Control method, apparatus, system, aircraft, control device, and storage medium

Abstract

A control method for an aircraft, comprising: controlling an aircraft to fly in a target camera movement mode, and during the flight, controlling a photographing subject of a photographing apparatus of the aircraft to be a target object (S111); and in response to the aircraft finishing flying in the target camera movement mode, automatically controlling the aircraft to switch to follow the target object, wherein the function of following the target object is not associated with a preset flight trajectory (S112). The method improves the intelligence of aircraft control.

Description

Control methods, devices, systems, aircraft, control equipment, and storage media Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a control method, device, system, aircraft, control equipment, and storage medium for an aircraft. Background Technology

[0002] Currently, the aircraft features various camera movement modes, including one-click short film (e.g., fading away, shooting upwards, orbiting, spiraling, comet, asteroid, etc.), follow mode, and master shot mode. The aircraft can quickly complete automatic camera movement and shooting according to the user-selected mode. In related technologies, after executing a camera movement mode, the aircraft hovers at the starting position of that mode, but this method is not intelligent enough. Summary of the Invention

[0003] Based on this, embodiments of this application provide a control method, apparatus, system, aircraft, control equipment, and storage medium for an aircraft, aiming to improve the control intelligence of the aircraft.

[0004] In a first aspect, embodiments of this application provide a method for controlling an aircraft, including:

[0005] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0006] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory.

[0007] Secondly, embodiments of this application also provide a method for controlling an aircraft, including:

[0008] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0009] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process.

[0010] Thirdly, embodiments of this application also provide a method for controlling an aircraft, including:

[0011] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0012] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0013] The control method provided by any one of the first to third aspects improves the control intelligence of the aircraft by automatically switching the aircraft to follow the target object after the aircraft finishes flying in the target camera mode. Since the aircraft follows the target object, it is not only applicable to scenarios where the target object is stationary, but also more applicable to scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, since the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to recover the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft recovery.

[0014] Fourthly, embodiments of this application also provide a method for controlling an aircraft, including:

[0015] Control the aircraft to fly in the target flight mode;

[0016] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory.

[0017] Fifthly, embodiments of this application also provide a method for controlling an aircraft, including:

[0018] Control the aircraft to fly in the target flight mode;

[0019] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object.

[0020] Sixthly, embodiments of this application also provide a method for controlling an aircraft, including:

[0021] Control the aircraft to fly in the target flight mode;

[0022] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user.

[0023] The control method provided in any of the fourth to sixth aspects improves the control intelligence of the aircraft by automatically switching the aircraft to follow the target object after the aircraft finishes flying in the target flight mode. Since the aircraft follows the target object, it is not only applicable to scenarios where the target object is stationary, but also more applicable to scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, since the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to recover the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft recovery.

[0024] Seventhly, embodiments of this application also provide a method for controlling an aircraft, including:

[0025] Control the aircraft to fly in the target flight mode;

[0026] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory.

[0027] Eighthly, embodiments of this application also provide a method for controlling an aircraft, including:

[0028] Control the aircraft to fly in the target flight mode;

[0029] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process.

[0030] Ninthly, embodiments of this application also provide a method for controlling an aircraft, including:

[0031] Control the aircraft to fly in the target flight mode;

[0032] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0033] The control method provided by any one of the seventh to ninth aspects improves the control intelligence of the aircraft by automatically switching the aircraft to a specific operation after the aircraft finishes flying in the target flight mode. Furthermore, since the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following the target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing any function, preventing the aircraft from being lost. Moreover, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating efficient aircraft recovery by the user and improving the convenience and efficiency of aircraft recovery.

[0034] In a tenth aspect, embodiments of this application also provide a control device for an aircraft, the control device including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0035] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0036] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory.

[0037] Eleventhly, embodiments of this application also provide a control device for an aircraft, the control device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0038] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0039] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process.

[0040] In a twelfth aspect, embodiments of this application also provide a control device for an aircraft, the control device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0041] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0042] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0043] In a thirteenth aspect, embodiments of this application also provide an aircraft, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0044] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0045] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory.

[0046] In a fourteenth aspect, embodiments of this application also provide an aircraft, including: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0047] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0048] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process.

[0049] In a fifteenth aspect, embodiments of this application also provide an aircraft, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0050] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0051] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0052] In a sixteenth aspect, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0053] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0054] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory.

[0055] In a seventeenth aspect, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0056] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0057] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process.

[0058] In an eighteenth aspect, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0059] The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight.

[0060] In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0061] Nineteenthly, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0062] The communication device is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight.

[0063] The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target camera movement mode, wherein the function of following the target object is not associated with a preset flight trajectory.

[0064] In a twentieth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0065] The communication device is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight.

[0066] The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target camera mode, wherein the aircraft's camera device does not capture images of the target object during the following process.

[0067] In a twentieth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0068] The communication device is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight.

[0069] The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target camera movement mode, wherein the target camera movement mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0070] In a twentieth aspect, embodiments of this application also provide a control device for an aircraft, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0071] Control the aircraft to fly in the target flight mode;

[0072] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory.

[0073] In a twentieth aspect, embodiments of this application also provide a control device for an aircraft, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0074] Control the aircraft to fly in the target flight mode;

[0075] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object.

[0076] In a twentieth aspect, embodiments of this application also provide a control device for an aircraft, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0077] Control the aircraft to fly in the target flight mode;

[0078] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user.

[0079] In a twentieth aspect, embodiments of this application also provide an aircraft, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0080] Control the aircraft to fly in the target flight mode;

[0081] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory.

[0082] In a twentieth aspect, embodiments of this application also provide an aircraft, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0083] Control the aircraft to fly in the target flight mode;

[0084] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object.

[0085] In a twentieth aspect, embodiments of this application also provide an aircraft, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0086] Control the aircraft to fly in the target flight mode;

[0087] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user.

[0088] In a twentieth aspect, embodiments of this application also provide a control device, comprising: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0089] Control the aircraft to fly in the target flight mode;

[0090] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory.

[0091] In a twentieth aspect, embodiments of this application also provide a control device, characterized in that it includes: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0092] Control the aircraft to fly in the target flight mode;

[0093] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object.

[0094] Thirtiethly, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0095] Control the aircraft to fly in the target flight mode;

[0096] In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user.

[0097] In a thirtieth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0098] The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode.

[0099] The processor is configured to automatically control the aircraft to switch to following a target object in response to the aircraft ending flight in the target flight mode, wherein the target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory.

[0100] In a thirty-second aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0101] The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode.

[0102] The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target flight mode. The target flight mode and the aircraft following the target object are not two sub-stages of the same following function. During the process of following the target object, the aircraft's camera does not take pictures of the target object.

[0103] In a thirty-third aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0104] The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode.

[0105] The processor is configured to automatically control the aircraft to switch to following a target object in response to the aircraft ending flight in the target flight mode. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user.

[0106] In a thirty-fourth aspect, embodiments of this application also provide a control device for an aircraft, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0107] Control the aircraft to fly in the target flight mode;

[0108] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory.

[0109] In a thirty-fifth aspect, embodiments of this application also provide a control device for an aircraft, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0110] Control the aircraft to fly in the target flight mode;

[0111] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process.

[0112] In a thirty-sixth aspect, embodiments of this application also provide a control device for an aircraft, the device comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps:

[0113] Control the aircraft to fly in the target flight mode;

[0114] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0115] In a thirty-seventh aspect, embodiments of this application also provide an aircraft, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0116] Control the aircraft to fly in the target flight mode;

[0117] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory.

[0118] In a thirty-eighth aspect, embodiments of this application also provide an aircraft, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0119] Control the aircraft to fly in the target flight mode;

[0120] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process.

[0121] In a thirty-ninth aspect, embodiments of this application also provide an aircraft, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0122] Control the aircraft to fly in the target flight mode;

[0123] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0124] In a fortieth aspect, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0125] Control the aircraft to fly in the target flight mode;

[0126] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory.

[0127] In a forty-one aspect, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0128] Control the aircraft to fly in the target flight mode;

[0129] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process.

[0130] In a forty-second aspect, embodiments of this application also provide a control device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, to perform the following steps:

[0131] Control the aircraft to fly in the target flight mode;

[0132] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0133] In a forty-third aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0134] The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode.

[0135] The processor is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft ending flight in the target flight mode, wherein the specific operation is selected from at least two operations, at least one of which includes an operation of following a target object, the function of following the target object not associated with a preset flight trajectory.

[0136] In a forty-fourth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0137] The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode.

[0138] The processor is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft ending flight in the target flight mode, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, and the aircraft's imaging device does not photograph the target object during the process of following the target object.

[0139] In a forty-fifth aspect, embodiments of this application also provide a control system for an aircraft, the system comprising: a memory, a processor, and a communication device, wherein the memory is used to store a computer program; and the processor is used to execute the computer program.

[0140] The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode.

[0141] The processor is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft ending flight in the target flight mode, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0142] In a forty-sixth aspect, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method described in any one of the first to ninth aspects.

[0143] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0144] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0145] Figure 1 is a schematic flowchart of the steps of a control method for an aircraft provided in an embodiment of this application;

[0146] Figure 2 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0147] Figure 3 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0148] Figure 4 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0149] Figure 5 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0150] Figure 6 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0151] Figure 7 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0152] Figure 8 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0153] Figure 9 is a schematic flowchart of another aircraft control method provided in an embodiment of this application;

[0154] Figure 10 is a schematic block diagram of the structure of a control device for an aircraft provided in an embodiment of this application;

[0155] Figure 11 is a schematic block diagram of the structure of an aircraft provided in an embodiment of this application;

[0156] Figure 12 is a schematic block diagram of the structure of a control device provided in an embodiment of this application;

[0157] Figure 13 is a schematic diagram of a control system for an aircraft provided in an embodiment of this application. Detailed Implementation

[0158] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0159] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0160] Currently, the aircraft has one-click short film mode (e.g., fading away, soaring, orbiting, spiraling, comet, asteroid, etc.), follow mode, and master lens mode, etc. The aircraft can quickly complete automatic camera movement and shooting according to the camera movement mode selected by the user.

[0161] In some embodiments, the aircraft of this application can have a control-off mode. For example, the aircraft can be controlled by the user to perform some flight functions without being connected to a control device. For instance, the aircraft is equipped with controls on its fuselage, allowing the user to input relevant parameters and trigger takeoff / landing, or control the aircraft to perform other flight operations, such as controlling the aircraft to execute one-click short film (e.g., fade-out, soaring, orbiting, spiral, comet, asteroid, etc.) mode, follow mode, or master shot mode. The controls can include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, or dials. Virtual controls can be, for example, virtual controls displayed on a screen, and can include buttons or sliders. User input to physical controls includes pressing, rotating, or flicking input. User input to virtual controls includes pressing or sliding input.

[0162] In some implementations, the aircraft supports palm takeoff and / or palm landing in off-control mode. This means the user places the aircraft on their palm and controls it via controls on the fuselage to perform palm takeoff. The aircraft can be controlled to return to home or land on the user's outstretched palm via voice, attitude, gestures, or movement parameters. Movement parameters can include, for example, the distance and / or direction of movement. For example, triggering the return-to-home action via attitude can include the user remaining still for a period of time. Similarly, triggering palm landing via attitude can include the user extending their palm to trigger the palm landing action.

[0163] In some embodiments, the aircraft of this application may also have a controlled mode. For example, the aircraft can be controlled by a user to perform certain flight functions when connected to a control device. The control device can be a remote controller with or without a screen, or a terminal device such as a mobile phone. Users can input relevant parameters of the aircraft using controls on the control device, thereby triggering the aircraft to perform takeoff / landing, or controlling the aircraft to perform other flight operations, such as controlling the aircraft to perform one-click short film (e.g., fading away, soaring, orbiting, spiraling, comet, asteroid, etc.) mode, follow mode, or master shot mode. The controls may include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, or dials. Virtual controls may be virtual controls displayed on a screen, and may include buttons or sliders. User input to physical controls includes pressing, rotating, or flicking input. User input to virtual controls includes pressing or sliding input. The aircraft and control device can establish a communication connection via Bluetooth, Wi-Fi, cellular communication, or other communication methods.

[0164] The control device can be a terminal device such as a mobile phone, tablet, or computer; it can also be a remote control; it can be a portable wearable device (such as a head-mounted wearable device (e.g., glasses) or a wrist-worn wearable device (e.g., a watch, a bracelet)); or it can be a server. When the control device is a server, the server includes a positioning device that is independent of the server itself. The wearable device includes a head-mounted display device, which can include a virtual reality (VR) display device or a first-person view (FPV) display device.

[0165] The control device may include output devices such as a display device, for example, capable of outputting images captured by the aircraft. For instance, the control device can receive images transmitted by the aircraft and display them via the display device. The display device can be integrated into the control device (in this case, the control device and the display device are integrated together). In other alternative embodiments, the display device can be external, meaning the control device and the display device are separate, and the control device and the display device can establish a communication connection. This communication connection allows the control device to display images captured by the aircraft using an external display device. This communication connection can be wired or wireless, such as via WiFi, Bluetooth, or high-frequency wireless signals. The display device of the control device can be a touchscreen display with touch functionality.

[0166] The control device may include an input device that can detect user control operations. The control device can then generate control commands for the aircraft based on these detected user operations. For example, the control device can generate a yaw control command based on the user's detected yaw control operation, and send the yaw control command to the aircraft. This input device may be a physical control such as a touchscreen display, joystick, button, or dial, used to receive user input.

[0167] In some embodiments, the aircraft includes a fuselage, a power system, and a camera. The fuselage may include a nose. In some embodiments, the aircraft also includes an arm connected to the fuselage, which is used to mount the power system; in some embodiments, the power system may be directly mounted on the fuselage. In some embodiments, the power system may also be detached from the fuselage. The power system provides flight propulsion for the aircraft and may include a drive unit (e.g., a motor) and a propeller mounted on and driven by the drive unit. The power system can drive the fuselage to rotate about one or more rotation axes. For example, these rotation axes may include a roll axis, a yaw axis, and a pitch axis. When the power system drives the fuselage to rotate about the yaw axis, the yaw direction of the fuselage nose changes, meaning the fuselage yaw rotation can be controlled by controlling the power system. It should be understood that the motor can be a DC motor or an AC motor. Additionally, the motor can be a brushless motor or a brushed motor. The camera is directly mounted on the fuselage or mounted via an attitude adjustment device (including a gimbal or robotic arm) for photographing a target object.

[0168] In some embodiments, a target object can be classified as a stationary object or a moving object based on its state of motion. In some cases, a target object may be moving or stationary at any given point in time. When a target object is moving, it can be classified as a moving object. Conversely, when the same target object is stationary, it can be classified as a stationary object. Alternatively, the target object may be carried by a living being such as a person or animal, or by a mobile platform such as a vehicle. A stationary object can remain substantially stationary within its environment. Examples of stationary objects may include, but are not limited to, landscape features (e.g., trees, vegetation, mountains, hills, rivers, streams, creeks, valleys, boulders, rocks, etc.) or man-made features (e.g., structures, buildings, roads, bridges, utility poles, fences, stationary vehicles, signs, lights, etc.).

[0169] Still objects can be large or small. Users can select fixed still objects. Alternatively, one or more image recognition methods can be used to identify still objects. In some cases, a still object may correspond to a selected part of a structure or object. For example, a still object may correspond to a specific part of a skyscraper (e.g., the top floor). Moving objects may be able to move within the environment. Moving objects may be in constant motion or may be in motion for a period of time. Moving objects may move in a fairly stable direction or may change direction. Moving objects may move in the air, on land, underground, in water or in water, and / or in space. Moving objects can be living moving objects (e.g., people, animals) or non-living moving objects (e.g., moving vehicles, moving machinery, objects blown by the wind or carried by water, objects carried by living targets). Moving objects can include a single moving object or a group of moving objects. For example, moving objects can include a single person or a group of moving people. Moving objects can be large or small. Users can select moving objects.

[0170] In related technologies, after an aircraft completes a camera movement mode, it hovers at the starting position of the movement, but this method is not intelligent enough. To solve the above problems, this application provides an aircraft control method. This method automatically controls the aircraft to switch to following the target object after the aircraft finishes flying in the target camera movement mode, improving the intelligence of the aircraft control. Because the aircraft follows the target object, it is not only applicable to scenarios where the target object is stationary, but also more applicable to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing functions, preventing the aircraft from being lost. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0171] Currently, the aircraft has several flight modes, including one-click short film mode (e.g., receding, soaring, orbiting, spiraling, comet, asteroid, etc.), follow mode, master lens mode, and return-to-home mode. The aircraft can fly according to the user-selected flight mode. In related technologies, the aircraft hovers after executing a flight mode, but this method is not intelligent enough.

[0172] To address the aforementioned issues, this application provides a control method for an aircraft. This method automatically switches the aircraft to follow the target object after the aircraft finishes flying in target flight mode, improving the aircraft's control intelligence. Furthermore, since the aircraft follows the target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing functions, preventing the aircraft from being lost. Moreover, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating timely and efficient recovery of the aircraft by the user, thus improving the convenience and efficiency of aircraft recovery.

[0173] To address the aforementioned issues, this application also provides a control method for an aircraft. This method automatically switches the aircraft to a specific operation after the aircraft finishes flying in a target flight mode, thereby improving the aircraft's control intelligence. Furthermore, since the specific operation is selected from at least two operations, and at least one of these operations includes following a target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing any functions, preventing the aircraft from being lost. Moreover, because the aircraft follows the target object, the distance between the aircraft and the target object is not too great, facilitating efficient aircraft recovery by the user and improving the convenience and efficiency of aircraft recovery.

[0174] The aircraft in this application embodiment include fixed-wing aircraft, rotorcraft, or a combination of rotorcraft and fixed-wing aircraft. Rotorcraft can be, for example, single-rotor, dual-rotor, quadcopter, hexacopter, or octocopter. According to the application industry, aircraft can be classified as agricultural aircraft, industrial aircraft, aerial photography aircraft, logistics and transportation aircraft, and performance aircraft, etc.

[0175] It should be noted that the aircraft control method provided in this application embodiment can be applied to the aircraft, or to the control equipment that is connected to the aircraft in communication, or some steps can be applied to the control equipment while the remaining steps are applied to the aircraft.

[0176] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0177] Please refer to Figure 1, which is a schematic flowchart of the steps of a control method for an aircraft provided in an embodiment of this application.

[0178] As shown in Figure 1, the control method of the aircraft includes steps S111 to S112.

[0179] Step S111: Control the aircraft to fly in target movement mode, and control the subject of the aircraft's shooting device to be the target object during the flight.

[0180] Step S112: In response to the end of the flight of the aircraft in the target camera mode, the aircraft is automatically controlled to switch to follow the target object. The function of following the target object is not associated with the preset flight trajectory.

[0181] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to follow the target object after the aircraft finishes flying in target camera mode. Because the aircraft follows the target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing functions, preventing the aircraft from being lost. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval. In addition, it allows users to switch the aircraft's target camera mode through controls on the aircraft to control the aircraft to continue flying in the switched target camera mode, achieving aircraft control without the need for external control equipment, thus improving the convenience of aircraft control.

[0182] For example, the aircraft receives control commands triggered by the user based on controls on the aircraft. These commands control the aircraft to fly in a target camera movement mode and, during flight, control the subject of the aircraft's camera to be the target object. Based on these commands, the aircraft flies in the target camera movement mode and, during flight, controls the subject of the aircraft's camera to be the target object. Upon completion of flight in the target camera movement mode, the aircraft automatically switches to following the target object. Alternatively, the control device sends control commands to the aircraft, controlling the aircraft to fly in a target camera movement mode and, during flight, control the subject of the aircraft's camera to be the target object. The aircraft responds to these commands, flies in the target camera movement mode and, during flight, controls the subject of the aircraft's camera to be the target object. Upon completion of flight in the target camera movement mode, the aircraft automatically switches to following the target object.

[0183] In this embodiment, the aircraft's function of following the target object is not associated with a preset flight trajectory; that is, the trajectory of the aircraft following the target object is not preset. For example, in some embodiments, the aircraft's movement trajectory following the target object is related to the target object's movement trajectory. Further, the aircraft's movement trajectory following the target object is consistent with the target object's movement trajectory. Because the aircraft's movement trajectory following the target object is related to the target object's movement trajectory in this embodiment, the aircraft's ability to follow the target object is improved, ensuring that the distance between the aircraft and the target object is not too far, facilitating efficient aircraft recovery by the user, and improving the convenience and efficiency of aircraft recovery. Furthermore, during the aircraft's following of the target object, the aircraft's imaging device does not photograph the target object. This allows control of the aircraft to follow the target object without photographing it, saving system overhead and maintaining the relative distance between the aircraft and the target object within a certain range, preventing the aircraft from being lost, and facilitating the convenience and efficiency of aircraft recovery. Furthermore, the target movement mode is triggered by the user, while the aircraft's follow-the-target function is not triggered by the user, but is automatically triggered after the aircraft completes the automatic movement mode. This allows for intelligent and convenient control of the aircraft to automatically switch to the follow mode after completing the automatic movement mode, thereby improving the aircraft's control efficiency.

[0184] In some embodiments, the aircraft following the target object includes the aircraft moving in accordance with the movement of the target object, or the aircraft locking onto a stationary target object. This embodiment improves the aircraft's control intelligence by automatically controlling the aircraft to move in accordance with the movement of the target object or to lock onto a stationary target object after the aircraft finishes flying in target-oriented camera mode. This is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving, allowing the aircraft to follow the target object when not performing functions, preventing the aircraft from being lost. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating timely and efficient recovery of the aircraft by the user, thus improving the convenience and efficiency of aircraft recovery.

[0185] In some embodiments, the target camera movement mode is selected by the user from multiple camera movement modes via controls on the aircraft, or the target camera movement mode is selected by the user from multiple camera movement modes via controls on the aircraft's control device. These controls may include physical controls or virtual controls. For example, physical controls include one or more of buttons, joysticks, and dials, while virtual controls include virtual controls displayed on a screen.

[0186] In some embodiments, the controls on the aircraft are located on the fuselage of the aircraft or on a frame extending from the fuselage. The frame includes arms or landing gear. This embodiment, by providing controls on the fuselage or frame of the aircraft, allows users to control relevant parameters of the aircraft during flight, such as controlling the aircraft to execute a specific camera movement mode, without the aid of external control equipment, thus improving the ease of use of the aircraft.

[0187] In some embodiments, the target camera movement mode includes an automatic movie mode, a follow mode, or a mode that combines camera movements based on at least two trajectories. The automatic movie mode includes one or more of the following: upward trajectory mode, receding trajectory mode, orbiting trajectory mode, spiral trajectory mode, comet trajectory mode, and asteroid trajectory mode. During the execution of these target camera movement modes, the spacecraft will capture images of the target object.

[0188] In some embodiments, the target camera movement mode is associated with a preset flight path and / or preset shooting parameters. These shooting parameters include focal length, ISO, shutter speed, and / or aperture. Different camera movement modes are associated with different flight paths and / or different shooting parameters. It should be noted that the association between the camera movement mode and the flight path and / or different shooting parameters can be preset by the user or automatically set by the aircraft based on the type of subject being photographed; this embodiment does not specifically limit this.

[0189] For example, in Ascent Mode, the aircraft flies along an upward trajectory, allowing it to ascend vertically at a relatively high speed. In Distance Mode, the aircraft flies along a distance trajectory, gradually moving away from the target object at an upward angle, resulting in a gradually widening field of view in the captured footage. In Orbit Mode, the aircraft flies along a circular trajectory, circling the target object while maintaining a constant altitude. In Spiral Mode, the aircraft flies along a spiral trajectory, gradually increasing its altitude while circling the target object, creating a spiral ascent effect.

[0190] In Comet mode, the spacecraft flies in a trajectory similar to that of a comet. While flying in this trajectory, the spacecraft can circle the target object once and then fly out diagonally upwards. For example, in the initial stage, the spacecraft captures a near 360° close-up of the target object using preset shooting parameters. In the final stage, the spacecraft captures a panoramic view of the target object's environment from a diagonally upward perspective, again using preset shooting parameters. In Asteroid mode, the spacecraft flies in a trajectory similar to that of an asteroid. While flying in this trajectory, the spacecraft can move away from the target object while ascending to a certain altitude to capture panoramic images, using the highest point of flight as the initial position for the panoramic photos.

[0191] In follow mode, the aircraft follows and films the target object in a specific direction (such as in front or behind). In the combined camera movement mode based on at least two trajectories, the aircraft flies using at least two trajectories. For example, the at least two trajectories are at least two of the following: a receding flight trajectory, a long-range circling flight trajectory, a tilting flight trajectory, a close-up circling flight trajectory, a medium-range circling flight trajectory, a soaring flight trajectory, a downward-facing flight trajectory, a downward-facing rotating ascent trajectory, a level-angle descent trajectory, and a downward-facing descent trajectory. For example, the at least two trajectories are a combination of a first receding flight trajectory, a second long-range circling flight trajectory, and a final tilting flight trajectory.

[0192] When the aircraft flies in a receding trajectory, it gradually moves away from the target object at an upward angle. When it flies in a long-range circling trajectory, it circles the target object at a first distance. When it flies in a nose-up trajectory, it gradually approaches the target object, and the downward angle of the shooting device gradually changes from -90° to 0°. When it flies in a close-up circling trajectory, it circles the target object at a second distance. When it flies in a medium-range circling trajectory, it circles the target object at a third distance, with the first distance being greater than the third distance, and the third distance being greater than the second distance. When the aircraft flies in a soaring trajectory, it can ascend vertically at a relatively high speed. When it flies in a downward-facing trajectory, it adjusts the downward angle of the shooting device to -90° and gradually approaches the target object. When it flies in a downward-facing rotating ascent trajectory, it maintains the downward angle of the shooting device at -90° and ascends a first preset distance, adjusting the yaw angle of the shooting device at a set rate during ascent. When the aircraft is flying in a horizontal descent trajectory, it maintains the downward angle of the shooting device at 0° and descends a second preset distance; when the aircraft is flying in a downward descent trajectory, it maintains the downward angle of the shooting device at -90° and descends a third preset distance.

[0193] In some embodiments, in response to the aircraft ending flight in the target camera movement mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode and the user-set standby flight mode being the follow mode, controlling the aircraft to follow the target object. It should be noted that the follow mode included in the aforementioned target camera movement mode is not the same as the follow mode included in the standby flight mode. In the follow mode included in the aforementioned target camera movement mode, the aircraft is not only controlled to follow the object, but also its imaging device is controlled to take pictures with the target object as the subject. In the follow mode included in the standby flight mode, the aircraft is only controlled to follow the target object, without controlling its imaging device to take pictures with the target object as the subject. This application embodiment can combine the user-set standby flight mode to set the type of operation the aircraft switches to after completing the target camera movement mode, thereby improving the control intelligence and efficiency of the aircraft.

[0194] In some embodiments, the control method for the aircraft further includes: in response to the aircraft ending flight in a target camera movement mode and the user-set standby flight mode being a hovering mode, controlling the aircraft to hover at the end position or the starting point of the target camera movement mode; or in response to the aircraft ending flight in a target camera movement mode and the user-set standby flight mode being a landing mode, controlling the aircraft to perform a landing; or in response to the aircraft ending flight in a target camera movement mode and the user-set standby flight mode being a return-to-home mode, controlling the aircraft to fly to a return-to-home point. For example, the location of the return-to-home point is related to the location of the target object; for instance, the location of the return-to-home point is the same as the location of the target object. This embodiment, by allowing the aircraft to follow the target object, hover, land, or return to home according to the user-set standby flight mode after the aircraft finishes flight in a target camera movement mode, enables the aircraft to be applicable to various scenarios and improves the flexibility of the aircraft's standby flight.

[0195] In some embodiments, the standby flight mode can be set by the user before the aircraft executes the target camera movement mode, so that after the aircraft finishes flying in the target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the user-set standby flight mode. Alternatively, the standby flight mode can also be set by the user during the aircraft's execution of the target camera movement mode, so that after the aircraft finishes flying in the target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the user-set standby flight mode. Or, the standby flight mode can also be set by the user after executing the target camera movement mode. In this scenario, after the aircraft finishes flying in the current target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the standby flight mode set by the user. If the aircraft then finishes flying in a new target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the user-set standby flight mode.

[0196] In some embodiments, in response to the aircraft ending flight in target camera mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in target camera mode and the target object being a moving object, controlling the aircraft to move to follow the movement of the target object. This embodiment, by controlling the aircraft to follow the movement of the target object, is therefore applicable to scenarios where the target object is moving, allowing the aircraft to follow the movement of the target object when not performing any functions, thus preventing the aircraft from getting lost. Furthermore, this embodiment can automatically combine the movement characteristics of the target object to determine whether to automatically switch to following the target object after executing the automatic camera mode. For example, if the aircraft detects that the target object is a moving object after executing the automatic camera mode, it can automatically switch to following the target object; if it detects that the target object is a stationary object, it can automatically switch to hovering operation, thereby improving the control intelligence and efficiency of the aircraft.

[0197] In some embodiments, the aircraft control method further includes: in response to the aircraft ending flight in the target camera movement mode and the target object being a stationary object, controlling the aircraft to hover at the ending position or the starting point of the target camera movement mode. Since the target object is stationary and the ending position or the starting point of the target camera movement mode is close to the target object, controlling the aircraft to hover at the ending position or the starting point of the target camera movement mode facilitates timely and efficient aircraft recovery by the user, improving the convenience and efficiency of aircraft recovery. Furthermore, it allows the user to switch the target camera movement mode of the aircraft using controls on the aircraft, enabling the aircraft to continue flying according to the switched target camera movement mode without the need for external control equipment, thus improving the ease of aircraft control.

[0198] In some embodiments, in response to the aircraft ending flight in the target camera movement mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode, and the target object being the user of the aircraft, controlling the aircraft to follow the target object. This embodiment controls the aircraft to follow the user after the aircraft finishes flight in the target camera movement mode, ensuring that the distance between the aircraft and the user is not too far, facilitating timely and efficient recovery of the aircraft by the user, and improving the convenience and efficiency of aircraft recovery.

[0199] In some embodiments, the aircraft acquires images captured by an image acquisition device and compares these images with pre-stored user images to determine whether the target object is a user. For example, first facial feature information is extracted from the image captured by the image acquisition device, and second facial feature information is extracted from the pre-stored user images. The similarity between the first and second facial feature information is determined. If the similarity is greater than or equal to a preset similarity threshold, the target object is determined to be a user of the aircraft; if the similarity is less than the preset similarity threshold, the target object is determined not to be a user of the aircraft.

[0200] In some embodiments, the image acquisition device includes an imaging device and / or a visual sensing device. The image acquisition device may have a panoramic or partial viewing angle. It is understood that the imaging device that captures the target object and the imaging device that compares the captured image with a pre-stored user image may be the same device or different devices. The visual sensing device may include one or more visual sensors.

[0201] In some embodiments, automatically controlling the aircraft to switch to following a target object may include: automatically controlling the aircraft to move in accordance with the target direction and / or target distance to follow the movement of the target object. The target direction and / or target distance are set by the user through the aircraft's control device. This embodiment, by controlling the aircraft to maintain a predetermined target direction and / or target distance to follow the movement of the target object, improves the aircraft's ability to follow the target object, ensuring that the distance between the aircraft and the target object is not too great, facilitating efficient aircraft recovery by the user, and improving the convenience and efficiency of aircraft recovery.

[0202] In some embodiments, the target direction and / or target distance are set using the user's own information. This user information includes the user's posture, gestures, voice, and / or movement parameters. These movement parameters may include movement direction, movement distance, and / or movement speed. For example, the user's movement direction can be determined as the target direction. Alternatively, the target direction and / or target distance can be determined based on the user's posture and a pre-stored mapping between posture, target direction, and target distance. Another example is the determination of the target direction and / or target distance based on the user's gestures and a pre-stored mapping between gestures, target direction, and target distance. Yet another example is the determination of the target distance based on the user's movement speed and a pre-stored mapping between movement speed and target distance. This embodiment can automatically set the target direction and / or target distance for the aircraft to follow a target object by recognizing the user's own information.

[0203] In some embodiments, the target direction is a preset following direction. For example, the aircraft or control device can preset a following direction, controlling the aircraft to follow the target object according to this preset following direction during the process of controlling the aircraft to follow the target object. The preset following direction includes a following direction relative to the rear of the target object. For example, the preset following direction includes a following direction behind the user, i.e., controlling the aircraft to follow the user from behind. Besides a rearward following direction, other directions can also be used. A rearward following direction makes it easier for the user to reach the aircraft and retrieve it compared to other directions. For example, if the aircraft follows the target object in a rearward following direction, and during the following process, if the target object wants to walk to the aircraft and reach out to trigger the aircraft to land, the aircraft can be controlled to stop maintaining a following distance when it detects the target object approaching, and instead hover, so that the target object can walk to the aircraft to trigger the hand-reaching landing, avoiding the situation where the target object can only maintain a following distance and cannot retrieve the aircraft.

[0204] In some embodiments, where the target direction is not a forward following direction, the aircraft control method further includes: controlling the aircraft to stop moving in response to the target object moving towards a direction closer to the aircraft. Here, a target direction not being a forward following direction means that the target direction is not a following direction relative to the front of the target object; that is, the aircraft follows the user in a direction other than in front of the user. This embodiment, by recognizing that the user wants to recover or control the aircraft when the target object moves towards a direction closer to the aircraft, controls the aircraft to stop moving, gradually reducing the distance between the user and the aircraft, making it easier for the user to efficiently recover the aircraft, improving the convenience and efficiency of aircraft recovery, and also facilitating the user's continued flight control of the aircraft.

[0205] In some embodiments, where the target direction is not the forward following direction, the aircraft control method further includes: responding to the target object moving in a direction different from the direction approaching the aircraft, controlling the aircraft to move to follow the movement of the target object. The direction different from the direction approaching the aircraft includes a direction away from the aircraft. This embodiment, by recognizing that the user is unable to retrieve or control the aircraft when the target object moves in a direction different from the direction approaching the aircraft, controls the aircraft to follow the movement of the target object, allowing the user to retrieve or control the aircraft when it is convenient, thus improving the convenience and efficiency of aircraft retrieval.

[0206] Please refer to Figure 2, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0207] As shown in Figure 2, the control method of the aircraft includes steps S121 to S122.

[0208] Step S121: Control the aircraft to fly in target movement mode, and control the subject of the aircraft's shooting device to be the target object during the flight.

[0209] Step S122: In response to the end of the flight of the aircraft in the target camera mode, the aircraft is automatically controlled to switch to following the target object. During the process of following the target object, the aircraft's shooting device does not shoot the target object.

[0210] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to follow the target object after the aircraft finishes flying in target-movement mode. Because the aircraft follows the target object, it is not only suitable for scenarios where the target object is stationary, but also more suitable for scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0211] It should be noted that the control method of the aircraft provided in Figure 2 differs from the control method of the aircraft provided in Figure 1 in that the control method of the aircraft provided in Figure 1 is limited to: the function of following the target object is not associated with a preset flight trajectory, while the control method of the aircraft provided in Figure 2 is limited to: the aircraft's imaging device does not photograph the target object during the process of following the target object. Therefore, the specific implementation of the control method of the aircraft provided in Figure 2 can refer to the corresponding process in the embodiment of the control method of the aircraft provided in Figure 1, and will not be repeated here.

[0212] In some embodiments, the control method for the aircraft includes: controlling the aircraft to fly in a target camera movement mode, and controlling the camera of the aircraft's camera device to capture the target object during the flight; in response to the end of the flight in the target camera movement mode, automatically controlling the aircraft to switch to following the target object, wherein the camera of the aircraft does not capture the target object during the following process, and the following function is not associated with a preset flight trajectory.

[0213] Please refer to Figure 3, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0214] As shown in Figure 3, the control method of the aircraft includes steps S131 to S132.

[0215] Step S131: Control the aircraft to fly in target movement mode, and control the subject of the aircraft's shooting device to be the target object during the flight.

[0216] Step S132: In response to the aircraft ending its flight in target camera mode, the aircraft is automatically switched to follow the target object. The target camera mode is triggered by the user, while the aircraft's follow-the-target-object function is not triggered by the user.

[0217] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to follow the target object after the aircraft finishes flying in target-movement mode. Because the aircraft follows the target object, it is not only suitable for scenarios where the target object is stationary, but also more suitable for scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0218] It should be noted that the control methods of the aircraft provided in Figure 3 and Figure 2 differ from those provided in Figure 1 in that the control method of the aircraft provided in Figure 1 is limited to the fact that the function of following the target object is not associated with a preset flight trajectory; the control method of the aircraft provided in Figure 2 is limited to the fact that the aircraft's shooting device does not shoot the target object during the process of following the target object; and the control method of the aircraft provided in Figure 3 is limited to the fact that the target camera movement mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. Therefore, the specific implementation of the control method of the aircraft provided in Figure 3 can be referred to the corresponding process in the embodiment of the control method of the aircraft provided in Figure 1, and will not be repeated here.

[0219] Please refer to Figure 4, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0220] As shown in Figure 4, the control method of the aircraft includes steps S211 to S212.

[0221] Step S211: Control the aircraft to fly in the target flight mode.

[0222] Step S212: In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same following function, and the following the target object function is not associated with a preset flight trajectory.

[0223] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to follow the target object after the aircraft finishes flying in target flight mode. Because the aircraft follows the target object, it is not only suitable for scenarios where the target object is stationary, but also more suitable for scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0224] In this embodiment, the aircraft's function of following the target object is not associated with a preset flight trajectory; that is, the trajectory of the aircraft following the target object is not preset. For example, in some embodiments, the aircraft's movement trajectory following the target object is related to the target object's movement trajectory. Further, the aircraft's movement trajectory following the target object is consistent with the target object's movement trajectory. Because the aircraft's movement trajectory following the target object is related to the target object's movement trajectory in this embodiment, the aircraft's ability to follow the target object is improved, ensuring that the distance between the aircraft and the target object is not too far, facilitating efficient aircraft recovery by the user, and improving the convenience and efficiency of aircraft recovery. Furthermore, during the aircraft's following of the target object, the aircraft's imaging device does not photograph the target object. This allows control of the aircraft to follow the target object without photographing it, saving system overhead and maintaining the relative distance between the aircraft and the target object within a certain range, preventing the aircraft from being lost, and facilitating the convenience and efficiency of aircraft recovery. Furthermore, the target flight mode is triggered by the user, while the aircraft's function of following the target object is not triggered by the user, but is automatically triggered after the aircraft completes the target flight mode. This allows for intelligent and convenient control of the aircraft to automatically switch to the follow mode after completing the target flight mode, thereby improving the aircraft's control efficiency.

[0225] The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. In other words, the sub-stages of the same follow function only include the target flight mode or the aircraft following the target object, and will not include both the target flight mode and the aircraft following the target object.

[0226] In some embodiments, the aircraft following the target object includes the aircraft moving in accordance with the movement of the target object, or the aircraft locking onto a stationary target object. This embodiment improves the intelligence of aircraft control by automatically controlling the aircraft to move in accordance with the movement of the target object or to lock onto a stationary target object after the aircraft finishes flying in the target flight mode. This is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving, allowing the aircraft to follow the target object when not performing functions, preventing the aircraft from being lost. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating timely and efficient recovery of the aircraft by the user, thus improving the convenience and efficiency of aircraft recovery.

[0227] In some embodiments, the target flight mode includes a target camera movement mode. This target camera movement mode includes an automatic film mode, a follow mode, or a mode that combines camera movements based on at least two trajectories. For example, the automatic film mode includes one or more of the following: upward trajectory mode, receding trajectory mode, orbiting mode, spiral mode, comet mode, and asteroid mode. It should be noted that the explanation of the target camera movement mode in this embodiment can be found in the corresponding process in the control method embodiment provided in Figure 1, and will not be repeated here.

[0228] In some embodiments, the target object is a first target object, and the subject of the aircraft's camera device during flight in the target camera movement mode is a second target object. Specifically, the first target object and the second target object are the same; that is, the subject of the aircraft's camera device during flight in the target camera movement mode is the same as the target object that follows the aircraft after flight in the target camera movement mode. For example, the first target object and the second target object are both the same user of the aircraft. Alternatively, the first target object and the second target object are different; that is, the subject of the aircraft's camera device during flight in the target camera movement mode is different from the target object that follows the aircraft after flight in the target camera movement mode. For example, the first target object is the user of the aircraft, and the second target object is different from the user, but is a different subject selected by the user.

[0229] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode, and the second target object being the same as the user of the aircraft, automatically controlling the aircraft to follow the user. In this case, the subject being filmed by the aircraft during the camera movement mode and the target object followed by the aircraft after the camera movement mode is completed are the same, which facilitates intelligent and convenient following of the user after the camera movement ends, improving the controllability of the aircraft.

[0230] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode and the second target object being different from the user of the aircraft, obtaining the user's current position, and controlling the aircraft to follow the user based on the current position. In this case, the subject being filmed by the aircraft during the camera movement mode and the target object followed by the aircraft after the camera movement mode is completed are not the same, which facilitates intelligent and convenient following of the user after the camera movement for other target objects is completed, improving the control convenience of the aircraft. In this embodiment, since the subject being filmed by the aircraft during flight in the target camera movement mode is different from the user of the aircraft, the user of the aircraft can be found based on the user's current position, and the aircraft can then be controlled to follow the user to ensure that the distance between the aircraft and the user is not too far, facilitating the user to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0231] In some embodiments, the user's current location on the aircraft is obtained through the location of a control device carried by the user. Since the control device is carried by the user, its location is equivalent to the user's location. The control device includes a positioning device, through which the location of the control device can be determined.

[0232] In some embodiments, the user of the aircraft is determined by comparing images captured by an image acquisition device with pre-stored user image information. For example, the aircraft acquires images captured by the image acquisition device and compares them with pre-stored user images to determine whether the second target object is the same as the aircraft's user. For instance, first facial feature information is extracted from the image captured by the image acquisition device, and second facial feature information is extracted from the pre-stored user image. The similarity between the first and second facial feature information is determined. If the similarity is greater than or equal to a preset similarity threshold, the second target object is determined to be the same as the aircraft's user; if the similarity is less than the preset similarity threshold, the second target object is determined to be different from the aircraft's user.

[0233] In some embodiments, the image acquisition device includes an imaging device and / or a visual sensing device. The image acquisition device's acquisition perspective includes a panoramic perspective or a partial perspective. When the image acquisition device's acquisition perspective is a panoramic perspective, the image acquired by the image acquisition device may include a first target object and a second target object. When the image acquisition device's acquisition perspective is a partial perspective, the image acquired by the image acquisition device may include the second target object but not the first target object. It is understood that the imaging device that captures the second target object and the imaging device that captures the image compared with a pre-stored user image may be the same device or different devices. The visual sensing device may include one or more visual sensors.

[0234] In some embodiments, before controlling the aircraft to follow the user based on the current position, the method further includes: controlling the aircraft to adjust the shooting angle of the shooting device to lock onto the user. For example, the shooting angle of the shooting device can be adjusted based on the user's current position to lock onto the user. The shooting angle of the shooting device is achieved by adjusting the attitude of the aircraft and / or the attitude adjustment device of the aircraft. The shooting device is mounted on the attitude adjustment device, which may include a gimbal or a robotic arm. This embodiment locks onto the user by adjusting the shooting angle of the shooting device, facilitating subsequent control of the aircraft to follow the user.

[0235] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode and the target object being a moving object, automatically controlling the aircraft to switch to following the movement of the target object. This embodiment controls the aircraft to follow the movement of the target object, thus being applicable to scenarios where the target object is moving. This allows the aircraft to follow the movement of the target object when not performing any functions, preventing the aircraft from getting lost. This embodiment can automatically determine whether to automatically switch to following the target object after executing the automatic camera movement mode, based on the movement characteristics of the target object. For example, if the aircraft detects that the target object is a moving object after executing the automatic camera movement mode, it can automatically switch to following the target object; if it detects that the target object is a stationary object, it can automatically switch to hovering, thereby improving the intelligence and efficiency of the aircraft's control.

[0236] In some embodiments, the aircraft control method further includes: in response to the aircraft ending flight in the target camera movement mode and the target object being a stationary object, automatically controlling the aircraft to hover at the end position or the starting point of the target camera movement mode. Since the target object is stationary and the end position or the starting point of the target camera movement mode is close to the target object, controlling the aircraft to hover at the end position or the starting point of the target camera movement mode facilitates timely and efficient aircraft recovery by the user, improving the convenience and efficiency of aircraft recovery. Furthermore, it allows the user to switch the target camera movement mode of the aircraft using controls on the aircraft, enabling the aircraft to continue flying according to the switched target camera movement mode without the need for external control equipment, thus improving the ease of aircraft control.

[0237] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode and the user-set standby flight mode being the follow mode, controlling the aircraft to follow the target object. It should be noted that the follow mode included in the aforementioned target camera movement mode is not the same as the follow mode included in the standby flight mode. In the follow mode included in the aforementioned target camera movement mode, the aircraft is not only controlled to follow the object, but also its imaging device is controlled to take pictures with the target object as the subject. In the follow mode included in the standby flight mode, the aircraft is only controlled to follow the target object, without controlling its imaging device to take pictures with the target object as the subject. This application embodiment can combine the user-set standby flight mode to set the type of operation the aircraft switches to after completing the target camera movement mode, thereby improving the control intelligence and efficiency of the aircraft.

[0238] In some embodiments, the control method for the aircraft further includes: responding to the aircraft ending flight in a target camera movement mode and the user-set standby flight mode being a hovering mode, controlling the aircraft to hover at the ending position or the starting point of the target camera movement mode; or responding to the aircraft ending flight in a target camera movement mode and the user-set standby flight mode being a landing mode, controlling the aircraft to land; or responding to the aircraft ending flight in a target camera movement mode and the user-set standby flight mode being a return-to-home mode, controlling the aircraft to fly to a return-to-home point. The location of the return-to-home point is related to the location of the target object; for example, the location of the return-to-home point is the same as the location of the target object. This embodiment, by allowing the aircraft to follow the target object, hover, land, or return to home according to the user-set standby flight mode after the aircraft finishes flight in a target camera movement mode, enables the aircraft to be applicable to various scenarios and improves the flexibility of the aircraft's standby flight.

[0239] In some embodiments, the standby flight mode can be set by the user before the aircraft executes the target camera movement mode, so that after the aircraft finishes flying in the target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the user-set standby flight mode. Alternatively, the standby flight mode can also be set by the user during the aircraft's execution of the target camera movement mode, so that after the aircraft finishes flying in the target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the user-set standby flight mode. Or, the standby flight mode can also be set by the user after executing the target camera movement mode. In this scenario, after the aircraft finishes flying in the current target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the standby flight mode set by the user. If the aircraft then finishes flying in a new target camera movement mode, it can be controlled to follow the target object, hover, land, or return to home according to the user-set standby flight mode.

[0240] In some embodiments, the target flight mode includes a return-to-home mode. Controlling the aircraft to fly in the target flight mode includes: controlling the aircraft to fly towards a return-to-home point; the termination of the aircraft's flight in the target flight mode includes: the aircraft flying to a specific location around the return-to-home point. For example, controlling the aircraft to fly towards the return-to-home point; in response to the aircraft flying to a specific location around the return-to-home point, automatically controlling the aircraft to switch to following a target object, wherein the target flight mode and the aircraft following the target object are not two sub-stages of the same following function, and the following target object function is not associated with a preset flight trajectory.

[0241] It should be noted that the return-to-home mode included in the target flight mode is not the same as the return-to-home mode included in the standby flight mode. For example, in the return-to-home mode included in the target flight mode, the aircraft needs to fly to a specific location around the return-to-home point, but does not need to fly to the return-to-home point itself. However, in the return-to-home mode included in the standby flight mode, the aircraft needs to fly to the return-to-home point. Of course, in some other embodiments, the return-to-home mode included in the target flight mode and the return-to-home mode included in the standby flight mode can also be equivalent. For example, in the return-to-home mode included in the target flight mode, the aircraft needs to fly to a specific location around the return-to-home point, but does not need to fly to the return-to-home point itself. Similarly, in the return-to-home mode included in the standby flight mode, the aircraft needs to fly to a specific location around the return-to-home point, but does not need to fly to the return-to-home point itself.

[0242] In some embodiments, a specific location around the return point may include any location within an area centered on the return point and with a preset distance as its radius. For example, a specific location around the return point may include a location located above the return point and at a preset distance from the return point, or a location at the same height as the return point and at a preset distance from the return point.

[0243] In some embodiments, the location of the return point is related to the location of the target object. For example, the location of the return point is the location of the target object. Because the location of the return point is related to the location of the target object, after the aircraft flies to a specific location around the return point, the distance between the aircraft and the target object will not be too far, making it convenient for the aircraft to automatically follow the target object.

[0244] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following a target object includes: in response to the aircraft flying to a specific location around the return point, and the area below the return point being a danger zone, automatically controlling the aircraft to switch to following the target object. The danger zone can be an area that poses a danger to the user of the aircraft, such as water or cliffs. This embodiment, by controlling the aircraft to follow a target object when the aircraft flies to a specific location around the return point, and the area below the return point is a danger zone, allows the aircraft to follow the target object to a safe area as it moves, facilitating safe recovery of the aircraft by the user and improving the convenience and safety of aircraft recovery.

[0245] In some embodiments, the aircraft control method further includes: controlling the aircraft to land in response to the lower area of ​​the return point being a non-dangerous area. Controlling the aircraft to land may include controlling the aircraft to land on a landing platform. The landing platform may be a platform that supports the aircraft landing, such as a user's outstretched hand, the ground, or a parking platform. This embodiment ensures the safety of the aircraft landing by controlling the aircraft to land at a specific location around the return point, provided that the lower area of ​​the return point is a non-dangerous area.

[0246] In some embodiments, the return-to-home command in the return-to-home mode is sent by the aircraft's control equipment. This return-to-home command is manually triggered by the user through the aircraft's control equipment, for example, by a control on the control equipment. This control may include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, and dials. Virtual controls include virtual controls displayed on a screen.

[0247] In some embodiments, the return-to-home command in the return-to-home mode is triggered when the aircraft recognizes that the user's information in the camera's view meets preset conditions. The user's information includes the user's posture, gestures, and / or motion state. The motion state can include a stationary state. The preset conditions can be set based on actual conditions, and this application embodiment does not specifically limit them. For example, the return-to-home command is triggered when the aircraft recognizes that the user's posture in the camera's view is an outstretched palm. Another example is when the aircraft recognizes that the user's gesture in the camera's view is the gesture used to trigger the return-to-home command. Yet another example is when the aircraft recognizes that the user in the camera's view remains stationary for a duration greater than or equal to a preset duration (e.g., 3 seconds).

[0248] In some embodiments, the return-to-home command in the return-to-home mode is triggered based on the aircraft's status information. This status information includes battery level, communication signal status, and / or positioning signal status. For example, the return-to-home command in the return-to-home mode may be triggered when the aircraft's battery level is below a preset battery level threshold, the aircraft's communication signal status is below a preset communication signal threshold, and / or the aircraft's positioning signal status is below a preset positioning signal threshold.

[0249] In some embodiments, the communication signals include uplink signals and / or downlink signals. The uplink signal may be a signal transmitted from the control device to the aircraft, and the downlink signal may be a signal transmitted from the aircraft to the control device. For example, the uplink signal may include a remote control signal, and the downlink signal may include an image transmission signal.

[0250] In some embodiments, in response to the aircraft ending flight in target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in return-to-home mode, and the target object being a moving object, automatically controlling the aircraft to switch to following the movement of the target object. The aircraft ending flight in return-to-home mode may include the aircraft flying to a specific location around the return-to-home point. This embodiment controls the aircraft to follow the movement of the target object, thus being suitable for scenarios where the target object is moving. This allows the aircraft to follow the movement of the target object when not performing any functions, preventing the aircraft from getting lost.

[0251] In some embodiments, the aircraft control method further includes: automatically controlling the aircraft to land on a landing platform in response to the aircraft ending its flight in return-to-home mode and the target object being a stationary object. The landing platform may include a user's outstretched hand, the ground, or a parking platform. Since the target object is stationary, automatically controlling the aircraft to land on the landing platform ensures the safety of the aircraft's landing. Embodiments of this application can automatically select whether to follow the target object or to land based on the movement characteristics of the target object, thereby improving the intelligence and efficiency of aircraft control.

[0252] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the return-to-home mode, and the user-set standby flight mode being the follow mode, controlling the aircraft to follow the target object. The aircraft ending flight in the return-to-home mode may include the aircraft flying to a specific location around the return-to-home point. This embodiment, by controlling the aircraft to follow the target object, ensures that the distance between the aircraft and the target object is not too far, facilitating efficient aircraft recovery by the user and improving the convenience and efficiency of aircraft recovery. This application embodiment can combine the user-set standby flight mode to set the type of operation the aircraft switches to after completing the target flight mode, thereby improving the control intelligence and efficiency of the aircraft.

[0253] In some embodiments, the standby flight mode can be set by the user before the aircraft enters the return-to-home mode, so that after the aircraft finishes flying in return-to-home mode, it can be controlled to follow the target object or land according to the user-set standby flight mode. Alternatively, the standby flight mode can also be set by the user during the aircraft's return-to-home mode process, so that after the aircraft finishes flying in return-to-home mode, it can be controlled to follow the target object or land according to the user-set standby flight mode. Or, the standby flight mode can also be set by the user after the return-to-home mode process is completed. In this scenario, after the aircraft finishes flying in the current return-to-home mode, it can be controlled to follow the target object or land according to the standby flight mode set by the user.

[0254] In some embodiments, automatically controlling the aircraft to switch to following a target object may include: automatically controlling the aircraft to move in accordance with the target direction and / or target distance to follow the movement of the target object. The target direction and / or target distance are set by the user through the aircraft's control device. This embodiment, by controlling the aircraft to maintain a predetermined target direction and / or target distance to follow the movement of the target object, improves the aircraft's ability to follow the target object, ensuring that the distance between the aircraft and the target object is not too great, facilitating efficient aircraft recovery by the user, and improving the convenience and efficiency of aircraft recovery.

[0255] In some embodiments, the target direction and / or target distance are set using the user's own information. This user information includes the user's posture, gestures, voice, and / or movement parameters. These movement parameters may include movement direction, movement distance, and / or movement speed. For example, the user's movement direction can be determined as the target direction. Alternatively, the target direction and / or target distance can be determined based on the user's posture and a pre-stored mapping between posture, target direction, and target distance. Another example is the determination of the target direction and / or target distance based on the user's gestures and a pre-stored mapping between gestures, target direction, and target distance. Yet another example is the determination of the target distance based on the user's movement speed and a pre-stored mapping between movement speed and target distance. This embodiment can automatically set the target direction and / or target distance for the aircraft to follow a target object by recognizing the user's own information.

[0256] In some embodiments, the target direction is a preset following direction. The preset following direction includes a following direction relative to the rear of the target object. For example, the preset following direction includes a following direction behind the user, meaning the aircraft follows the user from behind.

[0257] In some embodiments, where the target direction is not a forward following direction, the aircraft control method further includes: controlling the aircraft to stop moving in response to the target object moving towards a direction closer to the aircraft. Here, a target direction not being a forward following direction means that the target direction is not a following direction relative to the front of the target object; that is, the aircraft follows the user in a direction other than in front of the user. This embodiment, by recognizing that the user wants to recover or control the aircraft when the target object moves towards a direction closer to the aircraft, controls the aircraft to stop moving, gradually reducing the distance between the user and the aircraft, making it easier for the user to efficiently recover the aircraft, improving the convenience and efficiency of aircraft recovery, and also facilitating the user's continued flight control of the aircraft.

[0258] In some embodiments, where the target direction is not the forward following direction, the aircraft control method further includes: responding to the target object moving in a direction different from the direction approaching the aircraft, controlling the aircraft to move to follow the movement of the target object. The direction different from the direction approaching the aircraft includes a direction away from the aircraft. This embodiment, by recognizing that the user is unable to retrieve or control the aircraft when the target object moves in a direction different from the direction approaching the aircraft, controls the aircraft to follow the movement of the target object, allowing the user to retrieve or control the aircraft when it is convenient, thus improving the convenience and efficiency of aircraft retrieval.

[0259] Please refer to Figure 5, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0260] As shown in Figure 5, the control method of the aircraft includes steps S221 to S222.

[0261] Step S221: Control the aircraft to fly in the target flight mode.

[0262] Step S222: In response to the aircraft ending its flight in target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same following function. During the process of following the target object, the aircraft's camera does not take pictures of the target object.

[0263] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to follow the target object after the aircraft finishes flying in target flight mode. Because the aircraft follows the target object, it is not only suitable for scenarios where the target object is stationary, but also more suitable for scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0264] It should be noted that the control method of the aircraft provided in Figure 5 differs from the control method of the aircraft provided in Figure 4 in that the control method of the aircraft provided in Figure 4 is limited to: the function of following the target object is not associated with a preset flight trajectory, while the control method of the aircraft provided in Figure 5 is limited to: the aircraft's imaging device does not photograph the target object during the process of following the target object. Therefore, the specific implementation of the control method of the aircraft provided in Figure 5 can be referred to the corresponding process in the embodiment of the control method of the aircraft provided in Figure 4, and will not be repeated here.

[0265] Please refer to Figure 6, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application. The aircraft control method includes steps S231 to S232.

[0266] Step S231: Control the aircraft to fly in the target flight mode.

[0267] Step S232: In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user.

[0268] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to follow the target object after the aircraft finishes flying in target flight mode. Because the aircraft follows the target object, it is not only suitable for scenarios where the target object is stationary, but also more suitable for scenarios where the target object is moving. This allows the aircraft to follow the target object when it is not performing functions, thus avoiding the loss of the aircraft. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, making it easier for users to retrieve the aircraft in a timely and efficient manner, thus improving the convenience and efficiency of aircraft retrieval.

[0269] For example, the target flight mode is a mode entered by the user actively clicking a specific control. In this mode, the aircraft's camera will record video. The aircraft following the target object is not a mode triggered by the user through a control, but is automatically triggered by the system after the aircraft ends the target flight mode. For example, it could be a mode automatically controlled by the aircraft or control equipment. During the process of following the target object, the aircraft's camera may not record video. The control can be a control on the aircraft or a control device of the aircraft. The control can be a physical control (including but not limited to buttons, joysticks, dials, etc.) or a virtual control (such as virtual buttons or sliders on the display interface).

[0270] It should be noted that the control methods of the aircraft provided in Figure 6 and Figure 5 differ from those provided in Figure 4 in that the control method provided in Figure 4 is limited to the fact that the function of following the target object is not associated with a preset flight trajectory; the control method provided in Figure 5 is limited to the fact that the aircraft's imaging device does not photograph the target object during the process of following the target object; and the control method provided in Figure 6 is limited to the fact that the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. Therefore, the specific implementation of the control method of the aircraft provided in Figure 6 can be referred to the corresponding process in the embodiment of the control method of the aircraft provided in Figure 4, and will not be repeated here.

[0271] Please refer to Figure 7, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0272] As shown in Figure 7, the control method of the aircraft includes steps S311 to S312.

[0273] Step S311: Control the aircraft to fly in the target flight mode.

[0274] Step S312: In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following the target object, and the function of following the target object is not associated with a preset flight trajectory.

[0275] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to a specific operation after the aircraft finishes flying in the target flight mode. Furthermore, since the specific operation is selected from at least two operations, and at least one of these operations includes following the target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing any functions, preventing the aircraft from being lost. Moreover, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating efficient aircraft recovery by the user and improving the convenience and efficiency of aircraft recovery.

[0276] It should be noted that the aircraft control method provided in this application embodiment can be applied to the aircraft, or to the control equipment that is connected to the aircraft in communication, or some steps can be applied to the control equipment while the remaining steps are applied to the aircraft. This application embodiment does not specifically limit this.

[0277] In this embodiment, the aircraft's function of following the target object is not associated with a preset flight trajectory; that is, the trajectory of the aircraft following the target object is not preset. For example, in some embodiments, the aircraft's movement trajectory following the target object is related to the target object's movement trajectory. Further, the aircraft's movement trajectory following the target object is consistent with the target object's movement trajectory. Because the aircraft's movement trajectory following the target object is related to the target object's movement trajectory in this embodiment, the aircraft's ability to follow the target object is improved, ensuring that the distance between the aircraft and the target object is not too far, facilitating efficient aircraft recovery by the user, and improving the convenience and efficiency of aircraft recovery. Furthermore, during the aircraft's following of the target object, the aircraft's imaging device does not photograph the target object. This allows control of the aircraft to follow the target object without photographing it, saving system overhead and maintaining the relative distance between the aircraft and the target object within a certain range, preventing the aircraft from being lost, and facilitating the convenience and efficiency of aircraft recovery. Furthermore, the target flight mode is triggered by the user, while the aircraft's function of following the target object is not triggered by the user, but is automatically triggered after the aircraft completes the target flight mode. This allows for intelligent and convenient control of the aircraft to automatically switch to the follow mode after completing the target flight mode, thereby improving the aircraft's control efficiency.

[0278] In some embodiments, the aircraft following the target object includes the aircraft moving in accordance with the movement of the target object, or the aircraft locking onto a stationary target object. This embodiment improves the intelligence of aircraft control by automatically controlling the aircraft to move in accordance with the movement of the target object or to lock onto a stationary target object after the aircraft finishes flying in the target flight mode. This is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving, allowing the aircraft to follow the target object when not performing functions, preventing the aircraft from being lost. Furthermore, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating timely and efficient recovery of the aircraft by the user, thus improving the convenience and efficiency of aircraft recovery.

[0279] In some embodiments, the target flight mode includes a target camera movement mode. This target camera movement mode includes an automatic film mode, a follow mode, or a mode that combines camera movements based on at least two trajectories. For example, the automatic film mode includes one or more of the following: upward trajectory mode, receding trajectory mode, orbiting mode, spiral mode, comet mode, and asteroid mode. It should be noted that the explanation of the target camera movement mode in this embodiment can be found in the corresponding process in the control method embodiment provided in Figure 1, and will not be repeated here.

[0280] In some embodiments, a specific operation is selected by the user from at least two operations. For example, the user may select an operation to follow a target object, a hover operation, a landing operation, or a return-to-home operation. In this embodiment, the user can select the appropriate specific operation according to their needs, thereby meeting the needs of different users and improving the user experience.

[0281] In some embodiments, a specific operation is selected by the aircraft or its control device from at least two operations. For example, if the aircraft or its control device detects that the target object is a moving object, it selects the operation of following the target object from at least two operations. As another example, if the aircraft or its control device detects that the target object is a stationary object, it selects the hovering operation from at least two operations. Embodiments of this application can automatically determine whether to automatically switch to following the target object after executing the automatic camera movement mode, based on the movement characteristics of the target object. For instance, if the aircraft detects that the target object is a moving object after executing the automatic camera movement mode, it can automatically switch to the operation of following the target object; if it detects that the target object is a stationary object, it can automatically switch to the hovering operation, thereby improving the control intelligence and efficiency of the aircraft.

[0282] In some embodiments, a specific operation is selected from at least two operations before, during, or after the aircraft executes a target flight mode. For example, the target flight mode includes a target camera movement mode, where the specific operation may be manually selected by the user from at least two operations before the aircraft executes the target camera movement mode; or, the specific operation may be automatically selected by the aircraft from at least two operations based on whether the target object is moving or stationary during the execution of the target camera movement mode; or, the specific operation may be manually selected by the user from at least two operations based on whether the target object is moving or stationary during the execution of the target camera movement mode. As another example, the target flight mode includes a return-to-home mode, where the specific operation may be automatically selected by the aircraft from at least two operations based on whether the target object is moving or stationary during the return-to-home process; or, the specific operation may be automatically selected by the user from at least two operations based on whether the target object is moving or stationary during the return-to-home process.

[0283] In some embodiments, the target flight mode includes a target camera movement mode, and at least two operations include a follow-the-target-object operation and a hover operation. For example, in response to the target object being a moving object, a specific operation is the follow-the-target-object operation; and / or, in response to the target object being a stationary object, a specific operation is the hover operation. This embodiment, by automatically following the target object after the aircraft finishes flying in the target camera movement mode when the target object is a moving object, ensures that the distance between the aircraft and the target object is not too far, facilitating timely and efficient aircraft recovery by the user. Similarly, controlling the aircraft to hover when the target object is a stationary object also facilitates aircraft recovery by the user. Therefore, it effectively improves the convenience and efficiency of aircraft recovery.

[0284] In some embodiments, the target flight mode includes a target camera movement mode, and at least two operations include at least one operation of following a target object, and also include at least one of hovering, returning to home, and landing operations. For example, in response to the aircraft ending flight in the target camera movement mode, and the user selecting a specific operation from at least two operations as the operation of following a target object, the aircraft is automatically controlled to switch to following the target object. As another example, in response to the aircraft ending flight in the target camera movement mode, and the user selecting a specific operation from at least two operations as hovering, the aircraft is automatically controlled to hover at the end position or the starting point of the target camera movement mode. As another example, in response to the aircraft ending flight in the target camera movement mode, and the user selecting a specific operation from at least two operations as landing, the aircraft is automatically controlled to land. As yet another example, in response to the aircraft ending flight in the target camera movement mode, and the user selecting a specific operation from at least two operations as returning to home, the aircraft is automatically controlled to fly to and from the waypoint.

[0285] In some embodiments, the target object is a first target object, and the subject of the aircraft's camera device during the aircraft's flight in the target camera movement mode is a second target object. Specifically, the first target object and the second target object are the same; that is, the subject of the aircraft's camera device during the aircraft's flight in the target camera movement mode is the same as the target object that follows the aircraft after the flight in the target camera movement mode ends. For example, the first target object and the second target object are both the same user of the aircraft. Alternatively, the first target object and the second target object are different; that is, the subject of the aircraft's camera device during the aircraft's flight in the target camera movement mode is different from the target object that follows the aircraft after the flight in the target camera movement mode ends. For example, the first target object is the user of the aircraft, and the second target object is different from the user of the aircraft.

[0286] In some embodiments, in response to the aircraft ending flight in the target flight mode, automatically controlling the aircraft to switch to following the target object includes: in response to the aircraft ending flight in the target camera movement mode and the second target object being different from the user of the aircraft, obtaining the user's current position, and controlling the aircraft to follow the user based on the current position. In this embodiment, because the subject being filmed during the aircraft's flight in the target camera movement mode is different from the user of the aircraft, the user can be located based on the user's current position, and the aircraft can then be controlled to follow the user. This ensures that the distance between the aircraft and the user is not too far, facilitating timely and efficient recovery of the aircraft by the user, thus improving the convenience and efficiency of aircraft recovery.

[0287] In some embodiments, the user's current location on the aircraft is obtained through the location of a control device carried by the user. Since the control device is carried by the user, its location is equivalent to the user's location. The control device includes a positioning device, through which the location of the control device can be determined.

[0288] In some embodiments, the user of the aircraft is determined by comparing images captured by an image acquisition device with pre-stored user image information. For example, the aircraft acquires images captured by the image acquisition device and compares them with pre-stored user images to determine whether the second target object is the same as the aircraft's user. For instance, first facial feature information is extracted from the image captured by the image acquisition device, and second facial feature information is extracted from the pre-stored user image. The similarity between the first and second facial feature information is determined. If the similarity is greater than or equal to a preset similarity threshold, the second target object is determined to be the same as the aircraft's user; if the similarity is less than the preset similarity threshold, the second target object is determined to be different from the aircraft's user.

[0289] In some embodiments, the image acquisition device includes an imaging device and / or a visual sensing device. The image acquisition device's acquisition perspective includes a panoramic perspective or a partial perspective. When the image acquisition device's acquisition perspective is a panoramic perspective, the image acquired by the image acquisition device may include a first target object and a second target object. When the image acquisition device's acquisition perspective is a partial perspective, the image acquired by the image acquisition device may include the second target object but not the first target object. It is understood that the imaging device that captures the second target object and the imaging device that captures the image compared with a pre-stored user image may be the same device or different devices. The visual sensing device may include one or more visual sensors.

[0290] In some embodiments, before controlling the aircraft to follow the user based on the current position, the method further includes: controlling the aircraft to adjust the shooting angle of the shooting device to lock onto the user. For example, the shooting angle of the shooting device can be adjusted based on the user's current position to lock onto the user. The shooting angle of the shooting device is achieved by adjusting the attitude of the aircraft and / or the attitude adjustment device of the aircraft. The shooting device is mounted on the attitude adjustment device, which may include a gimbal or a robotic arm. This embodiment locks onto the user by adjusting the shooting angle of the shooting device, facilitating subsequent control of the aircraft to follow the user.

[0291] In some embodiments, the target flight mode includes a return-to-home mode, and at least two operations include at least an operation to follow a target object and also include a landing operation. For example, in response to a first preset condition being met, a specific operation is the operation to follow a target object; and / or, in response to a second preset condition being met, a specific operation is the landing operation. For instance, in response to the aircraft ending flight in return-to-home mode and the first preset condition being met, the aircraft is automatically controlled to switch to the operation to follow a target object; or, in response to the aircraft ending flight in return-to-home mode and the second preset condition being met, the aircraft is automatically controlled to switch to the landing operation.

[0292] In some embodiments, the first preset condition includes: the target object is a moving object; and / or, the second preset condition includes: the target object is a stationary object. For example, in response to the aircraft ending its flight in return-to-home mode and the target object being a moving object, the aircraft is automatically controlled to switch to following the target object. Another example is that in response to the aircraft ending its flight in return-to-home mode and the target object being a stationary object, the aircraft is automatically controlled to switch to a landing operation. The landing operation includes landing on a landing platform. For example, the landing platform includes: a user's outstretched hand, the ground, or a parking platform.

[0293] In some embodiments, the first preset condition includes: the area below the aircraft's return-to-home point is a danger zone; and / or, the second preset condition includes: the area below the aircraft's return-to-home point is a non-danger zone. Danger zones include water bodies or cliffs, etc. For example, in response to the aircraft ending its flight in return-to-home mode and the area below the aircraft's return-to-home point being a danger zone, the aircraft is automatically controlled to switch to following a target object. Alternatively, in response to the aircraft ending its flight in return-to-home mode and the area below the aircraft's return-to-home point being a non-danger zone, the aircraft is automatically controlled to switch to landing.

[0294] In some embodiments, the target flight mode includes a return-to-home mode, and controlling the aircraft to fly in the target flight mode includes: controlling the aircraft to fly towards a return-to-home point; the aircraft terminating its flight in the target flight mode includes: the aircraft flying to a specific location around the return-to-home point. For example, controlling the aircraft to fly towards the return-to-home point; in response to the aircraft flying to a specific location around the return-to-home point, automatically controlling the aircraft to switch to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory.

[0295] In some embodiments, the location of the return point is related to the location of the target object. For example, the location of the return point is the location of the target object. Because the location of the return point is related to the location of the target object, after the aircraft flies to a specific location around the return point, the distance between the aircraft and the target object will not be too far, making it convenient for the aircraft to automatically follow the target object.

[0296] In some embodiments, the return-to-home command in the return-to-home mode is sent by the aircraft's control equipment. This return-to-home command is manually triggered by the user through the aircraft's control equipment, for example, by a control on the control equipment. This control may include physical controls and / or virtual controls. Physical controls include one or more of buttons, joysticks, and dials. Virtual controls include virtual controls displayed on a screen.

[0297] In some embodiments, the return-to-home command in the return-to-home mode is triggered when the aircraft recognizes that the user's information in the camera's view meets preset conditions. The user's information includes the user's posture, gestures, and / or motion state. The motion state can include a stationary state. The preset conditions can be set based on actual conditions, and this application embodiment does not specifically limit them. For example, the return-to-home command is triggered when the aircraft recognizes that the user's posture in the camera's view is an outstretched palm. Another example is when the aircraft recognizes that the user's gesture in the camera's view is the gesture used to trigger the return-to-home command. Yet another example is when the aircraft recognizes that the user in the camera's view remains stationary for a duration greater than or equal to a preset duration (e.g., 3 seconds).

[0298] In some embodiments, the return-to-home command in the return-to-home mode is triggered based on the aircraft's status information. This status information includes battery level, communication signal status, and / or positioning signal status. For example, the return-to-home command in the return-to-home mode may be triggered when the aircraft's battery level is below a preset battery level threshold, the aircraft's communication signal status is below a preset communication signal threshold, and / or the aircraft's positioning signal status is below a preset positioning signal threshold.

[0299] In some embodiments, the communication signals include uplink signals and / or downlink signals. The uplink signal may be a signal transmitted from the control device to the aircraft, and the downlink signal may be a signal transmitted from the aircraft to the control device. For example, the uplink signal may include a remote control signal, and the downlink signal may include an image transmission signal.

[0300] Please refer to Figure 8, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0301] As shown in Figure 8, the control method of the aircraft includes steps S321 to S322.

[0302] Step S321: Control the aircraft to fly in the target flight mode.

[0303] Step S322: In response to the aircraft ending its flight in target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following the target object. During the process of following the target object, the aircraft's imaging device does not capture images of the target object.

[0304] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to a specific operation after the aircraft finishes flying in the target flight mode. Furthermore, since the specific operation is selected from at least two operations, and at least one of these operations includes following the target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing any functions, preventing the aircraft from being lost. Moreover, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating efficient aircraft recovery by the user and improving the convenience and efficiency of aircraft recovery.

[0305] It should be noted that the control method of the aircraft provided in Figure 8 differs from the control method of the aircraft provided in Figure 7 in that the control method of the aircraft provided in Figure 7 is limited to: the function of following the target object is not associated with a preset flight trajectory, while the control method of the aircraft provided in Figure 8 is limited to: the aircraft's imaging device does not photograph the target object during the process of following the target object. Therefore, the specific implementation of the control method of the aircraft provided in Figure 8 can be referred to the corresponding process in the embodiment of the control method of the aircraft provided in Figure 7, and will not be repeated here.

[0306] Please refer to Figure 9, which is a schematic flowchart of another aircraft control method provided in an embodiment of this application.

[0307] As shown in Figure 9, the control method of the aircraft includes steps S331 to S332.

[0308] Step S331: Control the aircraft to fly in the target flight mode.

[0309] Step S332: In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations is the operation of following the target object. The target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user.

[0310] This embodiment improves the intelligence of aircraft control by automatically switching the aircraft to a specific operation after the aircraft finishes flying in the target flight mode. Furthermore, since the specific operation is selected from at least two operations, and at least one of these operations includes following the target object, it is applicable not only to scenarios where the target object is stationary but also to scenarios where the target object is moving. This allows the aircraft to follow the target object when not performing any functions, preventing the aircraft from being lost. Moreover, because the aircraft follows the target object, the distance between the aircraft and the target object will not be too far, facilitating efficient aircraft recovery by the user and improving the convenience and efficiency of aircraft recovery.

[0311] It should be noted that the control methods of the aircraft provided in Figure 9 and Figure 8 differ from those provided in Figure 7 in that the control method provided in Figure 7 is limited to the fact that the function of following the target object is not associated with a preset flight trajectory; the control method provided in Figure 8 is limited to the fact that the aircraft's imaging device does not photograph the target object during the process of following the target object; and the control method provided in Figure 9 is limited to the fact that the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. Therefore, the specific implementation of the control method of the aircraft provided in Figure 9 can be referred to the corresponding process in the embodiment of the control method of the aircraft provided in Figure 7, and will not be repeated here.

[0312] Please refer to Figure 10, which is a schematic block diagram of the structure of a control device for an aircraft provided in an embodiment of this application.

[0313] As shown in Figure 10, the control device 110 of the aircraft includes a processor 111 and a memory 112, which can be connected via a bus 113. There can be one or more processors 111 and one or more memory units 112.

[0314] Specifically, the processor 111 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc. The bus 113 is, for example, an I2C (Inter-integrated Circuit) bus.

[0315] Specifically, the processor 111 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0316] The memory 112 stores computer program instructions, which are executed by the processor 111 when invoked.

[0317] Control the aircraft to fly in a target-movement mode, and control the aircraft's shooting device to shoot the target object during the flight;

[0318] In response to the aircraft ending its flight in target tracking mode, the automatic control system switches the aircraft to follow the target object.

[0319] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0320] In some embodiments, memory 112 is used to store computer program instructions, which, when invoked by processor 111, cause processor 111 to execute:

[0321] Control the aircraft to fly in the target flight mode;

[0322] In response to the aircraft ending its flight in target flight mode, the automatic control system switches the aircraft to follow the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function.

[0323] In this embodiment, the function of following the target object is not associated with a preset flight trajectory; the aircraft's imaging device does not capture images of the target object during the following process; and / or, the target movement mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. In some embodiments, the memory 112 is used to store computer program instructions, which, when called by the processor 111, cause the processor 111 to execute:

[0324] Control the aircraft to fly in the target flight mode;

[0325] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following the target object.

[0326] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0327] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device of the aircraft described above can be referred to the corresponding process in the aforementioned control method embodiments of the aircraft, and will not be repeated here.

[0328] Please refer to Figure 11, which is a schematic block diagram of the structure of an aircraft provided in an embodiment of this application.

[0329] As shown in Figure 11, the aircraft 100 includes a processor 101 and a memory 102, which can be connected via a bus 103, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 101 and one or more memory units 102. Optionally, the aircraft 100 may also include a communication interface, a power system, and an imaging device (not shown).

[0330] Specifically, the processor 101 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0331] Specifically, the processor 101 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0332] The memory 102 stores computer program instructions, which are executed by the processor 101 when invoked.

[0333] Control the aircraft to fly in a target-movement mode, and control the aircraft's shooting device to shoot the target object during the flight;

[0334] In response to the aircraft ending its flight in target tracking mode, the automatic control system switches the aircraft to follow the target object.

[0335] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0336] In some embodiments, memory 102 is used to store computer program instructions, which, when invoked by processor 101, cause processor 101 to execute:

[0337] Control the aircraft to fly in the target flight mode;

[0338] In response to the aircraft ending its flight in target flight mode, the automatic control system switches the aircraft to follow the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function.

[0339] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0340] In some embodiments, memory 102 is used to store computer program instructions, which, when invoked by processor 101, cause processor 101 to execute:

[0341] Control the aircraft to fly in the target flight mode;

[0342] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following the target object.

[0343] Specifically, the function of following the target object is not associated with a preset flight trajectory; the aircraft's imaging device does not capture images of the target object during the following process; and / or, the target camera movement mode is actively triggered by the user, while the aircraft's function of following the target object is not actively triggered by the user. It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the aircraft described above can be referred to the corresponding process in the aforementioned aircraft control method embodiments, and will not be repeated here.

[0344] Please refer to Figure 12, which is a schematic block diagram of the structure of a control device provided in an embodiment of this application.

[0345] As shown in Figure 12, the control device 200 includes a processor 201 and a memory 202, which can be connected via a bus 203, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 201 and one or more memories 202. Optionally, the control device 200 may also include a communication device for data transmission with the aircraft.

[0346] Specifically, the processor 201 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0347] Specifically, the processor 201 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0348] The memory 202 stores computer program instructions, which are executed by the processor 201 when invoked.

[0349] Control the aircraft to fly in a target-movement mode, and control the aircraft's shooting device to shoot the target object during the flight;

[0350] In response to the aircraft ending its flight in target tracking mode, the automatic control system switches the aircraft to follow the target object.

[0351] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0352] In some embodiments, the memory 202 is used to store computer program instructions, which, when invoked by the processor 201, cause the processor 201 to execute:

[0353] Control the aircraft to fly in the target flight mode;

[0354] In response to the aircraft ending its flight in target flight mode, the automatic control system switches the aircraft to follow the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function.

[0355] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0356] In some embodiments, the memory 202 is used to store computer program instructions, which, when invoked by the processor 201, cause the processor 201 to execute:

[0357] Control the aircraft to fly in the target flight mode;

[0358] In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following the target object.

[0359] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0360] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control device described above can be referred to the corresponding process in the aforementioned aircraft control method embodiments, and will not be repeated here.

[0361] Please refer to Figure 13, which is a schematic block diagram of the structure of a control system for an aircraft provided in an embodiment of this application.

[0362] As shown in Figure 13, the control system 300 of the aircraft includes a processor 301, a memory 302, and a communication device 303. The processor 301, memory 302, and communication device 303 can be connected via a bus 303, such as an I2C (Inter-integrated Circuit) bus. There can be one or more processors 301 and one or more memories 302. The control system 300 can include the aircraft and control equipment. For example, the communication device 303 can be located on the control equipment, and the processor 301 can be located on the aircraft.

[0363] Specifically, the processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0364] Specifically, the processor 301 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0365] The memory 302 is used to store computer programs; the processor 303 is used to execute computer programs and perform the execution of computer programs.

[0366] The communication device 303 is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight.

[0367] Processor 301 is used to automatically control the aircraft to switch to following the target object in response to the aircraft ending flight in target camera mode.

[0368] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0369] In some embodiments, the communication device 303 is used to transmit control commands, which are used to control the aircraft to fly in a target flight mode;

[0370] The processor 301 is used to automatically control the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function.

[0371] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0372] In some embodiments, the communication device 303 is used to transmit control commands, which are used to control the aircraft to fly in a target flight mode;

[0373] The processor 301 is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft terminating its flight in a target flight mode, wherein the specific operation is selected from at least two operations, and at least one of the at least two operations includes the operation of following a target object.

[0374] Among these, the function of following the target object is not associated with a preset flight trajectory; the aircraft's camera does not capture images of the target object while it is following the target object; and / or, the target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user.

[0375] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the control system of the aircraft described above can be referred to the corresponding process in the aforementioned control method embodiments of the aircraft, and will not be repeated here.

[0376] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. A processor executes the program instructions to implement the aircraft control method provided in the above embodiments. The computer-readable storage medium can be an internal storage unit of the aircraft or control device in any of the foregoing embodiments, such as a hard disk or memory of the aircraft or control device. Alternatively, the computer-readable storage medium can be an external storage device of the aircraft or control device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the aircraft or control device.

[0377] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0378] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

A method for controlling an aircraft, characterized in that, The method includes: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory. A method for controlling an aircraft, characterized in that, The method includes: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process. A method for controlling an aircraft, characterized in that, The method includes: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user. The control method according to any one of claims 1-3 is characterized in that, The target camera movement mode includes automatic short film mode, follow mode, or a combination of camera movements based on at least two trajectories. The control method according to claim 4 is characterized in that, The automatic short film mode includes one or more of the following: Soaring mode, Gradual movement mode, Orbiting mode, Spiral mode, Comet mode, and Asteroid mode. The control method according to any one of claims 1-5 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target camera movement mode includes: In response to the aircraft ending its flight in the target camera movement mode, and the user-set standby flight mode being follow mode, the aircraft is controlled to follow the target object. The control method according to any one of claims 1-6 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the user-set standby flight mode being hover mode, the aircraft is controlled to hover at the end position or the starting point of the target camera movement mode. The control method according to any one of claims 1-7 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the user setting the standby flight mode to landing mode, the system controls the aircraft to perform a landing. The control method according to any one of claims 1-8 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the user setting the standby flight mode to return-to-home mode, the aircraft is controlled to fly to the return-to-home point. The control method according to any one of claims 1-9 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target camera movement mode includes: In response to the aircraft ending its flight in the target camera movement mode and the target object being a moving object, the aircraft is controlled to move in accordance with the movement of the target object. The control method according to any one of claims 1-9 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the target object being a stationary object, the aircraft is controlled to hover at the end position or the starting point of the target camera movement mode. The control method according to any one of claims 1-11 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target camera movement mode includes: In response to the aircraft ending its flight in the target camera movement mode, and the target object being the user of the aircraft, the aircraft is controlled to follow the target object. The control method according to any one of claims 1-12 is characterized in that, The automatic control of the aircraft to switch to following the target object includes: The aircraft is automatically controlled to move in accordance with the target direction and / or target distance, following the movement of the target object. The control method according to claim 13 is characterized in that, The target direction and / or the target distance are set by the user through the control equipment of the aircraft. The control method according to claim 13 is characterized in that, The target direction and / or the target distance are set by the user's own information. The control method according to claim 15 is characterized in that, The user's own information includes the user's posture, gestures, voice and / or movement parameters. The control method according to claim 16 is characterized in that, The movement parameters include the direction of movement, the distance of movement, and / or the speed of movement. The control method according to claim 13 is characterized in that, The target direction is a preset following direction. The control method according to claim 18 is characterized in that, The preset following direction includes: the following direction relative to the rear of the target object. The control method according to claim 13 is characterized in that, The target direction is not a positive following direction, and the method further includes: In response to the target object moving toward the aircraft, the aircraft is controlled to stop moving. The control method according to claim 13 or 20 is characterized in that, The target direction is not a positive following direction, and the method further includes: In response to the target object moving in a direction different from the direction of approach to the aircraft, the aircraft is controlled to move in accordance with the movement of the target object. The control method according to claim 21 is characterized in that, The direction different from the direction close to the aircraft includes: the direction away from the aircraft. The control method according to any one of claims 1-22 is characterized in that, The following target object includes: moving in accordance with the movement of the target object. The control method according to any one of claims 1-22 is characterized in that, The following target object includes: locking the stationary target object. The control method according to any one of claims 1-24 is characterized in that, The trajectory of the aircraft following the target object is related to the trajectory of the target object. The control method according to claim 25 is characterized in that, The aircraft follows the movement trajectory of the target object and its movement trajectory is consistent with that of the target object. A method for controlling an aircraft, characterized in that, The method includes: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory. A method for controlling an aircraft, characterized in that, The method includes: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object. A method for controlling an aircraft, characterized in that, The method includes: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user. The control method according to any one of claims 27-29 is characterized in that, The target flight mode includes the target camera movement mode. The control method according to claim 30 is characterized in that, The target camera movement mode includes automatic short film mode, follow mode, or a combination of camera movements based on at least two trajectories. The control method according to claim 31 is characterized in that, The automatic short film mode includes one or more of the following: Soaring mode, Gradual movement mode, Orbiting mode, Spiral mode, Comet mode, and Asteroid mode. The control method according to any one of claims 30-32 is characterized in that, The target object is the first target object, and the subject of the aircraft's shooting device during the flight of the aircraft in the target camera movement mode is the second target object. The control method according to claim 33 is characterized in that, The first target object is the same as the second target object. The control method according to claim 33 is characterized in that, The first target object is different from the second target object. The control method according to claim 35 is characterized in that, The first target is the user of the aircraft. The control method according to claim 35 or 36 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft ending its flight in the target camera movement mode and the second target object being different from the user of the aircraft, the current position of the user is obtained, and the aircraft is controlled to follow the user based on the current position. The control method according to claim 37 is characterized in that, The user's current location is obtained through the location of the control device carried by the user. The control method according to claim 37 is characterized in that, The user is determined by comparing the image captured by the image acquisition device with the pre-stored image information of the user. The control method according to claim 39 is characterized in that, The image acquisition device includes a shooting device and / or a visual sensing device. The control method according to claim 39 or 40 is characterized in that, The image acquisition device has either a panoramic acquisition view or a local acquisition view. The control method according to claim 37 is characterized in that, Before controlling the aircraft to follow the user based on the current location, the method further includes: Control the aircraft to adjust the shooting angle of the shooting device in order to lock onto the user. The control method according to claim 42 is characterized in that, The shooting angle of the shooting device is achieved by adjusting the attitude of the aircraft and / or the attitude adjustable device of the aircraft, wherein the shooting device is mounted on the attitude adjustable device. The control method according to any one of claims 30-32 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft ending its flight in the target camera movement mode and the target object being a moving object, the aircraft is automatically controlled to switch to moving in accordance with the movement of the target object. The control method according to any one of claims 30-32 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the target object being a stationary object, the aircraft is automatically controlled to hover at the end position or the starting point of the target camera movement mode. The control method according to any one of claims 30-32 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft ending its flight in the target camera movement mode, and the user-set standby flight mode being follow mode, the aircraft is controlled to follow the target object. The control method according to any one of claims 30-46 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the user-set standby flight mode being hover mode, the aircraft is controlled to hover at the end position or the starting point of the target camera movement mode. The control method according to any one of claims 30-47 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the user setting the standby flight mode to landing mode, the aircraft is controlled to land. The control method according to any one of claims 30-48 is characterized in that, The method further includes: In response to the aircraft ending its flight in the target camera movement mode and the user setting the standby flight mode to return-to-home mode, the aircraft is controlled to fly to the return-to-home point. The control method according to any one of claims 27-29 is characterized in that, The target flight mode includes the return-to-home mode. The control method according to claim 50 is characterized in that, The control of the aircraft to fly in the target flight mode includes: controlling the aircraft to fly towards the return point; the termination of the aircraft's flight in the target flight mode includes: The aircraft flew to a specific location around the return point. The control method according to claim 51 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft flying to a specific location around the return point, and the area below the return point being a danger zone, the aircraft is automatically controlled to switch to following the target object. The control method according to claim 52 is characterized in that, The dangerous areas include waterways or cliffs. The control method according to claim 52 is characterized in that, The method further includes: In response to the fact that the area below the return point is a non-dangerous area, the aircraft is controlled to land. The control method according to claim 54 is characterized in that, The control of the aircraft landing includes: Control the aircraft to land on the landing platform. The control method according to claim 55 is characterized in that, The landing platform includes: the user's outstretched hand, the ground, or a landing platform. The control method according to any one of claims 51-56 is characterized in that, The location of the return point is related to the location of the target object. The control method according to claim 57 is characterized in that, The return point is the location of the target object. The control method according to any one of claims 50-58 is characterized in that, The return-to-home command in the aforementioned return-to-home mode is sent by the aircraft's control equipment. The control method according to claim 59 is characterized in that, The return-to-home command is triggered by the user through controls on the control device. The control method according to claim 60 is characterized in that, The controls include physical controls and / or virtual controls. The control method according to claim 61 is characterized in that, The physical controls include one or more of buttons, joysticks, and dials. The control method according to claim 61 is characterized in that, The virtual control includes a virtual control displayed on the screen. The control method according to any one of claims 50-58 is characterized in that, The return-to-home command in the return-to-home mode is triggered when the aircraft recognizes that the user information of the aircraft in the image captured by the camera device meets preset conditions. The control method according to claim 64 is characterized in that, The user's information includes the user's posture, gestures, and / or movement status. The control method according to claim 65 is characterized in that, The motion state includes the stationary state. The control method according to any one of claims 50-58 is characterized in that, The return-to-home command in the aforementioned return-to-home mode is triggered based on the aircraft's status information. The control method according to claim 67 is characterized in that, The status information of the aircraft includes power information, communication signal status information and / or positioning signal status information. The control method according to claim 68 is characterized in that, The return-to-home command in the return-to-home mode is triggered when the aircraft's battery level is below a preset battery threshold, the aircraft's communication signal is below a preset communication signal threshold, and / or the aircraft's positioning signal is below a preset positioning signal threshold. The control method according to claim 69 is characterized in that, The communication signals include uplink signals and / or downlink signals. The control method according to claim 70 is characterized in that, The uplink signal includes a remote control signal, and the downlink signal includes an image transmission signal. The control method according to any one of claims 50-71 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft ending its flight in the return-to-home mode and the target object being a moving object, the aircraft is automatically controlled to switch to following the movement of the target object. The control method according to any one of claims 50-72 is characterized in that, The method further includes: In response to the aircraft ending its flight in the return-to-home mode and the target object being a stationary object, the aircraft is automatically controlled to land on the landing platform. The control method according to any one of claims 50-71 is characterized in that, The automatic control of the aircraft to switch to following the target object in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft ending its flight in the return-to-home mode and the user setting the standby flight mode to follow mode, the aircraft is controlled to follow the target object. The control method according to any one of claims 27-74 is characterized in that, The automatic control of the aircraft to switch to following the target object includes: The aircraft is automatically controlled to move in accordance with the target direction and / or target distance, following the movement of the target object. The control method according to claim 75 is characterized in that, The target direction and / or the target distance are set by the user through the control equipment of the aircraft. The control method according to claim 75 is characterized in that, The target direction and / or the target distance are set by the user's own information. The control method according to claim 77 is characterized in that, The user's own information includes the user's posture, gestures, voice and / or movement parameters. The control method according to claim 78 is characterized in that, The movement parameters include the direction of movement, the distance of movement, and / or the speed of movement. The control method according to claim 75 is characterized in that, The target direction is a preset following direction. The control method according to claim 80 is characterized in that, The preset following direction includes: the following direction relative to the rear of the target object. The control method according to claim 75 is characterized in that, The target direction is not a positive following direction, and the method further includes: In response to the target object moving toward the aircraft, the aircraft is controlled to stop moving. The control method according to claim 75 is characterized in that, The target direction is not a positive following direction, and the method further includes: In response to the target object moving in a direction different from the direction of approach to the aircraft, the aircraft is controlled to move in accordance with the movement of the target object. The control method according to claim 83 is characterized in that, The direction different from the direction close to the aircraft includes: the direction away from the aircraft. The control method according to any one of claims 27-84 is characterized in that, The following target object includes: moving in accordance with the movement of the target object. The control method according to any one of claims 27-84 is characterized in that, The following target object includes: locking the stationary target object. The control method according to any one of claims 27-86 is characterized in that, The trajectory of the aircraft following the target object is related to the trajectory of the target object. The control method according to claim 87 is characterized in that, The aircraft follows the movement trajectory of the target object and its movement trajectory is consistent with that of the target object. A method for controlling an aircraft, characterized in that, The method includes: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory. A method for controlling an aircraft, characterized in that, The method includes: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process. A method for controlling an aircraft, characterized in that, include: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. The control method according to any one of claims 89-91 is characterized in that, The specific operation is selected by the user from the at least two operations. The control method according to any one of claims 89-91 is characterized in that, The specific operation is selected by the aircraft or its control equipment from the at least two operations. The control method according to any one of claims 89-93 is characterized in that, The specific operation is selected from at least two operations before the aircraft executes the target flight mode, during the execution of the target flight mode, or after the execution of the target flight mode. The control method according to any one of claims 89-94 is characterized in that, The target flight mode includes the target camera movement mode. The control method according to claim 95 is characterized in that, The target camera movement mode includes automatic short film mode, follow mode, or a combination of camera movements based on at least two trajectories. The control method according to claim 96 is characterized in that, The automatic short film mode includes one or more of the following: Soaring mode, Gradual movement mode, Orbiting mode, Spiral mode, Comet mode, and Asteroid mode. The control method according to any one of claims 95-97 is characterized in that, The at least two operations also include hovering. The control method according to claim 98 is characterized in that, In response to the target object being a moving object, the specific operation is an operation to follow the target object; and / or, in response to the target object being a stationary object, the specific operation is a hover operation. The control method according to any one of claims 95-99 is characterized in that, The at least two operations also include returning to base. The control method according to any one of claims 95-100 is characterized in that, The at least two operations also include landing. The control method according to any one of claims 95-101 is characterized in that, The target object is the first target object, and the subject of the aircraft's shooting device during the flight of the aircraft in the target camera movement mode is the second target object. The control method according to claim 102 is characterized in that, The first target object is the same as the second target object. The control method according to claim 102 is characterized in that, The first target object is different from the second target object. The control method according to claim 104 is characterized in that, The first target is the user of the aircraft. The control method according to claim 105 is characterized in that, The specific operation includes following the user's operation, and the automatic control of the aircraft to switch to the specific operation in response to the aircraft ending flight in the target flight mode includes: In response to the aircraft ending its flight in the target camera movement mode and the second target object being different from the user of the aircraft, the current position of the user is obtained, and the aircraft is controlled to follow the user based on the current position. The control method according to claim 106 is characterized in that, The user's current location is obtained through the location of the control device carried by the user. The control method according to claim 106 is characterized in that, The user is determined by comparing the image captured by the image acquisition device with the pre-stored image information of the user. The control method according to claim 108 is characterized in that, The image acquisition device includes a shooting device and / or a visual sensing device. The control method according to claim 108 or 109 is characterized in that, The image acquisition device has either a panoramic acquisition view or a local acquisition view. The control method according to any one of claims 106-110 is characterized in that, Before controlling the aircraft to follow the user, the following is also included: Control the aircraft to adjust the shooting angle of the shooting device in order to lock onto the user. The control method according to claim 111 is characterized in that, The shooting angle of the shooting device is achieved by adjusting the attitude of the aircraft and / or the attitude adjustable device of the aircraft, wherein the shooting device is mounted on the attitude adjustable device. The control method according to any one of claims 89-94 is characterized in that, The target flight mode includes the return-to-home mode. The control method according to claim 113 is characterized in that, The at least two operations also include landing. The control method according to claim 114 is characterized in that, In response to the fulfillment of a first preset condition, the specific operation is an operation to follow the target object; and / or, in response to the fulfillment of a second preset condition, the specific operation is a landing operation. The control method according to claim 115 is characterized in that, The first preset condition being met includes: the target object being a moving object; and / or, the second preset condition being met includes: the target object being a stationary object. The control method according to claim 115 is characterized in that, The first preset condition being met includes: the area below the return point of the aircraft being a dangerous area; and / or, the second preset condition being met includes: the area below the return point of the aircraft being a non-dangerous area. The control method according to claim 117 is characterized in that, The dangerous areas include waterways or cliffs. The control method according to claim 115 is characterized in that, The landing operation includes landing on the landing platform. The control method according to claim 119 is characterized in that, The landing platform includes: the user's outstretched hand, the ground, or a landing platform. The control method according to claim 113 is characterized in that, The control of the aircraft to fly in the target flight mode includes: controlling the aircraft to fly towards the return point; the termination of the aircraft's flight in the target flight mode includes: the aircraft flying to a specific location around the return point. The control method according to any one of claims 113-121 is characterized in that, The return-to-home command in the aforementioned return-to-home mode is sent by the aircraft's control equipment. The control method according to claim 122 is characterized in that, The return-to-home command is triggered by the user through controls on the control device. The control method according to claim 123 is characterized in that, The controls include physical controls and / or virtual controls. The control method according to claim 124 is characterized in that, The physical controls include one or more of buttons, joysticks, and dials. The control method according to claim 124 is characterized in that, The virtual control includes a virtual control displayed on the screen. The control method according to any one of claims 113-121 is characterized in that, The return-to-home command in the return-to-home mode is triggered when the aircraft recognizes that the user information of the aircraft in the image captured by the camera device meets preset conditions. The control method according to claim 127 is characterized in that, The user's information includes the user's posture, gestures, and / or movement status. The control method according to claim 128 is characterized in that, The motion state includes the stationary state. The control method according to any one of claims 113-121 is characterized in that, The return-to-home command in the aforementioned return-to-home mode is triggered based on the aircraft's status information. The control method according to claim 130 is characterized in that, The status information of the aircraft includes power information, communication signal status information and / or positioning signal status information. The control method according to claim 131 is characterized in that, The return-to-home command in the return-to-home mode is triggered when the aircraft's battery level is below a preset battery threshold, the aircraft's communication signal is below a preset communication signal threshold, and / or the aircraft's positioning signal is below a preset positioning signal threshold. The control method according to claim 131 is characterized in that, The communication signals include uplink signals and / or downlink signals. The control method according to claim 133 is characterized in that, The uplink signal includes a remote control signal, and the downlink signal includes an image transmission signal. The control method according to any one of claims 89-134 is characterized in that, The following target object includes: moving in accordance with the movement of the target object. The control method according to any one of claims 89-134 is characterized in that, The following target object includes: locking the stationary target object. The control method according to any one of claims 89-136 is characterized in that, The trajectory of the aircraft following the target object is related to the trajectory of the target object. The control method according to claim 137 is characterized in that, The aircraft follows the movement trajectory of the target object and its movement trajectory is consistent with that of the target object. A control device for an aircraft, characterized in that, The control device includes a memory and a processor, wherein the memory stores a computer program; and the processor executes the computer program and, when executing the computer program, performs the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory. A control device for an aircraft, characterized in that, The control device includes a memory and a processor, wherein the memory stores a computer program; and the processor executes the computer program and, when executing the computer program, performs the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process. A control device for an aircraft, characterized in that, The control device includes a memory and a processor, wherein the memory stores a computer program; and the processor executes the computer program and, when executing the computer program, performs the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the function of following the target object is not associated with a preset flight trajectory. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object, wherein the aircraft's camera device does not capture images of the target object during the following process. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: The aircraft is controlled to fly in a target-movement mode, and the subject of the aircraft's shooting device is controlled to be the target object during the flight. In response to the aircraft ending its flight in the target camera movement mode, the aircraft is automatically controlled to switch to following the target object. The target camera movement mode is triggered by the user, but the function of the aircraft following the target object is not triggered by the user. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight. The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target camera movement mode, wherein the function of following the target object is not associated with a preset flight trajectory. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight. The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target camera mode, wherein the aircraft's camera device does not capture images of the target object during the following process. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in a target camera movement mode and control the subject of the aircraft's camera device to be the target object during the flight. The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target camera movement mode, wherein the target camera movement mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. A control device for an aircraft, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory. A control device for an aircraft, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object. A control device for an aircraft, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically switched to follow the target object. The target flight mode and the aircraft's function of following the target object are not two sub-stages of the same follow function. During the process of following the target object, the aircraft's camera does not take pictures of the target object. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending its flight in the target flight mode, the aircraft is automatically controlled to switch to following the target object. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode. The processor is configured to automatically control the aircraft to switch to following a target object in response to the aircraft ending flight in the target flight mode, wherein the target flight mode and the aircraft following the target object are not two sub-stages of the same follow function, and the follow function is not associated with a preset flight trajectory. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode. The processor is configured to automatically control the aircraft to switch to following the target object in response to the aircraft ending its flight in the target flight mode. The target flight mode and the aircraft following the target object are not two sub-stages of the same following function. During the process of following the target object, the aircraft's camera does not take pictures of the target object. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode. The processor is configured to automatically control the aircraft to switch to following a target object in response to the aircraft ending flight in the target flight mode. The target flight mode and the aircraft following the target object are not two sub-stages of the same follow function. The target flight mode is triggered by the user, while the aircraft following the target object is not triggered by the user. A control device for an aircraft, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory. A control device for an aircraft, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process. A control device for an aircraft, characterized in that, The device includes: a memory and a processor, the memory for storing a computer program; the processor for executing the computer program and, when executing the computer program, performing the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process. An aircraft characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes an operation to follow a target object, the function of following the target object not associated with a preset flight trajectory. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following the target object, and the aircraft's imaging device does not photograph the target object during the following process. A control device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to perform the following steps: Control the aircraft to fly in the target flight mode; In response to the aircraft ending flight in the target flight mode, the aircraft is automatically switched to a specific operation, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode. The processor is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft ending flight in the target flight mode, wherein the specific operation is selected from at least two operations, at least one of which includes an operation of following a target object, the function of following the target object not associated with a preset flight trajectory. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode. The processor is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft ending flight in the target flight mode, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, and the aircraft's imaging device does not photograph the target object during the process of following the target object. A control system for an aircraft, characterized in that, The system includes: a memory, a processor, and a communication device; the memory is used to store computer programs; the processor is used to execute the computer programs and perform the computer programs. The communication device is used to transmit control commands, which are used to control the aircraft to fly in the target flight mode. The processor is configured to automatically control the aircraft to switch to a specific operation in response to the aircraft ending flight in the target flight mode, wherein the specific operation is selected from at least two operations, at least one of which includes the operation of following a target object, the target flight mode is actively triggered by the user, and the function of the aircraft following the target object is not actively triggered by the user. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method as described in any one of claims 1-138.

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