control system of the unmanned aerial vehicle provided by the embodiment of the invention is schematically illustrated with reference to fig. 1.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention. The control system of the unmanned aerial vehicle comprises: unmanned aerial vehicle 11 and control terminal 12. In some embodiments, the control terminal 12 may be provided on the drone 11. In other embodiments, the drone 11 includes a power system 111, the power system 111 is used to provide motive power for movement of the drone 11, and the power system 11 may include a motor as previously described. In other embodiments, the drone 11 and the control terminal 12 are independent of each other, and the control terminal 12 may include one or more of a remote control, a smartphone, a tablet, a laptop, and a wearable device. In other embodiments, the control terminal 12 may be a device remote from the unmanned aerial vehicle 11, for example, the control terminal 12 is disposed in a cloud server, and establishes a communication connection with the unmanned aerial vehicle 11 through a wireless communication connection manner. Control terminal 12 with communication connection is established to unmanned aerial vehicle 11, control terminal 12 be used for to unmanned aerial vehicle 11 sends control command to control unmanned aerial vehicle 11 removes.

In the embodiment of the present invention, the control terminal 12 may detect an editing operation of a user, determine control policy information of the unmanned aerial vehicle moving along a reference identification line preset in a space according to the editing operation, and send the control policy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls movement along the reference identification line according to the movement control information.

The following describes schematically a control method of an unmanned aerial vehicle according to an embodiment of the present invention with reference to the accompanying drawings.

Referring to fig. 2 specifically, fig. 2 is a schematic flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention, where the method may be executed by a control terminal, and a specific explanation of the control terminal is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.

S201: and detecting the editing operation of a user, and determining the control strategy information of the unmanned aerial vehicle moving along a reference identification line preset in the space according to the editing operation.

In the embodiment of the invention, the control terminal can detect the editing operation of the user and determine the control strategy information of the unmanned aerial vehicle moving along the reference identification line preset in the space according to the editing operation. In some embodiments, the control policy information comprises mobility control information. In certain embodiments, the drone includes, but is not limited to, a ground-based remotely controlled robot. In certain embodiments, the reference identification line may include, but is not limited to, a straight line, a curved line, a line segment, and the like.

In one embodiment, a touch display interface of the control terminal may include a touch icon display area and a control area; in some embodiments, the touch icon display area includes one or more touch icons for indicating movement control information and/or condition information of the drone.

In some embodiments, the editing operation may include, but is not limited to, a drag operation, a click operation, and the like; in some embodiments, the editing operation includes an operation of dragging a touch icon in the touch icon display area, and a user can drag the touch icon in the touch icon display area to the control area; the control area can determine the movement control information and/or condition information of the unmanned aerial vehicle moving along a reference identification line preset in the space according to the touch icon dragged to the control area.

In some embodiments, the editing operations may include conditional editing operations and/or movement control information editing operations. In some embodiments, the condition editing operation may include an operation of dragging a touch icon of the condition information; in some embodiments, the movement control information editing operation may include an operation of dragging a touch icon of the movement control information.

In one embodiment, the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, stop movement control information.

In one embodiment, the movement control information includes motion trajectory control information including identification information of the target feature point. In some embodiments, the identification information may include, but is not limited to, the form of numbers, characters, words, and the like.

In one embodiment, the movement control information includes first movement trace control information and second movement trace control information, the first movement trace control information includes identification information of a first target feature point, the second movement trace control information includes identification information of a second target feature point, and the control policy information further includes condition information, wherein the condition information includes first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information.

S202: and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information.

In the embodiment of the present invention, the control terminal may send the control policy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information.

In some embodiments, the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, stop movement control information. The control terminal sends the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can send the control strategy information to the unmanned aerial vehicle when controlling the movement along the reference mark line according to the movement control information, so that the unmanned aerial vehicle controls at least one of the movement track moving along the reference mark line according to the movement track control information, the speed moving along the reference mark line according to the speed control information, the cross steering to the target direction in the reference mark line according to the steering control information, and the stop of the movement along the reference mark line according to the stop movement control information.

In some embodiments, after the control terminal sends the movement control information to the drone, the drone may determine a movement trajectory moving along the reference identification line according to the movement trajectory control information and move along the movement trajectory, determine a movement speed according to the speed control information and move along the reference identification line according to the movement speed, determine a target direction of cross steering in the reference identification line according to the steering control information and turn to the target direction in the cross steering, and stop moving along the reference identification line according to the stop movement control information.

In some embodiments, the movement control information includes motion trajectory control information including identification information of the target feature point. The control terminal sends the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle can send the control strategy information to the unmanned aerial vehicle when controlling the movement along the reference marking line according to the movement control information, so that the unmanned aerial vehicle determines target characteristic points from the characteristic points of the preset number of the reference marking line extracted from the image collected by the shooting device of the unmanned aerial vehicle according to the marking information, and controls the movement track moving along the reference marking line according to the positions of the target characteristic points in the image. In some embodiments, a preset number of feature points of the reference identification line may be extracted from each frame of image acquired by the unmanned aerial vehicle photographing device, and a target feature point is determined from the preset number of feature points extracted from each frame of image.

Specifically, fig. 3 is an example, and fig. 3 is a schematic diagram of determining a motion trajectory according to a target feature point according to an embodiment of the present invention. As shown in fig. 3, it is assumed that the preset reference identification line is a curve AB, the current position of the unmanned aerial vehicle is a point a, the unmanned aerial vehicle acquires 4 feature points at the point a from a current image frame acquired by a shooting device of the unmanned aerial vehicle, identification information of the 4 feature points is b, c, d, and e, if a target feature point e with the maximum distance from the unmanned aerial vehicle is determined from the 4 feature points, the motion trajectory of the unmanned aerial vehicle can be determined to be ae, and the unmanned aerial vehicle is controlled to move along the motion trajectory ae of the reference identification line AB.

In some embodiments, the movement control information includes first movement trace control information and second movement trace control information, the first movement trace control information includes identification information of a first target feature point, the second movement trace control information includes identification information of a second target feature point, and the control policy information further includes condition information, wherein the condition information includes first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information.

In one embodiment, the control terminal may transmit the control policy information to the drone, so that the unmanned aerial vehicle determines a first target feature point from a preset number of feature points of the reference identification line extracted from an image acquired by a camera of the unmanned aerial vehicle according to identification information of the first target feature point when it is determined that the first condition information is satisfied, and controlling the motion track moving along the reference mark line according to the position of the first target characteristic point in the image, and determining a second target feature point from a preset number of feature points of the reference identification line extracted from the image acquired by the camera of the unmanned aerial vehicle according to the identification information of the second target feature point when it is determined that the second condition information is satisfied, and controlling the motion track moving along the reference mark line according to the position of the second target characteristic point in the image.

In some embodiments, the first condition information includes that positions of a plurality of feature points in the preset number of feature points in the image or positions in space satisfy a preset first positional relationship; and/or the second condition information comprises that the positions of a plurality of feature points in the preset number of feature points in the image or the positions in the space meet a preset second position relation.

Specifically, fig. 4 is an example, and fig. 4 is a schematic diagram of determining a motion trajectory according to target feature points and condition information according to an embodiment of the present invention. As shown in fig. 4, assuming that the current position of the unmanned aerial vehicle is point a, the preset reference identification line is curve AB, the unmanned aerial vehicle acquires 6 feature points at point a from the current image frame acquired by the shooting device of the unmanned aerial vehicle, where the identification information of the feature points included is a, b, c, d, e, f, the first condition information is that 4 feature points of the identification information a, b, c, d are on a straight line within a preset error range, the second condition information is that feature point d and feature points e, f are on a curve whose curvature is greater than a preset threshold, so that the first target feature point can be determined as feature point d with the largest distance from the unmanned aerial vehicle point a, since distances between the positions of the feature points e, f and the feature point d on the curve are de, df respectively, and since the distance de is less than the distance df, the second target feature point can be determined as feature point e with a smaller distance from the feature point d, therefore, the first motion track can be determined to be the line segment Ad according to the first target feature point d, the second motion track can be determined to be the line segment de according to the second target feature point e and the first target feature point d, and the motion track of the unmanned aerial vehicle moving along the reference identification line AB is determined to be the line segment Ad and the line segment de.

Therefore, the first motion trail control information, the second motion estimation control information, the first condition information and the second condition information can reduce the deviation error of the motion trail when the unmanned aerial vehicle moves along the curve reference identification line with larger curvature, and improve the effectiveness of line patrol control on the unmanned aerial vehicle.

In the embodiment of the invention, the control terminal can determine the control strategy information of the unmanned aerial vehicle moving along the reference identification line preset in the space according to the editing operation by detecting the editing operation of the user, and send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information. Through the mode, the user can formulate the line patrol control strategy of the unmanned aerial vehicle through the control terminal, the flexibility of line patrol control of the unmanned aerial vehicle is improved, and the personalized requirements of the user can be met.

Specifically referring to fig. 5, fig. 5 is a schematic flowchart of another control method for an unmanned aerial vehicle according to an embodiment of the present invention, where the method may be executed by a control terminal, and a specific explanation of the control terminal is as described above. The difference between the embodiment of the present invention and the embodiment shown in fig. 2 is that the embodiment of the present invention is a schematic illustration of controlling the unmanned aerial vehicle to move along the reference identification line according to the movement control information and the condition information. Specifically, the method of the embodiment of the present invention includes the following steps.

S501: the method comprises the steps of detecting editing operation of a user, and determining control strategy information of the unmanned aerial vehicle moving along a reference identification line preset in space according to the editing operation, wherein the control strategy information comprises condition information and movement control information corresponding to the condition information.

In the embodiment of the invention, the control terminal can detect the editing operation of a user and determine the control strategy information of the unmanned aerial vehicle moving along the reference identification line preset in the space according to the editing operation, wherein the control strategy information comprises condition information and movement control information corresponding to the condition information.

S502: and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information when the condition information is determined to be met in the process of moving along the reference identification line.

In the embodiment of the present invention, the control terminal may send the control policy information to the drone, so that the drone controls movement along the reference identification line according to the movement control information when it is determined that the condition information is satisfied in the process of moving along the reference identification line.

In one embodiment, the condition information includes detection of an obstacle, and the movement control information includes stop movement control information. The control terminal can send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle stops moving along the reference identification line according to the stop movement control information when the condition information is determined to be met in the process of moving along the reference identification line. In certain embodiments, the obstacle includes, but is not limited to, a pedestrian.

For example, assuming that the condition information includes detection of an obstacle and the movement control information includes stop movement control information, the control terminal transmits the control policy information including the condition information and the movement control information to the drone, and if the drone detects a pedestrian (i.e., an obstacle) in the course of moving along the reference identification line, it may be determined that the condition information is satisfied, thereby stopping movement along the reference identification line according to the movement control information.

Therefore, through the implementation mode, the user can set the line patrol control strategy for stopping the unmanned aerial vehicle to move along the reference identification line according to the stop movement control information when the unmanned aerial vehicle detects the obstacle through the control terminal, and the safety of the unmanned aerial vehicle in the line patrol moving process is improved.

In one embodiment, the condition information includes detecting a crossing on a reference marker line and detecting a direction marker indicating a target direction, and the movement control information includes steering control information. The control terminal can send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can turn to a target direction in the cross steering mode according to the steering control information when determining that the condition information is met in the process of moving along the reference identification line. In some embodiments, the direction indicator is a pattern, in other embodiments, the direction indicator may also include other forms such as numbers, letters, words, and the like, and the embodiments of the present invention are not particularly limited.

In some embodiments, the detecting the crossing on the reference marking line comprises detecting a preset type of crossing on the reference marking line; in some embodiments, the predetermined types of intersections include t-intersections and cross-intersections.

Specifically, fig. 6a is an example, and fig. 6a is a schematic control diagram of a t-intersection according to an embodiment of the present invention. As shown in fig. 6a, assuming that the direction of the preset t-intersection is identified as the right icon 61, if the drone 62 detects the t-intersection 63 on the reference marking line during the patrol movement along the reference marking line and detects the right icon 61 indicating that the target direction is, it may be determined that the movement control information is right turn control information, and it may be determined that the condition information is satisfied, so that the drone turns right to the target direction 64 at the t-intersection according to the right turn control information.

Taking fig. 6b as an example, fig. 6b is a schematic control diagram of a crisscross cross provided in the embodiment of the present invention. As shown in fig. 6b, assuming that the direction of the preset cross-shaped intersection is identified as the left icon 65, if the drone 62 detects the cross-shaped intersection 66 on the reference marking line and detects the left icon 65 indicating that the target direction is, during the process of moving along the reference marking line, it may be determined that the movement control information is left turn control information, and it may be determined that the condition information is satisfied, so that the drone turns left to the target direction 67 at the cross-shaped intersection according to the left turn control information.

Therefore, through the implementation mode, a user can set that the unmanned aerial vehicle is controlled to turn to the target direction according to the turning control information when the unmanned aerial vehicle meets the intersection through the control terminal, the flexibility of the unmanned aerial vehicle in the line patrol moving process can be improved, and the personalized requirements of the user can be met.

In one embodiment, the condition information includes detection of satisfaction of a deceleration control condition, and the movement control information includes deceleration movement control information. The control terminal can send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can move along the reference identification line at a reduced speed according to the movement control information when the condition information is determined to be met in the process of moving along the reference identification line. In some embodiments, the satisfaction of the deceleration control condition may include, but is not limited to, a curve having a curvature greater than a preset threshold; in some embodiments, the deceleration movement control information may include, but is not limited to, a speed value.

Specifically, for example, as shown in fig. 4, if the unmanned aerial vehicle detects a curve de with a curvature larger than a preset threshold value in the process of moving along the reference identification line AB, the deceleration speed value can be determined according to the curvature of the curve, so that the unmanned aerial vehicle can move along the reference identification line AB according to the deceleration speed value, so as to prevent the unmanned aerial vehicle from flying out of the curve, and control the unmanned aerial vehicle to safely pass through the curve.

It is thus clear that can avoid unmanned aerial vehicle to fly out the reference mark line at the in-process that patrols the line and remove through this kind of embodiment, improve unmanned aerial vehicle and patrol the security of line removal in-process.

In one embodiment, the condition information includes detection of satisfaction of an acceleration control condition, and the movement control information includes acceleration movement control information. The control terminal can send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can move along the reference identification line in an accelerated manner according to the movement control information when the condition information is determined to be met in the process of moving along the reference identification line. In some embodiments, the satisfying of the acceleration control condition may include, but is not limited to, a linear motion trajectory.

For example, assuming that the drone detects a linear motion trajectory during the movement along the reference marking line, the post-acceleration speed may be determined according to the path of the linear motion trajectory, so that the drone accelerates to move along the reference marking line.

Therefore, the efficiency of the unmanned aerial vehicle line patrol moving process can be improved through the implementation mode.

In the embodiment of the invention, a control terminal can detect the editing operation of a user, determine control strategy information of an unmanned aerial vehicle moving along a reference identification line preset in space according to the editing operation, wherein the control strategy information comprises condition information and movement control information corresponding to the condition information, and send the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information when the condition information is determined to be met in the process of moving along the reference identification line. Through this kind of embodiment, can improve efficiency, security and the flexibility of patrolling the line control to unmanned aerial vehicle.

Referring to fig. 7 in particular, fig. 7 is a schematic flowchart of a control method for a drone according to an embodiment of the present invention, where the method may be executed by a drone, where the drone includes a mobile device such as an unmanned aerial vehicle, an unmanned ship, and a mobile robot. Specifically, the method of the embodiment of the present invention includes the following steps.

S701: receiving control strategy information which is sent by a control terminal of an unmanned aerial vehicle and moves along a reference identification line preset in space, wherein the control strategy information is determined by the control terminal of the unmanned aerial vehicle according to user editing operation and comprises movement control information.

In the embodiment of the invention, the unmanned aerial vehicle can receive control strategy information which is sent by a control terminal of the unmanned aerial vehicle and moves along a reference identification line preset in space, wherein the control strategy information is determined by the control terminal of the unmanned aerial vehicle according to user editing operation, and the control strategy information comprises movement control information. In certain embodiments, the drone includes, but is not limited to, a ground-based remotely controlled robot.

S702: and controlling the unmanned aerial vehicle to move along the reference identification line according to the movement control information.

In the embodiment of the invention, the unmanned aerial vehicle can control the unmanned aerial vehicle to move along the reference identification line according to the movement control information.

In one embodiment, the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, stop movement control information. In some embodiments, when the unmanned aerial vehicle controls the unmanned aerial vehicle to move along the reference identification line according to the movement control information, the unmanned aerial vehicle may control at least one of a movement trajectory of the unmanned aerial vehicle to move along the reference identification line according to the movement trajectory control information, a speed of the unmanned aerial vehicle to move along the reference identification line according to the speed control information, a cross steering of the unmanned aerial vehicle in the reference identification line to a target direction according to the steering control information, and a stop of the unmanned aerial vehicle to move along the reference identification line according to the stop movement control information.

In one embodiment, the movement control information includes motion trajectory control information including identification information of the target feature point. In some embodiments, when the unmanned aerial vehicle controls the unmanned aerial vehicle to move along the reference identification line according to the movement control information, a target feature point may be determined from a preset number of feature points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information, and a movement trajectory of the unmanned aerial vehicle moving along the reference identification line is controlled according to a position of the target feature point in the image.

In one embodiment, the movement control information includes first movement trace control information and second movement trace control information, the first movement trace control information includes identification information of a first target feature point, the second movement trace control information includes identification information of a second target feature point, and the control policy information further includes condition information, wherein the condition information includes first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information. In some embodiments, when the drone determines a target feature point from a preset number of feature points of the reference identification line extracted from an image acquired by a camera of the drone according to the identification information and controls a motion trajectory of the drone along the movement of the reference identification line according to a position of the target feature point in the image, it may determine a first target feature point from a preset number of feature points of the reference identification line extracted from an image acquired by a camera of the drone according to identification information of the first target feature point and control a motion trajectory of the drone along the movement of the reference identification line according to a position of the first target feature point in the image when it is determined that the first condition information is satisfied; and when the second condition information is determined to be met, determining second target feature points from a preset number of feature points of the reference identification line extracted from the image acquired by the unmanned aerial vehicle shooting device according to the identification information of the second target feature points, and controlling the movement track of the unmanned aerial vehicle moving along the reference identification line according to the position of the second target feature points in the image.

In one embodiment, the first condition information includes that positions of a plurality of feature points in the preset number of feature points in the image or positions in space satisfy a preset first positional relationship; and/or the second condition information comprises that the positions of a plurality of feature points in the preset number of feature points in the image or the positions in the space meet a preset second position relation.

In one embodiment, the control policy information includes condition information and mobile control information corresponding to the condition information; when the unmanned aerial vehicle controls the unmanned aerial vehicle to move along the reference identification line according to the movement control information, the unmanned aerial vehicle can control the unmanned aerial vehicle to move along the reference identification line according to the movement control information when the condition information is determined to be met in the process of moving along the reference identification line.

In one embodiment, the condition information includes detection of an obstacle, and the movement control information includes stop movement control information; when the unmanned aerial vehicle determines that the condition information is met, the unmanned aerial vehicle is controlled to move along the reference identification line according to the movement control information, and when the condition information is determined to be met, the unmanned aerial vehicle can be stopped to move along the reference identification line according to the movement stopping control information. In certain embodiments, the obstacle includes, but is not limited to, a pedestrian.

In one embodiment, the condition information includes detecting a crossing on a reference marker line and detecting a direction marker indicating a target direction, the movement control information includes steering control information; when the unmanned aerial vehicle determines that the condition information is met, the unmanned aerial vehicle is controlled to move along the reference identification line according to the movement control information, and when the condition information is determined to be met, the unmanned aerial vehicle is controlled to cross-steer to the target direction according to the steering control information. In some embodiments, the detecting the crossing on the reference marking line comprises detecting a preset type of crossing on the reference marking line; in some embodiments, the predetermined types of intersections include t-intersections and cross-intersections. In some embodiments, the direction identifier is a pattern, in other embodiments, the direction identifier may be a number, a letter, a character, or the like, and the direction identifier is not specifically limited in the embodiments of the present invention.

In the embodiment of the invention, the unmanned aerial vehicle can receive control strategy information which is sent by a control terminal of the unmanned aerial vehicle and moves along a reference identification line preset in space, wherein the control strategy information is determined by the control terminal of the unmanned aerial vehicle according to user editing operation, the control strategy information comprises movement control information, and the unmanned aerial vehicle is controlled to move along the reference identification line according to the movement control information. Through the mode, the unmanned aerial vehicle can patrol the line according to the line patrol control strategy sent by the received control terminal, so that the flexibility of the unmanned aerial vehicle in the line patrol moving process is improved, and the individual requirements of users can be met.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a control terminal according to an embodiment of the present invention, where the control terminal includes a memory 801, a processor 802, and a data interface 803;

the memory 801 may include a volatile memory (volatile memory); the memory 801 may also include a non-volatile memory (non-volatile memory); the memory 801 may also comprise a combination of memories of the kind described above. The processor 802 may be a Central Processing Unit (CPU). The processor 802 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The processor 802 is configured to invoke the program instructions, and when the program instructions are executed, to perform the following operations:

Further, the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information, wherein,

the processor 802 sends the control policy information to the drone, so that when the drone controls the movement along the reference identification line according to the movement control information, the drone is specifically configured to:

and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls at least one of a motion track moving along the reference identification line according to the motion track control information, a speed moving along the reference identification line according to the speed control information, a cross steering to a target direction in the reference identification line according to the steering control information, and a stop moving along the reference identification line according to the stop moving control information.

Further, the movement control information includes motion trajectory control information including identification information of the target feature point, wherein,

and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle determines target characteristic points from the preset number of characteristic points of the reference identification line extracted from the image acquired by the shooting device of the unmanned aerial vehicle according to the identification information, and controls the motion track moving along the reference identification line according to the position of the target characteristic points in the image.

Further, the movement control information includes first movement trace control information and second movement trace control information, the first movement trace control information includes identification information of a first target feature point, the second movement trace control information includes identification information of a second target feature point, the control policy information further includes condition information, wherein the condition information includes first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information, wherein,

the processor 802 sends the control policy information to the drone, so that the drone determines target feature points from a preset number of feature points of the reference identification line extracted from an image acquired by a camera of the drone according to the identification information, and controls a motion trajectory of the movement along the reference identification line according to a position of the target feature points in the image, specifically configured to:

sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle determines a first target feature point from a preset number of feature points of the reference identification line extracted from an image acquired by a camera of the unmanned aerial vehicle according to identification information of the first target feature point when determining that the first condition information is satisfied, and controlling the motion track moving along the reference mark line according to the position of the first target characteristic point in the image, and determining a second target feature point from a preset number of feature points of the reference identification line extracted from the image acquired by the camera of the unmanned aerial vehicle according to the identification information of the second target feature point when it is determined that the second condition information is satisfied, and controlling the motion track moving along the reference mark line according to the position of the second target characteristic point in the image.

Further, the first condition information includes that positions of a plurality of feature points in the preset number of feature points in the image or positions in space satisfy a preset first position relationship; and/or the presence of a gas in the gas,

the second condition information includes that positions of a plurality of feature points in the preset number of feature points in the image or positions in space satisfy a preset second positional relationship.

Further, the control policy information includes condition information and mobile control information corresponding to the condition information; the processor 802 sends the control policy information to the drone, so that when the drone controls the movement along the reference identification line according to the movement control information, the drone is specifically configured to:

and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information when the condition information is determined to be met in the process of moving along the reference identification line.

Further, the condition information includes detection of an obstacle, and the movement control information includes stop movement control information; the processor 802 sends the control policy information to the drone, so that when the drone determines that the condition information is satisfied in the process of moving along the reference identification line, the drone controls movement along the reference identification line according to the movement control information, specifically configured to:

and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle stops moving along the reference identification line according to the stop movement control information when the condition information is determined to be met in the process of moving along the reference identification line.

Further, the obstacle includes a pedestrian.

Further, the condition information includes detection of a crossing on a reference mark line and detection of a direction mark indicating a target direction, the movement control information includes steering control information; the processor 802 sends the control policy information to the drone, so that when the drone determines that the condition information is satisfied in the process of moving along the reference identification line, the drone controls movement along the reference identification line according to the movement control information, specifically configured to:

and sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle can turn to a target direction in the crossing mode according to the steering control information when the condition information is determined to be met in the process of moving along the reference identification line.

Further, when the processor 802 detects a crossing on the reference identification line, it is specifically configured to:

detecting a crossing of a preset type on the reference identification line.

Further, the preset types of intersections include t-intersections and cross-intersections.

Further, the direction marks are patterns.

Further, the unmanned aerial vehicle comprises a ground remote control robot.

An embodiment of the present invention further provides an unmanned aerial vehicle, including: a body; the power system is configured on the airframe and used for providing mobile power for the unmanned aerial vehicle; the processor is used for receiving control strategy information which is sent by a control terminal of the unmanned aerial vehicle and moves along a reference identification line preset in space, wherein the control strategy information is determined by the control terminal of the unmanned aerial vehicle according to user editing operation, and the control strategy information comprises movement control information; and controlling the unmanned aerial vehicle to move along the reference identification line according to the movement control information.

when the processor controls the unmanned aerial vehicle to move along the reference identification line according to the movement control information, the processor is specifically configured to:

and controlling the motion trail of the unmanned aerial vehicle moving along the reference identification line according to the motion trail control information, controlling the speed of the unmanned aerial vehicle moving along the reference identification line according to the speed control information, controlling the cross steering of the unmanned aerial vehicle in the reference identification line to a target direction according to the steering control information, and stopping the unmanned aerial vehicle moving along the reference identification line according to the stop movement control information.

and determining target characteristic points from the preset number of characteristic points of the reference identification line extracted from the image acquired by the unmanned aerial vehicle shooting device according to the identification information, and controlling the movement track of the unmanned aerial vehicle moving along the reference identification line according to the position of the target characteristic points in the image.

the processor determines target feature points from a preset number of feature points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information, and is specifically configured to, when controlling the motion trajectory of the unmanned aerial vehicle along the movement of the reference identification line according to the position of the target feature points in the image:

when the first condition information is determined to be met, determining a first target characteristic point from a preset number of characteristic points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to identification information of the first target characteristic point, and controlling a motion track of the unmanned aerial vehicle moving along the reference identification line according to the position of the first target characteristic point in the image; and

when the second condition information is determined to be met, determining second target feature points from a preset number of feature points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information of the second target feature points, and controlling the movement track of the unmanned aerial vehicle moving along the reference identification line according to the position of the second target feature points in the image.

Further, the control policy information includes condition information and mobile control information corresponding to the condition information; when the processor controls the unmanned aerial vehicle to move along the reference identification line according to the movement control information, the processor is specifically configured to:

and in the process of moving along the reference identification line, when the condition information is determined to be met, controlling the unmanned aerial vehicle to move along the reference identification line according to the movement control information.

Further, the condition information includes detection of an obstacle, and the movement control information includes stop movement control information; when determining that the condition information is satisfied, the processor is specifically configured to, when controlling the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information:

and when the condition information is determined to be met, stopping the unmanned aerial vehicle from moving along the reference identification line according to the stop movement control information.

Further, the obstacle includes a pedestrian.

Further, the condition information includes detection of a crossing on a reference mark line and detection of a direction mark indicating a target direction, the movement control information includes steering control information; when determining that the condition information is satisfied, the processor is specifically configured to, when controlling the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information:

and when the condition information is determined to be met, controlling the unmanned aerial vehicle to cross-steer to a target direction according to the steering control information.

Further, when the processor detects a crossing on the reference identification line, it is specifically configured to:

detecting a crossing of a preset type on the reference identification line.

Further, the direction marks are patterns.

Further, the unmanned aerial vehicle comprises a ground remote control robot.

The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and also the device corresponding to the embodiment of the present invention may be implemented, which is not described herein again.

The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.

Claims

1. The utility model provides a control method of unmanned aerial vehicle, is applied to unmanned aerial vehicle's control terminal, its characterized in that includes:

2. The method of claim 1, wherein the movement control information comprises at least one of motion trajectory control information, velocity control information, steering control information, stop movement control information, wherein,

the sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information comprises:

3. The method according to claim 1 or 2, wherein the movement control information includes motion trajectory control information including identification information of target feature points, wherein,

4. The method according to claim 3, wherein the movement control information includes first movement trace control information and second movement trace control information, the first movement trace control information includes identification information of a first target feature point, the second movement trace control information includes identification information of a second target feature point, the control policy information further includes condition information, wherein the condition information includes first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information, wherein,

the sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle determines target feature points from a preset number of feature points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information, and controls the motion trajectory of the movement along the reference identification line according to the position of the target feature points in the image, includes:

5. The method of claim 4,

the first condition information comprises that the positions of a plurality of feature points in the preset number of feature points in the image or the positions in the space meet a preset first position relation; and/or the presence of a gas in the gas,

6. The method according to any of claims 1-5, wherein the control policy information comprises condition information and mobile control information corresponding to the condition information; the sending the control strategy information to the unmanned aerial vehicle so that the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information comprises:

7. The method of claim 6, wherein the condition information includes detection of an obstacle, and the movement control information includes stop movement control information; the sending the control policy information to the drone so that the drone controls movement along the reference identification line according to the movement control information when it is determined that the condition information is satisfied in the process of moving along the reference identification line, includes:

8. The method of claim 7, wherein the obstacle comprises a pedestrian.

9. The method according to claim 6, wherein the condition information includes detecting a crossing on a reference marker line and detecting a direction marker indicating a target direction, the movement control information includes steering control information; the sending the control policy information to the drone so that the drone controls movement along the reference identification line according to the movement control information when it is determined that the condition information is satisfied in the process of moving along the reference identification line, includes:

10. The method of claim 9, wherein the detecting the crossing on the reference marker line comprises:

detecting a crossing of a preset type on the reference identification line.

11. The method of claim 10,

the preset type of intersection comprises a T-shaped intersection and a cross-shaped intersection.

12. The method of claim 9, wherein the directional indicia is a pattern.

13. The method of any of claims 1-12, wherein the drone comprises a ground-based remote controlled robot.

14. The control method of the unmanned aerial vehicle is applied to the unmanned aerial vehicle, and is characterized by comprising the following steps:

15. The method of claim 14, wherein the movement control information comprises at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information, wherein the controlling the movement of the drone along the reference marker line according to the movement control information comprises:

16. The method according to claim 14 or 15, wherein the movement control information comprises movement trajectory control information, the movement trajectory control information comprises identification information of a target feature point, and wherein the controlling the movement of the drone along the reference identification line according to the movement control information comprises:

17. The method according to claim 16, wherein the movement control information includes first movement trace control information and second movement trace control information, the first movement trace control information includes identification information of a first target feature point, the second movement trace control information includes identification information of a second target feature point, the control policy information further includes condition information, wherein the condition information includes first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information, wherein,

the determining a target feature point from a preset number of feature points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information, and controlling a motion trajectory of the unmanned aerial vehicle along the movement of the reference identification line according to the position of the target feature point in the image, includes:

18. The method of claim 17,

19. The method according to any of claims 14-18, wherein the control policy information comprises condition information and mobile control information corresponding to the condition information; the control of the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information comprises:

20. The method of claim 19, wherein the condition information includes detection of an obstacle, and the movement control information includes stop movement control information; when it is determined that the condition information is satisfied, controlling the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information includes:

21. The method of claim 20, wherein the obstacle comprises a pedestrian.

22. The method of claim 19, wherein the condition information includes detecting a crossing on a reference marker line and detecting a direction marker indicating a target direction, and wherein the movement control information includes steering control information; when it is determined that the condition information is satisfied, controlling the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information includes:

23. The method of claim 22, wherein the detecting the crossing on the reference identification line comprises:

detecting a crossing of a preset type on the reference identification line.

24. The method of claim 23,

25. The method of claim 22, wherein the directional indicia is a pattern.

26. The method of any of claims 14-25, wherein the drone comprises a ground-based remote controlled robot.

27. A control terminal, comprising: a memory and a processor;

the memory to store program instructions;

28. The terminal of claim 27, wherein the movement control information comprises at least one of motion trajectory control information, speed control information, steering control information, and stop movement control information, wherein,

the processor sends the control strategy information to the unmanned aerial vehicle, so that when the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information, the processor is specifically configured to:

29. The terminal according to claim 27 or 28, wherein the movement control information comprises motion trajectory control information, the motion trajectory control information comprising identification information of target feature points, wherein,

30. The terminal of claim 29, wherein the movement control information comprises first movement trace control information and second movement trace control information, wherein the first movement trace control information comprises identification information of a first target feature point, wherein the second movement trace control information comprises identification information of a second target feature point, wherein the control policy information further comprises condition information, wherein the condition information comprises first condition information corresponding to the first movement trace control information and second condition information corresponding to the second movement trace control information, wherein,

the processor sends the control strategy information to the unmanned aerial vehicle, so that the unmanned aerial vehicle determines target feature points from a preset number of feature points of the reference identification line extracted from an image acquired by a shooting device of the unmanned aerial vehicle according to the identification information, and controls the motion trajectory of the movement along the reference identification line according to the position of the target feature points in the image, and the processor is specifically configured to:

31. The terminal of claim 30,

32. The terminal according to any of claims 27-31, wherein the control policy information comprises condition information and mobility control information corresponding to the condition information; the processor sends the control strategy information to the unmanned aerial vehicle, so that when the unmanned aerial vehicle controls the movement along the reference identification line according to the movement control information, the processor is specifically configured to:

33. The terminal of claim 32, wherein the condition information comprises detection of an obstacle, and wherein the movement control information comprises stop movement control information; the processor sends the control policy information to the drone, so that when the drone determines that the condition information is satisfied during movement along the reference identification line, the drone controls movement along the reference identification line according to the movement control information, the processor is specifically configured to:

34. The terminal of claim 33, wherein the obstruction comprises a pedestrian.

35. The terminal of claim 32, wherein the condition information comprises detecting a crossing on a reference mark line and detecting a direction mark indicating a target direction, and wherein the movement control information comprises steering control information; the processor sends the control policy information to the drone, so that when the drone determines that the condition information is satisfied during movement along the reference identification line, the drone controls movement along the reference identification line according to the movement control information, the processor is specifically configured to:

36. The terminal according to claim 35, wherein the processor, when detecting the crossing on the reference identification line, is specifically configured to:

detecting a crossing of a preset type on the reference identification line.

37. The terminal of claim 36,

38. The terminal of claim 35, wherein the direction indicator is a pattern.

39. A terminal according to any of claims 27-38, wherein the drone comprises a ground-based remote control robot.

40. An unmanned aerial vehicle, comprising:

a body;

a processor to:

41. The drone of claim 40, wherein the movement control information includes at least one of motion trajectory control information, speed control information, steering control information, stop movement control information, wherein,

42. A drone according to claim 40 or 41, characterised in that the movement control information includes motion trajectory control information including identification information of target feature points, wherein,

43. The drone of claim 42, wherein the movement control information includes first and second movement trajectory control information, the first movement trajectory control information including identification information of a first target feature point, the second movement trajectory control information including identification information of a second target feature point, the control policy information further including condition information, wherein the condition information includes first condition information corresponding to the first movement trajectory control information and second condition information corresponding to the second movement trajectory control information, wherein,

44. A drone according to claim 43,

45. A drone as claimed in any one of claims 40 to 44, wherein the control policy information includes condition information and mobile control information corresponding to the condition information; when the processor controls the unmanned aerial vehicle to move along the reference identification line according to the movement control information, the processor is specifically configured to:

46. A drone as claimed in claim 45, wherein the condition information includes detection of an obstacle, the movement control information includes stop movement control information; when determining that the condition information is satisfied, the processor is specifically configured to, when controlling the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information:

47. The drone of claim 46, wherein the obstacle comprises a pedestrian.

48. A drone according to claim 45, wherein the condition information includes detection of a crossing on a reference marker line and detection of a direction marker indicating a target direction, the movement control information including steering control information; when determining that the condition information is satisfied, the processor is specifically configured to, when controlling the movement of the unmanned aerial vehicle along the reference identification line according to the movement control information:

49. A drone according to claim 48, wherein the processor, when detecting the crossing on the reference marking line, is specifically configured to:

detecting a crossing of a preset type on the reference identification line.

50. A drone according to claim 49,

51. A drone according to claim 48, wherein the directional indicia is a pattern.

52. A drone as claimed in any of claims 40 to 51, wherein the drone includes a ground-based remote controlled robot.

53. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 26.