UAV control method and device

Abstract

A method and device for controlling a drone, the method comprising: after the power output of the drone fails, controlling the drone to be in a controllable state (S301); after the drone is in the controllable state, controlling the drone to land (S302), so that the drone lands on a safe platform, thereby preventing the drone from continuing to perform a work task and crashing, ensuring the safety of the drone, reducing the property and personnel safety losses caused by the drone crash, and improving the user experience.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular to a control method and device for unmanned aerial vehicles. Background Art

[0002] The flight of a drone is achieved by relying on the power provided by the power system, in which the power system of a drone includes a motor, an electric regulator, and a propeller. A drone may include multiple propellers, each of which is connected to a corresponding electric regulator and motor. The synergy of the electric regulator, motor, and propeller provides power for the drone and drives the drone to fly. During the flight of a drone, if any of the above three fails, the power system of the drone will fail, and thus it will be unable to provide normal power for the drone, affecting the normal flight of the drone, and even causing the drone to crash. Summary of the invention

[0003] The embodiments of the present application provide a method and device for controlling a drone, which are used to prevent the drone from crashing after the power system of the drone fails.

[0004] In a first aspect, an embodiment of the present application provides a control method for a drone, which is applied to a drone, and the method includes:

[0005] After the power output of the UAV fails, controlling the UAV to be in a controllable state;

[0006] After the UAV is in a controllable state, the UAV is controlled to land.

[0007] In a second aspect, an embodiment of the present application provides a method for controlling a drone, which is applied to a control terminal, and the method includes:

[0008] After the power output of the UAV fails and the UAV is in a controllable state, obtaining a target control strategy determined from at least one different control strategy, each control strategy being used to control the UAV to land;

[0009] According to the target control strategy, the UAV is controlled to land.

[0010] In a third aspect, an embodiment of the present application provides a drone, including:

[0011] The processor is used to control the drone to be in a controllable state after the power output of the drone fails; and control the drone to land after the drone is in the controllable state.

[0012] In a fourth aspect, an embodiment of the present application provides a control terminal, including:

[0013] A processor is used to obtain a target control strategy determined from at least one different control strategy after the power output of the drone fails and the drone is in a controllable state, each control strategy being used to control the landing of the drone; and control the landing of the drone according to the target control strategy.

[0014] In a fifth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon; when the computer program is executed, the control method of the drone as described in the first aspect or the second aspect is implemented.

[0015] In a sixth aspect, an embodiment of the present application provides a program product, comprising a computer program, wherein the computer program is stored in a readable storage medium, at least one processor can read the computer program from the readable storage medium, and the at least one processor executes the computer program to implement the control method of the drone as described in the first aspect or the second aspect of the embodiment of the present application.

[0016] To summarize, the drone control method and device provided in the embodiments of the present application control the drone to be in a controllable state after the power output of the drone fails, and control the drone to land after the drone is in a controllable state, so that the drone lands on a safe platform, thereby preventing the drone from crashing while continuing to perform its work tasks, ensuring the safety of the drone, reducing property and personnel safety losses caused by the crash of the drone, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application;

[0019] Figure 2 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0020] Figure 3 A flowchart of a method for controlling a drone provided in one embodiment of the present application;

[0021] Figure 4 A flowchart of a method for controlling a drone provided by another embodiment of the present application;

[0022] Figure 5A flowchart of a method for controlling a drone provided by another embodiment of the present application;

[0023] Figure 6 A flowchart of a method for controlling a drone provided by another embodiment of the present application;

[0024] Figure 7 Flow chart of a method for controlling a drone provided in another embodiment of the present application

[0025] Figure 8 A flowchart of a method for controlling a drone provided by another embodiment of the present application;

[0026] Fig. 9 A schematic diagram of the structure of a drone provided in one embodiment of the present application;

[0027] Fig.10 A schematic diagram of the structure of a control terminal provided in one embodiment of the present application;

[0028] Fig.11 A schematic diagram of the structure of a control system of a drone provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0032] The embodiments of the present application provide a method and device for controlling a drone. Among them, the embodiments of the present application can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone can be a rotorcraft, for example, a multi-rotor drone propelled by multiple propulsion devices through the air. The embodiments of the present application are not limited to this. It will be obvious to those skilled in the art that other types of drones can be used without restriction.

[0033] Figure 1 1 is a schematic diagram of the architecture of an unmanned aerial system according to an embodiment of the present application. This embodiment is described by taking a rotary wing unmanned aerial vehicle as an example.

[0034] The unmanned aerial system 100 may include a drone 110, a display device 130, and a control terminal 140. The drone 110 may include a power system 150, a flight control system 160, a rack, and a gimbal 120 carried on the rack. The drone 110 may communicate wirelessly with the control terminal 140 and the display device 130. The drone 110 also includes a battery (not shown in the figure), which provides power to the power system 150. The drone 110 may be an agricultural drone or an industrial application drone, which has a demand for cyclic operation. Correspondingly, the battery also has a demand for cyclic operation.

[0035] The frame may include a fuselage and a foot frame (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The foot frame is connected to the fuselage to provide support when the drone 110 lands.

[0036] The power system 150 may include one or more electronic speed regulators (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motor 152 is connected between the electronic speed regulator 151 and the propeller 153, and the motor 152 and the propeller 153 are arranged on the arm of the drone 110; the electronic speed regulator 151 is used to receive the drive signal generated by the flight control system 160, and provide a drive current to the motor 152 according to the drive signal to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom. In some embodiments, the drone 110 can rotate around one or more rotation axes. For example, the above-mentioned rotation axes may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

[0037] The flight control system 160 may include a flight controller 161 and a sensor system 162. The sensor system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity. The sensor system 162 may include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 may be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 may control the drone 110 according to pre-programmed instructions, or may control the drone 110 by responding to one or more remote control signals from the control terminal 140.

[0038] The gimbal 120 may include a motor 122. The gimbal is used to carry a load, and the load may be, for example, a shooting device 123. The flight controller 161 may control the movement of the gimbal 120 through the motor 122. Optionally, as another embodiment, the gimbal 120 may also include a controller for controlling the movement of the gimbal 120 by controlling the motor 122. It should be understood that the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the gimbal may be located at the top of the drone or at the bottom of the drone.

[0039] The shooting device 123 can be, for example, a device for capturing images, such as a camera or a video camera. The shooting device 123 can communicate with the flight controller and shoot under the control of the flight controller. The shooting device 123 of this embodiment includes at least a photosensitive element, such as a complementary metal oxide semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the gimbal 120 can be omitted.

[0040] The display device 130 is located at the ground end of the unmanned aerial system 100, can communicate with the drone 110 in a wireless manner, and can be used to display the attitude information of the drone 110. In addition, the image captured by the camera 123 can also be displayed on the display device 130. It should be understood that the display device 130 can be an independent device or integrated in the control terminal 140.

[0041] The control terminal 140 is located at the ground end of the unmanned aerial system 100 and can communicate with the drone 110 in a wireless manner to remotely control the drone 110 .

[0042] It should be understood that the above-mentioned naming of the components of the unmanned aerial system is for identification purposes only and should not be construed as a limitation on the embodiments of the present application.

[0043] Figure 2 The following is a schematic diagram of an application scenario provided by an embodiment of the present application, such as Figure 2 As shown, Figure 2 The drone 201 and the drone control terminal 202 are shown in the figure. The control terminal 202 of the drone 201 can be one or more of a remote control, a smart phone, a desktop computer, a laptop computer, and a wearable device (a watch, a bracelet). The embodiment of the present application takes the control terminal 202 as a remote control 2021 and a terminal device 2022 as an example for schematic illustration. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited to this. When the drone 201 is flying, such as when performing a work task, if the power output of the drone fails, it may cause the drone to crash. Therefore, the present application controls the drone to be in a controllable state after the motor output of the drone fails, and then controls the drone to land safely, such as landing in place, or landing after returning, or the user controls the drone to fly to a certain location and then lands, but is not limited to this; to avoid damage to the drone crash.

[0044] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] Figure 3 This is a flow chart of a method for controlling a drone provided in one embodiment of the present application. The method of this embodiment can be applied to a control device of a drone. The control device of a drone can be set in a drone; or, part of the control device of a drone is set in a drone, and the other part is set on a control terminal of the drone. Take the setting of the control device of a drone in a drone as an example for explanation. Figure 3 As shown, the method of this embodiment includes:

[0046] S301. After the power output of the UAV fails, the UAV is controlled to be in a controllable state.

[0047] S302: After the UAV is in a controllable state, control the UAV to land.

[0048] In this embodiment, after the drone detects that the power output of the drone fails, the drone is controlled to be in a controllable state, in which the drone can control the flight trajectory of the drone. In this embodiment, after the drone is in a controllable state, the drone is controlled to land, so that the drone lands on a safe plane and stops flying, thereby preventing the drone from continuing to perform its work tasks and crashing.

[0049] The failure of the power output of the UAV may include a partial failure of the power output of the UAV or a complete failure of the power output of the UAV.

[0050] Taking a multi-rotor drone as an example, the flight of the drone is driven by the power output of each rotor. The drone can detect whether the power output of each rotor fails. If the power output of at least one rotor fails, it can be determined that the power output of the drone has failed. The power output failure of each rotor can also include partial power output failure or complete power output failure of the rotor.

[0051] The control method of the drone provided in this embodiment controls the drone to be in a controllable state after the power output of the drone fails, and controls the drone to land after the drone is in a controllable state, so that the drone lands on a safe plane (such as the ground), thereby preventing the drone from crashing while continuing to perform its work tasks, ensuring the safety of the drone, reducing the property and personnel safety losses caused by the drone crash, and improving the user experience.

[0052] In some embodiments, controlling the drone to be in a controllable state may include: controlling the drone to rotate, for example, the drone rotates at a certain speed so that the drone has a balanced attitude.

[0053] In some other embodiments, controlling the drone to be in a controllable state may include: controlling the drone to rotate and controlling the drone to hover, that is, controlling the drone to hover at a geographical location and controlling the drone to rotate at the geographical location.

[0054] It can be understood that when the drone is in a controllable state, being able to control the drone to hover is only one way to reflect the controllability of the drone. In some embodiments, controlling the drone to be in a controllable state may be other ways. The purpose of hovering is to control the drone as expected according to the received user's operation instructions during the drone's rotation, rather than receiving the user's operation instructions during the drone's movement (for example, horizontal and / or height displacement), which may cause the position of the drone to change between the time when the user issues the operation instruction and the time when the drone receives the operation instruction, resulting in control that does not meet the user's expectations. Of course, this is not limited to this, and it can be designed according to actual requirements.

[0055] exist Figure 3 Based on the illustrated embodiment, in some embodiments, a possible implementation of the above S302 is: after the drone is in a controllable state, control the drone to fly from the current geographical location to the target geographical location. When the drone flies to the target geographical location, control the drone to land.

[0056] In this embodiment, after the drone is in a controllable state, the drone is controlled to fly from the current geographical location to the target geographical location. When the drone flies to the target geographical location, the drone is controlled to land at the target geographical location. The geographical location can be a two-dimensional geographical location, including longitude and latitude.

[0057] Optionally, the target geographical location may be a preset geographical location. The preset geographical location may be, for example, a preset return point of the drone, and the drone may be controlled to fly from the current geographical location to the preset return point according to the return route, and when the drone flies to the preset return point, the drone is controlled to land at the preset return point.

[0058] Optionally, the target geographic location is the geographic location to which the user controls the drone to fly, and the drone is controlled to fly according to the flight direction specified by the user. When the user instructs to stop flying, the drone is controlled to stop flying and hover. At this time, the geographic location where the drone is hovering is the target geographic location, and the drone is then controlled to land at the geographic location where the drone is hovering.

[0059] In this embodiment, after the drone is in a controllable state, the drone is first controlled to fly from the current geographical location to the target geographical location, and then the drone is controlled to land at the target geographical location, so that the user can easily find the drone at the target geographical location.

[0060] In some embodiments, a possible implementation of S302 is: after the drone is in a controllable state, the drone is controlled to land at the current geographical location, which can also be called in-situ landing. For example, if the drone is in a controllable state including hovering, when the drone rotates and hovers, the drone is controlled to land at the geographical location where the drone is hovering.

[0061] Based on any of the above embodiments, one implementation method of controlling the landing of the drone is: controlling the drone to land to a position at a preset distance from a safety plane in the height direction, and then controlling the drone to stop power output at the position, so that the drone lands to the safety plane.

[0062] In this embodiment, in the stage of controlling the landing of the drone, such as controlling the landing of the drone at the current geographical location or the stage of controlling the landing of the drone at the target geographical location, the drone is first controlled to land at a position at a preset distance from the safety plane in the height direction (which may be referred to as the safe landing stage). Then, the drone is controlled to stop power output at a position at a preset distance from the safety plane in the height direction. The stop of power output causes the propeller of the drone to stop rotating, so that the drone lands on the safety plane (which may be referred to as the near-ground propeller stop stage). After the drone stops power output, the drone performs free fall motion under the action of gravity and falls to the safety plane. The safety plane may be, for example, the ground, the roof of a house, etc., but this embodiment is not limited to this.

[0063] Optionally, before controlling the drone to land at a position at a preset distance from the safety plane in the height direction, it may also be determined whether the distance between the drone and the safety plane in the height direction is greater than the preset distance.

[0064] If yes, the drone is controlled to land at a position at a preset distance from the safety plane in the height direction, and then the drone is controlled to stop power output at the position at the preset distance from the safety plane in the height direction, so that the drone lands on the safety plane. If no, there is no need to perform the process of controlling the drone to land at a position at a preset distance from the safety plane in the height direction, but the drone is controlled to stop power output, so that the drone lands on the safety plane.

[0065] It should be noted that when the drone is controlled to land at a position at a preset distance from the safety plane in the height direction, the geographic location of the drone can remain unchanged.

[0066] Based on any of the above embodiments, after the drone is in a controllable state and before the drone is controlled to stop landing, the drone is controlled to rotate so as to ensure that the drone is still in a controllable state as much as possible.

[0067] It should be noted that before the drone stops landing, it means that the drone is no longer driven to land by power. After the drone stops power output, it lands under the action of gravity instead of power, and is not controlled by the drone. Therefore, the landing of the drone after the power output stops does not belong to the control of the drone to stop landing, and does not control the drone's rotation.

[0068] Figure 4 This is a flow chart of a method for controlling a drone provided by another embodiment of the present application, such as Figure 4 As shown, the method of this embodiment is applied to the control terminal of the drone, and the method of this embodiment may include:

[0069] S401. After the power output of the UAV fails and the state of the UAV is in a controllable state, obtain a target control strategy determined from at least one different control strategy.

[0070] S402: Control the UAV to land according to the target control strategy.

[0071] In this embodiment, at least one different control strategy is pre-set in the control terminal of the drone, and each control strategy is used to control the landing of the drone. After the power output of the drone fails and the drone is in a controllable state, a control strategy is determined as a target control strategy from at least one different control strategy, and then the drone is controlled to land according to the target control strategy, so that the drone lands on a safe plane and stops flying, thereby preventing the drone from continuing to perform its work tasks and crashing, ensuring the safety of the drone, reducing the property and personnel safety losses caused by the crash of the drone, and improving the user experience.

[0072] exist Figure 4 Based on the embodiment shown, the target control strategy is a control strategy for controlling the UAV to fly from the current geographical location to the target geographical location, and then controlling the UAV to land at the target geographical location. A possible implementation of the above S402 is: according to the target control strategy, controlling the UAV to fly from the current geographical location to the target geographical location; controlling the UAV to land at the target geographical location.

[0073] Optionally, the target control strategy may include: a user control strategy. The user control strategy may be a control strategy that controls the drone to fly from the current geographical location to the target geographical location according to the user's control operation, and then controls the drone to land at the target geographical location. Accordingly, according to the target control strategy, a possible implementation method of controlling the drone to fly from the current geographical location to the target geographical location is: according to the user control strategy, obtaining the user's control operation on the drone; according to the control operation, controlling the drone to fly from the current geographical location to the target geographical location.

[0074] In this embodiment, since the determined target control strategy is a user control strategy, the control of the UAV is subject to the user's control operation, and it is necessary to detect the user's control operation of the UAV on the control terminal. When the user performs the control operation, the control terminal obtains the user's control operation on the UAV, and controls the UAV to execute the flight process corresponding to the control operation according to the control operation, so as to control the UAV to fly from the current geographical location to the target geographical location.

[0075] Optionally, the target control strategy may include: a return control strategy. The target geographical location is a preset return point of the drone, and the return control strategy may be a control strategy for controlling the drone to fly from the current geographical location to the preset return point of the drone, and then controlling the drone to land at the preset return point. Accordingly, according to the target control strategy, a possible implementation method for controlling the drone to fly from the current geographical location to the target geographical location is: according to the return control strategy, controlling the drone to return from the current geographical location to the preset return point.

[0076] In this embodiment, since the determined target control strategy is the return control strategy, the return point is predetermined before the UAV flies from the current geographical location. The return point may be pre-stored in the UAV; or, the return point may be pre-stored in the control terminal; or, the return point may be the return point input by the user into the control terminal after the target control strategy is determined to be the return control strategy.

[0077] exist Figure 4 On the basis of the illustrated embodiment, the target control strategy is an in-situ landing control strategy, and the in-situ landing control strategy is a control strategy for controlling the drone to land at the current geographical location. A possible implementation of the above S402 is: according to the in-situ landing control strategy, the drone is controlled to land at the current geographical location. After determining that the target control strategy is the in-situ landing control strategy, there is no need to control the drone to continue flying, but to control the drone to land at the current geographical location. If controlling the drone to be in a controllable state includes controlling the drone to hover, the current geographical location is the geographical location where the drone is hovering.

[0078] Optionally, based on any of the above embodiments, a possible implementation method for the above-mentioned control terminal to control the landing of the UAV is: first control the UAV to land to a position at a preset distance from the safety plane in the height direction; then send a power output stop command to the UAV, so that the UAV stops power output to land to the safety plane.

[0079] Figure 5 A flowchart of a method for controlling a drone provided in another embodiment of the present application is shown in FIG. Figure 5As shown, the method of this embodiment may include:

[0080] S501, after the power output of the UAV fails, controlling the UAV to be in a controllable state.

[0081] In this embodiment, the specific implementation process of S501 can be found in Figure 3 The relevant description in the illustrated embodiment will not be repeated here.

[0082] S502: Control the terminal to output first prompt information.

[0083] In this embodiment, the drone notifies the control terminal that the power output of the drone has failed, and also notifies the control terminal that the drone is in a controllable state. After determining that the power output of the drone has failed and the drone is in a controllable state, the control terminal outputs a first prompt message, and the first prompt message is used to prompt that a target control strategy needs to be selected from at least one different control strategy. This embodiment takes at least one different control strategy including a user control strategy, a return control strategy, and an in-place landing control strategy as an example, and the first prompt message is used to indicate that a target control strategy needs to be selected from the user control strategy, the return control strategy, and the in-place landing control strategy.

[0084] Among them, outputting the first prompt information may be displaying the first prompt information on a display device; or, playing the first prompt information by voice; or, displaying the first prompt information on a display device and playing the first prompt information by voice. The implementation process of outputting the second prompt information, the third prompt information, the fourth prompt information, the fifth prompt information, or the sixth prompt information is similar and will not be described in detail below.

[0085] The display device mentioned above may be a display screen of a terminal device in the control terminal or a liquid crystal display screen of a remote controller in the control terminal.

[0086] In a specific example, the output of the first prompt information may be: an APP in the control terminal prompts "entering power failure hovering, the user can use the stick control, automatically return or land on the spot", and three corresponding options appear in the APP pop-up window.

[0087] S503: The control terminal obtains a selection instruction of the user, and determines the target control strategy as the user control strategy according to the selection instruction of the user.

[0088] In this embodiment, after the control terminal outputs the first prompt information, the user selects a target control strategy from the user control strategy, the return control strategy, and the in-place landing control strategy. In this embodiment, the target control strategy selected by the user is taken as the user control strategy. For example, the user can input a selection instruction through the interactive device of the control terminal, such as clicking to select the icon information of the user control strategy. Alternatively, the user can input a voice selection instruction of "user control strategy" through voice interaction with the control terminal.

[0089] In this embodiment, according to the obtained user selection instruction, the target control policy selected by the user is determined as the user control policy.

[0090] Optionally, the control terminal obtaining the user's selection instruction refers to obtaining the user's selection instruction within a first preset time period after the control terminal outputs the first prompt information.

[0091] Optionally, if the control terminal does not obtain the user's selection instruction within the first preset time after outputting the first prompt information, for example, the user does not select the target control strategy through the above-mentioned methods within the first preset time after the control terminal outputs the first prompt information, then the control terminal determines the pre-default control strategy among the user control strategy, the return control strategy and the in-situ landing control strategy as the target control strategy. The pre-default control strategy is, for example, the user control strategy, and the present embodiment is not limited to this. The present embodiment takes the pre-default control strategy as the user control strategy as an example, so as to ensure that the drone is still mainly controlled by the user after the power output fails, thereby avoiding the safety risks faced by the autonomous control of the drone.

[0092] In this embodiment, the user's control command is constrained by the first preset time length, which can avoid the user from waiting for a long time without response, so as to ensure that the drone lands in time.

[0093] S504: The control terminal outputs a second prompt message.

[0094] In this embodiment, after determining that the target control strategy is the user control strategy, the second prompt information is output, and the second prompt information is used to prompt the user to control the drone according to the user control strategy, so as to inform the user of the current target control strategy so that the user can perform operations matching the target control strategy.

[0095] In a specific example, the second prompt information may be outputted as follows: the APP of the control terminal prompts "Entering the user control stage, please use the stick to control the aircraft position". The compass in the APP does not represent the heading of the drone head at this time, but represents the direction corresponding to the remote control stick.

[0096] S505: The control terminal obtains the user's flight direction control operation on the drone, and determines the flight direction set by the user according to the flight direction control operation.

[0097] In this embodiment, after the user selects the target control strategy as the user control strategy, the user needs to control the flight of the drone, and the user performs a flight direction control operation on the control terminal. After the control terminal obtains the flight direction control operation, it determines the flight direction set by the user according to the flight direction control operation. For example, the user performs a stick operation on the remote control of the control terminal, where the stick direction is used to indicate the flight direction set by the user. Optionally, the flight direction is the flight direction in the geodetic coordinate system. For example, if the stick direction is toward the north, it means that the flight direction set by the user is toward the north. It should be noted that the user can change the stick direction according to the user's needs so as to control and change the flight direction of the drone at any time.

[0098] Optionally, the user can also control the flight speed of the drone. The user can perform a flight speed control operation on the control terminal. After the control terminal obtains the flight speed control operation, it determines the flight speed set by the user according to the flight speed control operation. For example, the user performs a stick operation on the remote control of the control terminal, where the stick amount is used to indicate the flight speed set by the user. It should be noted that the user can change the stick amount according to the user's needs, so as to control and change the flight speed of the drone at any time.

[0099] Optionally, the flight speed set by the user is less than or equal to a preset flight speed, and the preset flight speed is, for example, 2 m / s. In this embodiment, the flight speed set by the user should not be too high to avoid the unmanned aerial vehicle from losing control during flight.

[0100] S506: The control terminal sends a flight control instruction to the UAV. Correspondingly, the UAV receives the flight control instruction sent by the control terminal.

[0101] In this embodiment, the flight control instruction includes the flight direction set by the user, or the flight control instruction includes the flight direction and the flight speed set by the user.

[0102] S507, the UAV controls the UAV to fly from the current geographical location toward the flight direction.

[0103] In this embodiment, the flight control instruction includes a flight direction set by the user, and the drone is controlled to fly in the flight direction according to the flight control instruction.

[0104] If the flight control instruction also includes a flight speed set by the user, the drone controls the drone to fly in the flight direction at the flight speed.

[0105] S508: When the control terminal obtains the stop flight operation, it sends a stop flight instruction to the UAV. Correspondingly, the UAV receives the stop flight instruction sent by the control terminal.

[0106] In this embodiment, when the user wants the drone to hover, the user can execute a stop flight operation on the control terminal. Accordingly, when the control terminal obtains the stop flight operation, it determines that the user instructs the drone to stop flying, and then sends a stop flight instruction to the drone. For example, the user operates the remote control of the control terminal to reset the stick to the original position, that is, the flight direction is no longer set, and the flight speed can also be no longer set.

[0107] S509: The drone controls the drone to stop flying in the flight direction and to hover.

[0108] In this embodiment, after receiving the stop flight instruction, the drone is controlled to stop flying in the flight direction set by the user and to hover. At this time, the geographical location where the drone is hovering is the target geographical location.

[0109] S510. The control terminal outputs third prompt information.

[0110] In this embodiment, after the control terminal sends a stop flight instruction to the drone, the third prompt information is output. The third prompt information is used to prompt whether to control the drone to start landing in the height direction.

[0111] In a specific example, outputting the third prompt information may be: a pop-up window of an APP of the control terminal prompts "whether to start safe descent".

[0112] S511, when the control terminal obtains the user's safe landing confirmation instruction, it sends a safe landing instruction to the drone. Correspondingly, the drone receives the safe landing instruction sent by the control terminal.

[0113] In this embodiment, when the user executes a safe landing confirmation instruction to the control terminal based on the third prompt information output by the control terminal, for example, the third prompt information displayed by the display device includes "yes" and "no" icons, if the user clicks the "yes" icon, the control terminal obtains the user's safe landing confirmation instruction, and then the control terminal sends a safe landing instruction to the drone. If the user clicks the "no" icon, the control terminal does not obtain the user's safe landing confirmation instruction, and the drone does not land temporarily.

[0114] Optionally, in some embodiments, the control terminal does not need to output the third prompt information. Instead, after sending a stop flight instruction to the drone, it can send a safe landing instruction to the drone without outputting the third prompt information or obtaining a safe landing confirmation instruction from the user.

[0115] S512: The UAV is controlled to land to a position at a preset distance from the safety plane in the height direction according to the safety landing instruction.

[0116] In this embodiment, after the drone receives the safe landing instruction, the drone is controlled to land at a position at a preset distance from the safety plane according to the safe landing instruction.

[0117] Among them, the drone can be controlled to land at a preset landing speed to a position at a preset distance from the safety plane in the height direction.

[0118] Optionally, in some embodiments, after the drone flies to the target geographic location and hovers, the drone can be controlled to land to a position at a preset distance from the safety plane in the height direction without receiving a safe landing command.

[0119] S513. The control terminal outputs fourth prompt information.

[0120] In this embodiment, after the drone lands to a position at a preset distance from the safety plane in the height direction, the control terminal outputs a fourth prompt message, and the fourth prompt message is used to prompt whether to control the drone to stop power output.

[0121] In a specific example, outputting the fourth prompt information may be: a pop-up window of an APP of the control terminal prompts "whether to stop propellers near the ground".

[0122] S514: When the control terminal obtains the power output stop confirmation instruction from the user, it sends a power output stop instruction to the drone. Correspondingly, the drone receives the power output stop instruction sent by the control terminal.

[0123] In this embodiment, when the user executes a power output stop confirmation instruction to the control terminal based on the fourth prompt information output by the control terminal, for example, the fourth prompt information displayed by the display device includes "yes" and "no" icons, if the user clicks the "yes" icon, the control terminal obtains the user's power output stop confirmation instruction, and then the control terminal sends the power output stop instruction to the drone. If the user clicks the "no" icon, the control terminal does not obtain the user's power output stop confirmation instruction, and the drone does not stop power output temporarily.

[0124] Optionally, the control terminal obtaining the user's power output stop confirmation instruction refers to the user's power output stop confirmation instruction obtained within a second preset time period after the control terminal outputs the fourth prompt information.

[0125] Optionally, if the control terminal does not obtain the user's power output stop confirmation instruction within the second preset time after the control terminal outputs the fourth prompt information, for example, the user does not input the power output stop confirmation instruction within the second preset time after the control terminal outputs the fourth prompt information, then a power output stop instruction is sent to the drone so that the drone can land on a safe plane in time. It can be understood that the power output stop instruction can also be automatically generated and start to stop power output when the drone does not receive the power output stop instruction sent by the control terminal within the preset time, and the control terminal can be further notified that the drone has started to stop power to prompt the user that the drone has entered the "near-ground propeller stop stage".

[0126] Optionally, in some embodiments, the control terminal can send a safe landing instruction to the drone without outputting the fourth prompt information or obtaining a power output stop confirmation instruction from the user.

[0127] S515: The UAV is controlled to stop power output according to the power output stop instruction.

[0128] In this embodiment, the drone receives a power output stop command at a position at a preset distance from the safety plane in the height direction, and controls the drone to stop power output at this position, so that the drone lands on the safety plane.

[0129] Optionally, if the UAV does not receive a power output stop command sent by the control terminal within a third preset time period after hovering at a position at a preset distance from the safety plane in the height direction, the UAV is controlled to stop power output at this position to avoid communication interruption between the UAV and the control terminal and affect the landing of the UAV.

[0130] Before executing S515, the drone can control its own rotation to ensure that the drone is in a controllable state during the power output of the drone.

[0131] Therefore, the drone control method provided in this embodiment controls the drone to be in a controllable state after the power output of the drone fails, and through the interaction between the control terminal and the drone, the drone is safely landed at a designated geographical location under the control of the user and then lands, thereby preventing the drone from continuing to perform its work tasks and crashing, ensuring the safety of the drone, reducing property and personnel safety losses caused by the crash of the drone, and improving the user experience.

[0132] Figure 6 A flowchart of a method for controlling a drone provided in another embodiment of the present application is shown in FIG. Figure 6 As shown, the method of this embodiment may include:

[0133] S601, after the power output of the UAV fails, controlling the UAV to be in a controllable state.

[0134] S602: Control the terminal to output first prompt information.

[0135] In this embodiment, the specific implementation process of S601 and S602 can be found in Figure 5 The relevant description in the illustrated embodiment will not be repeated here.

[0136] S603: The control terminal obtains the user's selection instruction, and determines the target control strategy as the return control strategy according to the user's selection instruction.

[0137] In this embodiment, after the control terminal outputs the first prompt information, the user selects a target control strategy from the user control strategy, the return control strategy, and the in-place landing control strategy. In this embodiment, the target control strategy selected by the user is the return control strategy as an example. For example, the user can input a selection instruction through the interactive device of the control terminal, such as clicking on the icon information of the return control strategy. Alternatively, the user can input a voice selection instruction of "return control strategy" through voice interaction with the control terminal.

[0138] In this embodiment, according to the obtained user selection instruction, it is determined that the target control strategy selected by the user is the return control strategy.

[0139] S604: The control terminal outputs a second prompt message.

[0140] In this embodiment, after determining that the target control strategy is the return control strategy, the second prompt information is output, and the second prompt information is used to prompt the user to control the drone according to the return control strategy to inform the user of the current target control strategy so that the user can perform operations matching the return control strategy.

[0141] In a specific example, outputting the second prompt information may be: an APP of the control terminal prompts "entering the automatic return phase".

[0142] S605: The control terminal sends a return instruction to the drone. Correspondingly, the drone receives the return instruction sent by the control terminal.

[0143] In this embodiment, after the control terminal determines that the target control strategy selected by the user is the return control strategy, the control terminal sends a return instruction to the drone.

[0144] S606: The drone controls the drone to fly from the current geographical location to the preset return point according to the return instruction.

[0145] In this embodiment, after receiving the return command, the drone is controlled to fly from the current geographical location to the preset return point according to the return command, and then the drone hovers at the preset return point.

[0146] Optionally, the preset return point is, for example, pre-stored in the drone.

[0147] Optionally, the return instruction includes a preset return point.

[0148] Optionally, after obtaining the preset return point, the drone can plan a return route according to the current geographic location and the preset return point, and then the drone flies from the current geographic location to the preset return point according to the return route.

[0149] Optionally, the return instruction includes a route for the drone to return from the current geographical location to a preset return point, and the route may be generated by the control terminal. After receiving the return instruction, the drone flies from the current geographical location to the preset return point according to the route.

[0150] Optionally, before the drone controls the drone to fly from the current geographical location to the preset return point, the drone controls the drone to fly to a preset altitude. The drone then flies from the current geographical location to the target geographical location at the preset altitude, avoiding safety hazards caused by an inappropriate flight altitude of the drone.

[0151] S607: The control terminal outputs third prompt information.

[0152] In this embodiment, after the drone flies to the preset return point, the third prompt information is output. The third prompt information is used to prompt whether to control the drone to start landing in the height direction.

[0153] S608: When the control terminal obtains the user's safe landing confirmation instruction, it sends a safe landing instruction to the drone. Correspondingly, the drone receives the safe landing instruction sent by the control terminal.

[0154] S609: The UAV is controlled to land to a position at a preset distance from the safety plane in the height direction according to the safety landing instruction.

[0155] S610. The control terminal outputs fourth prompt information.

[0156] S611: When the control terminal obtains the power output stop confirmation instruction from the user, it sends a power output stop instruction to the drone. Correspondingly, the drone receives the power output stop instruction sent by the control terminal.

[0157] S612: The UAV is controlled to stop power output according to the power output stop instruction.

[0158] In this embodiment, the specific implementation process of S608-S612 can be found in Figure 5 The relevant description in the illustrated embodiment will not be repeated here.

[0159] It should be noted that before executing S612, the drone can control the drone to rotate itself to ensure that the drone is in a controllable state during the process of the drone power output.

[0160] Therefore, the control method of the drone provided in this embodiment, after the power output of the drone fails, the drone controls the drone to be in a controllable state, and through the interaction between the control terminal and the drone, the drone flies to a preset return point and then lands, thereby avoiding the drone from crashing while continuing to perform its work tasks, ensuring the safety of the drone, reducing property and personnel safety losses caused by the crash of the drone, and improving the user experience.

[0161] Figure 7 A flowchart of a method for controlling a drone provided in another embodiment of the present application is shown in FIG. Figure 7 As shown, the method of this embodiment may include:

[0162] S701. After the power output of the UAV fails, the UAV is controlled to be in a controllable state.

[0163] S702: Control the terminal to output first prompt information.

[0164] In this embodiment, the specific implementation process of S701 and S702 can be found in Figure 5 The relevant description in the illustrated embodiment will not be repeated here.

[0165] S703: The control terminal obtains the user's selection instruction, and determines the target control strategy as the in-place landing control strategy according to the user's selection instruction.

[0166] In this embodiment, after the control terminal outputs the first prompt information, the user selects a target control strategy from the user control strategy, the return control strategy, and the in-situ landing control strategy. In this embodiment, the in-situ landing control strategy is taken as an example of the target control strategy selected by the user. For example, the user can input a selection instruction through the interactive device of the control terminal, such as clicking to select the icon information of the in-situ landing control strategy. Alternatively, the user can input a voice selection instruction of "in-situ landing control strategy" through voice interaction with the control terminal.

[0167] In this embodiment, according to the obtained user selection instruction, it is determined that the target control strategy selected by the user is the in-place landing control strategy.

[0168] S704: Control the terminal to output second prompt information.

[0169] In this embodiment, after determining that the target control strategy is the in-situ landing control strategy, the second prompt information is output, and the second prompt information is used to prompt the user to control the drone according to the in-situ landing control strategy, so as to inform the user of the current target control strategy so that the user can perform operations matching the in-situ landing control strategy.

[0170] S705: The control terminal sends a landing instruction to the drone. Correspondingly, the drone receives the landing instruction sent by the control terminal.

[0171] In this embodiment, after the control terminal determines that the target control strategy selected by the user is the in-situ landing control strategy, the control terminal sends an in-situ landing command to the drone. After receiving the in-situ landing command, the drone keeps hovering at the current geographical location and is ready to control the drone to land at the current geographical location.

[0172] S706. The control terminal outputs third prompt information.

[0173] In this embodiment, after sending the in-situ landing instruction to the drone, the control terminal outputs the third prompt information. The third prompt information is used to prompt whether to control the drone to start landing in the height direction.

[0174] It should be noted that, in another possible implementation, S706 may not need to be executed, for example, S707 may be executed after executing the above S705.

[0175] S707: When the control terminal obtains the user's safe landing confirmation instruction, it sends a safe landing instruction to the drone. Correspondingly, the drone receives the safe landing instruction sent by the control terminal.

[0176] S708. The UAV is controlled to land to a position at a preset distance from the safety plane in the height direction according to the safety landing instruction.

[0177] In another possible implementation, there is no need to execute S707-S708. Instead, after receiving the in-situ landing command, the drone is controlled to land at the current geographic location to a position at a preset distance from the safety plane in the height direction.

[0178] S709. The control terminal outputs fourth prompt information.

[0179] S710: When the control terminal obtains the power output stop confirmation instruction from the user, it sends a power output stop instruction to the drone. Correspondingly, the drone receives the power output stop instruction sent by the control terminal.

[0180] S711. The UAV is controlled to stop power output according to the power output stop instruction.

[0181] In this embodiment, the specific implementation process of S709-S711 can be found in Figure 5 The relevant description in the illustrated embodiment will not be repeated here.

[0182] It should be noted that before executing S711, the drone can control its own rotation to ensure that the drone is in a controllable state during the power output process of the drone.

[0183] Therefore, the drone control method provided in this embodiment, after the power output of the drone fails, the drone controls the drone to be in a controllable state, and through the interaction between the control terminal and the drone, the drone is landed on the spot, thereby preventing the drone from continuing to perform its work tasks and crashing, ensuring the safety of the drone, reducing the property and personnel safety losses caused by the drone crash, and improving the user experience.

[0184] exist Figure 5-Figure 7 Based on any of the illustrated embodiments, optionally, in some embodiments, before acquiring the target control strategy determined from at least one different control strategy, the control terminal further outputs fifth prompt information, wherein the fifth prompt information is used to prompt that the state of the drone is in a controllable state after the power output of the drone fails. In one implementation, the control terminal may vibrate to prompt that the drone is in a controllable state.

[0185] exist Figure 5-Figure 7 Based on any of the embodiments shown, optionally, in some embodiments, after the power output of the drone fails, the control terminal outputs a sixth prompt message, wherein the sixth prompt message is used for the power output failure of the drone. In one implementation, the control terminal may vibrate to prompt the drone of the power output failure.

[0186] exist Figure 5-Figure 7 Based on any of the illustrated embodiments, optionally, during the process of the drone controlling the drone to be in a controllable state, the control terminal may also output a prompt message (such as vibration) to prompt the drone that it is controlling the drone to be in a controllable state, so that the user can wait for the drone to be in a controllable state.

[0187] Figure 8 A flowchart of a method for controlling a drone provided in another embodiment of the present application is shown in FIG. Figure 8 As shown, after the power of the UAV fails, the UAV is controlled to be in a controllable state.

[0188] In one implementation, Figure 5 S502-S504 shown in FIG. 1 enters the user control stage (see Figure 5 S505-S509 shown in the figure), and then enter the safe descent stage (see Figure 5S510-S512 shown in FIG. 1 ), and then enter the near-ground propeller stop phase (see FIG. 1 ). Figure 5 S513-S515 shown).

[0189] In one implementation, Figure 6 S602-S604 shown in the figure enters the automatic return phase (see Figure 5 S605-S606 shown in the figure), and then enter the safe descent stage (see Figure 5 S607-S609 shown in FIG. 1 ), and then enter the near-ground propeller stop phase (see FIG. 1 ). Figure 6 S610-S612 shown).

[0190] In one implementation, Figure 7 S702-S704 shown in FIG. 1 enters the landing phase (see FIG. 11 ). Figure 7 S705 shown in FIG. 1 ), and then enter the safe descent phase (see FIG. 1 ). Figure 7 S706-S708 shown in FIG. 1 ), and then enter the near-ground propeller stop phase (see FIG. 1 ). Figure 7 S709-S711 shown).

[0191] Therefore, through the above solution, the drone can land more reliably and safely after power failure, reducing the loss of property and personnel caused by the crash, and providing a better user experience. In addition, the entire safe landing process is reasonably divided into multiple stages, and the return process includes three modes: user self-control, automatic return, and on-site landing, which is suitable for users with different levels of flying experience.

[0192] A computer storage medium is also provided in an embodiment of the present application. The computer storage medium stores program instructions. When the program is executed, it may include some or all steps of the control method of the drone in any of the above embodiments.

[0193] Fig. 9 A schematic diagram of the structure of a drone provided in one embodiment of the present application is shown in FIG. Fig. 9 As shown, the drone 900 of this embodiment may include: a processor 901.

[0194] Processor 901 is used to control the drone to be in a controllable state after the power output of the drone fails; after the drone is in the controllable state, control the drone to land.

[0195] Optionally, the drone 900 further includes a communication device 902, which is used to communicate with an external device of the drone (such as a control terminal of the drone).

[0196] Optionally, the processor 901 is specifically used to: control the rotation of the drone.

[0197] Optionally, the processor 901 is specifically used to: control the rotation of the drone and control the hovering of the drone.

[0198] Optionally, the processor 901 is specifically used to: control the drone to fly from a current geographical location to a target geographical location; when the drone flies to the target geographical location, control the drone to land.

[0199] Optionally, the processor 901 is specifically configured to: receive a flight control instruction sent by a control terminal through a communication device 902, wherein the flight control instruction includes a flight direction; and control the UAV to fly from a current geographical location toward the flight direction; and when a stop flight instruction sent by a control terminal is received through the communication device 902, control the UAV to stop flying toward the flight direction and hover. The target geographical location is the geographical location where the UAV hovers after stopping flying toward the flight direction.

[0200] Optionally, the flight direction is a flight direction in a geodetic coordinate system.

[0201] Optionally, the flight control instruction also includes a flight speed;

[0202] The processor 901 is specifically configured to control the UAV to fly from the current geographical location toward the flight direction at the flight speed.

[0203] Optionally, the flight speed is less than or equal to a preset flight speed.

[0204] Optionally, the target geographic location is a preset return point of the drone.

[0205] Optionally, the processor 901 is specifically used to: receive a return instruction sent by the control terminal through the communication device 902; and control the drone to fly from the current geographical location to the preset return point according to the return instruction.

[0206] Optionally, the return instruction includes a preset return point, or a route for the drone to return from the current geographic location to the preset return point.

[0207] Optionally, the processor 901 is further configured to control the drone to fly to a preset altitude before controlling the drone to fly from the current geographical location to the target geographical location;

[0208] When controlling the UAV to fly from the current geographical location to the target geographical location, the processor 901 is specifically configured to: control the UAV to fly from the current geographical location to the target geographical location at the preset altitude.

[0209] Optionally, the processor 901 is specifically used to: control the drone to land at the current geographic location.

[0210] Optionally, the processor 901 is specifically used to: receive a landing-on-the-spot instruction sent by the control terminal through the communication device 902; and control the UAV to land at the current geographic location according to the landing-on-the-spot instruction.

[0211] Optionally, the processor 901 is specifically used to: control the UAV to land to a position at a preset distance from a safety plane in the height direction; control the UAV to stop power output at the position, so that the UAV lands to the safety plane.

[0212] Optionally, the processor 901 is specifically used to: receive a safe landing instruction sent by the control terminal through the communication device 901; and control the drone to land to a position at a preset distance from a safety plane in the height direction according to the safe landing instruction.

[0213] Optionally, the processor 901 is specifically used to: receive a power output stop instruction sent by a control terminal at the location through the communication device 902; and control the UAV to stop power output according to the power output stop instruction.

[0214] Optionally, the processor 901 is specifically configured to: if no power output stop instruction is received from the control terminal within a preset time period, control the UAV to stop power output at the position.

[0215] Optionally, the processor 901 is further used to control the drone to rotate after the drone is in a controllable state and before controlling the drone to stop landing.

[0216] Optionally, the drone of this embodiment further includes a memory (not shown in the figure) for storing program codes, and when the program codes are called, the drone implements the above-mentioned solutions.

[0217] The drone of this embodiment can be used to execute the technical solutions of the drone in the above-mentioned method embodiments of this application. The implementation principles and technical effects are similar and will not be repeated here.

[0218] Fig.10 A schematic diagram of the structure of a control terminal provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the control terminal 1000 of this embodiment may include: a processor 1001.

[0219] Processor 1001 is used to obtain a target control strategy determined from at least one different control strategy after the power output of the UAV fails and the UAV is in a controllable state, each control strategy being used to control the UAV to land; and control the UAV to land according to the target control strategy.

[0220] Optionally, the control terminal 1000 further includes a communication device 1002, and the communication device 1002 is used to communicate with an external device of the drone (such as the control terminal of the drone).

[0221] Optionally, the control terminal 1000 further includes an output device 1003, and the output device 1003 is used to output information to the user. The output device 1003 is, for example, a display device or a speaker.

[0222] Optionally, the control terminal 1000 further includes an input device 1004, and the input device 1004 is used for a user to input information to the control terminal. The input device 1004 is, for example, an interactive device, such as a touch device, a microphone, or a remote control.

[0223] The display device and the touch device can be integrated into a touch display screen.

[0224] Optionally, the processor 1001 is further used to output a first prompt message through the output device 1003 before obtaining a target control strategy determined from at least one different control strategy, wherein the first prompt message is used to prompt that a target control strategy needs to be selected from the at least one different control strategy.

[0225] When obtaining a target control strategy determined from at least one different control strategy, the processor 1001 is specifically used to: obtain a user's selection instruction through the input device 1004, and the selection instruction is used to instruct the user to select a target control strategy from the at least one different control strategy; determine the target control strategy according to the user's selection instruction.

[0226] Optionally, the processor 1001 is specifically configured to: if no selection instruction from the user is obtained within a first preset time period after outputting the first prompt information, determine a pre-default control strategy among at least one different control strategy as the target control strategy.

[0227] Optionally, the processor 1001 is further used to output second prompt information through the output device 1003, and the second prompt information is used to prompt to control the drone according to the target control strategy.

[0228] Optionally, the processor 1001 is specifically used to: control the UAV to fly from the current geographical location to the target geographical location according to the target control strategy; and control the UAV to land at the target geographical location.

[0229] Optionally, the target control strategy includes: a user control strategy. The processor 1001 is specifically configured to: obtain a user's control operation on the drone through the input device 1004 according to the user control strategy; and control the drone to fly from a current geographical location to a target geographical location according to the control operation.

[0230] Optionally, the control operation includes a flight direction control operation and a flight stop operation.

[0231] The processor 1001 is specifically used to: determine the flight direction set by the user according to the flight direction control operation; send a flight control instruction to the drone through the communication device 1002, the flight control instruction includes the flight direction, so that the drone flies from the current geographical location to the flight direction. When the stop flight operation is obtained through the input device 1004, a stop flight instruction is sent to the drone to stop the drone from flying in the flight direction until the drone hovers. The target geographical location is the geographical location where the drone hovers after stopping flying in the flight direction.

[0232] Optionally, the flight direction is a flight direction in a geodetic coordinate system.

[0233] Optionally, the control operation further includes a flight speed control operation. The processor 1001 is further configured to determine a flight speed set by a user according to the flight speed control operation. The flight control instruction further includes the flight speed, so that the drone flies in the flight direction at the flight speed.

[0234] Optionally, the target control strategy includes: a return control strategy, the target geographical location is a preset return point of the drone. The processor 1001 is specifically configured to: control the drone to return from the current geographical location to the preset return point according to the return control strategy.

[0235] Optionally, the processor 1001 is specifically used to: send a return instruction to the drone through the communication device 1002 according to the return control strategy, so that the drone returns to the preset return point.

[0236] Optionally, the return instruction includes the preset return point, or the route of the drone returning from the current geographical location to the preset return point.

[0237] Optionally, the target control strategy includes: an in-situ landing control strategy. The processor 1001 is specifically configured to: control the drone to land at a current geographical location according to the in-situ landing control strategy.

[0238] Optionally, the processor 1001 is specifically used to: send an in-situ landing instruction to the drone through the communication device 1002 according to the in-situ landing control strategy, so as to control the drone to land at the current geographical location.

[0239] Optionally, the processor 1001 is specifically used to: control the UAV to land to a position at a preset distance from the safety plane in the height direction; send a power output stop command to the UAV through the communication device 1002, so that the UAV stops power output to land to the safety plane.

[0240] Optionally, the processor 1001 is specifically used to: when obtaining a user's safe landing confirmation instruction through the input device 1004, send a safe landing instruction to the drone through the communication device 1002, so that the drone lands to a position at a preset distance from the safety plane in the height direction.

[0241] Optionally, the processor 1001 is further used to output a third prompt message through the output device 1003 before obtaining the user's safe landing confirmation instruction, and the third prompt message is used to prompt whether to control the drone to start landing in the height direction.

[0242] Optionally, the processor 1001 is specifically configured to: when a power output stop confirmation instruction from the user is obtained through the input device 1004 , send a power output stop instruction to the drone through the communication device 1002 .

[0243] Optionally, the processor 1001 is further used to output a fourth prompt message through the output device 1003 before sending a power output stop instruction to the drone through the communication device 1002, and the fourth prompt message is used to prompt whether to control the power output of the drone to stop.

[0244] Optionally, the processor 1001 is specifically configured to: if no power output stop confirmation instruction from the user is obtained within a second preset time period after outputting the fourth prompt information, send a power output stop instruction to the drone through the communication device 1002.

[0245] Optionally, the processor 1001 is further used to output a fifth prompt information through the output device 1003 before obtaining a target control strategy determined from at least one different control strategy, and the fifth prompt information is used to prompt that the state of the UAV is in a controllable state after the power output of the UAV fails.

[0246] Optionally, the processor 1001 is further used to output a sixth prompt message through the output device 1003 after the power output of the UAV fails, and the sixth prompt message is used to prompt that the power output of the UAV fails.

[0247] Optionally, the control terminal of this embodiment further includes a memory (not shown in the figure) for storing program codes, and when the program codes are called, the control terminal implements the above-mentioned solutions.

[0248] The control terminal of this embodiment can be used to execute the technical solutions of the control terminal in the above-mentioned method embodiments of this application. The implementation principles and technical effects are similar and will not be repeated here.

[0249] Fig.11 A schematic diagram of the structure of a control system of a drone provided in one embodiment of the present application is shown in FIG. Fig.11 As shown, the control system 1100 of the drone of this embodiment may include: a drone 1101 and a control terminal 1102.

[0250] The drone 1101 can implement the technical solution of the drone provided in any of the above embodiments, which will not be described in detail here. The control terminal 1102 can implement the technical solution of the control terminal provided in any of the above embodiments, which will not be described in detail here.

[0251] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0252] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling an unmanned aerial vehicle, characterized in that: Applied to a drone, the method comprises: After the power output of the UAV fails, controlling the UAV to be in a controllable state; and After the UAV is in a controllable state, controlling the UAV to land; Wherein, controlling the drone to land includes: receiving a flight control instruction sent by a control terminal, wherein the flight control instruction includes a flight direction, and the flight direction is a flight direction in a geodetic coordinate system; or, Receive the return command sent by the control terminal; and According to the return instruction, the drone is controlled to fly from the current geographical location to a preset return point.

2. The method according to claim 1, characterized in that The controlling the drone to be in a controllable state includes: The drone is controlled to rotate.

3. The method according to claim 2, characterized in that The controlling the drone to be in a controllable state further includes: The drone is controlled to hover.

4. The method according to claim 1, characterized in that: The controlling the drone to land comprises: Controlling the UAV to fly from a current geographical location to a target geographical location; When the drone flies to the target geographical location, the drone is controlled to land.

5. The method according to claim 4, characterized in that The controlling the drone to fly from the current geographical location to the target geographical location includes: receiving the flight control instruction sent by the control terminal, wherein the flight control instruction includes the flight direction; Controlling the UAV to fly from the current geographical location toward the flight direction; and When receiving a stop flight instruction sent by the control terminal, controlling the UAV to stop flying in the flight direction and hovering; The target geographic location is the geographic location where the UAV hovers after stopping flying in the flight direction.

6. The method according to claim 5, characterized in that The flight control instructions also include flight speed; The controlling the drone to fly from the current geographical location toward the flight direction comprises: The drone is controlled to fly from the current geographical location at the flight speed toward the flight direction.

7. The method according to claim 6, characterized in that The flight speed is less than or equal to a preset flight speed.

8. The method according to claim 4, characterized in that The target geographic location is the preset return point.

9. The method according to claim 8, characterized in that The controlling the drone to fly from the current geographical location to the target geographical location includes: Receiving the return instruction sent by the control terminal; According to the return instruction, the drone is controlled to fly from the current geographical location to the preset return point.

10. The method according to claim 9, characterized in that The return instruction includes the preset return point, or the route of the drone returning from the current geographical location to the preset return point.

11. The method according to claim 9, characterized in that Before controlling the drone to fly from the current geographical location to the target geographical location, the method further includes: Controlling the UAV to fly to a preset altitude; Controlling the UAV to fly from the current geographical location to the target geographical location includes: The drone is controlled to fly from the current geographical location to the target geographical location at the preset altitude.

12. The method according to claim 10, characterized in that Before controlling the drone to fly from the current geographical location to the target geographical location, the method further includes: Controlling the UAV to fly to a preset altitude; Controlling the UAV to fly from the current geographical location to the target geographical location includes: The drone is controlled to fly from the current geographical location to the target geographical location at the preset altitude.

13. The method according to any one of claims 1 to 12, characterized in that: Controlling the UAV to land, including: Controlling the drone to land at a position at a preset distance from the safety plane in the height direction; The drone is controlled to stop power output at the position so that the drone lands on the safety plane.

14. The method according to claim 13, characterized in that Controlling the drone to land at a position at a preset distance from the safety plane in the height direction includes: Receiving a safe landing instruction sent by the control terminal; According to the safe landing instruction, the drone is controlled to land to a position at a preset distance from the safety plane in the height direction.

15. The method according to claim 13, characterized in that Controlling the power output of the UAV to stop at the position includes: receiving, at the said position, a power output stop command sent by the control terminal; According to the power output stop instruction, the drone is controlled to stop power output.

16. The method according to claim 15, characterized in that Controlling the power output of the UAV to stop at the position further includes: If the power output stop command sent by the control terminal is not received within the preset time, the UAV is controlled to stop power output at the position.

17. The method according to any one of claims 1 to 12, characterized in that: After the UAV is in a controllable state, the method further includes: Before controlling the UAV to stop landing, the UAV is controlled to rotate.

18. A method for controlling an unmanned aerial vehicle, characterized in that: Applied to a control terminal, the method comprises: After the power output of the UAV fails and the UAV is in a controllable state, obtaining a target control strategy determined from at least one different control strategy, each control strategy is used to control the UAV to land, wherein the UAV being in a controllable state includes the UAV rotating and hovering; According to the target control strategy, the UAV is controlled to land.

19. The method according to claim 18, characterized in that Before obtaining the target control strategy determined from at least one different control strategy, the method further includes: Outputting first prompt information, wherein the first prompt information is used to prompt that a target control strategy needs to be selected from the at least one different control strategy; The obtaining of a target control strategy determined from at least one different control strategy comprises: Acquire a selection instruction of a user, wherein the selection instruction is used to instruct the user to select a target control strategy from the at least one different control strategy; The target control strategy is determined according to the user's selection instruction.

20. The method according to claim 19, characterized in that The obtaining of a target control strategy determined from at least one different control strategy further includes: If no selection instruction from the user is obtained within a first preset time period after the first prompt information is output, a pre-default control strategy among at least one different control strategy is determined as the target control strategy.

21. The method according to claim 19, characterized in that Also includes: Output second prompt information, where the second prompt information is used to prompt to control the drone according to the target control strategy.

22. The method according to claim 20, characterized in that Also includes: Output second prompt information, where the second prompt information is used to prompt to control the drone according to the target control strategy.

23. The control method according to claim 18, characterized in that: According to the target control strategy, controlling the UAV to land includes: According to the target control strategy, controlling the UAV to fly from the current geographical location to the target geographical location; The drone is controlled to land at the target geographic location.

24. The method according to claim 23, characterized in that The target control strategy includes: user control strategy; According to the target control strategy, controlling the UAV to fly from the current geographical location to the target geographical location includes: Acquiring a user's control operation on the drone according to the user control strategy; According to the control operation, the UAV is controlled to fly from the current geographical location to the target geographical location.

25. The method according to claim 24, characterized in that The control operation includes a flight direction control operation and a flight stop operation. According to the control operation, controlling the UAV to fly from the current geographical location to the target geographical location includes: Determining the flight direction set by the user according to the flight direction control operation; Sending a flight control instruction to the drone, wherein the flight control instruction includes the flight direction, so that the drone flies from a current geographical location toward the flight direction; When the stop flight operation is acquired, a stop flight instruction is sent to the drone, so that the drone stops flying in the flight direction until the drone hovers; The target geographic location is the geographic location where the UAV hovers after stopping flying in the flight direction.

26. The method according to claim 25, characterized in that The flight direction is the flight direction in the geodetic coordinate system.

27. The method according to claim 25, characterized in that The control operation also includes a flight speed control operation; the method also includes: Determining the flight speed set by the user according to the flight speed control operation; The flight control instruction also includes the flight speed, so that the UAV flies in the flight direction at the flight speed.

28. The method according to claim 26, characterized in that The control operation also includes a flight speed control operation; the method also includes: Determining the flight speed set by the user according to the flight speed control operation; The flight control instruction also includes the flight speed, so that the UAV flies in the flight direction at the flight speed.

29. The method according to claim 23, characterized in that The target control strategy includes: a return control strategy, the target geographical location is a preset return point of the UAV; According to the target control strategy, controlling the UAV to fly from the current geographical location to the target geographical location includes: According to the return control strategy, the drone is controlled to return from the current geographical location to the preset return point.

30. The method according to claim 29, characterized in that According to the return control strategy, controlling the drone to return from the current geographical location to a preset return point includes: According to the return control strategy, a return instruction is sent to the drone to make the drone return to the preset return point.

31. The method according to claim 30, characterized in that The return instruction includes the preset return point, or the route of the drone returning from the current geographical location to the preset return point.

32. The method according to claim 30, characterized in that The return instruction includes the preset return point, or the route of the drone returning from the current geographical location to the preset return point.

33. The method according to claim 18, characterized in that The target control strategy includes: in-situ landing control strategy; The step of controlling the UAV to land according to the target control strategy includes: According to the in-situ landing control strategy, the UAV is controlled to land at the current geographical location.

34. The method according to claim 33, characterized in that The controlling the UAV to land at the current geographical location according to the in-situ landing control strategy includes: According to the in-situ landing control strategy, an in-situ landing instruction is sent to the drone to control the drone to land at the current geographical location.

35. The method according to any one of claims 18 to 34, characterized in that The controlling the drone to land comprises: Controlling the drone to land at a position at a preset distance from the safety plane in the height direction; A power output stop command is sent to the UAV, so that the UAV stops power output and lands on the safety plane.

36. The method according to claim 35, characterized in that Controlling the drone to land at a position at a preset distance from the safety plane in the height direction includes: When a safe landing confirmation instruction from the user is obtained, a safe landing instruction is sent to the drone, so that the drone lands to a position at a preset distance from the safety plane in the height direction.

37. The method according to claim 36, characterized in that Before obtaining the user's safe landing confirmation instruction, the method further includes: Output a third prompt message, where the third prompt message is used to prompt whether to control the drone to start landing in the height direction.

38. The method according to claim 35, characterized in that The sending of a power output stop instruction to the UAV includes: When the power output stop confirmation instruction of the user is obtained, a power output stop instruction is sent to the drone.

39. The method according to claim 38, characterized in that Before sending the power output stop instruction to the UAV, the method further includes: Output a fourth prompt message, where the fourth prompt message is used to prompt whether to control the drone to stop power output.

40. The method according to claim 39, characterized in that The sending of a power output stop instruction to the UAV further includes: If the power output stop confirmation instruction of the user is not obtained within the second preset time period after the fourth prompt information is output, a power output stop instruction is sent to the drone.

41. The method according to any one of claims 18 to 34, characterized in that Before obtaining the target control strategy determined from at least one different control strategy, the method further includes: Output fifth prompt information, where the fifth prompt information is used to prompt that the state of the drone is in a controllable state after the power output of the drone fails.

42. The method according to any one of claims 18 to 34, characterized in that Also includes: After the power output of the UAV fails, sixth prompt information is output, where the sixth prompt information is used to prompt that the power output of the UAV fails.

43. A drone, characterized in that: include: A processor, used to control the drone to be in a controllable state after the power output of the drone fails; After the UAV is in a controllable state, controlling the UAV to land; Wherein, controlling the drone to land includes: receiving a flight control instruction sent by a control terminal, wherein the flight control instruction includes a flight direction, and the flight direction is a flight direction in a geodetic coordinate system; or, Receive the return command sent by the control terminal; and According to the return instruction, the drone is controlled to fly from the current geographical location to a preset return point.

44. The drone according to claim 43, characterized in that: The processor is specifically used to control the rotation of the drone.

45. The drone according to claim 43, characterized in that The processor is specifically used to control the rotation of the drone and the hovering of the drone.

46. ​​The drone according to claim 43, characterized in that The processor is specifically used to: control the drone to fly from a current geographical location to a target geographical location; and control the drone to land when the drone flies to the target geographical location.

47. The drone according to claim 46, characterized in that The processor is specifically configured to: receive a flight control instruction sent by a control terminal through a communication device of the drone; and control the drone to fly from a current geographical location toward the flight direction; and when a stop flight instruction sent by a control terminal is received through the communication device, control the drone to stop flying toward the flight direction and hover; The target geographic location is the geographic location where the UAV hovers after stopping flying in the flight direction.

48. The drone according to claim 47, characterized in that: The flight control instructions also include flight speed; The processor is specifically used to control the UAV to fly from the current geographical location toward the flight direction at the flight speed.

49. The drone according to claim 48, characterized in that The flight speed is less than or equal to a preset flight speed.

50. The drone according to claim 46, characterized in that: The target geographic location is a preset return point of the drone.

51. The drone according to claim 50, characterized in that: The processor is specifically used to: receive a return instruction sent by the control terminal through the communication device of the drone; and control the drone to fly from the current geographical location to the preset return point according to the return instruction.

52. The drone according to claim 51, characterized in that: The return instruction includes a preset return point, or a route for the drone to return from the current geographical location to the preset return point.

53. The drone according to claim 51, characterized in that: The processor is further configured to control the drone to fly to a preset altitude before controlling the drone to fly from the current geographical location to the target geographical location; When controlling the UAV to fly from the current geographical location to the target geographical location, the processor is specifically used to: control the UAV to fly from the current geographical location to the target geographical location at the preset altitude.

54. The drone according to claim 52, characterized in that: The processor is further configured to control the drone to fly to a preset altitude before controlling the drone to fly from the current geographical location to the target geographical location; When controlling the UAV to fly from the current geographical location to the target geographical location, the processor is specifically used to: control the UAV to fly from the current geographical location to the target geographical location at the preset altitude.

55. The drone according to any one of claims 43-54, characterized in that: The processor is specifically used for: Controlling the drone to land at a position at a preset distance from the safety plane in the height direction; The drone is controlled to stop power output at the position, so that the drone lands on the safety plane.

56. The drone according to claim 55, characterized in that The processor is specifically used to: receive a safe landing instruction sent by the control terminal through the communication device of the drone; and control the drone to land to a position at a preset distance from a safety plane in a height direction according to the safe landing instruction.

57. The drone according to claim 56, characterized in that The processor is specifically used to: receive a power output stop instruction sent by a control terminal at the location through the communication device; and control the UAV to stop power output according to the power output stop instruction.

58. The drone according to claim 57, characterized in that: The processor is specifically used to control the UAV to stop power output at the position if no power output stop instruction sent by the control terminal is received within a preset time period.

59. The drone according to any one of claims 43 to 54, characterized in that: The processor is further used to control the drone to rotate after the drone is in a controllable state and before controlling the drone to stop landing.

60. A control terminal, characterized in that: include: A processor is used to obtain a target control strategy determined from at least one different control strategy after the power output of the drone fails and the drone is in a controllable state, each control strategy being used to control the drone to land; and control the drone to land according to the target control strategy, wherein the drone being in a controllable state includes the drone rotating and hovering.

61. The control terminal according to claim 60, characterized in that: The processor is further configured to output first prompt information through an output device of the control terminal before acquiring a target control strategy determined from at least one different control strategy, wherein the first prompt information is used to prompt that a target control strategy needs to be selected from the at least one different control strategy; When obtaining a target control strategy determined from at least one different control strategy, the processor is specifically used to: obtain a user's selection instruction through an input device of the control terminal, wherein the selection instruction is used to instruct the user to select a target control strategy from the at least one different control strategy; and determine the target control strategy according to the user's selection instruction.

62. The control terminal according to claim 61, characterized in that: The processor is specifically configured to: if no selection instruction from the user is obtained within a first preset time period after outputting the first prompt information, determine a pre-default control strategy among at least one different control strategy as the target control strategy.

63. The control terminal according to claim 61, characterized in that: The processor is further used to output second prompt information through the output device of the control terminal, where the second prompt information is used to prompt the drone to be controlled according to the target control strategy.

64. The control terminal according to claim 62, characterized in that: The processor is further used to output second prompt information through the output device of the control terminal, where the second prompt information is used to prompt the drone to be controlled according to the target control strategy.

65. The control terminal according to claim 60, characterized in that: The processor is specifically used to: control the UAV to fly from the current geographical location to the target geographical location according to the target control strategy; and control the UAV to land at the target geographical location.

66. The control terminal according to claim 65, characterized in that: The target control strategy includes: user control strategy; The processor is specifically used to: obtain the user's control operation on the drone through the input device of the control terminal according to the user control strategy; and control the drone to fly from the current geographical location to the target geographical location according to the control operation.

67. The control terminal according to claim 66, characterized in that: The control operation includes a flight direction control operation and a flight stop operation, and the processor is specifically used for: Determining the flight direction set by the user according to the flight direction control operation; Sending a flight control instruction to the UAV through the communication device of the control terminal, wherein the flight control instruction includes the flight direction, so that the UAV flies from the current geographical location toward the flight direction; When the stop flight operation is acquired through the input device of the control terminal, a stop flight instruction is sent to the drone to stop the drone from flying in the flight direction until the drone hovers; The target geographic location is the geographic location where the UAV hovers after stopping flying in the flight direction.

68. The control terminal according to claim 67, characterized in that: The flight direction is the flight direction in the geodetic coordinate system.

69. The control terminal according to claim 67, characterized in that: The control operation also includes a flight speed control operation; the processor is further configured to determine a flight speed set by a user according to the flight speed control operation; The flight control instruction also includes the flight speed, so that the UAV flies in the flight direction at the flight speed.

70. The control terminal according to claim 68, characterized in that: The control operation also includes a flight speed control operation; the processor is further configured to determine a flight speed set by a user according to the flight speed control operation; The flight control instruction also includes the flight speed, so that the UAV flies in the flight direction at the flight speed.

71. The control terminal according to claim 65, characterized in that: The target control strategy includes: a return control strategy, the target geographical location is a preset return point of the UAV; The processor is specifically used to control the drone to return from the current geographical location to the preset return point according to the return control strategy.

72. The control terminal according to claim 71, characterized in that: The processor is specifically used to: send a return instruction to the drone through the communication device of the control terminal according to the return control strategy, so that the drone returns to the preset return point.

73. The control terminal according to claim 72, characterized in that: The return instruction includes the preset return point, or the route of the drone returning from the current geographical location to the preset return point.

74. The control terminal according to claim 72, characterized in that: The return instruction includes the preset return point, or the route of the drone returning from the current geographical location to the preset return point.

75. The control terminal according to claim 60, characterized in that: The target control strategy includes: in-situ landing control strategy; The processor is specifically used to control the UAV to land at the current geographical location according to the in-situ landing control strategy.

76. The control terminal according to claim 75, characterized in that: The processor is specifically used to: send an in-situ landing instruction to the drone through the communication device of the control terminal according to the in-situ landing control strategy, so as to control the drone to land at the current geographical location.

77. The control terminal according to any one of claims 60 to 76, characterized in that: The processor is specifically used for: Controlling the drone to land at a position at a preset distance from the safety plane in the height direction; A power output stop command is sent to the UAV through the communication device of the control terminal, so that the UAV stops power output and lands on the safety plane.

78. The control terminal according to claim 77, characterized in that: The processor is specifically used for: When a safe landing confirmation instruction from the user is obtained through the input device of the control terminal, a safe landing instruction is sent to the drone through the communication device to make the drone land to a position at a preset distance from the safety plane in the height direction.

79. The control terminal according to claim 78, characterized in that: The processor is further used to output third prompt information through the output device of the control terminal before obtaining the user's safe landing confirmation instruction, and the third prompt information is used to prompt whether to control the drone to start landing in the height direction.

80. The control terminal according to claim 77, characterized in that: The processor is specifically used to: when a power output stop confirmation instruction of the user is obtained through the input device of the control terminal, send a power output stop instruction to the drone through the communication device.

81. The control terminal according to claim 80, characterized in that: The processor is further used to output fourth prompt information through the output device of the control terminal before sending a power output stop instruction to the drone through the communication device, and the fourth prompt information is used to prompt whether to control the power output of the drone to stop.

82. The control terminal according to claim 81, characterized in that: The processor is specifically configured to: if no power output stop confirmation instruction from the user is obtained within a second preset time period after outputting the fourth prompt information, send a power output stop instruction to the drone via the communication device.

83. The control terminal according to any one of claims 60-76, characterized in that: The processor is further used to output fifth prompt information through the output device of the control terminal before obtaining the target control strategy determined from at least one different control strategy, and the fifth prompt information is used to prompt that the state of the drone is in a controllable state after the power output of the drone fails.

84. The control terminal according to any one of claims 60 to 76, characterized in that: The processor is further used to output sixth prompt information through the output device of the control terminal after the power output of the drone fails, and the sixth prompt information is used to prompt that the power output of the drone fails.

85. A readable storage medium, characterized in that The readable storage medium stores a computer program; when the computer program is executed, it implements the control method of the drone as described in any one of claims 1-17 or any one of claims 18-42.

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